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Vehicles equipped with in-wheel motors are being studied and developed as a type of electric vehicle. Since these motors are attached to the suspension, a large vertical suspension reaction force is generated during driving. Based on this mechanism, this paper describes the development of a method for independently controlling roll and pitch as well as yaw using driving force distribution control at each wheel. It also details the theoretical calculation of a method for decoupling the dynamic motions. Finally, it describes the application of these 3D dynamic motion control methods to a test vehicle and the confirmation of the performance improvement.

Grip feeling is an important facet in vehicle dynamics evaluation from a driver satisfaction and enjoyment standpoint. To improve grip feeling, we analyzed the subjective comments from test driver's about grip feeling and an evaluated human sensitivity to lateral motion. As a result, we found that drivers evaluate transient grip feeling according to the magnitude of lateral jerk. Next, we analyzed what vehicle parameters affect lateral jerk by using theoretical equations. As a result, we found that cornering power is an important parameter, especially the cornering power of rear tires as they can be create larger lateral jerk than can front tires.