Table 9 The efficacy of the offline-ETDR.

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

Discrimination threshold

v ≤ 50 km/h

μ ≥ 0.4

θ ≤ 0.03 rad

v ≤ 50 km/h

μ ≥ 0.4

θ ≥ 0.03 rad

v ≤ 50 km/h

μ ≤ 0.4

θ ≤ 0.03 rad

v ≤ 50 km/h

μ ≤ 0.4

θ ≥ 0.03 rad

Divided area

A

B

Discrimination threshold

v ≥ 50 km/h

μ ≥ 0.4

θ ≤ 0.03 rad

v ≥ 50 km/h

μ ≥ 0.4

θ ≥ 0.03 rad

v ≥ 50 km/h

μ ≤ 0.4

θ ≤ 0.03 rad

v ≥ 50 km/h

μ ≤ 0.4

θ ≥ 0.03 rad

Divided area

C

D

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