Torque Vectoring Testing in X-in-the-Loop Simulation Environment

Yaw moment control approaches such as Torque Vectoring (TV) can improve cornering response and vehicle handling. Electric vehicles with multi-motor powertrains are particularly suitable for implementing these strategies since they allow to vary the torque applied to each wheel. For simulating and validating these algorithms, a modular X-In-the-Loop (XIL) for Electronic Control Unit (ECU) testing for Electric Vehicles (EV) has been developed. With this setup, the time and cost of the feature developments is reduced, covering from modelling level to hardware and communications level.