全线控分布式驱动电动汽车底盘协同控制研究综述

Chassis coordinated control for full X-by-wire distributed-drive electric vehicles can effectively enhance both safety and ride comfort during vehicular operation. Taking vehicle safety and ride comfort as objectives, this paper provides a comprehensive review of key technologies and challenges in the chassis coordinated control for full X-by-wire distributed-drive electric vehicles, encompassing handling stability control, fault-tolerant control, vehicle attitude control, and ride comfort control. For handling stability control, traction control and anti-lock braking methods are introduced. A systematic analysis is conducted to evaluate the advantages and disadvantages of using one single or multiple X-by-wire subsystems in lateral and roll vehicle stability control. Regarding fault-tolerance control, the paper outlines fault-tolerant control strategies that use direct yaw-moment control to complement steer-by-wire systems. The paper summarizes methods for pitch attitude control and ride comfort control using one single or multiple X-by-wire subsystems. It emphasizes the importance of simultaneously addressing vehicle attitude and ride comfort to enhance control adaptability in complex operating conditions. Finally, the paper provides insights into future directions in chassis coordinated control.