One of the main challenges for multi-wheel hub motor driven vehicles is the coordination of individual drivetrains to improve mobility and stability in the steering process. This paper proposes a dual-steering mode based on direct yaw moment control for enhancing vehicle steering ability in complex environments. The control system is designed as a hierarchical structure, with a yaw moment decision layer and a driving force distribution layer. In the higher-level layer, the objective optimization function is constructed to obtain the slip steering ratio, which represents the degree of vehicle slip steering in the dual-steering mode. A yaw moment controller using active disturbance rejection control theory is designed for continuous yaw rate control. When the actual yaw rate of the vehicle deviates from the reference yaw rate obtained by the vehicle reference model and the slip steering ratio, the yaw moment controller is actuated to determine the yaw moment demand for vehicle steering. In the lower-level layer, there is a torque distribution controller based on distribution rules, which meets the requirement of yaw moment demand without affecting the total longitudinal driving force of the vehicle. For verifying the validity and feasibility of the dual-steering mode, simulations were conducted on the hardware-in-loop real-time simulation platform. Additionally, corresponding real vehicle tests were carried out on an eight-wheel prototype vehicle. Test results were generally consistent with the simulation results, thereby demonstrating that the proposed dual-steering mode reduces steering radius and enhances the steering performance of the vehicle.

多轮毂电机驱动车辆的主要挑战之一是协调各个传动系统以提高转向过程中的机动性和稳定性。本文提出了一种基于直接横摆力矩控制的双转向模式，用于增强车辆在复杂环境中的转向能力。控制系统设计为层次结构，具有横摆力矩决策层和驱动力分配层。在更高层次，构造目标优化函数以获得滑移转向比，它代表了双转向模式下车辆滑移转向的程度。采用自抗扰控制理论设计了一种横摆力矩控制器，用于连续横摆率控制。当车辆的实际横摆率偏离车辆参考模型得到的参考横摆率和打滑转向比时，横摆力矩控制器启动，确定车辆转向的横摆力矩需求。在下层，有一个基于分配规则的扭矩分配控制器，在不影响车辆总纵向驱动力的情况下满足横摆力矩需求。为了验证双转向模式的有效性和可行性，在硬件在环实时仿真平台上进行了仿真。此外，在八轮原型车上进行了相应的实车测试。测试结果与仿真结果基本一致，