Focusing on the driving force distribution control method of four-wheel independent drive electric vehicles, a driving force distribution strategy with a hierarchical structure is proposed in this paper. The upper layer used a neural network to optimize the fuzzy rules and membership function so as to adapt to changes in the process parameters and subjectivity owing to the limitations of the fuzzy control rules acquired by human experience. The lower layer used the optimal distribution method based on rules, focusing on the minimum tire load ratio. The proposed control strategy was verified by Carsim/Simulink co-simulation and a hardware-in-the-loop experiment. The results show that the proposed control strategy can improve the handling stability of vehicles on roads with different levels of adhesion.
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