A torque electronic differential control strategy was proposed to solve the problem that the vehicle model of distributed electric vehicle at high speed presents nonlinear and traditional speed electronic differential control strategy relies on Ackermann's turning model without considering the nonlinear disturbance caused by tire characteristics. A 3-DOF vehicle model

a 2-DOF reference model

a Dugoff tire model and a hub motor model were established respectively. To improve vehicle steering stability at high speed

a two-layer torque distribution controller was designed

in which the upper controller was based on GA-BP neural network algorithm to obtain additional yaw moment

the lower controller is based on quadratic programming algorithm to optimize the online distribution of the driving torques of the four wheels. The proposed control strategy is verified by co-simulation based on Carsim/Simulink. The results show that the proposed control strategy can effectively track the desired trajectory

better control the sideslip angle and yaw angle velocity of the centroid

and ensure the stable driving of the vehicle while realizing the electronic differential

and improve the safety of the vehicle compared with the equal torque distribution strategy

and the control strategy reduces steering resistance and driving torque requirements

reduces energy consumption

and gives full play to the energy saving potential of the vehicle.