Integrated Combined-Slip based Vehicle and Wheel Dynamic Control for Electric Vehicles

A vehicle stabilization control system that integrates vehicle lateral and wheel dynamics and considers a tire combined-slip model for automated driving systems in electric vehicles, is presented. This paper introduces a new prediction model that not only considers lateral force drop by the longitudinal slip, but also takes into account the variation of longitudinal forces due to slip angles during cornering. As confirmed by road experiments as well as high-fidelity simulations, this novel model derivation improves the lateral stability of the autonomous driving significantly through more feasible control actuation satisfying safety and stability constraints. The control system monitors cornering and brake force capacities without having road surface friction information and adjusts slips to minimize tracking error, satisfying stability requirements through a constrained optimization program. The stability of the proposed receding horizon is proved, and the performance of the controller is evaluated in road experiments, in real-time, in various maneuvers on different road surfaces.