A State-of-the-Art Review on the Revolution of Structure and Control of Vehicle Chassis System: from Tradition to Distributed Chassis System

With the advent of in-wheel motors and corner modules, the structure of vehicle chassis subsystems has shifted from traditionally centralized to distributed. This review focuses on the distributed chassis system (DCS) equipped with corner modules. It first provides a comprehensive summary and description of the revolution of the structure and control methods of vehicle chassis systems (including driving, braking, suspension, and steering systems). Given that DCS integrates various chassis subsystems, this review moves beyond individual subsystem analysis and delves into the coordination of these subsystems at the vehicle level. It provides a detailed summary of the methods and architectures used for integrated coordination and control, ensuring that multiple subsystems can function seamlessly as an integrated whole. Finally, this review summarizes the latest distributed control architecture for DCS. It also examines current control theories in the fields of control and information technology for distributed systems, such as multi-agent systems and cyber-physical systems. Based on these two control approaches, a multi-domain cooperative control framework for DCS is proposed.