Abstract
The benefits of individual wheel torque control, or torque vectoring, in terms of vehicle dynamics behaviour have been well documented in the literature. However, few studies analyse individual wheel torque control integrated with electric vehicle efficiency considerations. The possibilities and benefits of energy efficient torque vectoring control for electric vehicles with multiple drivetrains are discussed. In particular, energy consumption reductions can be obtained through specific design of the wheel torque control allocation algorithm and the reference yaw rate characteristics. Experiments with a four-wheel-drive electric vehicle demonstrate considerable energy savings.