Key Takeaways & Executive Findings
- •• Comprehensive modeling and analysis of heterogeneous chassis actuators (e.g., AWD, BBW, SBW, RWS, ASB, ASS) and their impact on vehicle lateral dynamics. • Development of a hierarchical control architecture for enhancing lateral stability, validated through hardware-in-the-loop (HIL) tests and real-world vehicle testing. • Demonstration of the expanded controllable degrees of freedom in modern chassis-by-wire systems, enabling three-dimensional motion control. • Insights into the coordination of multiple chassis actuators to overcome limitations of individual one-dimensional actuation and improve active vehicle safety.
Abstract
Chassis-by-wire technology has gained significant attention, with the scope of chassis domain control expanding from traditional two-dimensional plane motion control to encompass three-dimensional space motion control. Modern chassis-by-wire systems manage an increasing number of heterogeneous chassis execution systems, including distributed drive, all-wheel drive (AWD), brake-by-wire (BBW), steer-by-wire(SBW), rear-wheel steering (RWS), active stabilizer bar (ASB) and active suspension system (ASS), greatly enhancing the controllable degrees of freedom compared to conventional chassis configurations. To advance research in chassis domain control, it is essential to understand how these heterogeneous execution systems influence vehicle dynamics. This paper focuses on the modeling and analysis of the lateral, longitudinal, and vertical chassis control and execution systems, as well as their impact on vehicle lateral motion. Using a vehicle simulation platform, both the vehicle dynamics model and the individual dynamics models of each execution system were developed to analyze the influence of these systems on lateral dynamics. Additionally, a hierarchical control architecture was designed to control the vehicle’s lateral stability. The effectiveness of the proposed control scheme was demonstrated and validated through hardware-in-the-loop (HIL) tests and real-world vehicle testing.
1. Introduction
The electrification and intelligence are hot research topics in the automotive field. With the increasing number of chassis actuators in modern cars, VMC has become an important foundation for both human-driven and autonomous vehicles. VMC represents a significant advancement in ground vehicle dynamics, aimed at enhancing overall performance. VMC helps vehicles overcome the limitations of individual one-dimension actuation [1–3], and eliminates conflicts among multi-dimensional actuations, thereby improving active vehicle safety performance. The simultaneous use of steering and braking actions is particularly effective in avoiding collisions with preceding vehicles [4]. Therefore, it is necessary to harmonize the operation of heterogeneous chassis actuators and fully exploit the vehicle’s dynamic boundaries. VMC has become one of the most compelling topics for researchers and specialists in vehicle system dynamics.
Electric Drive, BBW, SBW and active vertical actuators are the major X-by-wire technologies that enable VMC functionality and performance [5]. The modeling, analysis and control of VMC are critical for coordinating multiple chassis actuators. The involvement and control modes of these chassis actuators are determined based on various driving conditions. A literature review will later follow from the perspective of modeling, analysis and control of vehicle lateral dynamics.
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Bo Leng, Wei Han, Selim Solmaz, Reiner John, Lu Xiong (2025). Modeling, Analysis and Control on Vehicle Lateral Dynamics with Chassis Heterogeneous Actuators. Chinese Journal of Mechanical Engineering. https://doi.org/10.1186/s10033-025-01345-0
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Frequently Asked Questions
What is the main focus of this paper?
The paper focuses on modeling, analysis, and control of vehicle lateral dynamics with heterogeneous chassis actuators, including distributed drive, AWD, BBW, SBW, RWS, ASB, and ASS. It analyzes their impact on lateral motion and proposes a hierarchical control architecture for lateral stability.
What methods were used to validate the proposed control scheme?
The effectiveness of the proposed control scheme was validated through hardware-in-the-loop (HIL) tests and real-world vehicle testing.
What are the key contributions of this research?
Key contributions include comprehensive modeling of heterogeneous chassis actuators, analysis of their influence on lateral dynamics, and development of a hierarchical control architecture that enhances lateral stability, validated through HIL and real-world tests.
How does this research advance chassis domain control?
It expands the scope from two-dimensional plane motion control to three-dimensional space motion control, leveraging the increased controllable degrees of freedom from modern chassis-by-wire systems to improve vehicle safety and performance.
What is the significance of the hierarchical control architecture?
The hierarchical control architecture coordinates multiple heterogeneous actuators to manage vehicle lateral stability, overcoming limitations of individual actuators and eliminating conflicts among multi-dimensional actuations.
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