Modeling, Analysis and Control on Vehicle Lateral Dynamics with Chassis Heterogeneous Actuators

Abstract Chassis-by-wire technology has gained significant attention, with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control. Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems, including distributed drive, all-wheel drive (AWD), brake-by-wire (BBW), steer-by-wire(SBW), rear-wheel steering (RWS), active stabilizer bar (ASB) and active suspension system (ASS), greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations. To advance research in chassis domain control, it is essential to understand how these heterogeneous execution systems influence vehicle dynamics. This paper focuses on the modeling and analysis of the lateral, longitudinal, and vertical chassis control and execution systems,- as well as their impact on vehicle lateral motion. Using a vehicle simulation platform, both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics. Additionally, a hierarchical control architecture was designed to control the vehicle’s lateral stability. The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop (HIL) tests and real-world vehicle testing.