Chassis Multi-Subsystem Coordinated Control Based on Dynamic Inversion and Optimization Allocation

This paper addresses the stability control issue during emergency braking on split-mu road surfaces. and proposes a chassis multi-subsystem coordinated control method based on dynamic inversion and optimization allocation. A seven degrees of freedom vehicle dynamics model is used to describe the vehicle's motion characteristics. The overall control strategy adopts a hierarchical structure, with the upper-level control calculating the required longitudinal force, lateral force, and yaw moment using dynamic inversion algorithms, based on the vehicle's longitudinal speed, lateral speed, and yaw rate. The lower-level control utilizes an optimization algorithm to allocate these demands to the four-wheel drive braking forces and the front and rear wheel steering angles. Simulation results demonstrate that the proposed control strategy effectively improves the vehicle's stability and handling performance on split-mu road surfaces.