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

Tyre Model

Optimal Yaw Torque Control

Indirect Yaw torque

Control Allocation


Derong Yang

Volvo Cars

Mats Jonasson

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Lecture Notes in Mechanical Engineering

2195-4364 (ISSN)


The 26th IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks
Göteborg, Sweden,



Robotteknik och automation




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