METHOD AND SYSTEM FOR LATERAL-VERTICAL COLLABORATIVE CONTROL OF DISTRIBUTED IN-WHEEL MOTOR DRIVE ELECTRIC VEHICLES

A method for lateral-vertical integrated control of a distributed in-wheel motor drive electric vehicle is provided, in which a fourteen-degree-of-freedom full-vehicle model is constructed based on an unbalanced magnetic force model of an in-wheel motor; a lateral force-tire slip angle-vertical load-based three-dimensional piecewise-affine tire model is constructed based on the fourteen-degree-of-freedom vehicle model in combination with a corrected Magic Formula tire model; an active front-wheel steering controller is established based on hybrid model predictive control using the three-dimensional piecewise-affine tire model; an active suspension system controller is established based on multi-constraint input and multi-constraint output; and an integrated control strategy for the active front-wheel steering controller and the active suspension system controller is established based on a front-wheel steering angle, a β-{dot over (β)} phase plane and a lateral load transfer rate. Related devices for implementing such method are also provided.