中文摘要：

建立了基于扩展Elman网络的四驱电动汽车变速转向预测模型，以系统辨识的方法建立了该神经网络的非线性自适应预测控制器，经前后轴纵向力分配比例的反馈，借助对轴间驱动力分配的控制对车辆的稳定性控制问题进行了研究．仿真分析结果表明，这一方法具有很好的预测控制能力，控制动作平滑，目标跟踪迅速，能有效改善车辆的侧向动力学稳定性，在大多数情况下可辅助驾驶员对车辆的转向特性做出必要的修正．

英文摘要：

In this paper, a steering forecasting model of four-wheel-driving electric vehicle is established based on the expanded EIman network, and a nonlinear adaptive forecasting controller of the network is put forward by means of system identification. Moreover, by feeding back the distribution proportion of longitudinal force, the control method of vehicle stability with the aid of driving force distribution between axles is investigated. Simulated and analytical results indicate that the proposed method with good predictive control ability achieves smooth control and rapid target tracking, so that it effectively improves the lateral dynamic stability of vehicles, and helps the driver to modify the steering characteristics of the vehicles in most conditions.