Hierarchical concept on vehicle dynamic control for single-wheel drive electric vehicles

摘要

The application of electric single-wheel drives in passenger cars opens up improvements for vehicle dynamic control due to the possibility of controlling positive and negative torque at eachwheel independently. Now a faster, more precise and more energy efficient control of longitudinal slip at each wheel is possible than the conventional usage of the braking system can realize. To consequently utilize these advantages, this article presents a hierarchical concept on vehicle dynamic control that subdivides the observer and control structure into a wheel and vehicle layer.