A longitudinal, transverse and 
vertical force integrated control optimization method for electric vehicles driven by hub belongs to that technical field of 
electric vehicle control. The object of theinvention is to adopt a layered cooperative control structure so as to solve the four shortcomings existing in the prior art 
control system of a longitudinal, lateral and 
vertical force integrated control optimization method of an 
electric vehicle driven by a hub. The invention brings the relationship between vehicle 
resultant force and four-wheel tire force into the vehicle body six-degree-of-freedom equation to obtain the expected values of vehicle 
kinematics control target longitudinal speed, lateral speed, vertical speed, 
pitch angle, roll angle and 
yaw angle, thereby optimizing the vehicle 
kinematics control target. The layered longitudinal, lateral and 
vertical force unified optimal distribution integrated control method eliminates the conflict between different 
chassis electronic control systems and enhances the complementarity, and comprehensively improves vehicle handling stability and 
vehicle driving posture, which is embodied in the improvement of vehicle road tracking performance, safety, maneuverability, stability and comfort.