Real-time allocation of tire adhesion forces for electric vehicles

A fully distributed computational algorithm for optimal allocation of tire friction forces as an integral part of a feedforward vehicle dynamics control scheme is presented. To this end, the projected subgradient method extended by an average consensus layer is utilized, leading to a simple and real-time capable algorithm. The proposed concept is of interest for the powertrain systems featuring redundant single-wheel actuation and electric cars equipped with wheel-hub drives.