1. INTRODUCTION Decreasing oil resources and increasing environmental problems have stimulated the need for research in alternative energy sources for automobiles. Electric vehicles have come up as a strong contender among all other alternate vehicles ( Rüther, et al., 2015 ). They run on renewable energy source and are tail-pipe emission free. With ever increasing fuel prices and health impacts of internal combustion engines there is a demand for the eco-friendly means of transportation (Ji, et al., 2012 ; Rezvani, et al., 2015 ; Wideberg, et al., 2014). Unlike conventional vehicles, which were driven by an engine connected to a powertrain, the EVs are generally driven by individual wheel motors. The advantage of individual motor control is enhanced safety, comfort and improved handling dynamics. There have been various vehicle dynamics control and torque vectoring algorithms available in literature. We analysed most relevant research that underwent in this area in order to develop a guideline to be followed while designing such a control system. As the torques can be controlled independently, direct yaw moment control and side slip control has come out as one of the most widely used technology for pro-actively preventing accidents. In 1996, the world’s first vehicle with a right-and-left torque vectoring type direct yaw moment control system was developed ( Sawase & Sano., 1999). The focus is to develop a controller which can control Couple traction/braking (T i; i= FL/FR/RL/RR) of the four in-wheel motors, from basic driving slogans, that are, steering angle, position of the accelerator and brake pedal as shown in Figure 1. Generally, all vehicle dynamics control (VDC) algorithms are based on a hierarchical structure, where, from the slogan of driving and vehicle information the vehicle's response (FOX vehicle in our case) is identified. This structure arises in several levels as shown in Figure 2.Obtaining Desired Vehicle Dynamics Characteristics with Independently Controlled In-Wheel Motors: State of Art Review Husain Kanchwala IITK Pablo Luque Rodriguez and Daniel Alvarez Mantaras University of Oviedo Johan Wideberg ETSI Sagar Bendre NATRIP ABSTRACT In recent times, electric vehicles (EV) are gaining a lot of attention as they run clean and are environment friendly. Recent advances in the applications of integrating control systems in automotive vehicles have made it practicable to accomplish improvement in vehicle's longitudinal and lateral dynamics. This paper deals with a brief overview of current state of art vehicle technologies like direct yaw moment control, traction control and side slip control of EV . There are various controller algorithms available in literature with different torque vectoring strategies. As EV can be precisely controlled because of quick in hub wheel motor response times, therefore various torque vectoring strategies can be comfortably used for enhancing vehicle dynamics. Moreover, by using four independent in-wheel motors, several types of motion controls can be performed. These motion controls are intensively researched by a comprehensive literature review with an aim to obtain desired vehicle handling characteristics. The motivation behind doing this study is to obtain a guideline for systematic development of control strategy. The control law development is discussed in three subsequent stages, namely, Supervisory control, Upper level control and Lower level control. The controller is to be designed and implemented for the torque management of the four independent electric traction motors of a FOX racing electric car. CITATION: Kanchwala, H., Rodriguez, P., Mantaras, D., Wideberg, J. et al., "Obtaining Desired Vehicle Dynamics Characteristics with Independently Controlled In-Wheel Motors: State of Art Review," SAE Int. J. Passeng. Cars - Mech. Syst. 10(2):2017, doi:10.4271/2017-01-9680.Published 05/18/2017 Copyright © 2017 SAE International doi:10.4271/2017-01-9680 saepcmech