Driving antiskid and torque vector coordination control method based on complex road condition recognition

By employing a road surface identification method combining unscented particle filtering and finite state machines, along with a hierarchical control architecture and incremental PID control, accurate wheel slip determination and optimal slip ratio control under complex road conditions are achieved, thereby improving the traction performance and handling stability of electric vehicles.

CN121404262AActive Publication Date: 2026-01-27JILIN UNIVERSITY
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Patent Information

Application Number
CN202512015320.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-12-30
Publication Date
2026-01-27
Estimated Expiration
2045-12-30

AI Technical Summary

Technical Problem

Existing technologies struggle to accurately determine wheel slippage and control the optimal slip ratio under complex road conditions, leading to excessive slippage during steering and acceleration, which affects the vehicle's power and handling stability.

Method used

A road surface identification method combining unscented particle filtering and slip ratio threshold with finite state machine is adopted to construct an online estimation of single-wheel adhesion coefficient. By combining open/butt road surface identification with uniform road surface adhesion level management, a drive anti-skid control intervention criterion is designed. Torque vector coordination is achieved through a hierarchical control architecture, and an incremental PID controller is used to adjust the motor and braking torque.

Benefits of technology

It achieves accurate road surface type identification and dynamic adhesion level switching under complex road conditions, improves the vehicle's traction and handling stability under complex road conditions, reduces the dependence on high-precision road surface adhesion estimation, and is suitable for mass-produced distributed drive electric vehicles.

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Abstract

The invention belongs to an intelligent control method for an automobile chassis, and relates to a driving antiskid and torque vector coordination control method based on complex road condition recognition. Comprising the steps of complex road surface recognition and attachment grade switching, driving anti-slip intervention criterion and target wheel speed design, torque vector hierarchical control method, driving anti-slip and torque vector coordination control target fusion design based on stability indexes, and incremental PID driving and braking controller collaborative design. According to the invention, hierarchical identification and butt joint of uniform road adhesion grades can be realized, accurate discrimination of open road surfaces is realized, complex road surface identification, intervention criterion design and slip rate target decision are integrated into a human-vehicle-road integrated system, and accurate control of different adhesion working conditions is realized; a driving antiskid and torque vector hierarchical control framework is constructed, dynamic fusion of a driving antiskid and torque vector control target is designed, an incremental PID driving and braking cooperative controller is constructed, and the traction performance and the operation stability of the vehicle are both considered.
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