Cho, W., Yoon, J., Yi, K., and Jeong, T., "An Investigation into Unified Chassis Control based on Correlation with Longitudinal/Lateral Tire Force Behavior," SAE Technical Paper 2009-01-0438, 2009, doi:10.4271/2009-01-0438.
This paper presents a Unified Chassis Control (UCC) strategy to improve vehicle stability and maneuverability by integrating Electronic Stability Control (ESC) and Active Front Steering (AFS). The UCC architecture consists of two parts: an estimator and a controller. The estimator is designed to estimate longitudinal and lateral tire forces and the controller is designed in two stages, namely, an upper level controller and a lower level controller. The upper level controller, provides the desired yaw moment for vehicle lateral stability by adopting a sliding control method. The lower level controller, provides the integration method of the AFS and ESC strategies for the desired yaw moment and is designed by optimal tire force coordination.