Integrated Active Steering and Variable Torque Distribution Control for Improving Vehicle Handling and Stability 2004-01-1071

This paper proposes an advanced control strategy to improve vehicle handling and directional stability by integrating either Active Front Steering (AFS) or Active Rear Steering (ARS) with Variable Torque Distribution (VTD) control. Both AFS and ARS serve as the steerability controller and are designed to achieve the improved yaw rate tracking in low to mid-range lateral acceleration using Sliding Mode Control (SMC); while VTD is used as the stability controller and employs differential driving torque between left and right wheels on the same axle to produce a relatively large stabilizing yaw moment when the vehicle states (sideslip angle and its angular velocity) exceed the reference stable region defined in the phase plane. Based on these stand-alone subsystems, an integrated control scheme which coordinates the control actions of both AFS/ARS and VTD is proposed. The functional difference between AFS and ARS when integrated with VTD is explained physically. The effect of the integrated control system on the vehicle handling characteristics and directional stability is studied through an open loop computer simulation of an eight degrees of freedom nonlinear vehicle model. Simulation results confirm the effectiveness of the proposed control system and the overall improvements in vehicle handling and directional stability.