LAUSR

Tire force distribution with the consideration of practical constraints is a key part of automatic driving. This paper is intended to improve the operational capability of the vehicle under low friction coefficient. The speed and front wheel angle are restricted within a specific range caused by the limitation of executable drive space, which is defined as an input constrained problem of the nonlinear system. The hierarchical design concept is adopted in this paper, including algorithms of both control and allocation to determine the driving performance cooperatively. The methodology of multi-input and multi-output sliding mode control (MIMO SMC) is applied in the high-level controller to guarantee the vehicle system stable. Confronted with circumstances that the vehicle may be seriously unstable due to longitudinal forces and lateral forces beyond the feasible region in the friction circle, the scheme of dynamic adjustment of control target is provided owing to there is no reasonable solution for tire force distribution in the low-level controller. The coefficients of reconstruction and attenuation are introduced to reconstruct the optimized controller and weaken inputs of the closed loop system, respectively. The simulation results verify that the proposed design can redistribute generalized forces and moments between the wheels especially for the poor road condition.