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This paper focuses on modeling of torque-biasing devices of a four-wheel-drive system used for improving vehicle stability and handling performance. The proposed driveline system is based on nominal front-wheel-drive operation with on-demand transfer of torque to the rear. The torque biasing components of the system are an electronically controlled center coupler and a rear electronically controlled limited slip differential. Kinematic modeling of the torque biasing devices is introduced including stage transitions during the locking stage and the unlocking/slipping stage. Analytical proofs of how torque biasing could be used to influence vehicle yaw dynamics are also included in the paper. A yaw control methodology utilizing the biasing devices is proposed. Finally, co-simulation results with Matlab®/Simulink® and CarSim® show the effectiveness of the torque biasing system in achieving yaw stability control.

The critical speed method uses measurements of the radii of yawmarks left by vehicles, together with values for centripetal acceleration, to estimate the speeds of the vehicles when the yawmarks were made. Several field studies have indicated that equating the centripetal force with braking friction produced biased estimates, but that the biases tended to be small (e.g. within 10%-15% on average) and led to underestimates, suggesting that the method can be useful for forensic purposes. Other studies, however, have challenged this conclusion. The critical speed method has also seen use in safety-related research, where it is important to have a reliable assessment of the uncertainty associated with a speed estimate. This paper describes a variant of the critical speed method, where data from field tests lead to an informative prior probability distribution for the centripetal acceleration.