Coordinated Control Strategy for Longitudinal, Lateral, and Vertical Motions of Distributed Electric Vehicles Based on Model Predictive Control
2025-01-8300
To be published on 04/01/2025
- Event
- Content
- In this paper, a coordinated control strategy for the longitudinal, lateral, and vertical dynamics of distributed electric vehicles is proposed to comprehensively enhance vehicle handling, stability, and comfort. First, to analyze the vehicle's dynamic characteristics, a coupled vehicle dynamics model that incorporates longitudinal, lateral, and vertical dynamics is developed. Next, a vehicle motion controller is established based on model predictive control, which coordinates Active Front Steering, Direct Yaw Moment Control, Active Suspension System, and Anti-Slip Regulation modules through multi-objective optimization to improve vehicle coordination. To prevent tire slippage and lock-up, an optimized torque distribution method based on slip ratio feedback is proposed, constraining torque distribution by calculating the maximum transferable longitudinal force through the anti-slip control module. Finally, the control effectiveness of the proposed scheme is verified through Carsim-Simulink co-simulation. The results indicate that the proposed scheme effectively improves vehicle ride comfort and enhances maneuverability and stability under various driving conditions.
- Citation
- Jia, J., Yue, Y., and Sun, A., "Coordinated Control Strategy for Longitudinal, Lateral, and Vertical Motions of Distributed Electric Vehicles Based on Model Predictive Control," SAE Technical Paper 2025-01-8300, 2025, .