With the help of several in-wheel motors, four-wheel independent-drive electric vehicle (4WIDEV) has tremendous potential to improve vehicle performance. Except for the theme of stability enhancement during the past two decades, energy saving topic becomes more attractive recently. However, it is difficult to achieve stability and economy performance simultaneously. Given the commonly used control method of rigid yaw rate tracking may limit the energy saving potential of 4WIDEV in cornering. Therefore, be different from previous studies which often focus on a sole target, in this paper, a driving energy management strategy for 4WIDEV based on multi-objective online optimization of four-wheel torque distribution is proposed in this paper, which includes weighted yaw rate tracking error into its parameterized control objectives besides electric drive system efficiency, tire slip losses and wheel torque ripple. Meanwhile, for better coordination of stability and economy in different situation, fuzzy logic control is adopted to dynamically adjust the weight of the control objective indexes of the proposed multi-objective online optimization function. Then, a particle swarm optimization algorithm is adopted to solve the optimization function. Finally, the proposed strategy for energy-efficient driving is verified based on the built Simulink and CarSim co-simulation model. The results show that the proposed four-wheel torque distribution strategy based on the multi-objective online optimization is more effective than average distribution strategy and offline optimization strategy.

借助多个轮毂电机，四轮独立驱动电动汽车（4WIDEV）在改善汽车性能方面具有巨大潜力。除了过去二十年来提高稳定性的主题外，节能主题最近变得越来越有吸引力。但是，难以同时实现稳定性和经济性能。鉴于通常使用的刚性偏航率跟踪控制方法可能会限制4WIDEV在转弯时的节能潜力。因此，与以往只关注一个目标的研究不同，本文提出了一种基于四轮扭矩分配的多目标在线优化的4WIDEV驱动能量管理策略，除了电力驱动系统效率，轮胎滑移损耗和车轮扭矩波动外，还包括加权偏航率跟踪误差到其参数化控制目标中。同时，为了更好地协调不同情况下的经济性和稳定性，采用模糊逻辑控制来动态调整所提出的多目标在线优化函数的控制目标指标的权重。然后，采用粒子群优化算法求解优化函数。最后，基于所建立的Simulink和CarSim协同仿真模型，验证了所提出的节能驾驶策略。结果表明，提出的基于多目标在线优化的四轮扭矩分配策略比平均分配策略和离线优化策略更有效。