Investigation of Longitudinal Wheel Slip Regulation for Vehicle Motion and Stability Control in Electric Vehicles with Individually Actuated In-Wheel Motors

This paper presents torque vectoring and direct yaw moment control strategies in electric ground vehicles with individually actuated in-wheel motors. This paper will outline the investigation of the effects of controlling longitudinal wheel slip as a means for improving vehicle dynamics performance and stability. Two controllers are presented and each are evaluated using a simulation framework pertaining to relevant performance indicators used to benchmark the effectiveness of the control strategies proposed.