Torque based direct driving force control method with driving stiffness estimation for electric vehicle with in-wheel motor

In order to control the motion of electric vehicles (EVs), it is important to control the driving force. Author's research group had proposed the driving force control method which uses wheel speed control. However, this control method has a limitation on the achievable control bandwidth due to multiple control loops. In this paper, a new driving force control method for EVs based on driving stiffness estimation is proposed. This method can achieve direct and quick driving force control. The effectiveness of the proposed control method is verified through simulations and experiments.