Hub motor driven off-road vehicle yawing stability control method

The invention discloses a hub motor driven off-road vehicle yawing stability control method, which comprises the following steps of: constructing a two-dimensional phase plane coordinate system according to yaw velocity and a side slip angle, determining a parameter domain of each yaw stability working condition in the coordinate system, and constructing an activation function of each yaw stability working condition; and when the activation function meets the activation condition of the yaw stability working condition, judging that the yaw stability working condition is located, and executing a corresponding control action. The two-dimensional phase plane coordinate system is constructed through the side slip angle-yaw velocity, the yaw stability working condition of the vehicle is judged through an activation function, whether control action is executed or not is judged, and response is more accurate and faster; the control target is achieved by independently adjusting the driving torque of each hub motor, a