A Centralized Fault Prevention Method for Vehicle Longitudinal-Lateral-Vertical Control Considering Motor Thermal Protection

In order to prevent the overheating of motors and enhance vehicle stability, a centralized fault prevention control method based on model predictive control that incorporates a motor thermal model is proposed. The motor thermal model is separated into heat generation and heat dissipation components, precisely capturing the impact of motor torque on temperature variations. By dynamically adjusting motor torque distribution, it effectively regulates motor temperature, extends motors lifespan, and addresses the research gap in the coupling of motor thermal management and vehicle motion control. Besides, it coordinates the control of motor torques, steering angles, and active suspension forces within a unified centralized architecture, thereby avoiding response delays and performance conflicts that may arise from distributed control framework, achieving a balance between vehicle dynamics and thermal protection. Finally, the effectiveness of the proposed method in preventing motor overheating and controlling vehicle stability while maintaining ride comfort is validated through hardware-in-the-loop testing.