Modular Integrated Longitudinal, Lateral, and Vertical Vehicle Stability Control for Distributed Electric Vehicles

There is a nonlinear coupling relationship between the vehicle in the longitudinal, lateral, and vertical directions, which brings great difficulties to the design of the controller. To tackle the chattering problem, a hierarchical integrated controller for distributed electric vehicle is proposed to improve driving safety, handling stability, ride comfort, and road tracking capabilities. The proposed algorithm has been developed to overcome a major challenge of the conventional method, which can improve only partial dynamic performance of the vehicle. The optimal pre-pointing lateral acceleration model is used to simulate the operator's expected reaction to the vehicle. The body control layer decouples complex problems to achieve multi-target independent tracking through a nonlinear sliding-mode control algorithm, and calculates the expected total body force to meet the upper level instructions. The tire force distribution layer is designed to optimize the function by reducing the tire load ratio and balancing the vertical dynamic load coefficient to improve the vehicle's driving stability and ride comfort. The lower actuator control layer controls the corresponding actuator to achieve the optimal tire force output from the middle layer. Finally, the effectiveness of the chassis integrated control system is verified in  CarSim and MATLAB co-simulation.