Control Strategy for Vehicle Lateral Dynamics Combining Torque Vectoring With Four Wheel Steering

This paper presents a control strategy for multi-actuated vehicle for controlling the vehicle lateral dynamics. The controller tries to couple torque vectoring control, which is possible thanks to independent electric motors, with four wheels steering system by analyzing the vehicle behavior in the phase plane. A performance index is then defined to weight the two actuators intervention. The controller is tested in simulation environment where several typical maneuvers were simulated.