Torque vectoring system, method and associated vehicle

A system for vectoring torque between two wheels of a rear axle of an electric motor vehicle, including a first wheel and a second wheel that are disposed on either side of the vehicle and are respectively driven by a first electric motor and a second electric motor for distributing a torque between the two wheels, the system comprising:

• first generating means for generating a first torque setpoint applied to the first wheel driven by the first electric motor and a second torque setpoint applied to the second wheel driven by the second electric motor based on an acceleration torque setpoint of the vehicle, a speed of the vehicle, a steering wheel angle, a distance between the two wheels, a transverse acceleration of the vehicle, and torque characteristics supplied by each motor;
• second generating means for generating a first slip correcting torque configured to be applied to the first electric motor and a second slip correcting torque configured to be applied to the second electric motor to eliminate relative slipping between the two wheels based on the distance between the wheels, a yaw rate of the vehicle, a mode of each electric motor, a rear axle ratio, and a type of tire mounted on the wheels;
• detecting means for detecting oversteer or understeer of the vehicle during an acceleration phase when cornering based on a yaw rate setpoint and the yaw rate;
• third generating means for generating a first skid correcting torque configured to be applied to the first wheel and a second skid correcting torque configured to be applied to the second wheel to neutralize the oversteer or understeer of the vehicle based on the yaw rate setpoint, the yaw rate, and the transverse acceleration of the vehicle;
• determining means for determining a first corrected torque setpoint based on the first torque setpoint, the first slip correcting torque, and the first skid correcting torque, and determining a second corrected torque setpoint based on the second torque setpoint, the second slip correcting torque, and the second skid correcting torque;
• and
• controlling means for controlling the first electric motor based on the first corrected torque setpoint and controlling the second electric motor based on the second corrected torque setpoint.