Coordinated Control Strategy for Longitudinal, Lateral, and Vertical Motions of Distributed Electric Vehicles Based on Model Predictive Control

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Distributed electric vehicles, equipped with independent motors at each wheel, offer significant advantages in flexibility, torque distribution, and precise dynamic control. These features contribute to notable improvements in vehicle maneuverability and stability. To further elevate the overall performance of vehicles, particularly in terms of handling, stability, and comfort, this paper introduces an coordinated control strategies for longitudinal, lateral, and vertical motion of distributed electric vehicles. Firstly, a full-vehicle dynamics model is developed, encompassing interactions between longitudinal, lateral, and vertical forces, providing a robust framework for analyzing and understanding the intricate dynamic behaviors of the vehicle under various operating conditions. Secondly, a vehicle motion controller based on Model Predictive Control is designed. This controller employs a sophisticated multi-objective optimization algorithm to manage and coordinate several critical subsystems, including Active Front-Wheel Steering, Direct Yaw Moment Control, Active Suspension System, and Anti-Slip control, significantly enhancing the vehicle's overall handling performance and coordination among implementation systems Finally, to prevent tire slippage and lock-up, an optimized torque distribution method based on slip ratio feedback is proposed. This method constraint torque distribution by calculating the maximum transmissible longitudinal force through the anti-slip control module, achieving integrated anti-slip and torque allocation. The proposed control strategy is validated through a comprehensive co-simulation platform integrating CarSim and Simulink. Simulation results demonstrate that the proposed scheme effectively improves vehicle ride comfort and enhances maneuverability and stability under various driving conditions. This research highlights the extensive application potential and practical engineering value of the proposed cooperative control strategy in advancing the performance of distributed electric vehicles.

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