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Method for estimating road adhesion coefficient of electromobile driven by distributed hub motor

A technology of road adhesion coefficient and in-wheel motor, applied in the field of electric vehicles

Active Publication Date: 2014-03-05
BEIJING JIAOTONG UNIV +1
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Problems solved by technology

[0008] Aiming at the problem of inaccurate estimation of the existing road surface adhesion coefficient, the object of the present invention is to provide a method for estimating the road surface adhesion coefficient of an electric vehicle driven by a decentralized in-wheel motor, to accurately estimate the road surface condition and make driving safer

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  • Method for estimating road adhesion coefficient of electromobile driven by distributed hub motor
  • Method for estimating road adhesion coefficient of electromobile driven by distributed hub motor
  • Method for estimating road adhesion coefficient of electromobile driven by distributed hub motor

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Embodiment Construction

[0045] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0046] figure 1 It is a schematic diagram of the system relationship of the present invention. Such as figure 1 The system shown includes a vehicle drive torque sensor, wheel speed sensor, and vehicle speed observer. Road adhesion coefficient estimation module, including tire force estimation module, wheel slip ratio calculation module and simplified tire model.

[0047] Based on the above system, the present invention comprises the following steps to the real-time estimation method of the road surface adhesion coefficient in the vehicle running process, as figure 2 shown ( figure 2 is the method flowchart of the present invention).

[0048] A method for estimating the road surface adhesion coefficient of an electric vehicle driven by a decentralized in-wheel motor, the method steps are:

[0049] 1) In the case of ignoring the tire rolling res...

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Abstract

The invention relates to a method for estimating the road adhesion coefficient of an electromobile driven by a distributed hub motor and belongs to the technical field of electromobiles. The current wheel speed, the current vehicle speed and the current driving moment of the electromobile are acquired in real time through a wheel speed sensor, a vehicle speed sensor and a motor controller; the slip rate, the vertical load and the driving force are calculated; the slope of a point corresponding to the current moment on a mu-lambda curve is calculated, if the slope is smaller than m, it is determined that the road adhesion coefficient at the moment is the peak road adhesion coefficient, and if not, the slope at the next moment is calculated continuously; or if the slope in one second is not smaller than m, the largest road adhesion coefficient calculated in one second is the relative peak road adhesion coefficient; by comparing the peak road adhesion coefficients obtained from four tires, whether the current road is a homogeneous road or a bisectional road or a butt-joint road or a single-wheel independent road is judged. The method is good in robustness, various roads can be well identified, and the method is suitable for estimating the road adhesion coefficients of a vehicle on various roads in the driving process.

Description

technical field [0001] The invention relates to a method for estimating the road surface adhesion coefficient of an electric vehicle driven by a decentralized hub motor during driving, in particular to a method for real-time measuring the longitudinal adhesion characteristics of tires and the road surface on an actual road surface, belonging to the technical field of electric vehicles. Background technique [0002] Distributed in-wheel motor-driven electric vehicles install the in-wheel motors in or near the four wheels of the electric vehicle. It has the characteristics of fast response, short transmission chain, efficient transmission, and compact structure. It makes full use of the precise observation and fast controllability of the motor. It is an important development direction of electric vehicles. [0003] The change characteristics of the adhesion coefficient of electric vehicle tires on different road surfaces is an important technical index for evaluating the perfo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/064
CPCB60W40/064B60W2510/083B60W2520/10B60W2520/28
Inventor 陈宏伟彭之川张欣
Owner BEIJING JIAOTONG UNIV
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