Research on Torque Distribution of Four-Wheel Independent Drive Off-Road Vehicle Based on PRLS Road Slope Estimation

In view of the high difficulty in coupling various electric vehicle parameters, intractable parameter estimation, and unreasonable distribution driving torque, four-wheel hub motor is applied to drive vehicles, which can instantly obtain torque speed achieve precise control each wheel. According longitudinal dynamics model, a progressive RLS (PRLS) algorithm for real-time estimation mass road gradient proposed. Meanwhile, by means taking acceleration obtained from as at front rear axles, dynamic compensation strategy axle torques designed. Moreover, based on hardware-in-the-loop simulation real-vehicle tests, effectiveness proposed rationality are verified.