en دینامیک خودرو Vehicle dynamics, transmission پژوهشي Research <span style="font-size:10.0pt"><span style="line-height:115%"><span new="" roman="" style="font-family:" times="">In this paper, a multi-level hierarchical control method for enhancing electric vehicle (EV) stability with four independent in-wheel motors is proposed.&nbsp;In the high-level motion controller, a sliding mode controller is used to calculate the total desired force and yaw moment, and in the low-level control allocation, an optimal energy-efficient control allocation scheme is presented to provide optimally distributed torques for four in-wheel motors. Moreover, both handling performance and energy savings are investigated in this research and evaluated via a co-simulation approach using MATLAB/Simulink, and CarSim. With a torque distribution algorithm based on energy efficiency optimization, the EV is controlled with and without a controller in J-turn and lane change maneuvers. The simulation results show&nbsp;that the proposed torque control system and torque distribution algorithm can maintain stability, reduce energy consumption, and track the desired values of yaw rate and longitudinal velocity of the vehicle in the mentioned maneuvers.</span></span></span> control allocation, EV, sliding mode control, stability control 4937 4952 http://ase.iust.ac.ir/browse.php?a_code=A-10-852-1&slc_lang=en&sid=1 Milad Sarani miladsarani3021373@gmail.com 180031947532846005306 180031947532846005306 No School of Automotive Engineering, Iran University of Science and Technology, Tehran, Iran. Behrooz Mashadi b_mashhadi@iust.ac.ir 180031947532846005307 180031947532846005307 No School of Automotive Engineering, Iran University of Science and Technology, Tehran, Iran. Majid Majidi majid.majidi@iau.ac.ir 180031947532846005308 180031947532846005308 Yes Department of Mechanical Engineering, Qa.C., Islamic Azad University, Qazvin, Iran.