Utilization of Actuators to Improve Vehicle Stability at the Limit: From Hydraulic Brakes Toward Electric Propulsion

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  • Mats Jonasson
    Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg, Sweden; KTH Vehicle Dynamics, SE-100 44 Stockholm, Sweden e-mail:
  • Johan Andreasson
    Modelon AB, Ideon Science Park, SE-223 70 Lund, Sweden
  • Stefan Solyom
    Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg, Sweden
  • Bengt Jacobson
    Vehicle Dynamics and Active Safety, Volvo Car Corporation, SE-405 31 Gothenburg, Sweden
  • Annika Stensson Trigell
    KTH Vehicle Dynamics, SE-100 44 Stockholm, Sweden

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<jats:p>The capability of over-actuated vehicles to maintain stability during limit handling is studied in this paper. A number of important differently actuated vehicles, equipped with hydraulic brakes toward more advanced chassis solutions, are presented. A virtual evaluation environment has specifically been developed to cover the complex interaction between the driver and the vehicle under control. In order to fully exploit the different actuators setup, and the hard nonconvex constraints they possess, the principle of control allocation by nonlinear optimization is successfully employed. The final evaluation is made by exposing the driver and the over-actuated vehicles to a safety-critical double lane change. Thereby, the differently actuated vehicles are ranked by a quantitative indicator of stability.</jats:p>

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