AN OPTIMIZED MULTI-STAGE SCHEME TO COORDINATE STEERING AND BRAKING

A novel Integrated Vehicle Dynamics Control (IVDC) scheme is presented to coordinate active steering and braking subsystems. The multi-stage coordination scheme is based on the phase-plane Method. The first stage includes the high-level controller which integrates three individual controllers according to vehicle states in the phase plane. In the next stage, an optimized scheme is established to allocate the control objectives to individual braking and steering forces. To achieve this, an inequality-constrained optimization problem, including driver s brake demand, is solved analytically. Coefficients of the cost function are adapted based on the vehicle phaseplane trajectory to realize a proper coordination of braking and steering subsystems. Simulation results validate the effectiveness of the proposed method to enhance the vehicle dynamics control.