Integrated vehicle dynamics control via coordination of active front steering and rear braking

Doumiati, Moustapha; Sename, Olivier; Dugard, Luc; Martínez, John J.; Gáspár, Péter; Szabó, Zoltán · 2013 · OpenAlex-citations

DOI: 10.1016/j.ejcon.2013.03.004

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Summary

This paper addresses the challenge of integrated vehicle dynamics control, specifically focusing on coordinating active front steering (AFS) and rear braking to enhance vehicle yaw stability. The motivation stems from the limitations of individual control systems: AFS improves steerability in normal driving conditions but fails to maintain stability when tire forces saturate at handling limits, while Direct Yaw Control (DYC) via differential braking is effective in nonlinear regions but undesirable for normal driving due to tire wear and longitudinal interference. The authors propose a unified control scheme that utilizes AFS for steerability enhancement during normal maneuvers and collaborates with rear braking only when the vehicle approaches instability, thereby optimizing both handling and passenger comfort. The study employs a Multi-Input Multi-Output (MIMO) gain-scheduled Linear Parameter Varying (LPV) controller synthesized within the $H_\infty$ framework using Linear Matrix Inequalities (LMI). The control architecture consists of two levels. The upper-level controller determines the required active steering angle and corrective yaw moment based on a 2-DOF linear bicycle model reference. This controller is scheduled by a single parameter, $\rho$, which acts as a stability monitor derived from the sideslip angle dynamics. The lower-level controller distributes the commanded yaw moment into specific braking torques applied to the rear wheels. The synthesis ensures robust performance against model uncertainties and external disturbances, with weighting functions designed to penalize sideslip, minimize yaw rate tracking error, and limit actuator usage to specific frequency bands to avoid driver interference. The effectiveness of the proposed control scheme was evaluated through time-domain and frequency-domain simulations using a full nonlinear vehicle model. The vehicle parameters included a mass of 1535 kg and cornering stiffness of 40,000 N/rad for both front and rear tires, with simulations conducted across velocity intervals of 50–130 km/h and friction coefficients ranging from 0.4 to 1.0. The results demonstrated that the LPV controller successfully coordinated the actuators, maintaining the yaw rate close to the desired reference and keeping the sideslip angle within stable limits. The system effectively switched from steering-only control in linear regions to combined steering and braking intervention in critical situations, ensuring stability without unnecessary braking during normal driving. The significance of this work lies in providing a robust, real-time applicable control strategy that integrates multiple actuators without requiring online optimization, unlike some Model Predictive Control approaches. By using a single scheduling parameter based on sideslip dynamics, the method simplifies the coordination logic and ensures internal closed-loop stability. The approach offers a practical solution for advanced chassis control systems, balancing the need for high-performance stability intervention with the comfort requirements of normal driving, thus advancing the field of integrated vehicle dynamics control.

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• steering pattern