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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.

Vehicle stability after releasing the accelerator during limit cornering (from now on “Tuck-in”) is the behavior that the turning radius of a vehicle gets smaller after releasing the accelerator. This paper presents that the main factors of yaw moment variation by releasing the accelerator are the change of lateral forces due to longitudinal transfer of normal loads, lateral shift of vehicle center of gravity due to vehicle roll and tire lateral deflection, and the change of lateral forces due to deceleration. It also shows that roll stiffness distribution and longitudinal acceleration have an influence through the formulation of turning radius ratio.