Fig 1.
Force analysis of vehicles on slopes.
Fig 2.
7-DOF vehicle dynamics model.
Fig 3.
Wheel rotational dynamics model.
Fig 4.
Linear 2-DOF vehicle dynamics reference model.
Fig 5.
Overall structure of the coordinated control strategy.
Fig 6.
Tire-road adhesion characteristic curve.
Fig 7.
Ackermann steering model.
Fig 8.
Flowchart of the NSGA-II.
Table 1.
Main technical parameters of the vehicle.
Fig 9.
Slope starting acceleration curve.
Fig 10.
Evenly distributed control of wheel slip ratio under 1.5 m/s² acceleration.
Fig 11.
Coordinated control of wheel slip ratio under 1.5 m/s² acceleration.
Fig 12.
Wheel slip ratio under load distribution control during uphill acceleration.
Fig 13.
Wheel slip ratio under load distribution and active front steering control during uphill acceleration.
Fig 14.
Wheel slip ratio under only optimization distribution control during uphill acceleration.
Fig 15.
Wheel slip ratio under coordinated control during uphill acceleration.
Fig 16.
Vehicle trajectory during uphill acceleration.
Fig 17.
Wheel torque output during uphill acceleration under coordinated control.
Fig 18.
Wheel slip ratio under load distribution control during accelerated turning.
Fig 19.
Wheel slip ratio under load distribution and active front steering control during accelerated turning.
Fig 20.
Wheel slip ratio under only optimization distribution control during accelerated turning.
Fig 21.
Wheel slip ratio under coordinated control during accelerated turning.
Fig 22.
Yaw rate comparison during accelerated turning.
Fig 23.
Sideslip angle comparison during accelerated turning.
Fig 24.
Front-wheel steering angle under coordinated control during accelerated turning.
Fig 25.
Wheel torque output under coordinated control during accelerated turning.