**5. Conclusions**


This paper provides an idea for the obstacle avoidance path tracking control of distributed drive electric vehicles. In the follow-up research work, the torque distribution controller can be improved, and better torque distribution and anti-skid control can be added to the original design scheme. The control strategy can be realized under the condition of a lower road adhesion coefficient. The real vehicle test link is added to verify the effectiveness of the control strategy in this paper.

**Author Contributions:** Writing—original draft, H.W.; Writing—review & editing, H.Z. and Y.F. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research was funded by National Natural Science Foundation of China gran<sup>t</sup> number 51705306.

**Data Availability Statement:** Not applicable.

**Conflicts of Interest:** The authors declare no conflict of interest.
