Electronic differential design for vehicle side-slip control

This paper introduces a novel electronic differential control method designed to adjust the vehicle sideslip angle. With the new electronic differential on board, the electric car with independent driving motors can achieve a next-to-zero side-slip angle, which is of great significance in enhancing vehicle handling. The proposed electronic differential is implemented in the form of a closed-loop control system that constantly regulates the torque commands sent to the independent driving motors. These commands are generated to tune the difference between the longitudinal road-tire reaction forces at the amount associated with zero side-slip angle. Comparative simulations manifest that the proposed method outperforms the common equal torque scheme in various challenging steering scenarios.