Energy efficient cornering using over-actuation
Journal article, 2019

This work deals with utilisation of active steering and propulsion on individual wheels in order to improve a vehicle’s energy efficiency during a double lane change manoeuvre at moderate speeds. Through numerical optimisation, solutions have been found for how wheel steering angles and propulsion torques should be used in order to minimise the energy consumed by the vehicle travelling through the manoeuvre. The results show that, for the studied vehicle, the energy consumption due to cornering resistance can be reduced by approximately 10 % compared to a standard vehicle configuration. Based on the optimisation study, simplified algorithms to control wheel steering angles and propulsion torques that results in more energy efficient cornering are proposed. These algorithms are evaluated in a simulation study that includes a path tracking driver model. Based on a combined rear axle steering and torque vectoring control an improvement of 6-8 % of the energy consumption due to cornering was found. The results indicate that in order to improve energy efficiency for a vehicle driving in a non-safety-critical cornering situation the force distribution should be shifted towards the front wheels.


Energy efficiency


Vehicle control


Johannes Edrén

Royal Institute of Technology (KTH)

Mats Jonasson

Volvo Cars

Jenny Jerrelind

Royal Institute of Technology (KTH)

Annika Stensson Trigell

Royal Institute of Technology (KTH)

Lars Drugge

Royal Institute of Technology (KTH)


0957-4158 (ISSN)

Vol. 59 69-81

Areas of Advance



Subject Categories

Applied Mechanics

Vehicle Engineering

Control Engineering

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