The invention discloses an electric wheel slippage rate
estimation method based on adaptive filtering, which comprises the following steps of: 1, acquiring running parameters of a vehicle on a current
road surface, including a tire rotating speed, a vehicle running speed, a vehicle
steering wheel rotating angle and a hub motor driving torque; 2, acquiring an original
slip rate estimated value of an electric wheel of the vehicle under a linear driving condition; 3, estimating the inherent frequency of an electric wheel
system, and calculating the low-pass
cut-off frequency of a filter; 4, acquiring a
torque ripple order instantaneous frequency of the hub motor, and selecting a filter type and a
cut-off frequency in combination with a low-pass
cut-off frequency; and 5, carrying out preset adaptive filtering
processing on the original
slip rate of the electric wheel to obtain an accurate estimated value of the
slip rate of the electric wheel. The method comprehensively considers the influence of the torque fluctuation of the hub motor in the electric wheel and the deformation of the tire body during the
estimation of the slip rate, and effectively improves the
estimation precision of the slip rate of the electric wheel while guaranteeing the safety.