Analysis of vehicle actuators based on reachable sets

The paper examines the reachability characteristics of vehicle actuators in order to analyse their abilities for the entire vehicle system. A computation method for an outer approximation of a reachable set is proposed. Simulation experiments are used in order to formulate the shape of the reachable sets of actuators. The evaluation of the shape provides preliminary information in the approximation of the reachable set. The upper bounds of the reachable set are calculated based on the constrained LMI feasibility problem in the nonlinear optimization task. The aim of the analysis is to provide a theoretical basis for the coordination of the actuators. The method is illustrated through the influence of the steering and the brake control systems at various velocities and road conditions.