Page 57 - 2019 Technical NMT Hybrid4

HYBRID4 – Model Outline – Hybrid Powertrain – Prius AWD – E-four System
AWD control during cornering on slippery

surface

 The actual yaw rate detected from sensors and the target yaw rate

calculated using the vehicle information, are compared in order to

determine the vehicle’s behaviour

Yaw rate Feedback Control

Motive Force Distribution
to Rear Wheels Increased

Motive Force Distribution

to Rear Wheels Reduced

: Understeer Tendency
: Target Line

: Oversteer Tendency

: Motive Force Distribution