Actuator-Oriented Hierarchical Coordinated Control of Electromechanical Braking for Corner-Module Electric Vehicles During Braking-in-Turn Maneuvers

Corner-module electric vehicles equipped with four-wheel independent drive, four-wheel independent steering, and electromechanical braking (EMB) actuators provide a flexible platform for software-defined chassis control, but braking-in-turn maneuvers impose severe longitudinal–lateral coupling and competition for tire adhesion resources. This paper proposes an actuator-oriented hierarchical coordinated control strategy for EMB-based corner-module vehicles. At the upper level, a Model Predictive Controller optimizes lateral tire force allocation under a tire-friction-ellipse hard constraint and coordinates the four-wheel steering response. At the lower level, a three-intensity adaptive braking-force distribution algorithm converts the vehicle-level demand into wheel-level EMB clamping-force commands while considering braking intensity, steering intensity, load transfer, and yaw stability. To improve actuator tracking accuracy, the EMB subsystem combines nonlinear actuator modeling, offline parameter identification, online recursive-least-squares correction, and force–speed–position cascade control. MATLAB (R2025b)/Simulink-CarSim co-simulation and EMB hardware-in-the-loop (HIL) tests verify the proposed strategy under fixed-angle emergency braking and lane-change braking conditions with high, low, and variable-adhesion roads. The results show improved trajectory tracking and yaw stability, reduced braking-torque fluctuation, and faster EMB clamping-force response, demonstrating the suitability of the proposed actuator-level coordination method for intelligent electric chassis applications.