Abstract: For the active steering and yaw moment integrated control for four-wheel independent drive electric vehicle,the integrated control method is studied based on the optimum control theory .The vehicle integrated control structure is determined.The integrated controller is designed based on the optimum control theory.The drive forces distribution are designed by using the rule allocation method taking the advantage of that the four wheel drive torque are controlled independently.The integrated controller outputs the additional steering wheel angle and the additional yaw moment value based on the difference between the actual yaw rate and the ideal yaw rate and the difference between the actual side slip angle and ideal side slip angle,which is necessary to ensure the vehicle driving stability.The additional steering wheel angle is attached directly to the steering wheel.The additional yaw moment is distributed by driving forces distributor.The typical work condition is chosen and the control method is verified based on the driving simulator hardware in the loop test bench.The results show that the integrated control can make the vehicle follow the expected value and improve the vehicle driving stability effectively.

Key words: four-wheel independent drive electric vehicle, active steering, yaw moment, integrated control, ooptimum control