Global force potential of over-actuated vehicles

Abstract

This paper formulates force constraints of over-actuated road vehicles. In particular, focus is put on different vehicle configurations provided with electrical drivelines. It is demonstrated that a number of vehicles possesses non-convex tyre and actuator constraints, which have an impact on the way in which the actuators are to be used. By mapping the actuator forces to a space on a global level, the potential of the vehicle motion is investigated for the vehicles studied. It is concluded that vehicles with individual drive, compared with individual brakes only, have a great potential to yaw motion even under strong lateral acceleration.

Keywords:

• brute force
• combined slip
• electric vehicles
• force allocation
• tyre forces
• over-actuated vehicles

Acknowledgement

This work was financed in part by the Swedish National Energy Agency.

Notes

Superposition of steering angles from mechanical front steering, also commonly mentioned as active front steer.