To ensure the stability and drivability of the four-wheel independent drive electric vehicle when the drive system fails, a rule-based torque redistribution strategy is proposed. Failure conditions considering partial failure are classified into four categories. The failure mode can be judged by the fault factors, and the corresponding torque redistribution strategy is designed according to the reset fault factors. Then, hierarchical control is adopted, including upper and lower layers. Base on the torque redistribution strategies, the additional yaw moment distributed to individual drive motors is calculated. The co-simulation of Carsim and Matlab/Simulink is used to simulate the proposed torque redistribution control strategy by selecting the conditions of straight line, turning and sine wave. The simulation results show that the proposed control strategy can improve the utilization of drive system and ensure the stability and drivability of vehicle when the drive system fails.

为保证四轮独立驱动电动汽车在驱动系统出现故障时的稳定性和驾驶性能，提出了一种基于规则的扭矩再分配策略。考虑部分失效的失效条件分为四类。通过故障因素可以判断故障模式，并根据复位后的故障因素设计相应的扭矩再分配策略。然后，采用分层控制，包括上层和下层。根据扭矩重新分配策略，计算分配给各个驱动电机的附加横摆力矩。Carsim 和 Matlab/Simulink 的联合仿真用于通过选择直线、转弯和正弦波的条件来模拟所提出的扭矩重新分配控制策略。