Combined wheel torque and steering control based on model predictive controller using a simplified tyre model

This paper presents a vehicle chassis control system based on a model predictive control method that controls both front steer and wheel torques at each wheel and is developed to enhance vehicle yaw motion and the ability to track the desired trajectory. A computationally efficient simplified non-linear tyre model, which is easy to implement in the control algorithms, is used along with an 8 degree of freedom (DOF) vehicle model. The performance of this controller is compared to that based on the well known Magic Formula tyre model. The effectiveness and limitations of the proposed controller are discussed through simulation.