A longitudinal, transverse and
vertical force integrated control optimization method for electric vehicles driven by hub belongs to that technical field of
electric vehicle control. The object of theinvention is to adopt a layered cooperative control structure so as to solve the four shortcomings existing in the prior art
control system of a longitudinal, lateral and
vertical force integrated control optimization method of an
electric vehicle driven by a hub. The invention brings the relationship between vehicle
resultant force and four-wheel tire force into the vehicle body six-degree-of-freedom equation to obtain the expected values of vehicle
kinematics control target longitudinal speed, lateral speed, vertical speed,
pitch angle, roll angle and
yaw angle, thereby optimizing the vehicle
kinematics control target. The layered longitudinal, lateral and
vertical force unified optimal distribution integrated control method eliminates the conflict between different
chassis electronic control systems and enhances the complementarity, and comprehensively improves vehicle handling stability and
vehicle driving posture, which is embodied in the improvement of vehicle road tracking performance, safety, maneuverability, stability and comfort.