This paper presents a new method for optimizing mobility of a 4×4 hybrid-electric vehicle through control of wheel power distribution. First, a mobility index is used to calculate optimal power distribution for improved mobility using a Lagrangian multiplier. A control algorithm is developed for altering the wheel power distribution in order to follow a trajectory path which is calculated for optimum mobility. An inverse vehicle dynamics math model of a 4×4 vehicle is used in which a task is assigned as a required velocity to test in two simulated curvilinear maneuvers.

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