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Abstract—Most of automotive researches are focused on autonomous vehicles. Both industrials and academics are working on several changes, and the way to coordinate the increasing number of chassis systems is one among them. This paper proposes a more suitable control architecture for autonomous vehicles complexity. This architecture is based on control allocation techniques developed especially to handle over-actuated systems. The allocation is made by taking into account the tire dynamics couplings through a new linear tire model with varying parameters. Simulations of combined manoeuvres proved the potential of this architecture and its relevance for future autonomous vehicles.
Index Terms—control allocation, chassis systems coordination, tire modelling, vehicle dynamics control, active rear wheel steering, autonomous vehicles
Cite: Moad Kissai, Bruno Monsuez, Adriana Tapus, and Didier Martinez, "Control Allocation of Active Rear Steering and Vehicle Dynamics Control Using a New Tire Model," International Journal of Mechanical Engineering and Robotics Research, Vol. 7, No. 6, pp. 608-616, November 2018. DOI: 10.18178/ijmerr.7.6.608-616