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<p>To improve cornering feel, which is a key element of vehicle ride comfort, achieving balanced roll–pitch motion is very important. However, previous studies have increased the complexity and cost of the system by changing the characteristics of the suspension or using additional actuators. In this study, we propose a new approach to achieve roll–pitch motion synchronization only by controlling the speed without physical modification and additional actuator. In addition, we propose the concept of “equivalent pitch” that can compensate for the effects of acceleration and velocity to define the cornering feel under acceleration, which has not been discussed in the previous studies. From this, we design a roll–pitch motion synchronization controller using a predictive model-based approach to achieve good cornering feel, and verify that it can effectively improve the cornering feel through a series of simulations about various accelerating scenario in CarSim and MATLAB/Simulink. The findings highlight the feasibility of a cost-effective, software-based approach for enhancing vehicle cornering dynamics, particularly for autonomous vehicles capable of independent speed and steering control.</p>

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Speed Controller Design for Roll–Pitch Motion Synchronization to Enhance Cornering Feel in Autonomous Vehicles

  • 期刊论文

  • 发表日期：

    2025年7月21日

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  • Minsu Kim,
  • Yeayoung Park,
  • Changsun Ahn

摘要

To improve cornering feel, which is a key element of vehicle ride comfort, achieving balanced roll–pitch motion is very important. However, previous studies have increased the complexity and cost of the system by changing the characteristics of the suspension or using additional actuators. In this study, we propose a new approach to achieve roll–pitch motion synchronization only by controlling the speed without physical modification and additional actuator. In addition, we propose the concept of “equivalent pitch” that can compensate for the effects of acceleration and velocity to define the cornering feel under acceleration, which has not been discussed in the previous studies. From this, we design a roll–pitch motion synchronization controller using a predictive model-based approach to achieve good cornering feel, and verify that it can effectively improve the cornering feel through a series of simulations about various accelerating scenario in CarSim and MATLAB/Simulink. The findings highlight the feasibility of a cost-effective, software-based approach for enhancing vehicle cornering dynamics, particularly for autonomous vehicles capable of independent speed and steering control.