Regenerative Torque Control for Wheel Slip on Rough Roads
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Solution Overview
Problem
When a vehicle travels on an abnormally paved road surface in an energy regeneration state, the driving wheel can experience detachment or slipping due to regeneration torque, leading to increased wheel speed difference and slip rate, which can trigger the antilock brake system (ABS) or dynamic tractive control (DTC), causing the vehicle to exit the energy regeneration state and resulting in a poor user experience.
Innovation Solution
A torque adjustment method and apparatus that intervene in the energy regeneration process by determining a first intervention torque value based on wheel and vehicle accelerations, and controlling the vehicle to perform energy regeneration using both the requested torque value and the intervention torque value, thereby reducing the likelihood of ABS or DTC activation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If the vehicle performs energy regeneration on an abnormally paved road surface, then energy recovery is achieved, but the wheel slip rate increases and triggers ABS or DTC
Solution Approach 1:
The system performs preliminary detection of road surface conditions through wheel speed fluctuation analysis before slip rate becomes critical. By identifying abnormal road surfaces in advance and adjusting regeneration torque proactively, the system prevents wheel detachment and slip rate increase that would trigger ABS or DTC, while maintaining energy regeneration functionality
Solution Approach 2:
The system continuously monitors wheel speed fluctuation frequencies and uses this feedback to dynamically adjust the regeneration torque. When abnormal fluctuations indicating poor road surface conditions are detected, the system reduces regeneration torque to prevent wheel slip, creating a closed-loop control that balances energy recovery with slip rate management
2Speed
If the wheel acceleration difference increases on abnormal road surfaces, then wheel detachment occurs, but this triggers ABS/DTC and exits energy regeneration state
Solution Approach 1:
The system dynamically adjusts the regeneration torque based on real-time wheel speed fluctuation characteristics. By making the torque adjustment adaptive to changing road conditions, the system maintains energy regeneration state on normal surfaces while preventing wheel detachment on abnormal surfaces, thus improving both speed control and state maintenance adaptability
Data Source
AI summary
Embodiments of this application provide example torque adjustment methods, apparatuses, and vehicles. One example method includes obtaining a requested torque value. A first intervention torque value is determined based on a wheel acceleration of a vehicle and a vehicle acceleration of the vehicle. Based on the requested torque value and the first intervention torque value, the vehicle is controlled to perform energy regeneration.