Control strategy for the lateral and longitudinal dynamics of a fully active X-by-wire test vehicle

This paper presents a control strategy for the lateral and longitudinal dynamics of a fully active X-by-wire test vehicle. The vehicle is entirely actuated electrically: three DC motors are assembled in each of the four identical corner modules which allow an independent action in the relevant degrees of freedom. They enable a four-wheel drive, an all-wheel steering and an active suspension. So there are eight actuators to influence the longitudinal and lateral dynamics. They collaborate intelligently, which allows complete new steering and braking strategies to improve ride comfort and safety - and requires a complex control strategy.