Patent ID: 8589048
Filing Date: 2013-11-19
Classification: B60T,B60W

Abstract:
1. A method of controlling a torque vectoring mechanism that distributes torque between a left wheel and a right wheel of a vehicle, comprising: determining a reference yaw rate of the vehicle based on a longitudinal speed and a steering angle of the vehicle; determining a first torque control value based on a yaw rate of the vehicle and the reference yaw rate; determining a first longitudinal slip value of the left wheel; determining a second longitudinal slip value of the right wheel; determining a combined slip value based on the first longitudinal slip value and the second longitudinal slip value; determining a second torque control value based on the combined slip value: determining a final torque control value based on the first torque control value and the second torque control value; and distributing torque between the left wheel and the right wheel based on the final torque control value, wherein the final torque control value is determined based on: where MF is the final torque control value, M1 is the first torque control value and M2 is the second torque control value.