A review of longitudinal/lateral integrated control technology for in-wheel motor automotive chassis

The in-wheel motor-driven electric vehicle (IWMEV) has high controllable degrees of freedom, fast motor response, high system integration, and a compact vehicle structure, making it the best platform for implementing advanced vehicle dynamics control technologies. Chassis integrated control overcomes the limitations of individual actuators, resolves conflicts and redundancies, and ensures that the system maximizes the potential of available actuators, thereby enhancing vehicle dynamics, safety, comfort, and energy efficiency. This paper discusses the longitudinal/lateral integrated control technologies in the two-dimensional dynamic integrated control of IWMEV, such as longitudinal anti-lock braking system (ABS), electronic brake force distribution system (EBD), regenerative braking system (RBS), brake-by-wire system (BBW), longitudinal fault-tolerant control (FTC), lateral active front steering system (AFS), electric power steering system (EPS), electronic stability program (ESP), steer-by-wire system (SBW), and direct yaw moment control system (DYC). The focus is on the integrated control algorithms among longitudinal, lateral, and longitudinal/lateral chassis subsystems, the current research status, future development trends, and the factors influencing chassis integrated control. Additionally, the paper provides insights into the future development directions and ideas for IWMEVs.