Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="left">Typical surfaces</td><td align="center">Driving control strategies</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left">High</td><td align="center"><span style="width: 180.825px;"><svg height="23.3125" id="M114" style="vertical-align:-5.82849pt" version="1.1" viewbox="0 0 180.825 23.3125" width="180.825" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.017,-0,0,-.017,31.25,15.988)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,45.937,15.988)"><path d="M384 0h-275v27q67 5 81.5 18.5t14.5 68.5v385q0 38 -7.5 47.5t-40.5 10.5l-48 2v24q85 15 178 52v-521q0 -55 14.5 -68.5t82.5 -18.5v-27z" id="x31"></path></g><g transform="matrix(.017,-0,0,-.017,54.096,15.988)"><path d="M95 130q31 0 61 -30t30 -78q0 -53 -38 -87.5t-93 -51.5l-11 29q77 31 77 85q0 26 -17.5 43t-44.5 24q-4 0 -8.5 6.5t-4.5 17.5q0 18 15 30t34 12z" id="x2C"></path></g><g transform="matrix(.017,-0,0,-.017,60.811,15.988)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
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<g transform="matrix(.012,-0,0,-.012,71.388,20.075)"><path d="M649 676l-22 -187l-33 -2q3 56 -12 94q-8 20 -31.5 26.5t-86.5 6.5h-74l-90 -491q-4 -23 -6 -36.5t1 -25t7 -16.5t18 -9t27 -5t41 -3l-6 -28h-286l4 28q68 5 84 18.5t28 76.5l94 491h-55q-74 0 -100.5 -6t-41.5 -23q-24 -29 -54 -98l-32 1q32 98 53 188h22q7 -18 15 -22
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<g transform="matrix(.017,-0,0,-.017,90.375,15.988)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,105.062,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,109.638,20.075)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,115.288,15.988)"><path d="M368 703l-264 -866h-60l265 866h59z" id="x2F"></path></g><g transform="matrix(.017,-0,0,-.017,125.125,16.262)"><path d="M378 -385l-22 -26q-139 111 -208 287.5t-69 394.5v1q0 215 69 391.5t208 289.5l22 -26q-104 -98 -162 -274t-58 -382q0 -205 58.5 -381.5t161.5 -274.5z" id="xF6022"></path></g><g transform="matrix(.017,-0,0,-.017,132.65,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,137.225,20.075)"><path d="M619 670q0 -13 -9 -26t-18 -19q-13 -10 -25 2q-36 38 -66 38q-31 0 -54.5 -50t-45.5 -185h120l-20 -31l-107 -12q-23 -138 -57 -293q-27 -122 -55 -184.5t-75 -109.5q-60 -61 -114 -61q-25 0 -47.5 15t-22.5 31q0 17 31 44q11 8 20 -1q10 -11 31 -19t35 -8q26 0 47 19
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<g transform="matrix(.017,-0,0,-.017,149.262,15.988)"><path d="M535 230h-212v-233h-58v233h-213v50h213v210h58v-210h212v-50z" id="x2B"></path></g><g transform="matrix(.017,-0,0,-.017,163.014,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,167.587,20.075)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,173.238,16.262)"><path d="M364 271q0 -218 -69 -394.5t-208 -287.5l-22 26q103 98 161.5 274.5t58.5 381.5q0 206 -58 382t-162 274l22 26q139 -113 208 -289.5t69 -391.5v-1z" id="xF6032"></path></g>
</svg></span></td></tr><tr><td align="left">Low and uniform</td><td align="center">Pedal adjustment control, <svg height="23.3125" id="M115" style="vertical-align:-5.82849pt" version="1.1" viewbox="0 0 120.075 23.3125" width="120.075" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,15.988)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
t29.5 81.5l72 387l7.5 40.5t1 26.5t-4 18t-15.5 10t-24 6t-37 4l8 28h461z" id="x1D439"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.637,20.075)"><path d="M649 676l-22 -187l-33 -2q3 56 -12 94q-8 20 -31.5 26.5t-86.5 6.5h-74l-90 -491q-4 -23 -6 -36.5t1 -25t7 -16.5t18 -9t27 -5t41 -3l-6 -28h-286l4 28q68 5 84 18.5t28 76.5l94 491h-55q-74 0 -100.5 -6t-41.5 -23q-24 -29 -54 -98l-32 1q32 98 53 188h22q7 -18 15 -22
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<g transform="matrix(.017,-0,0,-.017,29.612,15.988)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,44.316,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,48.888,20.075)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,54.537,15.988)"><path d="M368 703l-264 -866h-60l265 866h59z" id="x2F"></path></g><g transform="matrix(.017,-0,0,-.017,64.375,16.262)"><path d="M378 -385l-22 -26q-139 111 -208 287.5t-69 394.5v1q0 215 69 391.5t208 289.5l22 -26q-104 -98 -162 -274t-58 -382q0 -205 58.5 -381.5t161.5 -274.5z" id="xF6022"></path></g><g transform="matrix(.017,-0,0,-.017,71.9,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,76.475,20.075)"><path d="M619 670q0 -13 -9 -26t-18 -19q-13 -10 -25 2q-36 38 -66 38q-31 0 -54.5 -50t-45.5 -185h120l-20 -31l-107 -12q-23 -138 -57 -293q-27 -122 -55 -184.5t-75 -109.5q-60 -61 -114 -61q-25 0 -47.5 15t-22.5 31q0 17 31 44q11 8 20 -1q10 -11 31 -19t35 -8q26 0 47 19
