The invention provides a driving anti-skid control method for a hub motor driven automobile, which relates to the technical field of vehicle driving anti-skid and road surface recognition, and comprises the following steps of: acquiring a real-time wheel speed signal wi of each wheel, calculating a wheel linear speed according to a relationship between a slip rate and an available adhesion coefficient in a small slip rate range, removing a lateral component of the wheel speed, and calculating a wheel linear speed value of the wheel linear speed according to the calculated wheel linear speed value. And the longitudinal wheel linear speed is obtained. According to the method, the accurate actual vehicle speed is obtained by correcting the wheel speed and the credibility of the wheel speed, and it is guaranteed that the slip rate of each wheel is accurately calculated under the complex road surface condition; the optimal slip rate and the maximum road adhesion coefficient of the condition of the road surface contacted with each wheel are obtained in real time by adopting a road surface recognition technology, and driving anti-slip control is performed according to the optimal slip rate and the maximum road adhesion coefficient, so that the control stability of the vehicle on the complex and changeable road surface is improved.
本发明提供了一种轮毂电机驱动汽车驱动防滑控制方法,涉及车辆驱动防滑和路面识别技术领域,包括如下步骤:获取各车轮实时的轮速信号wi,通过小滑转率范围内,滑转率和可利用附着系数的关系计算车轮线速度,剔除轮速的侧向分量,得到纵向的车轮线速度。本发明通过修正轮速和轮速可信度获得精确的实际车速,保证了在复杂路面条件下准确计算各车轮的滑转率;采用路面识别技术实时获取各车轮所接触路面条件的最优滑转率和最大路面附着系数,并根据此进行驱动防滑控制,提高车辆在复杂多变的路面下的操纵稳定性。
Driving anti-skid control method for hub motor driven automobile
一种轮毂电机驱动汽车驱动防滑控制方法
07.03.2023
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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