# A Review of Coordinated Control Technology for Chassis of Distributed Drive Electric Vehicles
## 4 Three-Dimensional Coordinated Control Strategies for DDEV Chassis
\begin{table}
\begin{tabular}{c c c c} \hline \hline
**Coordinated Subsystem** &
\begin{tabular}{c} **Applied Control** \\ **Algorithm** \\ \end{tabular} & **Achieved Control Effect** & **Refs** \\ \hline Differential steering, differential & Particle swarm & Improves driving comfort and & \\ braking, ASS & optimization (PSO) & steering stability & [122] \\ \hline ASS, AFS, DYC & Adaptive fuzzy control & Improves the vehicle’s lateral & \\ stability and vertical performance & & & \\ \hline Braking force control, yaw stability & \multirow{2}{*}{NMPC, switching control} & Effectively prevents rollover, & \\ control, roll stability control & & ensures braking safety and & [118] \\ \hline SAS, active steering, and & \multirow{2}{*}{LPV/H\(\infty\) robust control} & Improves the vehicle’s & \\ electromechanical braking actuators & & dynamic behavior & [119] \\ \hline SBW, ASS, 4 WID & Adaptive switching control & Enhances vehicle performance in & \\ terms of handling stability, comfort, & & & \\ safety, and economy & & & \\ \hline AFS, DYC, ASS and & \multirow{2}{*}{MPC} & Effectively improves the vehicle’s & \\ Anti-Skid Control & & ride comfort and enhances its & \\  & & maneuverability and stability & \\  & & under various driving conditions & \\ \hline Drive system, steering system, ASS & \multirow{2}{*}{NSMC} & Enhances driving safety, handling & \\  & & stability, ride comfort, and & \\  & & road-following capability & \\ \hline Four In-Wheel Drive (4 IWD), & \multirow{2}{*}{H\(\infty\) robust controller} & Improves tire contact stability & [121] \\
4-Wheel Independent Steering (4 WIS), ASS & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Longitudinal, lateral, and vertical cooperative control strategies. nated control approaches. One prominent class of these methods focuses on achieving a comprehensive coordination of the vehicle's three-dimensional dynamics. This is accomplished by dynamically adjusting either the relative importance of various control objectives (such as stability, comfort, and path tracking) or the action priorities among the executive systems (steering, drive/braking, and suspension). This typically involves using adaptive rules, vehicle state-based mode switching logic, or specific optimization algorithms to finely tune the contributions of various control aspects, achieving positive results in balancing multiple performance indicators. Another class of methods formulates the complex three-dimensional coordination problem as a unified control command-solving framework, by defining an evaluation system that comprehensively reflects the desired overall performance and systematically seeking an optimal combination of control actions under the premise of strictly adhering to vehicles' dynamic characteristics, actuator capability boundaries, and driving safety constraints. Such methods often utilize techniques like Model Predictive Control for the prospective and integrated management of multiple subsystems, demonstrating significant potential in enhancing path tracking accuracy, handling stability, ride comfort, and system robustness. Looking to the future, three-dimensional integrated coordinated control for DDEV chassis will deeply integrate artificial intelligence technologies, advancing to a new stage of intelligent decision-making characterized by autonomous learning and personalized adaptation capabilities. By developing theories for a global performance integration and multi-objective dynamic balancing, the aim is to expand vehicle performance boundaries under complex and even extreme operating conditions and to significantly enhance active adaptability and safety in variable environments by leveraging advanced multi-source perception and predictive control.