An Optimal Torque Distribution Control Strategy for Four-Wheel Independent Drive Electric Vehicles Considering Energy Economy

To further improve the energy economy of a four-wheel independent drive electric vehicle (FWIDEV) in the process of vehicle stability control, in this paper, the influence of different wheel torque distributions on vehicle stability and energy economy during vehicle steering is analyzed in depth. Then the wheel torque distribution scheme when the vehicle steering is established. Combined with the economic-based torque distribution strategy applied in the straight running condition, an optimal wheel torque distribution strategy is proposed for FWIDEV to adapt different driving conditions. And the controller designed in this paper adopts hierarchical control structure. The upper controller calculate the corrective yaw moment based on the sliding mode control. The lower controller implements wheel torque distribution according to the proposed strategy. Finally, the simulation results under different driving scenarios indicate that the proposed control strategy can achieve the same effect as the conventional control strategy in terms of vehicle stability, but the energy economy is improved by about 2.4%.