@inproceedings{d192e8f6100d46d2af69726cf3684743,
title = "Chassis Multi-Subsystem Coordinated Control Based on Dynamic Inversion and Optimization Allocation",
abstract = "This paper addresses the stability control issue during emergency braking on split-mu road surfaces. and proposes a chassis multi-subsystem coordinated control method based on dynamic inversion and optimization allocation. A seven degrees of freedom vehicle dynamics model is used to describe the vehicle's motion characteristics. The overall control strategy adopts a hierarchical structure, with the upper-level control calculating the required longitudinal force, lateral force, and yaw moment using dynamic inversion algorithms, based on the vehicle's longitudinal speed, lateral speed, and yaw rate. The lower-level control utilizes an optimization algorithm to allocate these demands to the four-wheel drive braking forces and the front and rear wheel steering angles. Simulation results demonstrate that the proposed control strategy effectively improves the vehicle's stability and handling performance on split-mu road surfaces.",
keywords = "Chassis, Dynamic Inversion, Hierarchical Structure, Multi-subsystem, Optimization Allocation",
author = "Zhenyong Tao and Hongliang Zhou and Jinlong Cui and Qiang Zhang",
note = "Publisher Copyright: {\textcopyright} 2025 Technical Committee on Control Theory, Chinese Association of Automation.; 44th Chinese Control Conference, CCC 2025 ; Conference date: 28-07-2025 Through 30-07-2025",
year = "2025",
doi = "10.23919/CCC64809.2025.11179804",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "6628--6633",
editor = "Jian Sun and Hongpeng Yin",
booktitle = "Proceedings of the 44th Chinese Control Conference, CCC 2025",
address = "美国",
}