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A braking force distribution strategy in integrated braking system composed of the main braking system and the auxiliary braking system based on braking pad wear control and hitch force control under non-emergency braking condition is proposed based on the Electronically Controlled Braking System (EBS) to reduce the difference in braking pad wear between different axles and to decrease hitch force between tractors and trailers. The proposed strategy distributes the braking force based on the desired braking intensity, the degree of the braking pad wear and the limits of certain braking regulations to solve the coupling problems between braking safety, economical efficiency of braking and the comfort of drivers. Computer co-simulations of the proposed strategy are performed.

Electric vehicles are capable of more flexible drivetrain configurations, such that driving dynamics of each wheel could be controlled independently to increase its stability and maneuverability bounds. We hereby propose a configuration consisting of four wheel independent driving and front and rear axle modular steering. The vehicle implements drive-by-wire technology, which means the control program running on vehicle control computer will have direct control authority of the vehicle under normal driving conditions, based on inputs of higher level systems such as human drivers and autonomous driving programs. Both the torque allocation on four wheels and the steering allocation on axles are completely independent on the mechanical hardware level, thus the vehicle is able to harness adverse contact conditions with confidence.

With rapid development of the automobile industry and the growing maturity of the automotive electronic technologies, the distributed-traction electric vehicle with four-wheel-distributed steering/braking/traction systems is regarded as an important development direction. With its unique chassis structure, it is the ideal benchmark platform used to evaluate active safety systems. The distributed-traction electric vehicle with four-wheel-distributed steering system is essentially full drive-by-wire vehicle. With its flexible chassis layout and high control degrees-of-freedom, the full drive-by-wire electric vehicle acted as a kind of redundant system is an ideal platform for the research of integrated control. In this treatise, the longitudinal dynamics of the electric vehicle as well as its lateral and yaw motions are controlled simultaneously.