Coordinated vehicle dynamics control with control distribution

This paper investigates a hierarchically coordinated vehicle dynamics control approach with individual wheel torque and steering actuation. A high-level robust nonlinear sliding mode controller is designed to determine the generalized forces/moments required to achieve vehicle motion objectives. A weighted pseudo-inverse based control allocation method is employed for computationally efficient distribution of control effort to the slip and slip angle of each wheel. To avoid saturation, tire-road friction estimation is an essential part of the control distribution scheme. Two adverse driving scenario simulations are used to evaluate the effectiveness of this control system