Title: Road friction effect on the optimal vehicle control strategy in two critical manoeuvres

Authors: Johannes Edrén; Mats Jonasson; Annika Stensson Trigell; Peter Sundström; Bengt Jacobson; Johan Andreasson

Addresses: Department of Aeronautical and Vehicle Engineering, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden ' Department of Aeronautical and Vehicle Engineering, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden; Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg, Sweden ' Department of Aeronautical and Vehicle Engineering, Royal Institute of Technology (KTH), SE-100 44 Stockholm, Sweden ' Modelon AB, Anders Carlssons Gata 7, SE-417 55 Gothenburg, Sweden ' Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg, Sweden; Chalmers University of Technology, SE-412 96 Gothenburg, Sweden ' Modelon AB Ideon Science Park, SE-223 70 Lund, Sweden

Abstract: This paper presents a research study on the optimal way to negotiate safety-critical vehicle manoeuvres depending on the available actuators and road friction level. The motive is to provide viable knowledge of the limitations of vehicle capability under the presence of environmental preview sensors. In this paper, an optimal path is found by optimising the sequence of actuator requests during the manoeuvres. Particular attention is paid to how the vehicle control strategy depends on friction. This study shows that the actuation of all the forces and torques on and around the vehicle centre of gravity is approximately scaled with friction, whereas at individual wheel level, the optimal force allocation will differ under different friction conditions. A lower friction level leads to lower velocities and load transfer, which influences the individual wheels' tyre force constraints. However, the actuator response compared to the whole system is increased at a lower friction level.

Keywords: vehicle control; actuators; integrated motion control; road friction; optimisation; safety-critical manoeuvres; actuator request sequences; force allocation; tyre force constraints; actuator response; vehicle safety.

DOI: 10.1504/IJVS.2014.060145

International Journal of Vehicle Safety, 2014 Vol.7 No.2, pp.107 - 130

Received: 27 Dec 2012
Accepted: 15 Apr 2013

Published online: 26 Feb 2014 *

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