# A Review of Coordinated Control Technology for Chassis of Distributed Drive Electric Vehicles
###### Abstract  
Distributed-drive electric vehicles (DDEVs), through independent, rapid, and precise control of the driving/braking torque of each wheel, offer unprecedented opportunities to enhance their handling stability, ride comfort, energy economy, and safety. However, their inherent over-actuation characteristics and multi-degree-of-freedom motion coupling pose significant challenges to the vehicle chassis control system. Chassis coordinated control, by coordinating multiple subsystems such as drive, braking, steering, and suspension, has become a key technology to fully leverage the advantages of distributed drive and address its challenges. This paper reviews the core issues in chassis coordinated control for DDEVs, comparatively analyzes several distributed electric drive coordinated control architectures, and systematically outlines recent research progress in lateral-longitudinal, lateral-vertical, longitudinal-vertical, and combined three-dimensional (lateral-longitudinal-vertical) coordinated control, including control architectures, key technologies, commonly used algorithms, and control allocation strategies. By analyzing and comparing the advantages, disadvantages, and application scenarios of different coordinated control schemes, this paper summarizes the key scientific problems and technical bottlenecks in this field and looks forward to development trends in intelligence, integration, and scenario-based fusion, aiming to provide a reference for the development of high-performance chassis control technology for DDEVs. distributed-drive electric vehicles; coordinated control; intelligent vehicles 2025202515715  
[PERSON], [PERSON], [PERSON], [PERSON], [PERSON], [PERSON], [PERSON], C. A Review of Coordinated Control Technology for Chassis of Distributed Drive Electric Vehicles _Appl. Sci._**2025**, _15_,7175. [[https://doi.org/15.710939/app15137175](https://doi.org/15.710939/app15137175)]([https://doi.org/15.710939/app15137175](https://doi.org/15.710939/app15137175))  
[PERSON], [PERSON], [PERSON], [PERSON], [PERSON], [PERSON], [PERSON], C. A Review of Coordinated Control Technology for Chassis of Distributed Drive Electric Vehicles _Appl. Sci._**2025**, _15_,7175. [[https://doi.org/15.710939/app15137175](https://doi.org/15.710939/app15137175)]([https://doi.org/15.710939/app15137175](https://doi.org/15.710939/app15137175))  
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and opportunities for the control of vehicle dynamics due to their unique characteristic of applying direct driving force to the wheels [10; 11]. By arranging power units in close proximity to the drive wheels, either directly or indirectly, distributed-drive technology empowers each wheel with independent, swift, and accurate control over its driving or braking torque. Such enhanced control flexibility fundamentally changes the conventional architecture of internal combustion engine vehicles, characterized by a singular power source and intricate mechanical drivetrains, while also offering novel pathways to transcend the limitations in handling stability, ride smoothness, energy efficiency, and active safety inherent in traditional automobiles. For instance, the real-time optimal allocation of drive/brake torque to individual wheels enables a more effective management of traction, finer direct yaw moment control, and more adaptable vehicle attitude adjustments, leading to a notable expansion of the vehicle's handling envelope and safety margins during limit conditions [12; 13]. However, while distributed-drive systems endow vehicles with an excellent control potential, their inherent over-actuation characteristics and the strong coupling of multi-degree-of-freedom motions introduced by multiple actuators also pose unprecedented challenges to the design of vehicle chassis control systems. Specifically, the vehicle chassis system can typically be decoupled into three main motion control subsystems: longitudinal, lateral, and vertical.