This paper describes an Integrated Chassis Control (ICC) strategy for improving high speed cornering performance by integration of Electronics Stability Control (ESC), Four Wheel Drive (4WD), and Active Roll Control System (ARS). In this study, an analysis of various chassis modules was conducted to prove the control strategies at the limits of handling. The analysis is focused to maximize the longitudinal velocity for minimum lap time and ensure the vehicle lateral stability in cornering. The proposed Integrated Chassis Control algorithm consists of a supervisor, vehicle motion control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate, longitudinal acceleration and desired roll motion. The target longitudinal acceleration is determined based on the driver's intention and vehicle current state to ensure the vehicle lateral stability in high speed maneuvering. The vehicle motion control algorithm calculates a desired longitudinal force, yaw and roll moment for the generation of the desired vehicle motions. In the coordinator, actuator control inputs are coordinated to optimize the driving performance based on proposed strategies. Closed loop simulations of a driver-vehicle-controller system were conducted to evaluate the performance of the proposed control algorithm. The performance of the Integrated Chassis Control has been compared to those of individual chassis control systems such as ESC, 4WD, ARS, and Electronic Control Suspension (ECS). Simulation results show that the proposed ICC algorithm reduces lap time compared to the individual chassis control systems.
