Driving Force Distribute Method for 4WID Electric Vehicle Based on the Smallest Coupling Force

The wheel coupling relationship of the fourwheel independent driving electric cars is described in this paper. The four driving wheels are in the best adhesion state with the wheel coupling force minimum allocation strategy, which increases the stability margin of vehicle. Then, on the basis of the optimal control theory, the deviation between the actual and ideal torque as control input for realizing the control of vehicle driving torque. And then Adams and Matlab joint simulation model is built. Finally, the simulation and real vehicle experiment is conducted under the condition of straight lines and curves, and the comparison and analysis of results show that vehicle driving effect is improved effectively by the wheel coupling force minimum allocation strategy.