Moment distribution method for self-adaptive cruise control system of four-wheeled independent drive electric automobile

Abstract

The invention discloses a moment distribution method for a self-adaptive cruise control system of a four-wheeled independent drive electric automobile. An ideal acceleration command is calculated through an upper layer control method and input in a lower layer control method, the lower layer control method is used for calculating the ideal drive moment according to the ideal acceleration command calculated through the upper layer control method and distributing the moment to four wheels, and the problem that a traditional self-adaptive cruise control system cannot be directly applied to the four-wheeled independent drive electric automobile is solved. Smoothly-restrained model prediction control is adopted in the upper layer control method, the practicality of the self-adaptive cruise control system is improved, and the requirements for safety, comfort and economical efficiency of a driver are met. Fuzzy control is adopted in the lower layer control method, so that the ideal longitudinal moment is obtained, the moment is distributed to the four wheels according to the vertical load proportions, and the robustness and practicality of the self-adaptive cruise control system of the four-wheeled independent drive electric automobile are improved while the dynamic quality of the four-wheeled independent drive electric automobile is guaranteed.

Description

technical field [0001] The invention belongs to the field of safety auxiliary driving and intelligent control, and relates to a design method of an adaptive cruise control system of a four-wheel independently driven electric vehicle, in particular to a torque distribution method of the adaptive cruise control system of a four-wheel independently driven electric vehicle. Background technique [0002] With the increasingly serious energy problem, the development of electric vehicles has attracted more and more attention. Four-wheel independent drive electric vehicle refers to a vehicle that installs four motors inside or near the four wheel hubs. Compared with traditional vehicles, four-wheel independent drive electric vehicles have great technical advantages: four motors can be controlled independently , and the response speed of the motor is extremely fast, so for the special drive form of four-wheel independent drive electric vehicles, more complex control methods can be us...

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Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, the present invention is to design a torque distribution method for the adaptive cruise control system of four-wheel independent drive electric vehicles, which can solve the problem that t

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