Torque Vectoring with a feedback and feed forward controller - applied to a through the road hybrid electric vehicle

This paper concentrates on the torque commands for electric propulsion motors in a through the road hybrid electric vehicle. By using a linear quadratic gaussian controller, a flat feed forward controller and a linear desired value generator the lateral vehicle dynamics are influenced. Understeering, oversteering, agility and cornering speed can be optimized by proper controller design. A 14 degree of freedom vehicle model with a Dugoff tire model is used to simulate the vehicle behaviour. The simulation results show improved vehicle dynamics and increased handling for the driver compared to a equal distributed torque command.