Adaptive Mode-Switching Coordinated Control based on Stability Domain for Longitudinal-Lateral-Vertical Decoupling X-By-Wire Electric Vehicles

With advancements in X-By-Wire electric vehicle (XBWEV) technology and chassis domain control, driver assistance systems will be integrated into a single unit to manage longitudinal, lateral, and vertical motions. XBWEVs, however, have distinct control requirements to achieve various performance goals under different driving conditions. This paper proposes a longitudinal-lateral-vertical coordinated (LLV-C) three-layer architecture for XBWEVs, capable of adaptively switching control modes based on driving conditions to enhance vehicle performance in handling stability, comfort, safety, and economy. The first layer introduces three control modes: "ECONOMY", "STABILITY" and "ANTI-SLIP", based on stability domain. The second layer defines variable control objectives for each mode. The third layer focuses on transforming tire forces into actuator commands. Co-simulations validate the performance of the proposed LLV-C in constant speed snake-like locomotion (CS-SLL) and segmented variable-speed double lane change (SVS-DLC) scenarios.