# A Review of Coordinated Control Technology for Chassis of Distributed Drive Electric Vehicles
## 3 Two-Dimensional Coordinated Control Strategies for DDEV Chassis
### Longitudinal and Vertical Coordinated Control Strategies
[112] proposed a coordinated control method incorporating neuro-fuzzy control and MPC. This method first establishes a longitudinal-vertical coupled model under braking conditions, uses MPC to regulate active suspension to enhance ride comfort, and treats braking intensity as a disturbance input. Simultaneously, to improve energy recovery efficiency, a neuro-fuzzy optimization framework was designed to optimize membership functions, achieving control of the powertrain, with this framework considering the constraints imposed by the vehicle's vertical motion on braking torque. Simulation results show that the proposed coordinated control method can simultaneously improve the vehicle's energy recovery efficiency and ride comfort, achieving multi-objective coordinated optimization. Similarly, [PERSON] et al. [116] adopted a fuzzy coordinated control strategy between a composite braking system and active suspension, aiming to synergistically improve braking energy recovery efficiency and braking safety, thereby optimizing the overall performance of the vehicle chassis. Table 4 lists common longitudinal-vertical coordinated control strategies. In summary, research on longitudinal-vertical coordinated control for DDEV chassis has made significant progress. The effective coordination of multiple subsystems \begin{table}
\begin{tabular}{c c c c} \hline
**Coordinated Subsystem** &
\begin{tabular}{c} **Applied** \\ **Control Algorithm** \\ \end{tabular} & **Achieved Control Effect** & **Refs** \\ \hline ASS, braking system & MPC & Improves ride comfort during braking & [112] \\ \hline ASS, longitudinal speed control & Fuzzy logic control, MPC & Improves vehicle smoothness and stability when passing over impacted roads & [113] \\ \hline ABS, ASS & Fuzzy neural control & Shortens braking time and braking distance, maintain stability & [114] \\ \hline Distributed drive system, ASS & MPC, SMC, EKF & Significantly improves vehicle’s extraction ability and driving stability on low-adhesion roads & [115] \\ \hline Braking system, ASS & Fuzzy coordinated control & Improves composite braking performance & [116] \\ \hline \end{tabular}
\end{table} 
Table 4: Longitudinal and vertical cooperative control strategies. including drive, braking, and suspension--has demonstrated great potential to enhance vehicle ride comfort, handling stability, driving performance under extreme conditions, and even energy utilization efficiency. However, current research still faces numerous common and specific challenges. First, accurate vehicle dynamics modeling and real-time parameter identification remain bottlenecks. This is especially true for obtaining online tire-road adhesion states and dynamic vertical loads and for addressing model uncertainties and nonlinear coupling effects. Second, while suppression strategies exist, the issue of an increased unsprung mass from in-wheel motor systems and its negative impacts on ride smoothness and tire grounding still requires more optimized solutions. Finally, achieving a dynamic optimal balance between conflicting performance objectives (such as comfort versus handling stability) is a key aspect that needs to be deepened. This also includes the on-vehicle validation and improvement of evaluation systems for coordinated control strategies under real, complex, and extreme operating conditions.