Driving Towards Energy Efficiency: A Novel Torque Allocation Strategy for In-Wheel Electric Vehicles

Electric vehicles (EVs) with four independent in-wheel motors are classified as over-actuated systems, granting unprecedented possibilities to meet the total driving torque and yaw moment demands through an infinite number of feasible torque combinations. Ensuring an energy-efficient torque distribution among the motors is indispensable for mitigating energy consumption and extending the driving range. This is a pivotal factor in promoting eco-friendly and sustainable transportation solutions. This work focuses on the low-level control of a proposed multi-objective control architecture, encompassing longitudinal, lateral, stability, and maneuverability control. A novel configuration method for torque allocation is established, followed by developing and contrasting four multi-objective-based strategies. An energy-saving criterion is further developed, and the energy-efficient allocation strategies are carried out within the frameworks of online and offline optimization, based on the Sequential Quadratic Programming (SQP) algorithm. The proposed architecture is tested and validated in a joint simulation between Simulink/MatLab and SCANeR™ Studio vehicle dynamics simulator. The simulation outcomes demonstrate that implementing the suggested torque allocation can lead to enhancements in the energy efficiency, driving comfort, and stability of the electric vehicle.