Optimal braking and steering control under split friction on curved roads

Preprint, 2024

This paper aims to maximize deceleration on split friction roads by combining steering and individual wheel braking. For this, a previously tested optimization problem is adapted to curved roads. The optimal brake force and steering allocation is investigated as a function of the split friction asymmetry. Results show that low friction is more detrimental to maximum braking on the inner side of the curve due to load transfer. Finally, the paper showcases a control strategy for braking on split friction, which enhances safety and manoeuvrability in critical split friction scenarios.