Traction control system of vehicles combining feedback control with feedforward control

A traction control system of a vehicle having a vehicle body, a plurality of wheels including at least one pair of driving wheels for suspending the vehicle body, an engine, a transmission for transmitting an output power of the engine to the driving wheels, a brake system for selectively braking rotation of at least the pair of driving wheels, and a steering system for steering the vehicle, the traction control system, comprising:

• means for separately calculating a target traction torque of each of the pair of driving wheels in contrast to one another for a desired turning behavior of the vehicle based upon operating conditions thereof;
• means for calculating a first traction share to be substantially proportional to the target traction torque;
• means for calculating a target slip ratio of each of the pair of driving wheels which would be generated therein by the target traction torque if applied thereto;
• means for detecting an actual wheel speed of each of the pair of driving wheels;
• means for calculating a difference between a target wheel speed and the actual wheel speed of each of the pair of driving wheels, the target wheel speed being calculated based on the target slip ratio;
• means for calculating a traction difference required to cancel the wheel speed difference in each of the pair of driving wheels;
• means for calculating a second traction share to be substantially proportional to the traction difference;
• and
• means for controlling at least one of the engine and the brake system according to a sum of the first and second traction shares with a complementary adjustment thereof relative to one another such that the actual wheel speed of each of the pair of driving wheels coincides with the target wheel speed calculated therefor.