中文摘要：

针对后轮独立驱动电动轮汽车转向差速控制技术,基于电动轮汽车低速转向特性,建立阿克曼转向差速模型。考虑电子差速控制对车辆转向的辅助作用,对电动轮汽车低速转向时电子差速兼顾辅助转向控制进行研究。仿真结果表明：基于阿克曼转向模型的转矩分配策略,不仅实现了基本的差速功能,对车辆转向行驶也有一定辅助作用。进行了电子差速控制实车试验,结果表明：控制策略能较好地应用于试验车辆。

英文摘要：

For rear-wheel independent drive electric car steering wheel differential control technology,based on the low-speed electric car steering wheel features,it established the Ackermann steering differential model. Considering supporting role of electronic differential control on the vehicle steering,electric steering wheel car at low speed when taking into account the auxiliary steering electronic differential control is studied. Simulation results show that Ackerman steering torque distribution based policy model not only achieves the basic differential function of the vehicle with the steering,it also has a supporting role; it performed electronic differential control real vehicle test results to verify the control strategy. And it can be better used in the test vehicle.