Abstract
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This paper presents methods of torque vectoring and direct yaw moment control in electric ground vehicles with individually actuated in-wheel motors. The development and layout of a parametric and configurable simulation framework are described that is used to exam the vehicle’s dynamic response to torque vectoring and direct yaw-moment control strategies. The simulation framework presented is validated against measured data, where the simulated results are shown to be a reasonable representation of the results of the experimental vehicle.