NMPC-Driven Enhancement of Vehicle Chassis Stability: Unified Approach to Lateral, Longitudinal, and Vertical Dynamics

In this paper, an integrated chassis control (ICC) control strategy is proposed to enhance the longitudinal, lateral and vertical stabilities for a X-by-wire distributed drive electric vehicle. First, a nonlinear vehicle dynamic model, considering is established for highly accurate state prediction. In this model, the drive, active steering and active suspension actuators are integrated. Then, an ICC strategy is proposed based on NMPC for the longitudinal, lateral and vertical stabilities enhancement. The effectiveness of the proposed ICC strategy is evaluated with double lane change and fishhook tests. The evaluation results show that the proposed ICC strategy can effectively enhance the vertical dynamics while maintaining the longitudinal and lateral dynamics.