Fig 1.
Quarter model of vehicle.
Fig 2.
Relations for adhesion coefficient and slip ratio:(a) adhesion factor with slip ratio; (b)du/ds with slip ratio.
Fig 3.
Estimation logic for optimal slip ratio.
Fig 4.
TCS structure of in-wheel motor driven system.
Table 1.
Vehicle specifications for simulation.
Table 2.
Main specifications for driving motor.
Fig 5.
Wheel driving torque.
Fig 6.
Output by road identifier.
Fig 7.
Adhesion characteristics of Road I.
Fig 8.
Vehicle speed variation.
Fig 9.
Wheel rotating speed without TCS control.
Fig 10.
Wheel rotating speed with TCS control.
Fig 11.
Comparison of adhesion coefficient and slipping rate.
Fig 12.
Comparison of traction variation.
Fig 13.
The tested vehicle.
Fig 14.
The overall vehicle arrangement.
Fig 15.
Original wheel speed and filtered.
Fig 16.
Original wheel torque and filtered.
Fig 17.
Slip ratio and adhesion coefficient.
Fig 18.
Output by road identifier.