The embodiment of the invention discloses 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; when the change rate of the acceleration of the wheel angular velocity is larger than a first threshold value, the road surface attachment state is a first attachment state, and when the change rate of the acceleration of the wheel angular velocity is located between the first threshold value and a second threshold value and the duration time exceeds a preset duration time, the road surface attachment state is a third attachment state. Calculating a corresponding first adhesion rate according to the vehicle parameters in the first adhesion state or the third adhesion state to obtain a first target value; and determining the road adhesion coefficient according to the first target value. According to the embodiment of the invention, the slip trend of the vehicle can be pre-judged in advance according to the change rate of the acceleration of the angular velocity of the wheel.

    本发明实施例公开了路面附着系数的估算方法及扭矩控制的方法、装置,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;当车轮角速度的加速度的变化率大于第一阈值时,路面附着状态为第一附着状态,当车轮角速度的加速度的变化率位于第一阈值与第二阈值之间且持续时间超过预设持续时间时,路面附着状态为第三附着状态,根据第一附着状态或第三附着状态下的车辆参数计算对应的第一附着率,以获得第一目标值;根据第一目标值确定路面附着系数。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。


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    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) / YUAN YUEXU (author) / LI PENGXIANG (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



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