As an example of a geographically distributed test environment, an integrated motion control system for multi-actuated electric vehicles has been proposed and evaluated. This system unifies three active subsystems: drive-by-wire propulsion with independent in-wheel electric motors, electro-hydraulic brake actuators, and active suspension actuators. A distributed X-in-the-loop network architecture supports the approach, integrating a real-time validated vehicle model, dedicated test benches for each subsystem, and a driving simulator located in different geographical locations. This setup enables real-time testing and validation of the integrated control strategy. Validation results show improved ride comfort and safety.

This paper presents the validation of an integrated chassis controller that unites three groups of actuators for the electric vehicle (EV) with independent in-wheel electric motors (IWMs) for each wheel. Controlled actuators are the IWMs, the active suspension, and the braking system. The models of test benches and the designed architecture of the X-in-the-loop network are presented. The proposed design approach allows testing the developed controller on a vehicle model in real-time and on hardware components.