Patent ID: 8521349

Claim:
A method to control an electric vehicle, composing: determining, in a controller, a desired yaw rate, a total desired drive torque, and a desired sideslip angle based on user inputs; determining, in the controller, a desired yaw moment based on vehicle speed, sideslip angle, and the desired yaw rate; and determining, in the controller, first and second wheel torques to transmit to first and second wheels coupled to the vehicle to generate first and second longitudinal wheel forces that substantially provide: a portion of the total desired drive torque allocated to the first and second wheels; and the desired yaw moment; a sum of the first and second wheel torques being equal to the portion of the total desired drive torque allocated to the first and second wheels; and adjusting, by way of the controller, the first wheel torque by a first active wheel reference torque, ΔT d1 , and a second wheel torque by a second active wheel reference torque, ΔT d2 , wherein the first and second active wheel reference torques are functions of the desired yaw moment, a steering wheel angle, an effective wheel radius, and a vehicle track width, the adjustments being made to the first and second wheels according to a configuration for the first and second wheels selected from the group consisting of: first and second front wheels having a particular left front wheel steering angle, δ 1 , and a particular front right wheel steering angle, δ 2 , which are together used to calculate the first and second active wheel reference torques ΔT d1 and ΔT d2 , a front wheel on one side of the vehicle and a rear wheel on an opposite side of the vehicle, and a front wheel and a rear wheel on one side of the vehicle.