Horizontal and Vertical Coordinated Control of Three-Axis Heavy Vehicles

In order to coordinate the transverse motion control and longitudinal motion control in the tracking control process and ensure the yaw stability and roll stability in the tracking process, a transverse and longitudinal coordinated control method of three-axis heavy vehicles is designed based on model predictive control. The lateral motion controller is designed based on the phase plane method. The upper controller calculates the front wheel angle and additional yaw moment, which ensures the yaw stability while tracking the vehicle. The lower controller calculates the driving force and braking force of the three-axis heavy vehicle. The velocity planning method is designed with the coupling point of longitudinal velocity to coordinate the lateral and longitudinal motion controllers and prevent vehicle rollover. By building the vehicle model in Trucksim (2016.1) and establishing the horizontal and vertical coordination control in Matlab (R2016b), the designed horizontal and vertical coordination control method is simulated and verified. The simulation results show that the designed method can accurately track the reference trajectory while ensuring the yaw stability and roll stability of the three-axis heavy vehicle.