The invention discloses a vehicle braking slip control method and system. The method comprises the following steps: determining a road adhesion coefficient of a target vehicle, a reference wheel speed of each wheel and a wheel slip rate; determining a target slip rate corresponding to the road adhesion coefficient according to a preset first mapping relation, and determining a target wheel speed of each wheel according to the target slip rate; determining the wheel speed difference of each wheel according to the target wheel speed and the actual wheel speed, and determining whether the target vehicle has brake slip or not according to the wheel slip rate and the wheel speed difference of each wheel; and when the target vehicle has braking slippage, feedforward limitation is carried out on the output torque of the hydraulic braking system according to the road adhesion coefficient, and feedback control is carried out on the output torque of the power motor according to the wheel speed difference of the two wheels on the main driving shaft. The technical problems that in the related technology, adjustment is conducted only through hydraulic braking when braking slippage happens to the vehicle, response delay is large, the control effect is poor, and the requirement for safe driving is difficult to meet are solved.
本申请公开了一种车辆制动滑移控制方法及系统。其中,该方法包括:确定目标车辆的路面附着系数、各个车轮的参考轮速和车轮滑移率;依据预设的第一映射关系确定与路面附着系数对应的目标滑移率,并依据目标滑移率确定各个车轮的目标轮速;依据目标轮速和实际轮速确定各个车轮的轮速差,并依据各个车轮的车轮滑移率和轮速差确定目标车辆是否存在制动滑移;在目标车辆存在制动滑移时,依据路面附着系数对液压制动系统的输出扭矩进行前馈限制,并依据主驱动轴上两轮的轮速差对动力电机的输出扭矩进行反馈控制。本申请解决了相关技术中在车辆出现制动滑移时仅通过液压制动进行调节,响应延迟大且控制效果差,难以满足安全驾驶要求的技术问题。
Vehicle braking slip control method and system
车辆制动滑移控制方法及系统
2023-08-25
Patent
Electronic Resource
Chinese
VEHICLE BRAKING CONTROL DEVICE, VEHICLE BRAKING CONTROL METHOD, AND VEHICLE BRAKING SYSTEM
European Patent Office | 2019
|Antilock Braking System Slip Control Modeling Revisited
Tema Archive | 2013
|