说明：  一种电动汽车横摆稳定性协调 控制方法及系统，涉及汽车领域。该方法包括：获 取电动汽车的参考轨迹信息和实时运动状态信 息；将参考轨迹信息和实时运动状态信息输入模 型预测控制器，得到电动汽车的附加横摆力矩； 获取电动汽车的纵向需求力；依据附加横摆力矩 和纵向需求力，利用直接横摆力矩控制方法确定 电动汽车中每个车轮的驱动力矩，实现电动汽车 横摆稳定性协调控制
(Yaw stability coordination of electric vehicle The control method and system relates to the automobile field. The method includes: obtaining Get the reference trajectory information and real-time motion status information of electric vehicles The reference trajectory information and real-time motion state information are input into the model The additional yaw moment of the electric vehicle can be obtained by using the model predictive controller; According to the additional yaw moment, the longitudinal force of electric vehicle is obtained And the longitudinal demand force is determined by direct yaw moment control method The driving torque of each wheel in the electric vehicle realizes the electric vehicle Coordinated control of yaw stability)