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Optimal torque distribution strategy considering energy loss and tire adhesion for 4WD electric vehicles

Distributed electric vehicles are typical over- actuated systems, therefore, the optimal torque distribution can be realized through the driving wheels. It is meaningful to extend driving range and reinforce stability of vehicles by using optimal torque allocation methods. In this paper, a quadratic programing based torque allocation strategy is proposed to minimize the drivetrain power loss and utilize the tire-road friction of each wheel reasonably. A co-simulation using CarSim and Simulink is conducted to prove the effectiveness of the proposed algorithm under different conditions.