| 摘要 |
The present invention relates to a method for torque vectoring for a vehicle with in-wheel motors. The method includes a step of determining whether torque vectoring for a vehicle is necessary or not and a step of individually torque vectoring each wheel by reflecting at least one of load movement of the vehicle or a road surface when torque vectoring for a vehicle is necessary. The present invention improves running responsiveness of the vehicle and prevents the skid of the vehicle by distributing torque required for each wheel by reflecting the load movement of the vehicle or the state of a road surface. [Reference numerals] (AA) Start; (BB, DD) No; (CC, EE) Yes; (FF) End; (S10) Required torque vectoring?; (S20) Calculate a vertical load estimating value; (S30) Determine a first torque adding ratio; (S40) Wheel slip occurs?(wheel slip ratio >= reference value); (S42) Torque vectoring each wheel by reflecting the first torque adding ratio; (S50) Determine a second torque adding ratio; (S60) Torque vectoring each wheel by reflecting the second torque adding ratio |
