关键词: 分布式驱动电动汽车, 横摆稳定性, 扭矩协调, 经济性, 模型预测控制（MPC）

Abstract: The control objectives for yaw stability in current distributed drive electric vehicles were relatively simplistic. To address this issue， a multi-objective torque coordination control strategy was proposed based on nonlinear MPC. The upper-level controller was a nonlinear MPC speed and yaw moment controller based on a 7-degree-of-freedom vehicle model. And the lower-level controller focused on both of achieving stability and economic efficiency through multi-objective torque coordination. The road adhesion utilization and hub motor power loss were considered in the objective function to achieve dynamic and coordinated distribution of torques. Finally， using the CarSim/Simulink joint simulation platform， the proposed method was compared with traditional control methods under the double lane change conditions and driving cycle conditions for low adhesion coefficient. The simulation results indicate that the proposed control strategy enables better tracking of the vehicles sideslip angle and yaw rate to their ideal values， thereby enhancing vehicle stability compared to that of conventional methods. Additionally，  motor energy loss is reduced and vehicle economic efficiency is improved. 

Key words: distributed drive electric vehicle, yaw stability, torque coordination, economic efficiency, model predictive control（MPC）