Journal
VEHICLE SYSTEM DYNAMICS
Volume 48, Issue 9, Pages 983-998Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423110903243232
Keywords
brute force; combined slip; electric vehicles; force allocation; tyre forces; over-actuated vehicles
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Funding
- Swedish National Energy Agency
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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.
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