Tire Force Control and Tire Workload Maximization Method for Independent-four-wheel-drive Electric Vehicle

Abstract

This paper considers an independent-four-wheel-drive EV to pursue the limit of maneuverability. An effective method of tire force control and maximization of tire workload by controlling slip ratio and tire slip angle is proposed. First, the vehicle model of an independent-four-wheel-drive EV is defined. Next, a simulation of the tire force control is conducted, which shows that the proposed method can maintain the tire workload at 1 for an arbitrary tire force direction. Finally, the effectiveness of the proposed method is verified by simulation and experimental validation using a real EV.