The influence of tyre lateral force for control allocation of yaw torque

Paper in proceeding, 2020

The present paper provides a thorough analysis and reveals
the yaw torque generated by tyre lateral forces, due to the well-known
combined slip effect. The indirect yaw torque here is captured by a tyre
model simplifiation designed for the real-time control allocation purpose.
Experiments were carried out by a driving robot, controlling steering
wheel, gas and brake pedal at various manoeuvres. The test vehicle
is equipped with high precision measurement-wheel mounted at each
wheel. It was found that the simplified model correlates with the experimental
results, where the relation between the wheel torque distribution
of front/rear axles and the yaw torque generated by tyre lateral forces
are highly dependent on the vehicle lateral acceleration and drive torque
request.