Article: Trajectory tracking using optimal tyre force distribution for obstacle avoidance Journal: International Journal of Vehicle Autonomous Systems (IJVAS) 2025 Vol.18 No.2 pp.163 - 189 Abstract: When a collision with an obstacle is imminent, the vehicle should autonomously avoid the obstacle if no corrective action is taken by a human driver. This paper addresses the collision avoidance problem by using simultaneous steering and braking. Using proportional and proportional-derivative controllers, we first compute the desired longitudinal and lateral vehicle forces and yaw moment. These forces and moment were distributed to the desired longitudinal and lateral tyre forces by reducing the tyre workload. A two-stage weighted square sum minimisation of the tyre workload is considered in this paper, and the optimal direct yaw moment, which is used to control the vehicle motion, is derived analytically. The proposed method updates the weights in the optimisation problem by using the tyre workloads obtained in the first stage. Numerical examples demonstrate the effectiveness of the proposed method in achieving a lower maximum tyre workload while maintaining vehicle stability compared to an ordinary weighted square sum minimisation in which the weights in the optimisation problem are set to be equal to 1. Inderscience Publishers - linking academia, business and industry through research

Title: Trajectory tracking using optimal tyre force distribution for obstacle avoidance

Authors: Adam Puah Leong Zhin; Amrik Singh Phuman Singh; Intan Zaurah Mat Darus

Addresses: Fakulti Teknologi dan Kejuruteraan Mekanikal, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia ' Centre for Advanced Research on Energy, Fakulti Teknologi dan Kejuruteraan Mekanikal, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, Durian Tunggal, Melaka, Malaysia ' Faculty of Mechanical Engineering, Universiti Teknologi Malaysia, Johor Bahru, Johor, Malaysia

Abstract: When a collision with an obstacle is imminent, the vehicle should autonomously avoid the obstacle if no corrective action is taken by a human driver. This paper addresses the collision avoidance problem by using simultaneous steering and braking. Using proportional and proportional-derivative controllers, we first compute the desired longitudinal and lateral vehicle forces and yaw moment. These forces and moment were distributed to the desired longitudinal and lateral tyre forces by reducing the tyre workload. A two-stage weighted square sum minimisation of the tyre workload is considered in this paper, and the optimal direct yaw moment, which is used to control the vehicle motion, is derived analytically. The proposed method updates the weights in the optimisation problem by using the tyre workloads obtained in the first stage. Numerical examples demonstrate the effectiveness of the proposed method in achieving a lower maximum tyre workload while maintaining vehicle stability compared to an ordinary weighted square sum minimisation in which the weights in the optimisation problem are set to be equal to 1.

Keywords: emergency lane change; integrated chassis control; tyre force distribution; trajectory tracking; vehicle stability control.

DOI: 10.1504/IJVAS.2025.146147

International Journal of Vehicle Autonomous Systems, 2025 Vol.18 No.2, pp.163 - 189

Received: 18 May 2024
Accepted: 05 Nov 2024
Published online: 07 May 2025 *

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Title: Trajectory tracking using optimal tyre force distribution for obstacle avoidance

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