This paper presents an active collision avoidance system based on a braking force distribution strategy for four-in-wheel-motor-driven electric vehicles (FIWMD-EVs) on roads with different friction coefficients. There are three major contributions in the proposed braking force distribution strategy. Firstly, the braking force distribution strategy based on constrained regenerative braking strength continuity (CRBSC) is further improved, and its general analytic expressions are derived. It provides the theoretical basis of braking force distribution between front and rear wheels. Secondly, the braking forces between front and rear wheels can be redistributed by considering power demand efficiency (PDE) to protect energy storage system from overcharge. Finally, the braking forces between left and right wheels can be distributed with different adhesion coefficients to adapt to complex roads. Simulations using rapid control prototyping (RCP) and hardware-in-the-loop (HIL) simulator are performed to demonstrate the effectiveness of control scheme and adaptability of the active collision avoidance system based on the proposed braking force distribution strategy on complex roads.

本文提出了一种基于制动力分配策略的主动防撞系统，适用于具有不同摩擦系数的道路上的四轮电机驱动电动汽车 (FIWMD-EV)。所提出的制动力分配策略有三个主要贡献。首先，进一步改进了基于约束再生制动强度连续性（CRBSC）的制动力分配策略，推导出其一般解析表达式。为前后轮制动力分配提供了理论依据。其次，可以通过考虑功率需求效率（PDE）来重新分配前后轮之间的制动力，以保护储能系统免受过度充电。最后，左右轮之间的制动力可以分配不同的附着系数，以适应复杂的道路。使用快速控制原型 (RCP) 和硬件在环 (HIL) 模拟器进行仿真，以证明基于所提出的制动力分配策略的主动防撞系统在复杂道路上的控制方案的有效性和适应性。