Regenerative braking optimization and wheel slip control for a vehicle with in-wheel motors

To meet the growing need for mobility of people and goods while massively reducing CO2 emissions, the electrification of vehicle becomes essential. One solution is the use of in-wheel motors on the rear wheels of a conventional vehicle with a thermal powertrain on front axle. It provides new opportunities to control the torque to the wheel with a fast response time. One knows that electric motors on hybrid vehicles enable energy recovery during braking, but it has to be well coordinated with overall system and especially hydraulic brake system in order to achieve safety behavior and vehicle grip in overall conditions. Furthermore, the knowledge of motor torque able to prospect new solutions to estimate and control the longitudinal friction between the road and the tires and operate efficient slip control while optimizing regenerative braking. It could then be used as the main actuator for traction control and ABS systems in both acceleration and deceleration.