中文摘要：

提出一种分布式驱动电动汽车行驶稳定性分层控制策略.策略分为基于滑模控制的广义力矩计算层、基于二次规划的滑移率决策层和基于ABS/ASR的滑移率追踪层.搭建包括双电机独立驱动系统在内的硬件在环仿真平台,进行了分布式驱动电动汽车典型行驶工况的仿真.与传统车辆稳定性控制策略的对比发现,文中提出的策略能够在对纵向车速影响较小的前提下,提高车辆操纵稳定性,在部分执行器失效时仍能确保车辆的行驶安全.

英文摘要：

A stability control strategy based on hierarchical control algorithm for distributeddriving electric vehicle was proposed,including three layers that were the active yaw moment calculating layer,the tire slip ratio calculating layer and the slip tracing layer based ABS/ASR.A hardware-in-the-loop containing a set of dual-motor driving power train was built to verify the strategy.Compared with traditional ones,the mentioned strategy can improve handling stability with less velocity reducing even when part of actuators failure.