A method of torque control for independent wheel drive vehicles on rough terrain

Our previous research has revealed that, for vehicles with independently driven wheels, a torque distribution based on the ratio of the vertical load of each wheel to the total vehicle load is efficient for driving on flat ground. In this research, this method of torque distribution was extended to electric off-road vehicles driving on rough ground. In order to examine the driving efficiency of these vehicles, a numerical vehicle model was constructed in the pitch plane. Simulations using the numerical vehicle model on rough ground were conducted with a proposed torque distribution and control method. The numerical results from these simulations were compared with those of a conventional vehicle to evaluate the driving efficiency and trafficability on ground with various profiles. A comparison between the simulations demonstrated that the proposed method of torque distribution to the front and rear wheels based on the ratio of the vertical load is efficient for driving on rough ground.