中文摘要：

对四轮毂独立驱动电动汽车的协调控制技术进行综述，重点介绍了多目标之间的协调控制以及四轮转矩协调控制的研究方法以及国内外研究现状，提出了当前存在的一些问题，展望了今后的发展趋势。

英文摘要：

In this paper, coordination control technology for four in -wheel motors driving EV was reviewed. Multi -objective coordination control and torque coordination control research methods and worldwide research in the research were put forward status were mainly introduced. and the development trend in Some current problems existing the future was prospected.