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The present paper discusses driving/braking force distributions of direct yaw moment control (DYC) to balance tire workloads effectively. The optimum distributions to minimize the maximum workload are derived in the form of simple algebraic expressions. For improvement of vehicle stability and maneuverability, an active four-wheel steering is integrated with DYC by the minimax optimization. The four-wheels are steered by a model following sliding mode controller to maintain zero-sideslip of the vehicle body. Numerical simulations with CarSim, a popular multi-degree-of-freedom vehicle model, are performed to prove effectiveness of the proposed control scheme.

Driving/Braking Force Distribution by Minimax Optimization of Tire Workload (Case of Active Four-Wheel Steering for Zero-Sideslip Control)