Coordinated longitudinal and vertical control of corner module vehicles based on groundtyre adhesion on rugged slopes

The incongruity between the low coefficient of adhesion and the high wheel load at the potholes of rugged ramps reduces the passability of the corner module vehicle (CMV). To address this problem, this paper proposes a collaborative control method of longitudinal and vertical dynamics with the target of optimal utilisation of the vehicle's overall attachment ellipse. Firstly, this research analyses the coupling relationship between wheel load and adhesion, combines it with the dynamic identification of the adhesion coefficient of each wheel, and proposes an active suspension control strategy that realises the optimal matching of wheel load and adhesion coefficient. Furthermore, this paper proposes a drive torque distribution strategy that integrates dynamics and driving stability in conjunction with ellipse boundary identification. The simulation results show that the proposed strategy can dynamically coordinate vertical load and torque distribution. Furthermore, the maximum climbing speed is increased by 8.1% over the simple control approach.