The Influence of Tyre Lateral Force for Control Allocation of Yaw Torque

  • Derong YangEmail author
  • Mats Jonasson
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


The present paper provides a thorough analysis and reveals the yaw torque generated by tyre lateral forces, due to the well-known combined slip effect. The indirect yaw torque here is captured by a tyre model simplification designed for the real-time control allocation purpose. Experiments were carried out by a driving robot, controlling steering wheel, gas and brake pedal at various manoeuvres. The test vehicle is equipped with high precision measurement-wheel mounted at each wheel. It was found that the simplified model correlates with the experimental results, where the relation between the wheel torque distribution of front/rear axles and the yaw torque generated by tyre lateral forces are highly dependent on the vehicle lateral acceleration and drive torque request.


Optimal yaw torque control Tyre model Control allocation Indirect yaw torque 


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Active Safety and Vehicle DynamicsVolvo Car GroupGothenburgSweden
  2. 2.Department of Mechanics and Maritime SciencesChalmers University of TechnologyGothenburgSweden

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