Dual data rate traction control system for a four wheel drive electric vehicle

A method of providing traction control in an electric vehicle, wherein the electric vehicle is comprised of a first motor coupled to a first axle via a first locking differential and a second motor coupled to a second axle via a second locking differential, the method comprising:

• monitoring a plurality of wheel speed sensors corresponding to a plurality of vehicle wheels;
• determining a maximum wheel speed corresponding to said plurality of vehicle wheels;
• determining a minimum wheel speed corresponding to said plurality of vehicle wheels;
• determining a first maximum motor speed and a first minimum motor speed corresponding to said first motor, wherein said first maximum motor speed and said first minimum motor speed are based on said maximum wheel speed and said minimum wheel speed and a first slip speed map;
• determining a second maximum motor speed and a second minimum motor speed corresponding to said second motor, wherein said second maximum motor speed and said second minimum motor speed are based on said maximum wheel speed and said minimum wheel speed and a second slip speed map;
• determining a torque distribution between said first axle and said second axle;
• determining a modified first motor torque demand corresponding to said first motor, wherein said modified first motor torque demand is based on said first maximum motor speed, said first minimum motor speed, a first motor speed and said torque distribution;
• and
• determining a modified second motor torque demand corresponding to said second motor, wherein said modified second motor torque demand is based on said second maximum motor speed, said second minimum motor speed, a second motor speed and said torque distribution.