Methods of controlling axle torque distribution

A method of controlling axle torque distribution of a vehicle during steering of the vehicle around a curve;

• the method comprising:
• collecting, via a controller:
• input data which is representative of a plurality of vehicle inputs;
• vehicle data which is representative of axle torque of a front axle and axle torque of a rear axle;
• constraint data which is representative of real-time constraints of the vehicle;
• communicating the collected input data, vehicle data and constraint data to a predictive model, wherein the predictive model includes an estimation model configured to output a plurality of estimated vehicle states and a reference model configured to output a plurality of target values of desired responses;
• determining, using the predictive model, whether torque adjustments are necessary, including comparing the estimated vehicle states from the estimation model to the plurality of target values from the reference model;
• calculating whether adjustments of the axle torque are necessary through the predictive model using the equations:
• {dot over (x)}=Ācx+Bcu+dcy=Ccx
• wherein:
• x=[vy r MzCG]T;
• y=[vy r]T;
• vy=a lateral velocity of the vehicle at a center of gravity point;
• r=a yaw rate of the vehicle at the center of gravity point;
• MzCG=a total yaw moment of the vehicle at the center of gravity point;
• u=[ΔTf ΔTr ΔTc]T;
• ΔTf=adjustment of the front axle torque;
• ΔTr=adjustment of the rear axle torque;
• and ΔTc=adjustment of a clutch of an electronic limited slip differential controlling the distribution of the axle torque of the front axle and the axle torque of the rear axle, via the controller, when the torque adjustments are necessary.