Individual-wheel drive (IWD) is an automobile design in which the vehicle has an all-wheel drive powertrain that consists of multiple independent traction motors each supplying torque to a single drive wheel.[1] The term was coined to identify electric vehicles with a four-motor layout, where each wheel is driven by an individual electric motor,[2][3] as opposed to the differential drivetrain seen in conventional four wheel drive (4WD) ICE vehicles and the dual-motor 4WD design seen in many plug-in electric vehicles.