A Comprehensive History of Driving Force Control for Electric Vehicles

This paper presents a comprehensive survey of driving force control (DFC), recognized as one of the most effective traction control strategies for electric vehicles (EVs). The fundamental philosophy underlying the genesis of DFC is introduced, highlighting its advantages within the broader family of traction control approaches. Owing to its merits, DFC has evolved along various research directions, including integration with road condition estimation, coordination with upper-layer motion controllers, system stability analysis, and adaptation to different types of EVs. In light of the imminent advancement toward an e-mobility society, the emerging trends in DFC research, leading to new motion control challenges, are also discussed. The survey is supported by experimental results obtained from real vehicle tests conducted by the authors' research group.