Integrated Motion Control Method Based on Stability Constraints for Distributed Chassis by Wire

In order to improve trajectory tracking accuracy and driving stability, this paper proposes an integrated motion control method considering stability constraints based on distributed chassis by wire. The control algorithm adopts a hierarchical architecture, where the upper control algorithm integrates the dynamics model of distributed chassis by wire with the vehicle longitudinal and lateral coupling integrated motion prediction model to construct multi-objective optimization functions, then designs stability constraints based on Phase plane diagram boundary, suppressing changes of vehicle yaw rate and centroid sideslip angle during motion control, to seek the expected whole-vehicle control input. The lower algorithm is based on vehicle state feedback and expected whole-vehicle control input, using tire utilization adhesion rate as the optimization index, introducing linear simplified tire friction circle constraints, and optimizing the allocation of tire force to improve stability. This paper builds a hardware-in-the-loop (HIL) test platform, designs test under high-speed obstacle avoidance conditions on low adhesion road surfaces, comparing with active front wheel steering control, to verify the effectiveness of the integrated motion control algorithm. The results indicate that the control algorithm proposed in this paper improves trajectory tracking accuracy and vehicle driving stability.