A torque vectoring system is designed for the hybrid electric–all wheel drive vehicle where the front and rear wheels are powered by the combustion engine and electric motors, respectively. The vehicle provides enhanced handling performance by a twin motor drive unit that can distribute the driving and regenerative braking torques to the rear-left and rear-right wheels independently. Based on the driver’s intention, a sliding mode controller is designed to calculate the desired traction force and yaw moment for the vehicle. The force distribution between the front and rear axles is investigated considering the principle of the friction circle, and characteristics of the engine and drive motors. The vertical tire force is estimated using the random walk Kalman filter for the proportional distribution between the front and rear longitudinal forces. For the torque distribution between the rear-left and rear-right wheels, an optimization problem is formulated by considering the constraints of the friction circle and motor characteristics. The proposed algorithm is evaluated in a simulation environment first by reflecting the characteristics of the hybrid electric–all wheel drive modules. Then, the test vehicle is utilized to validate the handling performance experimentally and to compare with the uncontrolled cases.

中文翻译：

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混合动力-全轮驱动汽车扭矩矢量系统设计

扭矩矢量系统是为混合动力电动全轮驱动车辆设计的，其中前轮和后轮分别由内燃机和电动机提供动力。该车辆通过双电机驱动单元提供增强的操纵性能，该单元可以独立地将驱动和再生制动扭矩分配到左后轮和右后轮。根据驾驶员的意图，设计了一个滑模控制器来计算车辆所需的牵引力和横摆力矩。考虑摩擦圆的原理，以及发动机和驱动电机的特性，研究了前后桥之间的力分布。使用随机游走卡尔曼滤波器估计垂直轮胎力，用于前后纵向力之间的比例分布。对于左后轮和右后轮之间的扭矩分配，通过考虑摩擦圆和电机特性的约束，制定了优化问题。所提出的算法首先在模拟环境中通过反映混合电动全轮驱动模块的特性进行评估。然后，使用测试车辆通过实验验证操纵性能并与未控制的情况进行比较。