Driving Torque Distribution Method for Front （前面的驱动转矩分配方法）.pdf

World Electric Vehicle Journal Vol. 4 - ISSN 2032-6653 - © 2010 WEVA Page000558 EVS25 Shenzhen, China, Nov 5-9, 2010 Driving Torque Distribution Method for Front-and- Rear- Wheel-Independent-Drive-Type Electric Vehicles (FRID EVs) at the Time of Cornering 1 1 1 Nobuyoshi Mutoh Osamu Nishida , Tatsuya Takayanagi , 2 shi Murakami2 Tadahiko Kato , Kazuto 1 Graduate School of Tokyo Metropolitan University 6-6, Asahigaoka, Hino-shi, Tokyo, Japan nmutoh75@fuji.waseda.jp 2 Univance Corporations, 2418 Washes, Kisi-shi, Shizuoka, Japan Abstract This paper describes a driving torque distribution method for front–and-rear-wheel-independent-drive- type electric vehicles (FRID EVs) in which it is possible to get stable steering on a low friction coefficient road surface. This method is characterized by distributing driving torque to the left and right wheels of the front and rear wheels, considering not only load movement of the longitudinal direction but also load movement of the lateral direction which is generated at cornering. The load movements are estimated by detecting components of the 3-axis directions, i.e., longitudinal and lateral accelerations and yaw rate, and the steering angle and friction coefficient  of the road surface. The effectiveness of the proposed driving torque distribution method was verified using simulators equivalent to the prototype FRID EV simulated with Matlab/Simulink and CarSim software. This method is