Method and system for lateral-vertical collaborative control of distributed in-wheel motor drive electric vehicles

A method for lateral-vertical integrated control of a distributed in-wheel motor drive electric vehicle, comprising:

• constructing a fourteen-degree-of-freedom (14-DOF) full-vehicle model based on an unbalanced magnetic force model of an in-wheel motor;
• constructing a lateral force-tire slip angle-vertical load-based three-dimensional piecewise-affine tire model based on the 14-DOF full-vehicle model in combination with a corrected Magic Formula tire model;
• based on the lateral force-tire slip angle-vertical load-based three-dimensional piecewise-affine tire model, establishing an active front-wheel steering controller based on hybrid model predictive control;
• and simultaneously establishing an active suspension system controller based on multi-constraint input and multi-constraint output with roll stability, ride comfort and stator-rotor eccentricity of the in-wheel motor as control objectives;
• and
• establishing an integrated control strategy for the active front-wheel steering controller and the active suspension system controller based on a front-wheel steering angle, a β-{dot over (β)} phase plane and a lateral load transfer rate, so as to achieve lateral-vertical integrated control of the distributed in-wheel motor drive electric vehicle.