Integrated tyre wear and actuator power loss minimisation in heavy electric vehicle control

Paper in proceeding, 2026

Tyre wear is a major source of non-exhaust particulate emissions and a significant contributor to operating costs, particularly in heavy-duty battery electric vehicles (BEVs), where increased vehicle mass and high drivetrain torque can accelerate tyre degradation. With emerging regulations targeting tyre wear emissions, reducing tread loss has become both an environmental and economic priority. This paper proposes a unified cost-aware actuator coordination framework for distributed-drive electric vehicles that jointly minimizes electric energy consumption and tyre wear by expressing both objectives in monetary terms. An empirically calibrated slip-based tyre wear model is incorporated into a control allocation problem, enabling real-time estimation of axle-specific wear costs and explicit trade-offs between energy efficiency and tyre degradation. An optimization-based control allocation strategy is developed to distribute wheel forces across multiple axles and wheels while implicitly regulating tyre slip and prioritizing actuators according to their combined energy and wear-related costs. Simulation results demonstrate that the proposed framework reduces the total operating cost by 1.12% and tyre wear cost by 14.43 % compared with a conventional energy-optimal control allocation strategy. The benefits are particularly
pronounced for high-demand driving cycles with frequent acceleration events, where cost-aware torque distribution promotes
more balanced axle utilization and reduces tyre wear.