A system controls torques applied to a plurality of wheels of a motor vehicle.
One or more angular velocity sensors determine speed for each of the plurality
of wheels. A vehicle yaw acceleration sensor determines actual yaw acceleration
of the vehicle. A desired yaw acceleration sensor determines intended yaw acceleration
for the vehicle. A net torque command sensor determines intended vehicle direction
and intended torque magnitude for the vehicle. An electronic control unit processes
data from the velocity sensors, the vehicle yaw acceleration sensor, the desired
yaw acceleration sensor and the net torque command sensor to generate torque signals
for the plurality of wheels. One or more torque producers responds to the torque
signals to vary torque applied to each of the plurality of wheels, such that the
wheels engage in one of acceleration and deceleration dependent upon driver intent
and with controlled traction. Torque distribution among a plurality of wheels limits
wheel slip, improves traction, and produces a yaw moment to correct oversteer or
understeer conditions.
