Aspects of autonomous corner modules as an enabler for new vehicle chassis solutions Jonasson, Mats
Publication details: Stockholm Kungliga tekniska högskolan. Farkostteknik, 2007; TRITA-AVE 2006:101, Description: 22 s. + bilISBN:- 9789171785596
This thesis adopts a novel approach to propelling and controlling the dynamics of a vehicle by using autonomous corner modules (ACM). This configuration is characterised by vehicle controlled functions and distributed actuation and offers active and individual control of steering, camber, propulsion/braking and vertical load. Algorithms which control vehicles with ACMs from a state-space trajectory description are reviewed and further developed. This principle involves force allocation, where forces to each tyre are distributed within their limitations. One force allocation procedure proposed and used is based on a constrained, linear, least-square optimisation, where cost functions are used to favour solutions directed to specific attributes.