The present invention provides a distributed driving automobile control system based on hierarchical coordination. The system comprises a vehicle speed sensor, a steering wheel steering angle sensor, a steering wheel torque sensor, a power-assisted motor armature current sensor, a throttle pedal signal processing module, a brake pedal signal processing module, a driving motor state monitoring module, a gyroscope, a CAN bus, a coordination controller, an electric power steering system (EPS) controller, a torque distribution controller, a right front wheel driving motor controller, a left front wheel driving motor controller, a right back wheel driving motor controller and a left back wheel driving motor controller, a power-assisted motor and four driving motors. The present invention also provides a distributed driving automobile control method based on the hierarchical coordination. The system and method of the present invention enable the mutual influence of an EPS and a torque distribution system to be reduced effectively, carry out the working condition coordinated control on the EPS and the torque distribution system on the basis of guaranteeing the optimal comprehensive performance of a whole automobile, and enable the handling stability of a distributed driving automobile to be improved effectively.
Distributed driving automobile control system based on hierarchical coordination and distributed driving automobile control method based on hierarchical coordination
2015-11-04
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge |
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