Abstract
A method of optimal wheel torque and steering angle determination for electric motor vehicles is presented. Electric motor vehicles are increasing with the rise of public interest in the environmental protection. In the case of vehicles driven by controllable motors on each individual wheel, the determination of the wheel torque is an essential factor for efficient drive. In this research, a method of optimal torque and steering angle determination has been formulated by using the variational principle to minimize frictional work done by the tires with the ground contact. Optimal torque and steering angle on each wheel for a four-wheel vehicle was numerically obtained by solving the equations under several driving conditions. The result of the numerical simulation is useful as a guide to control the motor torque of electric vehicles for efficient driving.
