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In order to improve the trajectory tracking accuracy and yaw stability of vehicles under extreme conditions such as high speed and low adhesion, a coordinated control method of trajectory tracking and yaw stability is proposed based on four-wheel-independent-driving vehicles with four-wheel-steering. The hierarchical structure includes the trajectory tracking control layer, the lateral stability control decision layer, and the four-wheel angle and torque distribution layer. Firstly, the upper layer establishes a three-degree-of-freedom vehicle dynamics model as the controller prediction model, the front wheel steering controller is designed to realize the lateral path tracking based on adaptive model predictive control algorithm and the longitudinal speed controller is designed to realize the longitudinal speed tracking based on PID control algorithm.

With more and more countries proposing timetables for stopping selling of fuel vehicles, China has also issued a “dual-slope” policy. As electric vehicles are the most promising new energy vehicle, which is worth researching. The integration and control of the motor and gearbox have gradually become a hot research topic due to low cost with better performance. This paper takes an electric vehicle equipped with permanent magnet synchronous motor and two-gear automatic transmission without synchronizer and clutch as the research object.

Starting control has become a troublesome issue in the developing field of the control system for heavy-duty trucks, due to the complexity of vehicle driving and the variability of driver's intention. The too fast clutch engagement may result in serious impact, influence on the comfort and fatigue life, and even the engine flameout, while the too slow clutch engagement may lead to long time of friction, the increased temperature, and accelerated wear of friction pair, as well as influence on the power performance and fatigue life[1]. Therefore, the key technique of starting control is clutch engagement control, for which the fuzzy PID based optimization of starting control for AMT clutch is proposed, with the pneumatic AMT clutch of heavy-duty trucks as the research object.

Hydraulic retarders have been widely used in heavy-duty vehicles because of its advantages such as large braking torque and long operating hours. They can be used instead of service brakes in non-emergency braking conditions and can also reduce frequency and time of driver’s actions in braking process, thereby minimizing heat-related problems. In order to accurately produce braking torque needed for the vehicle in time by using hydraulic retarder, which enable the vehicle to travel stably and safely during downhill driving, aiming at the constant-speed function of hydraulic retarder, the research of constant-speed control method is conducted in this paper. The structure and working principle of hydraulic retarder is introduced and the dynamic characteristic is analyzed. And the theoretical model of vehicle and hydraulic retarder are established based on dynamic analysis of the vehicle downhill driving.