Modeling and Optimization of a High-Speed Maneuver of an All-Wheel-Drive Vehicle

A four-wheel-drive mechanical system with individual torque sources for each wheel is considered. The study addresses the problem of optimal control of a vehicle whose initial state is characterized by a substantial lateral velocity. The objective is to design a control law that ensures safe maneuver execution: preventing collision with a stationary lateral obstacle while simultaneously achieving the maximum possible velocity in a prescribed direction. The problem is solved numerically using Pontryagin’s Maximum Principle.