Torque Vectoring Control in Four Wheel Independently Driven Vehicle

Four-wheel independently driven electric vehicles have a separate motor for each wheel. Such vehicles can deliver different torques to each wheel, a process called torque distribution, to improve vehicle performance. My research proposes a torque distribution method that overcomes certain limitations of existing optimization-based torque distribution methods, particularly related to the torque constraints imposed on each wheel. As a slip controller regulates the tire to output its maximum allowable force, the key idea behind the proposed method is that the output of the slip controller is fed back as the torque constraint to the proposed torque distribution method.