Investigation on integrated vehicle chassis control based on vertical and lateral tyre behaviour correlativity

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In this article, the integration of vehicle vertical and lateral motion control is investigated via control coordination between active suspension and four wheel steering. With respect to the different treatments of nonlinear tyre vertical and lateral behaviour correlativity, two control approaches based on linear optimal H ∞ synthesis and nonlinear sliding mode control are proposed and studied, respectively. For the former approach, the integrated control benefits have been examined through the overall performance improvement under the influence of external disturbance, such as road unevenness. For the latter approach, the potential of using tyre vertical load influence on lateral behaviour to improve vehicle critical handling performance has been investigated. Simulations and analysis indicate that both the above two approaches exhibit promising effects of vehicle chassis control integration.