Abstract
The direct yaw moment control (DYC) poses an optimization problem for the determination of tire force distribution. One of us has derived an algebraic solution to a minimax optimization problem that is characterized by the requirement of the traction braking force difference between the left and right wheels together with the minimization of the maximum value of tire workloads. In this study, we apply this solution to a generalized optimization problem in which we consider the yaw moment due to the steering of the front and rear wheels. In this formulation, the total value of the moments generated by two different mechanisms is specified. The proposed numerical approach that uses the golden section method rapidly converges and determines the tire force for the four wheels that generates the required traction/braking force, lateral force, and the total yaw moment, and thus the maximum value of the tire workload is minimized. Further, we demonstrate the effect of relaxation of the tire force distribution problem through a numerical example.
