OPTIMAL CONTROL INPUTS TO AFFECT VEHICLE DYNAMICS IN VARIOUS DRIVING STATES

This paper explores vehicle dynamics in skid maneuvers. First, modeling of vehicle dynamics in skid maneuvers is discussed and a vehicle model suited for the situation is developed. The model is used for analyzing the theoretical maximum stabilizing yaw moment, which can be generated in skidding by vehicle control systems. The maximum yaw moment is found by optimization in an exemplary skid maneuver. From analysis of the results, different underlying physical principles that govern yaw moment generation can be revealed. The sensitivity of the optimization results is analyzed by varying the vehicle geometry and tire force characteristics.