Coordinated Lateral and Longitudinal Stability Control for Six-Wheel-Independent-Motor-Drive Electric Semi-Trailer

With the rapid development of new energy vehicles and the accelerated electrification of traditional fuel-powered vehicles, higher demands have been placed on active safety and driving stability. Semi-trailers, due to their high center of gravity, large mass, and complex dynamic characteristics, are more prone to instability, posing serious threats to road traffic safety. This paper focuses on a six-wheel hub-motor-driven electric semitrailer and conducts theoretical and simulation-based research on the coordinated control of lateral and longitudinal stability. By integrating a longitudinal anti-slip control strategy with a direct yaw moment control strategy in the lateral direction, a multiobjective torque distribution optimization is implemented to simultaneously address the requirements of longitudinal slip ratio regulation and yaw stability control. A unified coordination and control framework for global vehicle stability is established. Joint simulations under complex driving conditions validate the effectiveness of the proposed coupled lateral-longitudinal coordinated control strategy.