*Article* **Nonlinear MPC-Based Acceleration Slip Regulation for Distributed Electric Vehicles**

**Wentong Shi 1, Yuyao Jiang 2,\*, Zuying Shen 3, Zhongjing Yu 3, Hongqing Chu 1 and Dengcheng Liu 4**

> 1 School of Automotive Studies, Tongji University, Shanghai 201804, China

	- Jiangxi Jiangling Group Electric Vehicle Co., Ltd., Nanchang 330013, China

**Abstract:** To address the problem in which wheel longitudinal slip rate directly affects the dynamics and handling stability of a vehicle under driving conditions, front and rear dual-motor four-wheel drive electric vehicles (4WD EVs) were selected as the research object in this study. An acceleration slip regulation (ASR) control strategy based on nonlinear model predictive control (NMPC) is proposed. First, the vehicle dynamics model and the Simulink/CarSim co-simulation platform were built. Second, an ASR controller with intervention and exit mechanisms was designed with the control objective of tracking reference speed or optimal slip rate. Then, considering the problem that the left and right wheels could not freely distribute torque under the condition of a split road surface, the motor output torque was determined in accordance with the wheel with the larger slip rate to enhance passibility. Finally, on the basis of the built Simulink/CarSim co-simulation platform, slip rate control simulation experiments were performed on a snow-covered road, a wet asphalt road, a docking road, and a split road. The designed controller can better track target slip rate and it exhibits better dynamic performance and stability than the method with PID control under different road conditions, especially under low speed and low adhesion road conditions, and its robustness can also meet the requirements.

**Keywords:** nonlinear model predictive control; four-wheel drive; acceleration slip regulation; intervention and exit mechanisms
