Quadratic Programming-based Coordinated Torque Vectoring Allocation Strategy for Four-Wheel Independently Driven Electric Vehicles

This study proposes a quadratic programming-based torque allocation strategy for four-wheel independently driven EVs to enhance stability under complex conditions. A multi-objective optimization model is formulated through the integration of dynamics constraints and actuator limits, subsequently converted into a constrained quadratic programming (QP) problem. Experimental results demonstrate $\mathbf{4 2 \%}$ lower lateral tracking error in double-lane changes versus conventional methods.