关键词: 电动汽车, 轮毂电机, 集成控制, 模型预测控制, 轮胎负荷率

Abstract: In view of the characteristics of distributed drive-by-wire electric vehicles with four-wheel drive/brake/
steering independently，an integrated chassis control strategy is proposed on the basis of layered architecture． The strategy mainly includes three parts，namely，reference targets setting，integrated control layer and control allocation layer． The reference target setting is aimed to realize the conversions from the driver's operations to the control targets of vehicle，and the control targets in the horizontal direction of vehicle are divided into longitudinal acceleration or deceleration features and lateral handling and stability． The role of integrated control layer is to achieve the multi-objective optimization of vehicle control force and moment by means of model prediction control (MPC)，which is a kind of local optimization algorithm of feedback correction features． The control allocation layer is used to realize the allocation of driving forces and the steering angles of wheels by minimizing the tire load ratio of each wheel． The results of the simulations and the validations on the real vehicle at a low speed indicate that the proposed strategy can help the vehicle to track the references quickly and improve the stability of vehicle by adjusting the negative rate of each wheel to be approximately equal．

Key words:  electric vehicle, in-wheel motor, integrated control, model prediction control, tire load ratio