Research on coordinated optimization of regenerative braking and braking stability for electric vehicles based on hierarchical control

Abstract

This paper proposes a hierarchical control strategy for the coordinated optimization of regenerative braking and braking stability in electric vehicles (EVs). A coupled longitudinal–wheel dynamic model is established to describe braking behavior. A three-layer control framework is developed, including a decision layer for multi-objective optimization, a coordination layer for torque distribution, and an execution layer for slip ratio tracking. An adaptive weighting mechanism is introduced to balance energy recovery and stability under varying driving conditions. Simulation results based on MATLAB/Simulink and CarSim demonstrate that the proposed method improves energy recovery efficiency by 10–20% while reducing braking distance and slip ratio error compared with conventional methods.