Abstract
Electric vehicle (EV) has great advantages in vehicle maneuverability with the use of electric motor. As one of EV $\mathbf{s}$ motion control methods, a driving force controller with slip ratio limiter has been proposed. In the conventional methods, the value of slip ratio limiter was fixed regardless of sideslip angle of tire. This paper proposes a variable slip ratio limiter considering sideslip angle based on brush model. Driving force controller can secure traction of tire even during cornering. Not only that, it is also suggested that tire workload can be limited to desired value. Its effectiveness was experimentally verified with acceleration cornering on slippery road.
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