  A novel vehicle traction algorithm solving the traction force allocation
problem based on vehicle center point motion feedback controller is proposed in
this paper. The center point motion feedback control system proposed utilizes
individual wheel torque actuation assuming all wheels are individually driven.
The approach presented is an alternative to the various direct
optimization-based traction force/torque allocation schemes. The proposed
system has many benefits, such as significant reduction of the algorithm
complexity by merging most traction system functionalities into one. Such a
system enables significant simplification, unification, and standardization of
powertrain control design. Moreover, many signals needed by conventional
traction force allocation methods are not required to be measured or estimated
with the proposed approach, which are among others vehicle mass, wheel loading
(normal force), and vehicle center of gravity location. Vehicle center point
trajectory setpoints and measurements are transformed to each wheel, where the
tracking is ensured using the wheel torque actuation. The proposed control
architecture performance and analysis are shown using the nonlinear twin-track
vehicle model implemented in Matlab $\&$ Simulink environment. The performance
is then validated using high fidelity FEE CTU in Prague EFORCE formula model
implemented in IPG CarMaker environment with selected test scenarios. Finally,
the results of the proposed control allocation are compared to the
state-of-the-art approach.
