“…The small sun gear and the carrier of the Ravigneaux gearset are connected to brakes individually so that different torque vectoring effects can be controlled by the engagement of the brakes. The speed relation between each gear in the Ravigneaux gearset can be visualized in the lever diagram as shown in Figure 4, and can be calculated via Equations (1) and (2) [17,18], in which ωr, ωc, ωsl, and ωss are the rotating speed of the ring gear, carrier, large sun gear, and small sun gear, respectively. iss is the gear ratio between the ring gear and the small sun gear, as presented in Equation (3), and isl is the gear ratio between the ring gear and the large sun gear, as shown in Equation (4), where Zr, Zss and Zsl are the number of teeth on the ring gear, small sun gear, and large sun gear respectively.…”