Because of the complexities of tire-road interaction, the wheels of a multi-wheel distributed electric drive vehicle can easily slip under certain working conditions. As wheel slip affects the dynamic performance and stability of the vehicle, it is crucial to control it and coordinate the driving force. With this aim, this paper presents a driving force coordination control strategy with road identification for eight-wheeled electric vehicles equipped with an in-wheel motor for each wheel. In the proposed control strategy, the road identification module estimates tire-road forces using an unscented Kalman filter algorithm and recognizes the road adhesion coefficient by employing the recursive least-square method. According to road identification, the optimal slip ratio under the current driving condition is obtained, and a controller based on sliding mode control with a conditional integrator uses this value for acceleration slip regulation. The anti-slip controller obtains the adjusting torque, which is integrated with the driver-command-based feedforward control torque to implement driving force coordination control. The results of hardware-in-loop simulation show that this control strategy can accurately estimate tire-road forces as well as the friction coefficient, and thus, can effectively fulfill the purpose of driving force coordinated control under different driving conditions.

由于轮胎与道路相互作用的复杂性，多轮分布式电驱动汽车的车轮在某些工况下很容易打滑。由于车轮打滑影响车辆的动态性能和稳定性，因此对其进行控制和协调驱动力至关重要。为此，本文提出了一种带有道路识别的驱动力协调控制策略，适用于每个车轮配备轮毂电机的八轮电动汽车。在所提出的控制策略中，道路识别模块使用无迹卡尔曼滤波算法估计轮胎-道路力，并通过采用递归最小二乘法识别道路附着系数。根据道路识别，得到当前行车条件下的最优滑移率，并且基于带有条件积分器的滑模控制的控制器使用该值进行加速滑差调节。防滑控制器获取调节力矩，与基于驾驶员指令的前馈控制力矩相结合，实现驱动力协调控制。硬件在环仿真结果表明，该控制策略能够准确估计轮胎-路面力以及摩擦系数，从而能够有效地实现不同驾驶条件下的驱动力协调控制目的。