Driving force controller considering lateral slip based on brush model for traction control of independent-four-wheel-drive electric vehicle

As one of the motion control methods of electric vehicles (EVs), a driving force controller (DFC) with a slip ratio limiter has been proposed. The conventional controller has a slip ratio limiter for safety reasons, but it does not consider the lateral slip of the tire during cornering. To deal with this problem, this paper proposes a DFC with a variable slip ratio limiter based on brush model. The experimental results show that the proposed controller can work on both acceleration and deceleration cornering, by increasing the lateral force and lateral acceleration for smoother cornering.