Abstract In order to improve the driving dynamics and the driving safety, the car manufacturers have introduced several systems like active front and rear steering, torque vectoring or braking systems. This work presents an integrated lateral dynamics control concept for a over-actuated vehicle. The system incorporates only sensors and actuators available in current series production cars. The driver’s commands are translated by a trajectory generation module, which calculates the desired lateral vehicle dynamics. A kinematic feedforward and a stabilizing feedback controller provide the desired vehicle motion, which is realized by an optimization-based model inversion algorithm using a nonlinear two-track model including all relevant driving dynamics effects. The convex optimization problem, taking also input constraints into account, can be solved in real-time. The non-measured states and additional parameters as the friction coefficient or the road inclination and bank angles are accurately estimated using a second order divided difference Kalman filter. Experimental validation results of a fully equipped test vehicle are provided, which show the excellent performance of the proposed control concept up to the adhesion limit of the tires on several road conditions.

中文翻译：

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具有状态和参数估计以及实验验证的过驱动车辆的集成横向动力学控制概念

摘要 为了提高驾驶动态和驾驶安全性，汽车制造商推出了多种系统，如主动前后转向、扭矩矢量或制动系统。这项工作提出了一种用于过度驱动车辆的集成横向动力学控制概念。该系统仅包含当前系列量产汽车中可用的传感器和执行器。驾驶员的命令由轨迹生成模块转换，该模块计算所需的横向车辆动力学。运动学前馈和稳定反馈控制器提供所需的车辆运动，这是通过基于优化的模型反演算法实现的，该算法使用非线性双轨模型，包括所有相关的驾驶动力学影响。凸优化问题，同时考虑输入约束，可以实时解决。非测量状态和附加参数如摩擦系数或道路倾斜度和坡度角是使用二阶除法卡尔曼滤波器准确估计的。提供了装备齐全的测试车辆的实验验证结果，表明所提出的控制概念在多种道路条件下达到轮胎附着极限的优异性能。