中文摘要：

针对分布式独立转向系统存在的转角分配问题,阐述了分布式转向的系统结构和工作原理,并基于阿克曼转向定理,同时考虑前轮轮胎侧偏,推导出适合前轮独立转向（2WIS）和四轮独立转向（4WIS）的转角分配算法,研究了该算法对车辆轮胎磨损情况和行驶稳定性的优化效果;利用线性二自由度汽车模型,得出轮胎侧偏角与车速、横摆角速度及车轮转角之间的关系,并利用得出的轮胎侧偏角对阿克曼转向定理进行修正,得出各车轮的转角分配关系;最后,通过Carsim-Simulink联合仿真来验证该转角分配方法的正确性,通过评价轮胎侧向力的优化情况来确定轮胎磨损的改善状况,通过质心侧偏角来评价车辆的行驶稳定性.仿真结果表明,所提出的转角分配方法对于改善轮胎磨损情况和提高车辆行驶稳定性具有很好的效果.

英文摘要：

Aiming at the steering angle allocation of distributed independent steering system, first, the structure and operation principle of distributed steering system are expounded. Next, based on the Ackermann steering prin-ciple ,a steering angle allocation algorithm suitable for both front-wheel steering （2WIS） and four-wheel independent steering （4WIS） is put forward with the consideration of the front tier cornering, and the optimization effect of the proposed algorithm on the tire wear and the vehicle stability is investigated. Then, by using a linear vehicle model with two degrees of freedom, the relationship between tire sideslip angle and vehicle speed, yaw rate as well as wheel angle is explored, and the Ackermann steering principle is modified with the obtained tire sideslip angle, which helps to reveal the steering angle allocation of each wheel. Finally, a Carsim-Simulink combined simulation is performed to verify the correctness of the proposed steering angle allocation, the improvement in tire wear pattern is determined by evaluating the optimized tire lateral force, and the vehicle stability is evaluated by using the side-slip angle. Simulated results indicate that the proposed steering angle allocation method is effective in improving the tire wear and enhancing the vehicle stability.