This paper presents a proposed optimum tire force distribution method in order to optimize tire usage and find out how the tires should share longitudinal and lateral forces to achieve a target vehicle response under the assumption that all four wheels can be independently steered, driven, and braked. The inputs to the optimization process are the driver’s commands (steering wheel angle, accelerator pedal pressure, and foot brake pressure), while the outputs are lateral and longitudinal forces on all four wheels. Lateral and longitudinal tire forces cannot be chosen arbitrarily, they have to satisfy certain specified equality constraints. The equality constraints are related to the required total longitudinal force, total lateral force, and total yaw moment. The total lateral force and total moment required are introduced using the model responses of side-slip angle and yaw rate while the total longitudinal force is computed according to driver’s command (traction or braking). A computer simulation of a closed-loop driver-vehicle system subjected to evasive lane change with braking is used to prove the significant effects of the proposed optimal tire force distribution method on improving the limit handling performance. The robustness of the vehicle motion with the proposed control against the coefficient of friction variation as well as the effect of steering wheel angle amplitude is discussed.
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December 2004
Article
Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control
Ossama Mokhiamar,
e-mail: usamam@yahoo.com
Ossama Mokhiamar
Kanagawa Institute of Technology, Graduate School of Mechanical System Engineering, 1030 Shimo-ogino, Atsugi-shi, Kanagawa-ken, 243-0292, Japan
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Masato Abe
Masato Abe
Kanagawa Institute of Technology, Graduate School of Mechanical System Engineering, 1030 Shimo-ogino, Atsugi-shi, Kanagawa-ken, 243-0292, Japan
Search for other works by this author on:
Ossama Mokhiamar
Kanagawa Institute of Technology, Graduate School of Mechanical System Engineering, 1030 Shimo-ogino, Atsugi-shi, Kanagawa-ken, 243-0292, Japan
e-mail: usamam@yahoo.com
Masato Abe
Kanagawa Institute of Technology, Graduate School of Mechanical System Engineering, 1030 Shimo-ogino, Atsugi-shi, Kanagawa-ken, 243-0292, Japan
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division April 21, 2003; final revision, January 24, 2004. Review conducted by: A. Alleyne.
J. Dyn. Sys., Meas., Control. Dec 2004, 126(4): 753-763 (11 pages)
Published Online: March 11, 2005
Article history
Received:
April 21, 2003
Revised:
January 24, 2004
Online:
March 11, 2005
Citation
Mokhiamar, O., and Abe, M. (March 11, 2005). "Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control ." ASME. J. Dyn. Sys., Meas., Control. December 2004; 126(4): 753–763. https://doi.org/10.1115/1.1850533
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