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<g transform="matrix(.017,-0,0,-.017,88.512,15.988)"><path d="M535 230h-212v-233h-58v233h-213v50h213v210h58v-210h212v-50z" id="x2B"></path></g><g transform="matrix(.017,-0,0,-.017,102.264,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,106.838,20.075)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,112.488,16.262)"><path d="M364 271q0 -218 -69 -394.5t-208 -287.5l-22 26q103 98 161.5 274.5t58.5 381.5q0 206 -58 382t-162 274l22 26q139 -113 208 -289.5t69 -391.5v-1z" id="xF6032"></path></g>
</svg></td></tr><tr><td align="left">Bisectional</td><td align="center">Pedal adjustment control, <svg height="23.3125" id="M116" style="vertical-align:-5.82849pt" version="1.1" viewbox="0 0 120.075 23.3125" width="120.075" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,15.988)"><path d="M599 650l-18 -160l-30 -2q-2 70 -11 94q-5 16 -26 24t-75 8h-94q-27 0 -33.5 -6.5t-12.5 -32.5l-43 -226h108q52 0 72.5 5t31 18t28.5 52h28l-40 -200h-28q-1 42 -6 56.5t-24.5 21t-70.5 6.5h-108l-32 -177q-13 -65 1 -80.5t88 -22.5l-8 -28h-279l6 28q61 5 77.5 20.5
t29.5 81.5l72 387l7.5 40.5t1 26.5t-4 18t-15.5 10t-24 6t-37 4l8 28h461z" id="x1D439"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.637,20.075)"><path d="M649 676l-22 -187l-33 -2q3 56 -12 94q-8 20 -31.5 26.5t-86.5 6.5h-74l-90 -491q-4 -23 -6 -36.5t1 -25t7 -16.5t18 -9t27 -5t41 -3l-6 -28h-286l4 28q68 5 84 18.5t28 76.5l94 491h-55q-74 0 -100.5 -6t-41.5 -23q-24 -29 -54 -98l-32 1q32 98 53 188h22q7 -18 15 -22
t37 -4h417q23 0 33.5 5t25.5 21h23z" id="x1D447"></path></g><g transform="matrix(.012,-0,0,-.012,18.562,20.075)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
q0 -76 10 -138.5t37 -107.5t69 -45q32 0 55.5 25t35.5 68.5t17.5 91.5t5.5 105t-5.5 105.5t-18 92t-36 68t-56.5 24.5z" id="x30"></path></g>
<g transform="matrix(.017,-0,0,-.017,29.612,15.988)"><path d="M535 323h-483v50h483v-50zM535 138h-483v50h483v-50z" id="x3D"></path></g><g transform="matrix(.017,-0,0,-.017,44.316,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,48.888,20.075)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,54.537,15.988)"><path d="M368 703l-264 -866h-60l265 866h59z" id="x2F"></path></g><g transform="matrix(.017,-0,0,-.017,64.375,16.262)"><path d="M378 -385l-22 -26q-139 111 -208 287.5t-69 394.5v1q0 215 69 391.5t208 289.5l22 -26q-104 -98 -162 -274t-58 -382q0 -205 58.5 -381.5t161.5 -274.5z" id="xF6022"></path></g><g transform="matrix(.017,-0,0,-.017,71.9,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,76.475,20.075)"><path d="M619 670q0 -13 -9 -26t-18 -19q-13 -10 -25 2q-36 38 -66 38q-31 0 -54.5 -50t-45.5 -185h120l-20 -31l-107 -12q-23 -138 -57 -293q-27 -122 -55 -184.5t-75 -109.5q-60 -61 -114 -61q-25 0 -47.5 15t-22.5 31q0 17 31 44q11 8 20 -1q10 -11 31 -19t35 -8q26 0 47 19
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<g transform="matrix(.017,-0,0,-.017,88.512,15.988)"><path d="M535 230h-212v-233h-58v233h-213v50h213v210h58v-210h212v-50z" id="x2B"></path></g><g transform="matrix(.017,-0,0,-.017,102.264,15.988)"><path d="M238 681l-124 -585q-7 -31 4 -31q10 0 37.5 18.5t49.5 41.5l16 -22q-40 -48 -89.5 -81.5t-76.5 -33.5q-42 0 -16 122l105 488q7 32 0 41t-39 9h-35l5 26q35 3 71 13t58 17.5t26 7.5q14 0 8 -31z" id="x1D459"></path></g>
<g transform="matrix(.012,-0,0,-.012,106.838,20.075)"><path d="M393 379q-9 -16 -28 -29q-15 -10 -23 -2q-19 19 -36 19q-21 0 -52 -38q-57 -72 -82 -126l-40 -197q-23 -3 -75 -18l-7 7q49 196 74 335q7 43 -2 43q-7 0 -30 -14.5t-47 -37.5l-16 23q37 42 82 73t67 31q41 0 15 -113l-11 -50h4q41 71 85 117t77 46q29 0 45 -26
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<g transform="matrix(.017,-0,0,-.017,112.488,16.262)"><path d="M364 271q0 -218 -69 -394.5t-208 -287.5l-22 26q103 98 161.5 274.5t58.5 381.5q0 206 -58 382t-162 274l22 26q139 -113 208 -289.5t69 -391.5v-1z" id="xF6032"></path></g>
</svg></td></tr><tr><td align="left">Joint</td><td align="center">Pedal adjustment control, torque distribution control</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Driving strategies on different typical surfaces.

Mathematical Problems in Engineering

tab3

Table 3

Table 3: Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels 