Abstract
This paper proposes a yaw rate tracking control method that distributes the driving/ braking force exerted on vehicles at the time of negotiating sharp turns and driving at high speeds. The proposed method employs quadratic programming to distribute the driving/braking force in order to equalize the tire load factor on all wheels and consider the limits of the driving/braking force. The yaw rate tracking performance can be improved even while driving at high speeds and negotiating sharp turns by setting limits for the driving/braking force, differential moment, etc. The effectiveness of our proposed method is proven by a numerical simulation.
