Abstract: The assembly of multiple sets of distributed drive systems can improve the dynamic control capability of intelligent vehicles. However, when the vehicle is starting on a split-slope road, there will still be problems in that the dynamic and directional stability are difficult to balance. Therefore, a dual steering control method combining active steering and differential steering for the distributed drive intelligent vehicles is proposed and verified. According to the independent and controllable characteristics of the drive wheels, the necessity of applying dual steering when the vehicle is starting on a split-slope road is analysed. According to the phenomenon that the left and right wheels unequal driving forces cause the vehicle to generate differential steering and deviate from the straight line, the front wheels active steering controller based on model predictive control is designed. The dual steering controller design is completed in combination with the designed active steering controller and the existing torque adaptive drive anti-skid controller for the distributed drive vehicles. Through the simulation analysis and the actual vehicle road test, the control effect of the designed controller is verified. The research shows that the application of dual steering control can make the distributed drive intelligent vehicle make full use of its own driving force and the maximum adhesion force that the road can provide to improve the trafficability; At the same time, the additional steering wheel angle can be calculated according to the real-time body attitude parameters and location information. The proposed dual steering control combined with differential steering and active steering can improve the vehicle trafficability and direction stability in an all-round way.

Key words: intelligent electric vehicles, distributed driver, dual steering, trafficability, directional stability