Race-Track testing of a torque vectoring algorithm on a motor-in-wheel car using a model-based methodology with a hil and multibody simulator setup

This paper, after an introduction into relevant vehicle technology aspects focusing on multi-motor powertrains, presents the development of a Torque Vectoring algorithm and its implementation, including race track testing results with a real vehicle equipped with Motors in Wheel. For the simulations, a complex custom high-fidelity multibody model was used, which was parametrized and validated for future developments using the race track testing data. For the development, state of the art model-based design solutions were applied, including code generation, to deploy it on a cutting edge System-on-Chip embedded platform. The results were positive not only regarding the vehicle testing itself, but also for the simulator, the developed controller and the methodology in general. Furthermore, it can be concluded that several of the discussed systems open doors of remarkable interest for future research.