Main technical parameters of the vehicle.

In-wheel motor driven electric vehicles are prone to issues such as wheel spin, vehicle sideslip, fishtailing, and steering instability when traveling on compacted snow surfaces. While traditional optimal slip ratio tracking aims to maximize longitudinal force, it significantly compromises lateral force reserves. Moreover, most existing longitudinal-lateral coordination strategies fail to actively constrain the slip ratio, unable to prevent the deterioration of road adhesion conditions. To address these challenges, this study proposes a coordinated control strategy integrating acceleration slip regulation (ASR) and active front steering (AFS) under dynamic slip ratio constraints. To maximize the preservation of tire lateral force margin for enhanced anti-sideslip capability, a dynamic slip ratio constraint control method is proposed. With the objectives of dynamically minimizing wheel slip ratio and maintaining driving stability, the non-dominated sorting genetic algorithm-II (NSGA-II) is employed to optimally distribute the total driving torque. Furthermore, to counteract undesired yaw moments caused by uneven road friction coefficients or torque distribution, an active front steering (AFS) compensation control strategy based on sliding mode control (SMC) is designed to track the ideal yaw rate and sideslip angle, thereby achieving efficient coordination between acceleration slip regulation and yaw stability control. Co-simulations under various conditions are conducted using the Matlab/Simulink-CarSim platform. The results demonstrate that the proposed strategy effectively suppresses wheel spin, reduces lateral path tracking errors, and improves both longitudinal and lateral stability of the vehicle. This study provides an effective solution for enhancing the active safety control of in-wheel motor driven electric vehicles operating in icy and snowy environments.轮毂电机驱动电动汽车（In-wheel motor driven electric vehicles）在压实积雪路面行驶时，易出现车轮打滑、车辆侧滑、甩尾及转向失稳等问题。传统最优滑移率跟踪策略旨在最大化纵向力，却会大幅牺牲侧向力储备。此外，现有多数纵横向协调控制策略无法主动约束滑移率，难以遏制路面附着条件的恶化。为解决上述问题，本文提出一种动态滑移率约束下的集成驱动防滑控制（Acceleration Slip Regulation，ASR）与主动前轮转向（Active Front Steering，AFS）的协调控制策略。为最大化保留轮胎侧向力裕度以提升抗侧滑能力，本文提出动态滑移率约束控制方法。以动态最小化车轮滑移率、维持行驶稳定性为目标，采用非支配排序遗传算法-II（Non-dominated Sorting Genetic Algorithm-II，NSGA-II）对总驱动转矩进行优化分配。此外，为抵消路面附着系数不均或转矩分配不均引发的多余横摆力矩，本文设计了基于滑模控制（Sliding Mode Control，SMC）的主动前轮转向补偿控制策略，用于跟踪理想横摆角速度与侧偏角，进而实现驱动防滑与横摆稳定性控制的高效协调。基于Matlab/Simulink-CarSim平台开展多工况联合仿真，结果表明所提策略可有效抑制车轮打滑，降低横向路径跟踪误差，同时提升车辆的纵向与横向稳定性。本研究为冰雪工况下轮毂电机驱动电动汽车的主动安全控制提供了有效解决方案。