A method to generate on-line optimal acceler- ation/deceleration and attitude profiles for a half-car model in high-speed cornering is presented. The methodology is an extension of (1) where a point-mass model of the vehicle was used. The acceleration envelope of the vehicle (GG- diagram) from the locus of the front and rear tire forces is used for selecting the optimal control inputs. A stable implementation of the algorithm for a path of increasing radius is also presented.
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Velenis et al. (2005) studied this question.
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