Integrated Traction and Brake Torque Control Method and Control Device for Electric Vehicles

The invention relates to an integrated traction and brake torque
control for electric vehicles with individual wheel drive, in which
each wheel is driven by an electric motor. The required torque on
each wheel is calculated by the slip controller in accordance with
the total torque demand produced by the driver, estimated target
slip for each wheel and the mode of the vehicle motion.

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