Investigation of the Non-Convex Force Constraints Imposed by Individual Wheel Torque Allocation
Artikel i vetenskaplig tidskrift, 2010

This paper formulates force constraints of over-actuated road vehicles. In particular, focus is put on different vehicle configurations provided with electrical drivelines. It is demonstrated that a number of vehicles possesses non-convex tyre and actuator constraints, which have an impact on the way in which the actuators are to be used. By mapping the actuator forces to a space on a global level, the potential of the vehicle motion is investigated for the vehicles studied. It is concluded that vehicles with individual drive, compared with individual brakes only, have a great potential to yaw motion even under strong lateral acceleration.

Tyre forces

Electric vehicles

Brute force

Combined slip

Force allocation

Over-actuated vehicles


Mats Jonasson

Johan Andreasson

Bengt J H Jacobson

Annika Stensson Trigell

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. 48 9