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Two axles four wheel drive electric vehicle is an important development tendency of electric vehicle. However, how to coordinate the torque distribution between front and rear axles thus ensuring vehicle stability while maximizing motor’s efficiency still confronts great challenges. In this paper, we propose a three-layer hierarchical control method, which not only incorporates prior engineering knowledge into the control policy so as to relieve computational burden for real-time usage, but also properly deals with the priority between safety and system efficiency. Simulations are conducted to verify the effectiveness of the proposed method. Results show that the derived control policy can ensure high system efficiency when safety is guarenteed. Simultaneously, it can actively decrease the motor torque to improve vehicle stability when wheel slip occurs.

Torque allocation strategy for two axles four wheel drive electric vehicle with improvement of economy and stability