Abstract
Integration of traction/braking force distribution and active front steering is discussed. Based on an active front steering control to respond D^* command input by the driver, effects of traction/braking force distribution to generate direct yaw moment is investigated. A model following controller is designed to attenuate fluctuation of the sideslip angle. Two objective functions are defined to determine the traction/braking force distribution. The optimum distributions for these objective functions are derived in the form of simple algebraic expressions. Their effects on SBW vehicle driveablity and stabilities are tested through detailed numerical simulations using CarSim vehicle model.
