The invention discloses a distributed drive off-road vehicle complex off-road working condition identification method. A vehicle is simplified into a rotation dynamics system, complex off-road workingcondition vehicle rotation dynamics modeling is carried out, and vehicle motion state analysis and wheel attachment state analysis are carried out. Coaxial wheels and wheels on the same side of suspended wheels are used as fulcrums of the warped plate, and the suspended wheels and diagonal wheels thereof are used as two ends of the warped plate; a connecting line of the two fulcrums is taken as arotating shaft, and the stable state of the vehicle is judged according to the rotating acceleration of the vehicle around the rotating shaft; and complex off-road working condition identification iscarried out based on a counterevidence method, and if the actual slip rate of the wheel is contradictory with the slip rate conclusion based on common off-road working condition hypothesis reasoningand redundancy conditions are met, the current vehicle driving working condition is the complex off-road working condition. By analyzing the stress state of the drive off-road vehicle under the complex off-road working condition, the problems of vehicle instability and insufficient whole vehicle drive force caused by the fact that the off-road vehicle cannot accurately judge that the current driving road surface is under the complex off-road working condition in time are solved.
本发明公开了一种分布式驱动越野车复杂越野工况辨识方法,将车辆简化为一个旋转动力学系统,进行复杂越野工况车辆旋转动力学建模,进行车辆运动状态及车轮附着状态分析;将悬空车轮的同轴及同侧车轮作为翘板的支点,悬空车轮及其对角车轮作为翘板两端;以两个支点连线为旋转轴,根据车辆绕该旋转轴的旋转加速度判断车辆稳定状态;基于反证方法进行复杂越野工况辨识,若车轮实际滑转率与基于普通越野工况假设推理的滑转率结论相矛盾,且满足冗余条件时,则当前车辆行驶工况为复杂越野工况。本发明通过分析驱动越野车辆在复杂越野工况下的受力状态,解决了越野车辆不能及时准确判断当前行驶路面为复杂越野工况造成的车辆失稳和整车驱动力不足问题。
Distributed drive off-road vehicle complex off-road working condition identification method
一种分布式驱动越野车复杂越野工况辨识方法
11.09.2020
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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