Integrated chassis control

A method for controlling a vehicle that has tires, comprising:

• determining a motion plan;
• determining actuation limits for propulsion actuators, determining actuation limits for braking actuators, and determining actuation limits for steering actuators, wherein the actuation limits describe a maximum actuator effort that each of the actuators can contribute;
• determining feasible chassis-level accelerations based on the actuation limits;
• determining a chassis-level motion request based on the motion plan and the feasible chassis-level accelerations, wherein the chassis-level motion request describes motion of a chassis of the vehicle that is intended to cause the vehicle to follow the motion plan;
• determining desired longitudinal tire forces and lateral tire forces for each of the tires according to the chassis-level motion request, wherein the desired tire forces, in combination, satisfy the chassis-level motion request;
• and
• determining actuator commands for the propulsion actuators, braking actuators, and steering actuators by coordinating the effort of the propulsion actuators, braking actuators, and steering actuators according to the desired tire forces and based on the actuation limits.

A non-transitory computer-readable storage device including program instructions executable by one or more processors that, when executed, cause the one or more processors to perform operations for controlling a vehicle that has tires, the operations comprising:

• determining a motion plan;
• determining actuation limits for propulsion actuators, determining actuation limits for braking actuators, and determining actuation limits for steering actuators, wherein the actuation limits describe a maximum actuator effort that each of the actuators can contribute;
• determining feasible chassis-level accelerations based on the actuation limits;
• determining a chassis-level motion request based on the motion plan and the feasible chassis-level accelerations, wherein the chassis-level motion request describes motion of a chassis of the vehicle that is intended to cause the vehicle to follow the motion plan;
• determining desired longitudinal tire forces and lateral tire forces for each of the tires according to the chassis-level motion request, wherein the desired tire forces, in combination, satisfy the chassis-level motion request;
• and
• determining actuator commands for the propulsion actuators, braking actuators, and steering actuators based on the chassis-level motion request, wherein the actuator commands are configured to cause motion of the vehicle that is consistent with the chassis-level motion request.