Key Takeaways & Executive Findings
- •• The shift from centralized to distributed chassis systems (DCS) with corner modules enables independent control of each wheel's drive, braking, steering, and suspension, enhancing vehicle maneuverability and stability. • Integrated coordination of chassis subsystems at the vehicle level is crucial to prevent controller conflicts and ensure seamless operation, with methods and architectures summarized in the review. • Distributed control architectures, leveraging multi-agent systems (MAS) and cyber-physical systems (CPS), offer fault tolerance and scalability, addressing limitations of traditional integrated control. • A novel multi-domain cooperative control framework for DCS is proposed, integrating control and information technologies to optimize performance and reliability.
Abstract
With the advent of in-wheel motors and corner modules, the structure of vehicle chassis subsystems has shifted from traditionally centralized to distributed. This review focuses on the distributed chassis system (DCS) equipped with corner modules. It first provides a comprehensive summary and description of the revolution of the structure and control methods of vehicle chassis systems (including driving, braking, suspension, and steering systems). Given that DCS integrates various chassis subsystems, this review moves beyond individual subsystem analysis and delves into the coordination of these subsystems at the vehicle level. It provides a detailed summary of the methods and architectures used for integrated coordination and control, ensuring that multiple subsystems can function seamlessly as an integrated whole. Finally, this review summarizes the latest distributed control architecture for DCS. It also examines current control theories in the fields of control and information technology for distributed systems, such as multi-agent systems and cyber-physical systems. Based on these two control approaches, a multi-domain cooperative control framework for DCS is proposed.
1. Introduction
With the rapid growth of electric motor technology, the drive motor can now be fully integrated into the wheel [1–9]. This innovation has sparked a new wave of research into distributed-drive electric vehicles. Simultaneously, the concept of “distribution” offers new research direction for other subsystems in vehicle chassis. If a wheel can be equipped with independent driving, braking, steering, and suspension systems, it is referred to as a “corner module” [10, 11]. Because the corner module has full functionality of the driving, braking, suspension and steering systems, it provides a modular design approach for vehicle chassis [12, 13]. This type of chassis is known as a skateboard chassis (Figure 1). It involves designing the platform starting from the wheel [12]. Additionally, it provides ample space for arranging batteries and electronic control systems, thereby better facilitating the realization of the skateboard chassis design [11].
This paper refers to the chassis system equipped with corner modules as a distributed chassis system (DCS). With the DCS configuration, the drive/braking torque and steering angle of each wheel can be independently controlled, allowing for new steering modes like in-place turning [14]. Therefore, the knowledge of the vehicle kinematics and dynamics can be expanded in this chassis structure. Simultaneously, due to the increase in control variables, it is important to develop a coordinated control strategy to ensure vehicle stability and prevent controller conflicts.
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Ning Zhang, Zihong Li, Cheng Wang, Jinxiang Wang, Weichao Zhuang, Wenpeng Wei, Guodong Yin (2025). A State-of-the-Art Review on the Revolution of Structure and Control of Vehicle Chassis System: from Tradition to Distributed Chassis System. Chinese Journal of Mechanical Engineering. https://doi.org/10.1186/s10033-025-01297-5
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Frequently Asked Questions
What is a distributed chassis system (DCS)?
A distributed chassis system (DCS) is a vehicle chassis architecture where each wheel is equipped with a corner module that integrates independent driving, braking, steering, and suspension systems. This allows for independent control of each wheel, enabling advanced maneuvers and improved vehicle stability.
Why is coordinated control important in DCS?
Coordinated control is crucial in DCS because multiple subsystems (driving, braking, steering, suspension) must work together seamlessly to ensure vehicle stability and prevent conflicts between controllers. Without proper coordination, the independent control of each wheel could lead to unsafe or inefficient vehicle behavior.
What are the advantages of distributed control architecture over traditional integrated control?
Distributed control architecture offers several advantages, including fault tolerance (if one controller fails, others can continue operating), scalability (easier to add or modify modules), and the ability to leverage advanced control theories like multi-agent systems and cyber-physical systems for enhanced performance and reliability.
How do multi-agent systems (MAS) apply to DCS?
In a DCS, each corner module can be considered an agent. By treating the DCS as a multi-agent system, control theories such as game theory can be applied to coordinate the actions of the corner modules, leading to more intelligent and adaptive control strategies.
What is the proposed multi-domain cooperative control framework?
The proposed multi-domain cooperative control framework integrates control and information technologies, combining concepts from multi-agent systems and cyber-physical systems. It aims to provide a comprehensive approach to coordinate the various subsystems of a DCS, ensuring optimal performance and reliability across multiple domains.
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