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In this paper an integrated feed-forward lateral dynamics controller, which considers the actuator dynamics and input delays, is presented. The proposed approach uses an optimization based model inversion of a nonlinear two-track model with magic formula tire model to describe the vehicle dynamics. The model is extended by the actuator models containing delays, which are identified with measurement...
For online automotive applications, such as vehicle dynamics control systems or state estimation, the choice of suitable mathematical models is important. In addition to model validity requirements, they have to fulfil requirements like limited computation time or numerical robustness. In this work two online suitable vehicle dynamics models with different modelling depths are discussed. First, a...
An integrated feed-forward controller using optimization based model inversion for the lateral dynamics of an over-actuated vehicle is presented in this paper. The advantage of this feed-forward controller is, that no lateral dynamics states have to be measured or estimated in order to significantly improve the vehicle stability. A nonlinear vehicle model, taking tire nonlinearities, axle compliance...
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