Optimal corner control for vehicles

Abstract

Method for steering a vehicle (5) with several wheels (32, 34, 36, 38), comprising that: a desired vehicle dynamics (122) is monitored; a desired corner force and corner moment distribution (232), comprising a longitudinal force, a lateral force and a torque acting in a horizontal plane on each wheel (32, 34, 36, 38) of the vehicle (5), is determined based on the desired vehicle dynamics (122) and a real-time optimization solution for the dynamics in closed form; and the vehicle (5) is controlled based on the desired corner force and corner moment distribution (232); where the real-time optimization solution for the dynamics is based on: a deviation to be minimized between a desired longitudinal force, a desired lateral force and a desired torque at the center of gravity of the vehicle (5), which are determined by a driver command, and the longitudinal force, the lateral force and the torque at the center of gravity of the vehicle (5), which are determined by the longitudinal force, the lateral force and the torque acting in the horizontal plane on each wheel (32, 34, 36, 38) of the vehicle (5); a tire force control fluctuation to be minimized; and a tire force reserve component to be maximized, which takes into account the friction properties of the tires of the wheels (32, 34, 36, 38) of the vehicle (5); where determining the desired corner force and corner moment distribution (232) based on the real-time optimization solution for dynamics in closed form includes: a cost function is defined as the sum of the deviation of forces and torques at the center of gravity to be minimized, the tire force control fluctuation to be minimized, and the tire force reserve component to be maximized; The effort function is minimized under the assumption that a derivative of the effort function with respect to a corner force variation (δf) is equal to zero, in order to solve for the corner force variation (δf); and The corner force variation (δf) is used to determine the desired corner force and corner moment distribution (232).