Multiobjective Synchronous Control of Heavy-Duty Vehicles Based on Longitudinal and Lateral Coupling Dynamics

Table 3

Comparison of ride comfort control (B-level road).

Working condition	Control type	Vertical acceleration of vehicle (m·s^−2)	Pitch acceleration of vehicle (rad·s^−2)	Roll angle acceleration of vehicle (rad·s^−2)
Angular step	Uncontrolled	0.766 6	0.393 1	0.107 9
	Coupling control	0.923 3	0.494 9	0.118 7
	Improvement rate	17.0%	20.6%	9%
Serpentine	Uncontrolled	0.766 2	0.392 2	0.106 6
	Coupling control	0.923 5	0.494 9	0.170 1
	Improvement rate	17.1%	20.8%	37.3%