Driving anti-slip control method and device of four-drive electric vehicle

Abstract

The invention discloses a driving anti-slip control method and device of a four-drive electric vehicle. The control method comprises the following steps of detecting wheel speeds of four vehicle wheels of the electric vehicle and the depth of an accelerator pedal; according to the vehicle speeds of the vehicle wheels, estimating the vehicle speed of the electric vehicle, determining the road conditions of the electric vehicle according to the wheel speeds of the vehicle wheels and the vehicle speed, and obtaining demand torque of the electric vehicle according to the depth of the accelerator pedal, wherein the road conditions comprise the low tire-road friction starting pavement, the joint pavement and the bisection pavement; conducting driving anti-slip control on the vehicle wheels respectively according to the road conditions and the demand torque. By means of the driving anti-slip control method, it can be guaranteed that after the electric vehicle enables the anti-slip function, the rear vehicle wheels do not turn very fast, the electric vehicle does not skew, the yaw velocity is within a certain range, ground adhesive force can be utilized to the greatest extent, and the capability for the electric vehicle to get rid of the trouble is improved.

Description

technical field [0001] The invention relates to the technical field of electric vehicles, in particular to a driving anti-skid control method for a four-wheel drive electric vehicle and a driving anti-skid control device for a four-wheel drive electric vehicle. Background technique [0002] In the related art, a method for anti-skid control of a four-wheel hub electric vehicle is proposed. Specifically, the optimal slip ratio of the wheel is calculated in real time through the road surface recognition algorithm, and the expected rotational speed of the wheel is calculated from the optimal slip ratio of the wheel. Then, calculate the compensation torque of the wheel according to the state of the wheel; if the wheel slips, take the expected wheel speed as the control target, and calculate the compensation torque through the PID controller of the wheel speed. If the wheel does not slip, the compensation torque At the same time, the vehicle speed control takes the desired vehic...

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Problems solved by technology

[0003] However, although the above technology mentions the calculation of motor compensation torque based on road surface recognition and PID controller, it does not give how each wheel should exert force when the vehicle is on different road surfaces so that the vehicle will not lose stability.

Because the four motor torques of the four-wheel hub electric vehicle are controlled independently and do not affect each other, if the vehicle is on a split road (including only one wheel on a low-attachment road, the same-side wheel on a low-attachment road, and the diagonal wheel on a low-attachment road), When the driving anti-skid function is triggered when the road surface is low, the vehicle may become unstable

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