Torque distribution hierarchical control system and method for electric vehicle driven by hub motor

The invention provides a torque distribution hierarchical control system and method for an electric vehicle driven by a hub motor, and the system comprises the steps: constructing an upper-layer hierarchical controller and a lower-layer hierarchical controller, and determining a distribution control strategy of the driving torque of the upper-layer torque distribution controller through a fuzzy control module; the lower-layer torque distribution controller receives the torque, the yaw velocity and the side slip angle of the upper-layer torque distribution controller and carries out driving torque distribution control based on a motor efficiency MAP or driving torque distribution control based on the slip rate according to actual values fed back by the vehicle; generalized torque is obtained through calculation and distributed to hub motor models, target torque is obtained and then input into a seven-degree-of-freedom whole vehicle model, the model feeds back the vehicle state to enter an upper-layer torque di