Table 4 Off line control rule with front wheel angle of 0.05 rad.

From: Torque coordinated control of the through-the-road (TTR) 4-wheel-drive (4WD) hybrid vehicle under extreme road conditions

Speed\coefficient of adhesion

0.2

0.4

0.6

0.8

20 km/h

0.2/0.4

0.2/0.2

0.2/0.2

0.6/0.8

40 km/h

0.8/0.6

0.6/0.8

0.4/0.2

0.4/0.2

60 km/h

0.8/0.8

0.8/0.4

0.6/0.6

0.8/0.4

80 km/h

0.8/0.8

0.2/0.8

0.6/0.8

0.8/0.6

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