Driving control architecture for six-in-wheel-driving and skid-steered series hybrid vehicles

This paper presents a driving control method including torque distribution, slip control and regenerative-hydraulic brake control to maximize maneuverability for six-in-wheel-drive and skid-steered series hybrid vehicles. Wheel torque command to each wheel, to track both net longitudinal force and net yaw moment, is distributed based on control allocation method. Because regenerative brake torque does not satisfy desired deceleration under certain speed condition, hydraulic brake system is controlled to obtain suitable brake force rapidly. The maneuvering performance of the six-wheeled and skid-steered vehicle with the proposed driving controller has been compared to that of an Ackerman-steered vehicle with even-distribution controller via TruckSim & Matlab-Simulink co-simulations.