Driving-and-braking-optimal-switching electric-automobile adaptive cruise control method

Abstract

The invention discloses a driving-and-braking-optimal-switching electric-automobile adaptive cruise control method. The driving-and-braking-optimal-switching electric-automobile adaptive cruise control method includes the following steps that ideal driving-and-braking torque and the driving-and-braking switching rule are calculated through an upper controller; the ideal driving-and-braking torque is distributed on four wheels through a lower controller. According to the driving-and-braking-optimal-switching electric-automobile adaptive cruise control method, the driving-and-braking-optimal-switching adaptive cruise control strategy is designed and converted into a real-time mixed-integer nonlinear programming proposition through the upper controller according to the current road environment and the driving requirements, the proposition is solved through the double-nesting solving algorithm based on the modified genetic algorithm, and the driving-and-braking switching rule and the corresponding driving/braking controlling torque are obtained. The torque is distributed by the lower controller to hub motors through vertical loads according to the ideal driving-and-braking torque calculated by the upper controller to allow wheels to harmoniously run. The number of actions of a driving actuator and a braking actuator is reduced, and the wheels tend to be in the best working state accordingly.

Description

technical field [0001] The invention belongs to the technical field of safety assisted driving and control of electric vehicles, relates to the design of an adaptive cruise control system for four-wheel independently driven electric vehicles, and in particular to a multi-objective adaptive cruise control method for driving / braking optimization switching. Background technique [0002] With the increase of automobile production and sales year by year, problems such as traffic congestion, frequent accidents, environmental degradation and energy shortage have become increasingly prominent, forcing the automobile industry to take a safe, environmentally friendly and intelligent development path. The energy saving and environmental protection features of electric vehicles can effectively alleviate the problem of energy shortage, and are currently the focus of research in the automotive industry. In order to give full play to the real-time performance of electronic control, most of...

AI Technical Summary

Problems solved by technology

At present, the research on adaptive cruise control system is mainly focused on traditional vehicles, which cannot be directly applied to four-wheel independent drive electric vehicles. Therefore, it is very important to develop a set of torque distribution methods suitable for four-wheel independent drive electric vehicles. necessary

The applicant had previously propo

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