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

Figure 6

50% slope driving simulation. (a) Even distribution-wheel torque. (b) Dynamic distribution-wheel torque. (c) Even distribution-slip rate. (d) Dynamic distribution-slip rate. (e) Front axle torque distribution factor. (f) Longitudinal speed comparison.

(a)

(b)

(c)

(d)

(e)

(f)