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Electric vehicles with a distributed drive train configuration provide great possibilities for the improvement of the vehicle dynamics, handling, safety as well as efficiency. In this paper, an energy-efficient torque allocation scheme is proposed for the improvement of traction efficiency and braking energy recovery. In traction conditions, the traction distribution is developed using an objective function of minimizing power loss of four electric motors. In braking conditions, aiming at guaranteeing the braking stability and recapturing the braking energy as much as possible, the changeable distribution of braking torque is obtained based on the ideal front-rear braking force distribution curve, while complying with braking regulations of Economic Commission for Europe. The proposed allocation scheme does not rely on the complex online computation. It is obtained via an offline optimization procedure and utilized for online allocation by simple interpolation. The low calculation effort makes it easy to implement the algorithm on real vehicles. Additionally, a conventional torque allocation is introduced as a contrasting approach. Finally, the simulations are conducted in CarSim and MATLAB/Simulink environment. The results demonstrate that the energy-efficient torque allocation scheme considerably improves the vehicle efficiency and increases the braking energy recovery compared with the conventional approach.
Zhang et al. (Mon,) studied this question.