Integrated vehicle control via coordinated steering and wheel torque inputs

A controller was developed to govern the lateral position of a highway-speed vehicle using frequency-weighted coordination of front steering and torque inputs. The MISO design problem was recast as a SISO approach by using a cascaded design technique: the first step determined the relative contribution of each control input as a function of frequency; secondary design steps utilized classical SISO approaches. For the vehicle control problem, the torque steering inputs were designed to act only as high-frequency inputs, while standard front steering was weighted for DC and low-frequency inputs. This controller was then tested on an experimental vehicle system