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In order to perform differential control instead of the mechanical differential and improve the steering performance of distributed electric vehicles, a two-level differential speed steering control strategy is proposed. Firstly, an upper-layer controller to track the yaw rate is designed based on PID feedback and 3-D lookup table model, which could shorten the response time and reduce the impact of model parameters mismatch. Then, in order to improve the robustness to external disturbances and parameter uncertainties, a lower-layer controller to track the wheel speed is proposed based on integral sliding mode control. Moreover, three simulations are conducted to validate the proposed strategy. The first simulation results indicate that the driving torques of the inner and outer wheels are distributed properly to avoid wheel slip. In the second simulation, when the conventional steering system fails, the proposed control strategy could avoid vehicle losing steering function.

The control forms of the vehicle have transformed from hydraulic or mechanical control to electrical control owing to the increasing demand of automotive safety and soaring development of electronic technology. Compared with the traditional mechanical parking brake system, the electrical control of brake named Electrical Parking Brake (EPB) System presents a variety of advantages. What's more, it shares common actuators and realizes the communication between electrical control systems to advance the vehicle industry to intellectualization. With such superiority, the EPB System has aroused much interest. But the difficulty in building the simulation model lies in the description of friction in screw-nut system of which the nonlinear component causes the hysteresis. However, almost all models found in the literature before are the static friction model with the limit of description of dynamic features like pre-sliding frictional features and parameters variation.