Abstract: In the vehicle control of distributed electric vehicles, yaw stability control is an extremely important technology. In this paper, a two-layer control structure for yaw stability is designed. The upper layer sets up the target state based on the vehicle's linear two-degree-of-freedom model and the vehicle state parameters. The additional yaw moment required to maintain the stability of the vehicle is determined based on the fuzzy control rules. The lower layer is based on the upper yaw torque controls the torque distribution of different wheels. Through Carsim/Simulink co-simulation, a simulation model of rear-wheel drive vehicle and vehicle control strategy is constructed. The simulation results show that the yaw stability control strategy based on fuzzy control can effectively improve the handling stability of the vehicle and improve the safety of the vehicle.

Key words: Distributed driving; Direct yaw moment; Fuzzy control; Co-simulation

摘要： 在分布式电动汽车的整车控制中，横摆稳定性控制是其中极其重要的技术。文章设计了横摆稳定性双层控 制结构。上层根据车辆线性二自由度模型和车辆状态参数设立目标状态，基于模糊控制规则决策出维持车辆稳定所 需的附加横摆力矩。下层基于上层横摆力矩对不同车轮进行转矩分配控制。通过 Carsim/Simulink 联合仿真构建了 后轮驱动汽车和整车控制策略的仿真模型。仿真结果表明：基于模糊控制的横摆稳定性控制策略能够有效改善车辆 的操纵稳定性，提高车辆的安全性。

关键词: 分布式驱动；直接横摆力矩；模糊控制；联合仿真