Project Introduction: Developing new energy vehicles is a globally recognized path for automotive energy saving and environmental protection. Developed countries such as the United States, Japan, and Germany have made it a national strategic focus of development. In China, new energy vehicles dominated by electric vehicles were included in the Strategic Emerging Industries list in 2010 and the 'Made in China 2025' planning to be developed as key points. The main structural characteristic of distributed drive electric vehicles is that the driving motor is directly installed inside or near the driving wheel, which has prominent advantages such as a short drive transmission chain, efficient transmission, and compact structure, creating great space for the transformation of vehicle structures. At the same time, the wheel-mounted drive motor serves as both an information unit and a fast-response control execution unit for the car, enabling some high-performance control functions that are difficult to achieve on traditional vehicles, greatly improving the energy utilization and driving performance of cars. It laid the foundation for a new development in automotive dynamics, control theory, and methods. Based on successful cases of distributed drive electric vehicles developed abroad, the energy utilization efficiency of distributed drive electric vehicles can be 155% higher than that of traditional gasoline engine cars, and more than 20% higher than that of traditional single-motor centralized drive electric vehicles. Therefore, high-performance distributed drive electric vehicles that better reflect the themes of energy saving, environmental protection, and safety represent an important direction for the future development of electric vehicles. In recent years, both domestically and internationally, many concept prototypes of distributed drive electric vehicles with distinctive features have been successively researched and developed. However, due to constraints from traditional vehicle structures and the lack of new systematic design theories, they have not fully utilized the various technical advantages that wheel-edge/hub-driven electric vehicles should have. Since the driving motor is both the control execution unit ( The system can quickly achieve control of driving and braking forces on the wheels, and can also serve as an information unit for the vehicle (providing speed and torque information). By fully leveraging the advantages of distributed drive motors in terms of convenient control and rapid torque response (up to 2ms), independently controlling the output torque of each distributed drive motor using modern computer technology, and optimizing the distribution of driving and braking forces through power system control strategies, it is possible to realize some high-performance control functions that are difficult to achieve on traditional vehicles. At the same time, integrating the dynamic control system with the vehicle management system, designing energy management strategies, brake feedback strategies, and fault diagnosis and handling strategies that meet the needs of dynamic control, can improve the energy efficiency and active safety performance of electric vehicles. This project has established a vehicle dynamics integrated coordination control system with parameter adaptive functions, targeting drive slip prevention, brake lock-up prevention, power steering, The improvement of maneuverability and stability has proposed new theories and control methods; a variable structure slip rate control method based on dual dynamic estimation of tire force and adhesion coefficient is proposed to significantly enhance the efficiency of driving/braking and road utilization. An electro-hydraulic composite distribution method with a dynamic efficiency matrix is introduced to realize electronic differential functions and electro-hydraulic composite braking functions. By fully utilizing the characteristics of distributed drive differentials, yaw moment control strategies are designed for both normal and extreme operating conditions, and a coordination method based on stability criteria is developed to achieve smooth transitions between different controls under normal and extreme operating conditions. This improves vehicle maneuverability across all operating conditions, ensures vehicle stability, and enhances active safety. A vehicle key state recognition and parameter estimation method is designed to make the control system adaptive to changes in vehicle states and road adhesion conditions. It has good control effects under complex working conditions; at the same time, by integrating the dynamic control system with the vehicle management system, energy management strategies, braking feedback strategies, and fault diagnosis and handling strategies that meet the requirements of dynamic control are designed to improve the energy saving and active safety performance of electric vehicles. Vehicle test results show that both the power performance and steering stability of the vehicle have been improved, with a maximum passing speed in snake-like driving conditions increased by 12.5%; the maximum climbing gradient increased by 20%; the utilization rate on low adhesion surfaces reached 91%, and the duration of large slip rates on open roads was reduced by more than 40% compared to currently mass-produced anti-slip drive products; under cornering and emergency obstacle avoidance conditions, the maximum passing speed is comparable to that of a four-wheel drive vehicle equipped with an electronic stability control program from production, significantly improving the vehicle's stability margin. Current application status and prospects: The project's achievements address the following key technologies in the development of distributed drive electric vehicles: Vehicle management strategies for distributed drive electric vehicles; Dynamics control of complex coupled systems, including traction slip control, anti-lock braking control, differential power steering control, torque vector control, and electronic stability control; Coordinated control of vehicle dynamics stability and energy saving for distributed drive electric vehicles; Real-time road feature parameter identification based on wheel speed and driving torque information as well as multi-information fusion, which is accurate and fast converging; Estimation of critical vehicle operating state parameters under variable parameters and complex working conditions. The aforementioned technologies are applicable to electric passenger cars, buses, and differential steering vehicles driven by multiple wheel-edge/hub motors, and have been successfully tested on these models in collaboration with enterprises.