The embodiment of the invention provides a road adhesion coefficient estimation method and device and a torque control method and device.The road adhesion coefficient estimation method comprises the steps that the angular velocity of a wheel is obtained, and the change rate of acceleration of the angular velocity of the wheel is obtained according to the angular velocity of the wheel; judging the road adhesion state of the wheel according to the change rate of the acceleration of the wheel angular velocity and a threshold value; wherein when the change rate of the acceleration of the wheel angular velocity is greater than a threshold value, the road surface attachment state is a first attachment state; and determining a first target adhesion rate according to the vehicle parameters in the first adhesion state, and determining a road adhesion coefficient according to the first target adhesion rate. Through the embodiment of the invention, the vehicle slip trend is pre-judged in advance according to the change rate of the acceleration of the wheel angular velocity, and then the road adhesion coefficient is calculated according to the vehicle parameters at the earlier moment, so that the hysteresis of calculation of the road adhesion coefficient is reduced, and the accuracy of the road adhesion coefficient is ensured.

    本发明实施例提供了路面附着系数的估算方法及扭矩控制的方法、装置,所述路面附着系数的估算方法,包括:获取车轮角速度,根据车轮角速度得到车轮角速度的加速度的变化率;根据所述车轮角速度的加速度的变化率及阈值判断车轮的路面附着状态;其中,当所述车轮角速度的加速度的变化率大于阈值时,所述路面附着状态为第一附着状态;根据所述第一附着状态下的车辆参数确定第一目标附着率,并根据所述第一目标附着率确定路面附着系数。通过本发明实施例,实现了根据车轮角速度的加速度的变化率提前预判车辆打滑的趋势,进而以较早时刻的车辆参数计算路面附着系数,降低了路面附着系数计算的滞后性,保证了路面附着系数的准确性。


    Access

    Download


    Export, share and cite



    Title :

    Road adhesion coefficient estimation method and torque control method and device


    Additional title:

    路面附着系数的估算方法及扭矩控制的方法、装置


    Contributors:
    LIAN YUBO (author) / LING HEPING (author) / SHI MINGCHUAN (author) / LI PENGXIANG (author) / YUAN YUEXU (author)

    Publication date :

    2023-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Road adhesion coefficient estimation method and torque control method and device

    LIAN YUBO / LING HEPING / SHI MINGCHUAN et al. | European Patent Office | 2023

    Free access

    Road adhesion coefficient estimation method and system

    CHAO YUEDONG / QIAN PENGFEI / XIA DAXING et al. | European Patent Office | 2023

    Free access

    Target optimization torque distribution method based on road adhesion coefficient identification

    YIN DEJUN / WANG JUNJIE / DU JINJIAN | European Patent Office | 2021

    Free access

    Road adhesion coefficient determination method

    GONG XINLE / HUANG JIN / ZHONG ZHIHUA | European Patent Office | 2023

    Free access

    Vision and dynamics fused road adhesion coefficient estimation method

    XIONG LU / JIN DA / LENG BO et al. | European Patent Office | 2020

    Free access