Vehicle Lateral Motion Control Considering Network-Induced Delay and Tire Force Saturation

This paper presents a robust $H_{\infty}$ output-feedback based control strategy for the vehicle lateral motion control considering network-induced delay and tire force saturation. The unavoidable time delay in the in-vehicle networks degrades the control performance, and even deteriorates the system stability. In addition, due to the friction limit of the tire force, the tire lateral force is suffering saturation phenomenon, which also deteriorates the control effect in extreme driving conditions. To handle the network-induced delay and tire force saturation, a robust $H_{\infty}$ controller is presented to regulate the vehicle lateral motion. An output-feedback control schema, which does not need the vehicle lateral velocity, is designed to reduce the cost of the control system. The tire cornering stiffness uncertainty and external disturbances are also considered in the controller design to improve the robustness of the proposed controller. The comparative simulation results based on Carsim and Simulink verify the effectiveness and robustness of the proposed control strategy.