The continuous and precise modulation of the driving braking torques each wheel is considered ultimate goal for controlling performance a vehicle in steady-state transient conditions. To do so, dedicated torque-vectoring (TV) controllers that allow optimal torque distribution under all possible conditions have to be developed. Commonly, TV are based on hierarchical approach, consisting high-level supervisory controller evaluates corrective yaw moment low-level defines individual reference...

Electric vehicles (EVs) with four individually controlled drivetrains are over-actuated systems, and therefore, the total wheel torque yaw moment demands can be realized through an infinite number of feasible combinations. Hence, energy-efficient distribution among is crucial for reducing drivetrain power losses extending driving range. In this paper, optimal formulated as solution a parametric optimization problem, depending on vehicle speed. An analytical provided case equal drivetrains,...

Fully electric vehicles (FEVs) with individually controlled powertrains can significantly enhance vehicle response to steering-wheel inputs in both steady-state and transient conditions, thereby improving handling and, thus, active safety the fun-to-drive element. This paper presents a comparison between different torque-vectoring control structures for yaw moment of FEVs. Two second-order sliding-mode controllers are evaluated against feedforward controller combined either conventional or...

A significant challenge in electric vehicles with multiple motors is how to control the individual drivetrains order achieve measurable benefits terms of vehicle cornering response, compared conventional stability systems actuating friction brakes. This paper presents a direct yaw moment controller based on combination feedforward and feedback contributions for continuous rate control. When estimated sideslip exceeds pre-defined threshold, sideslip-based contribution activated. All are...

This paper presents an integral sliding mode (ISM) formulation for the torque-vectoring (TV) control of a fully electric vehicle. The performance controller is evaluated in steady-state and transient conditions, including analysis degradation due to its real-world implementation. potential issue, which typical formulations, relates actuation delays caused by drivetrain hardware configuration, signal discretization, vehicle communication buses, can provoke chattering irregular action....

This paper presents a traction control (TC) system for electric vehicles with in-wheel motors, based on explicit nonlinear model predictive control. The feedback law, available beforehand, is described in detail, together its variation different plant conditions. controller implemented rapid prototyping unit, which proves the real-time capability of strategy, computing times order microseconds. These are significantly lower than required time step TC application. Hence, can run at same...

The safety benefits of torque-vectoring control electric vehicles with multiple drivetrains are well known and extensively discussed in the literature. Also, several authors analyze wheel torque allocation algorithms for reducing energy consumption while obtaining demand reference yaw moment specified by higher layer a controller. Based on set novel experimental results, this study demonstrates that further significant reductions can be achieved through appropriate tuning understeer...

This paper addresses the development and Hardware-in-the-Loop (HiL) testing of an explicit nonlinear model predictive controller (eNMPC) for antilock braking system (ABS) passenger cars, actuated using electro-hydraulic unit. The control structure includes a compensation strategy to guard against performance degradation due actuation dead times, identified by experimental tests. eNMPC is run on automotive rapid prototyping unit, which shows its real-time capability with comfortable margin. A...

Latest advances in road profile sensors make the implementation of preemptive suspension control a viable option for production vehicles. From side, model predictive (MPC) combination with preview is powerful solution this application. However, significant computational load associated conventional implicit controllers one limiting factors to widespread industrial adoption MPC. As an alternative, article proposes explicit controller (e-MPC) active system preview. The MPC optimization run...

Electric vehicles with independently controlled drivetrains allow torque vectoring, which enhances active safety and handling qualities. This article proposes an approach for the concurrent control of yaw rate sideslip angle based on a single-input single-output (SISO) controller. With SISO formulation, reference is first defined according to vehicle requirements then corrected actual angle. The contribution guarantees prompt corrective action in critical situations such as incipient...

Fully electric vehicles with individually controlled drivetrains can provide a high degree of drivability and vehicle safety, all while increasing the cornering limit 'fun-to-drive' aspect. This paper investigates new approach on how sideslip control be integrated into continuously active yaw rate controller to extend stable allow sustained values angle. The controllability-related limitations control, together its potential benefits, are discussed through tools multi-variable feedback...

