Method of controlling a torque vectoring mechanism and torque vectoring system

摘要

A method of controlling a torque vectoring mechanism that distributes torque between a left and a right wheel of a vehicle includes determining a reference yaw rate of the vehicle based on a speed and a steering angle of the vehicle and determining a first torque control value based on a yaw rate of the vehicle and the reference yaw rate. The method also includes: (i) determining longitudinal slip value for each of the left and right wheels, (ii) determining a combined slip value based on the longitudinal slip values, and (iii) determining a second torque control value based on the combined slip value. Further, the method includes 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 and right wheels based on the final torque control value. A torque vectoring system is also provided.