Longitudinal and Lateral Coordinated Motion Controller Design for an Electric Racing Car

In order to obtain a driving force control strategy that can improve the overall performance of the longitudinal and lateral of the racing car, and at the same time can reconcile the contradictions between different strategies. In this paper, the possibility and advantages of coordination among multiple control strategies are first analyzed. Then, based on the dual-motor rear-wheel independent driving system, a longitudinal and lateral coordinated motion controller is designed, which consists of 4 parts: driving force estimator, ideal yaw rate generator, SMC-based yaw rate controller and SMC-based slip rate controller. Finally, the different target slip rate constraint conditions of the longitudinal motion and the lateral motion of the racing car are used to couple to realize the coordinated longitudinal and lateral motion control. Simulations and experiments show that the coordinated motion controllers can cooperate with each other and complement each other, and further improve the overall performance of the longitudinal and lateral motion of the car. In addition, the racing car that use coordinated motion controllers won 6 awards in FSEC, which were fully verified and recognized.