A Path-Tracking Controller Design For Distributed Drive Electric Vehicles with All-Wheel Steering

This paper proposes an integrated control strategy for trajectory tracking in all-wheel steering distributed drive electric vehicles (DDEVs). First, a longitudinal and lateral dynamics model for an all-wheel steering DDEV is established. Second, we design an all-wheel steering and direct lateral force model predictive control (MPC) controller to improve the tracking accuracy. Third, a quadratic optimization-based tire torque distribution strategy is developed, considering road adhesion coefficients and axle load transfer. In addition, a sliding mode controller is designed for longitudinal speed tracking. Finally, the proposed integrated controller is validated through joint simulation experiments using Simulink and Carsim. The results demonstrate improved tracking accuracy and stability performance.