AN OPTIMIZED MULTI-STAGE SCHEME TO COORDINATE STEERING AND BRAKING

Abstract

A novel Integrated Vehicle Dynamics Control (IVDC) scheme is presented tocoordinate active steering and braking subsystems. The multi-stage coordination scheme is basedon the phase-plane Method. The first stage includes the high-level controller which integrates threeindividual controllers according to vehicle states in the phase plane. In the next stage, an optimizedscheme is established to allocate the control objectives to individual braking and steering forces.To achieve this, an inequality-constrained optimization problem, including driver's brake demand,is solved analytically. Coefficients of the cost function are adapted based on the vehicle phaseplanetrajectory to realize a proper coordination of braking and steering subsystems. Simulationresults validate the effectiveness of the proposed method to enhance the vehicle dynamics control.