TY  - JOUR
PY  - 2023//
TI  - Steering and braking combined path tracking control considering the reserve potential of tyre force
JO  - International journal of vehicle design
A1  - Li, Shaosong
A1  - Wang, Feng
A1  - Xu, Haitian
A1  - Li, Zonghao
A1  - Cui, Gaojian
SP  - 151
EP  - 171
VL  - 93
IS  - 1/2
N2  - The coordination control of steering and braking system is the key technology for vehicle stability control under high-speed and low adhesion limit conditions. The concept of equal reserve capacity of tyre longitudinal and lateral forces is proposed in the paper, which provides a novel idea for tyre force distribution. On this basis, a steering and braking combined path tracking control method based on model predictive control (MPC) is proposed to guarantee vehicle path tracking performance. Research results show that the proposed method enables the vehicle to steadily and accurately track the planned trajectory under high-speed and low-adhesion condition. Compared with the schemes in other methods, the reserve margin of the tyre force is greatly improved in the proposed method, thus enabling the tyre to exert greater control potential.<p />  <p>Language: en</p>
LA  - en
SN  - 0143-3369
UR  - http://dx.doi.org/10.1504/IJVD.2023.134724
ID  - ref1
ER  -