Torque distribution systems and methods for wheeled vehicles

A software product comprising instructions, stored on computer-readable media, wherein the instructions, when executed by a computer, perform steps for controlling torque applied to wheels of a motor vehicle, comprising:

• determining speed for each of the plurality of wheels;
• determining actual yaw acceleration of the vehicle;
• determining intended yaw acceleration for the vehicle;
• determining intended vehicle direction and intended torque magnitude for the vehicle;
• and
• processing actual yaw acceleration, intended yaw acceleration, and intended torque magnitude of the vehicle and rotational velocity of each of the wheels to generate torque signals for the plurality of wheels;
• such that the wheels engage in one of acceleration and deceleration dependent upon driver intent and with controlled traction.

The vehicle of claim 28, further comprising:

• a plurality of wheels;
• one or more torque producers for applying torque to each of the plurality of wheels;
• an internal combustion engine to drive a first pair of the plurality of wheels;
• one or more electric motors to drive a second pair of the plurality of wheels;
• one or more sensors for determining net torque, intended yaw acceleration and actual vehicle yaw acceleration;
• and
• means for processing data from the sensors to generate control signals to the torque producers wherein torque is distributed among the plurality of wheels with controlled traction,
• the means for processing data distributing torque between the first pair and second pair being based upon one or more of a charge state of a vehicle energy storage device, a speed of the vehicle, and traction requirements.

A system for controlling torques applied to a plurality of wheels of a motor vehicle, comprising:

• one or more speed sensors for determining speed for each of the plurality of wheels;
• means for determining intended vehicle direction, intended torque magnitude for the vehicle and actual yaw acceleration;
• an electronic control unit for processing data from the speed sensors to generate a target yaw moment for distribution among the plurality of wheels;
• and
• one or more torque producers, responsive to torque signals indicative of the target yaw moment to vary torque applied to each of the plurality of wheels such that the wheels engage in one of acceleration and deceleration dependent upon driver intent and with controlled traction.