Fully electric vehicles with individually controlled powertrains can achieve significantly enhanced vehicle response, in particular by means of Torque Vectoring
Control (TVC). This paper presents a TVC strategy for a Formula SAE (FSAE) fully electric vehicle, the “T-ONE” car designed by “UninaCorse E-team” of the University of
Naples Federico II, featuring four in-wheel motors. A Matlab-Simulink double-track vehicle model is implemented, featuring non-linear (Pacejka) tyres. The TVC strategy
consists of: i) a reference generator that calculates the target yaw rate in real time based on the current values of steering wheel angle and vehicle velocity, in order to follow a desired optimal understeer characteristic; ii) a high-level controller which generates the overall traction/braking force and yaw moment demands based on the accelerator/brake pedal and on the error between the target yaw rate and the actual yaw rate; iii) a control allocator which outputs the reference torques for the individual wheels. A driver model was implemented to work out the brake/accelerator pedal inputs and steering wheel angle
input needed to follow a generic trajectory. In a first implementation of the model, a circular trajectory was adopted, consistently with the "skid-pad" test of the FSAE
competition. Results are promising as the vehicle with TVC achieves up to � 9% laptime savings with respect to the vehicle without TVC, which is deemed significant and
potentially crucial in the context of the FSAE competition.
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