To solve the coordinated optimization control problem of economy and stability of distributed drive electric vehicle (DDEV), and to solve the problems that the existing control strategies are sensitive to external disturbances and rely too much on modeling accuracy, we design a hierarchical control strategy which takes both economy and stability into consideration. The upper controller uses the trajectory prediction driver model to calculate the steering wheel angle according to the expected path. At the same time, the longitudinal torque required by the vehicle is calculated by PID tracking speed. The middle controller adopts the backstepping active disturbance rejection control (BADRC) theory. The active rear wheel steering (ARS) and direct yaw moment (DYC) controllers are designed by the error between the side slip angle and the yaw rate and the ideal value. The lower controller is based on the longitudinal torque and the additional yaw moment calculated by the middle controller. Considering the economy of the in-wheel motor and the stability of the vehicle and using the phase plane to coordinate, the torque distribution is completed. Finally, the double lane change and fishhook conditions are verified by Carsim and Matlab Simulink co-simulation. The simulation results show that the proposed control strategy can effectively coordinate the relationship between vehicle economy and stability, and the control precision is higher than that of OBC and PID control.
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