In this paper, energy efficiency of a 6×6 terrain truck is analyzed with the focus on the driveline system, i.e., a combination of power dividing units, PDUs, which split/vector power between the drive wheels, determine the wheel circumferential forces and tire slippages and thus influence energy efficiency. An analytical method is presented which allows a user to determine the circumferential wheel forces and tire slippages by compiling constraint equations using characteristics of various PDUs employed in the driveline system. A computational algorithm is presented which integrates the above-mentioned equations of the driveline system with the entire model of the truck. An analysis of the effects of wheel power vectoring on energy efficiency of a 6×6 truck is demonstrated for three PDU configurations.

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