Steering control for path tracking in autonomous vehicles is well documented the literature. Also, continuous direct yaw moment control, i.e., torque-vectoring, applied to human-driven electric with multiple motors extensively researched. However, combination of both controllers not yet understood. This paper analyzes benefits torque-vectoring an vehicle, either by integrating system into controller, or through its separate implementation alongside steering controller tracking. A selection...

A recently growing literature discusses the topics of direct yaw moment control based on model predictive (MPC), and energy-efficient torque-vectoring (TV) for electric vehicles with multiple powertrains. To reduce energy consumption, available TV studies focus allocation layer, which calculates individual wheel torque levels to generate total reference longitudinal force moment, specified by higher level algorithms provide desired lateral vehicle dynamics. In fact, a system redundant...

In electric vehicles with multiple motors, the individual wheel torque control, i.e., so-called torque-vectoring, significantly enhances cornering response and active safety. Torque-vectoring can also increase energy efficiency, through appropriate design of reference understeer characteristic calculation distribution providing desired total direct yaw moment. To meet industrial requirements for real vehicle implementation, energy-efficiency benefits torque-vectoring should be achieved via...

Integrated Chassis Control (ICC) is one of the most appealing subjects for vehicle dynamics specialists and researchers, due to increasing number chassis actuators modern human-driven automated cars. ICC ensures that potential available systematically exploited, by overcoming individual limitations, solving conflicts redundancies, which results into enhanced performance, ride comfort safety. This paper a literature review on ICC, focuses topics are left uncovered recent surveys subject, or...

This paper presents a novel unscented Kalman filter (UKF) implementation with adaptive covariance matrices (ACMs), to accurately estimate the longitudinal and lateral components of vehicle velocity, thus sideslip angle, tire slip angles, ratios, also in extreme driving conditions, including tyre–road friction variations. The adaptation strategies are implemented on both process noise measurement covariances. resulting UKF ACM is compared against well-tuned baseline fixed Experimental test...

Fully electric vehicles with multiple drivetrains allow a significant variation of the steady-state and transient cornering responses through individual control motor drives. As consequence, alternative driving modes can be created that provide driver option to select preferred dynamic vehicle behavior. This article presents torque-vectoring structure based on combination feedforward feedback contributions for continuous yaw rate. The controller is specifically developed easily implementable...

This paper presents a novel four-wheel-drive electric vehicle layout consisting of one on-board drivetrain per axle. Each includes simplified clutch-less two-speed transmission system and an open differential to transmit the torque wheels. allows eight different gear state combinations at level, thus increasing possibility running in more energy-efficient for specific wheel demand speed. To compensate gap during gearshifts, “torque-fill” controller was developed that varies motor on axle not...

This paper presents an H∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled motor drives. The design of the controller based on loop shaping and state observer configuration is discussed, considering effect actuation dynamics. A gain scheduling parameters as function speed implemented. increased robustness respect to Proportional Integral analyzed, including simulations different tire inertial properties. Experimental results four-wheel-drive...

Individually controlled electric motors provide opportunities for enhancing the handling characteristics and energy efficiency of fully vehicles. Online power loss minimisation schemes based on motor data may, however, be impractical real-time implementation owing to heavy computational demand. In this paper, optimal wheel torque distribution minimal losses from drives is evaluated in an offline optimisation procedure then approximated using a simple function online control allocation. The...

The paper discusses novel computationally efficient torque distribution strategies for electric vehicles with individually controlled drivetrains, aimed at minimizing the overall power losses while providing required level of wheel and yaw moment. Analytical solutions control allocation problem are derived effects load transfers due to driving/braking cornering studied discussed in detail. Influences different drivetrain characteristics on front rear axles described. results an analytically...

This paper deals with the description of current and future vehicle technology related to yaw moment control, anti-lock braking traction control through employment effective torque vectoring strategies for electric vehicles. In particular, adoption individually controlled powertrains aim tuning dynamic characteristics in steady-state transient conditions is discussed. subject currently investigated within European Union (EU) funded Seventh Framework Programme (FP7) consortium E-VECTOORC,...