INTRODUCTION Over the last two decades, advances in electronics have revolutionized many aspects of automobiles, especially in the areas of engine management and vehicle dynamics safety systems such as the anti-lock braking system (ABS), traction control system (TCS), and electronic stability control (ESC) system. In these cases, the signals generated by the brake or accelerator pedal are modulated by an electronic control unit in order to control the tire slip of individual wheels in severe braking (ABS) or acceleration (TCS) situations, or to control the vehicle yaw rate through individual wheel braking (ESC). It is important to note that the U.S. National Highway Traffic Safety Administration (NHTSA) has passed federal legislation making the installation of ESC mandatory on allpassenger cars, multipurpose passenger vehicles, trucks, and buses [ 1]. The move to improve the safety, comfort, and performance of vehicles has led to an increase in the use of electronic control systems and the introduction of drive-by- wire systems. Today, the value added to the modern vehicle by electronic systems is approximately 20 percent. In luxury vehicles, for example, more than 90 control systems are used to control a variety of actuators. It is expected that this rate will consistently increase, reaching over 40 percent by 2015 [2]. Integrating various electronic control systems offers the potential to optimize driving behavior independently of the driving maneuver through the individual control and allocation of traction, steering, and braking forces. These unique features create new opportunities for controlling the 2013-01-0681 Published 04/08/2013 Copyright © 2013 SAE International doi:10.4271/2013-01-0681 saepcelec.saejournals.org Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller Kiumars Jalali Univ. of Waterloo Thomas Uchida Stanford Univ. John McPhee and Steve Lambert Univ. of Waterloo ABSTRACT The optimum driving dynamics can be achieved only when the tire forces on all four wheels and in all three coordinate directions are monitored and controlled precisely. This advanced level of control is possible only when a vehicle is equipped with several active chassis control systems that are networked together in an integrated fashion. To investigate such capabilities, an electric vehicle model has been developed with four direct-drive in-wheel motors and an active steering system. Using this vehicle model, an advanced slip control system, an advanced torque vectoring controller, and a genetic fuzzy active steering controller have been developed previously. This paper investigates whether the integration of these stability control systems enhances the performance of the vehicle in terms of handling, stability, path-following, and longitudinal dynamics. An integrated approach is introduced that distributes the required control effort between the in- wheel motors and the active steering system. Several test maneuvers are simulated to demonstrate the performance and effectiveness of the integrated control approach, and the results are compared to those obtained using each controller individually. Finally, the integrated controller is implemented in a hardware- and operator-in-the-loop driving simulator to further evaluate its effectiveness. CITATION: Jalali, K., Uchida, T., McPhee, J. and Lambert, S., "Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 6(1):2013, doi:10.4271/2013-01-0681. ____________________________________ 222Downloaded from SAE International by Univ of California, Monday, August 06, 2018driving dynamics of a vehicle in ways that were not possible in the past. For example, integrating the active braking and active steering systems can avoid the vehicle side-pushing behavior w