Distributed driving automobile control system based on hierarchical coordination and distributed driving automobile control method based on hierarchical coordination

Abstract

The present invention provides a distributed driving automobile control system based on hierarchical coordination. The system comprises a vehicle speed sensor, a steering wheel steering angle sensor, a steering wheel torque sensor, a power-assisted motor armature current sensor, a throttle pedal signal processing module, a brake pedal signal processing module, a driving motor state monitoring module, a gyroscope, a CAN bus, a coordination controller, an electric power steering system (EPS) controller, a torque distribution controller, a right front wheel driving motor controller, a left front wheel driving motor controller, a right back wheel driving motor controller and a left back wheel driving motor controller, a power-assisted motor and four driving motors. The present invention also provides a distributed driving automobile control method based on the hierarchical coordination. The system and method of the present invention enable the mutual influence of an EPS and a torque distribution system to be reduced effectively, carry out the working condition coordinated control on the EPS and the torque distribution system on the basis of guaranteeing the optimal comprehensive performance of a whole automobile, and enable the handling stability of a distributed driving automobile to be improved effectively.

Description

technical field [0001] The invention belongs to the field of integrated control of electric vehicles, and in particular relates to a distributed drive vehicle control system and method based on layered coordination. Background technique [0002] Distributed drive system is an electric vehicle drive system that can improve vehicle handling stability under various working conditions including extreme conditions. The driving motor it contains is both an execution unit and an information feedback unit. The acquisition of four-wheel torque / speed information provides the possibility to improve the accuracy of the vehicle state estimation algorithm based on kinematics and dynamics; at the same time, it can realize four-wheel drive / brake Torque independent, precise and controllable. At present, my country has included new energy vehicles in the development plan of the "seven strategic emerging industries". Researching and exploring energy-saving, environmentally friendly and safe e...

AI Technical Summary

Problems solved by technology

However, no specific control strategy for electric power steering (EPS) and distributed drive torque distribution is given, and there is a lack of selection of the best control strategy for vehicles under different operating conditions.

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