Combining Coordination of Motion Actuators with Driver Steering Interaction
Journal article, 2015

Objective: A new method is suggested for coordination of vehicle motion actuators; where driver feedback and capabilities become natural elements in the prioritization. Methods: The method is using a weighted least squares control allocation formulation, where driver characteristics can be added as virtual force constraints. The approach is in particular suitable for heavy commercial vehicles that in general are over actuated. The method is applied, in a specific use case, by running a simulation of a truck applying automatic braking on a split friction surface. Here the required driver steering angle, to maintain the intended direction, is limited by a constant threshold. This constant is automatically accounted for when balancing actuator usage in the method. Results: Simulation results show that the actual required driver steering angle can be expected to match the set constant well. Furthermore, the stopping distance is very much affected by this set capability of the driver to handle the lateral disturbance, as expected. Conclusion: In general the capability of the driver to handle disturbances should be estimated in real-time, considering driver mental state. By using the method it will then be possible to estimate e.g. stopping distance implied from this. The setup has the potential of even shortening the stopping distance, when the driver is estimated as active, this compared to currently available systems. The approach is feasible for real-time applications and requires only measurable vehicle quantities for parameterization. Examples of other suitable applications in scope of the method would be electronic stability control, lateral stability control at launch and optimal cornering arbitration.

control allocation

split friction


actuator coordination

driver interaction

heavy commercial vehicles

actuator coordination


Kristoffer K D Tagesson

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Leo Laine

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Bengt J H Jacobson

Chalmers, Applied Mechanics, Vehicle Engineering and Autonomous Systems

Traffic Injury Prevention

1538-9588 (ISSN) 1538-957X (eISSN)

Vol. 16 Supp 1 18-24

Areas of Advance


Subject Categories

Vehicle Engineering



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