Abstract
Electric vehicles are gaining popularity among people since it is environmentally friendly and carves a path for a better autonomous vehicle. Furthermore, EVs with in-wheel motors tend to provide better torque control since the current for each motor can be defined precisely. The torque of each wheel is controlled to ensure effective traction to ensure vehicle stability. The traction of the wheels is closely related to the vehicle mass. The previous study shows that lateral motion exerts more normal force on the inner wheels of the vehicle. An experimental study is done using a small scale EV fitted with accelerometers to detect the acceleration experienced at each tire. The longitudinal and lateral acceleration is used with the load transfer equation to estimate the normal force exerted at each tire. The results show that increasing vehicle velocity at the same road curvature induces more load transfer towards the inner tire. Furthermore, the experimental results show that the simulation model is accurate and valid.