VEHICLE DYNAMICS AND STABILIZATION USING A NONLINEAR TYRE MODEL WITH 4-WHEEL STEERING AND BRAKING

A dynamic vehicle simulation and control algorithm are developed in th is study which utilise a nonlinear tyre model and coordinated four-whe el steering and braking systems to improve vehicle directional stabili ty, controllability and response to driver's command on different road conditions. The linear programming algorithm is utilised for the eval uation of the distribution of the normal forces on the tyres and the o ptimum tractive/braking forces required for ensuring stability. The co mputer simulation of the developed four-wheel steering and braking sys tem shows that the proposed approach can considerably enhance the stab ility and robustness of the performance of the vehicle especially unde r slippery road conditions.