Active obstacle avoiding method for four-wheel hub drive electric automobile with multiple modes

Abstract

The invention discloses an active obstacle avoiding method for a four-wheel hub drive electric automobile with multiple modes. The method aims at improving the obstacle avoiding capacity of the electric automobile, so that the travel safety of the electric automobile is improved. According to information of different automobile speeds and the real-time distance between the automobile and an obstacle, a control method with the multiple modes is adopted for properly controlling the four-wheel hub drive and braking electric automobile, and therefore active obstacle avoidance of the electric automobile is achieved. Especially in an emergency, the automobile can make a turn rapidly to avoid the obstacle through control over wheels on one side for braking and control over wheels on the other side for driving, and therefore the collision rate of the automobile and the short-distance obstacle is greatly reduced. Due to the fact that no steering input operation is related, the situation that a driver is panic due to the fact that steering assisting control and the decision making intension of the driver are different is avoided, the operation burden of the driver is reduced to a great extent, traffic accidents caused by mistaken steering operation conducted by the driver in the emergency are reduced, and the travel safety is improved.

Description

Technical field: [0001] The invention belongs to the field of automobile safety and relates to vehicle active anti-collision technology, in particular to a multi-mode active obstacle avoidance method for an electric vehicle driven by four-wheel hubs, which is used to improve the obstacle avoidance ability of the electric vehicle and further improve the driving safety of the vehicle . technical background: [0002] With the gradual depletion of non-renewable fossil fuels in the world, the problem of environmental pollution has become increasingly prominent, and people have paid more and more attention to electric vehicles as environmentally friendly and pollution-free. At the same time, a car directly driven by an in-wheel motor does not require components such as an engine, gear shifting and transmission shaft, simplifies the transmission system and chassis structure, and improves transmission efficiency. Driving force or braking force, fast response, easy to measure accura...

AI Technical Summary

Problems solved by technology

At present, the collision avoidance system based on steering intervention has the following problems: 1) For the auxiliary steering system based on electric power steering (EPS), the driver's steering input interferes with the auxiliary control system, and the steering force output by the auxiliary control system also affects the driver. 2) The man-machine controls the steering at the same time, and the coordination between the two is very important. If the coordination between the two is inconsistent or conflicts, it will increase the burden on the driver and cause the driver to panic. Affects the lateral safety of automobiles; 3) For auxiliary systems based on active steering (steering by wire), extremely high reliability is required and the cost is high, and there is no wide-scale promotion and use of them at present

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