SYSTEMS AND METHODS FOR CONTROLLING SPEED DIFFERENTIAL OF WHEELS OF A VEHICLE

Systems and methods are provided herein for controlling the speed differential of wheels of a vehicle. The vehicle determines a wheel steering angle, where the wheel steering angle corresponds to a center of rotation of the vehicle. The vehicle determines a differential wheel speed associated with a first wheel of the vehicle and a second wheel of the vehicle based at least on the wheel steering angle. The vehicle independently applies torque to the first and second wheels based on the differential wheel speed.