Driving/Braking Force Distribution of Four Wheel Vehicle by Quadratic Programming with Constraints

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概要

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• This paper proposes a yaw rate tracking control method that distributes the driving/ braking force exerted on vehicles at the time of negotiating sharp turns and driving at high speeds. The proposed method employs quadratic programming to distribute the driving/braking force in order to equalize the tire load factor on all wheels and consider the limits of the driving/braking force. The yaw rate tracking performance can be improved even while driving at high speeds and negotiating sharp turns by setting limits for the driving/braking force, differential moment, etc. The effectiveness of our proposed method is proven by a numerical simulation.

著者

• CHIDA Yuichi

  Shinshu University

• IKEDA Yuichi

  Shinshu University

• SUZUKI Ryo

  Shinshu University

関連論文

• Vehicular Slip Ratio Control Using Nonlinear Control Theory
• Driving/Braking Force Distribution of Four Wheel Vehicle by Quadratic Programming with Constraints

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