Modeling, Analysis and Control on Vehicle Lateral Dynamics with Chassis Heterogeneous Actuators

• 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.