Safe and comfortable driving experience includes the improvement of handling performance and stability control. This paper proposed a coordinated controller based on the function allocation for the handling performance and stability of distributed drive electric vehicles. The proposed controller has three layers. The upper control layer designs a dynamic stability envelope boundary suitable for various driving conditions through the phase plane method, and on this basis, the function allocation rules of torque vector control (TVC) strategy and electronic stability control (ESC) strategy were formulated. The medium control layer used the robust $H_{\infty }$ dynamic output feedback control method and the improved particle swarm optimization (PSO) parameter self-adjusting method to calculate the additional yaw moment required by the TVC strategy and the ESC strategy, respectively. The two types of additional yaw moment are implemented by the in-wheel motor and the hydraulic brake mechanism respectively. The lower control layer optimized the four-wheel torque and braking force based on the optimal tire load rate using the quadratic programming method. The proposed coordinated controller was performed in the CarSim/Simulink co-simulation platform and tested in a real vehicle platform. The results show that the proposed controller can improve the vehicle dynamic response according to the driver’s intention, thus bringing the better handling performance and stability.

安全舒适的驾驶体验包括操控性能和稳定性控制的提升。针对分布式驱动电动汽车的操纵性能和稳定性，提出了一种基于功能分配的协调控制器。建议的控制器具有三层。上控制层通过相平面法设计了适合各种行驶工况的动态稳定包络边界，并在此基础上制定了转矩矢量控制（TVC）策略和电子稳定控制（ESC）策略的功能分配规则。介质控制层使用了健壮的$H_{\infty }$动态输出反馈控制方法和改进的粒子群优化(PSO)参数自调整方法分别计算TVC策略和ESC策略所需的附加偏航力矩。两种附加横摆力矩分别由轮毂电机和液压制动机构实现。下控制层基于最优轮胎负载率使用二次规划方法优化四轮扭矩和制动力。所提出的协调控制器在 CarSim/Simulink 联合仿真平台上执行，并在真实车辆平台上进行测试。结果表明，所提出的控制器可以根据驾驶员的意图改善车辆的动态响应，从而带来更好的操纵性能和稳定性。