The invention discloses a method for estimating a road adhesion coefficient of a four-wheel independent drive automobile based on torque transfer. The method comprises the following steps: step 1, acquiring an angular velocity, a longitudinal acceleration and a lateral acceleration of any wheel of the automobile; step 2, acquiring tire longitudinal force, vertical load and slip rate of a corresponding wheel; 3, under different road adhesion coefficients, a relation curve between the gain of the tire longitudinal force to the vertical load, the slip rate and the road adhesion coefficients is obtained; step 4, making an MAP graph; step 5, establishing a slip rate effective flag bit for the low slip rate range; and step 6, if the slip rate of the corresponding wheel is an invalid flag bit, adjusting the torque of the front axle and the rear axle of the vehicle through a PID controller, so that after the slip rate of the corresponding wheel meets an effective flag bit, searching an MAP graph through the gain of the tire longitudinal force to the vertical load obtained through current calculation and the slip rate to identify the current road adhesion rate. The method has the characteristic of improving the efficiency and the accuracy.
本发明公开了一种基于扭矩转移的四轮独立驱动汽车路面附着系数估算方法,包括如下步骤:步骤一、采集车辆的任意一个车轮的角速度、纵向加速度和侧向加速度;步骤二、获得对应车轮的轮胎纵向力、垂直载荷和滑移率;步骤三、在不同的路面附着系数下,获得轮胎纵向力对垂直载荷的增益、滑移率和路面附着系数之间的关系曲线;步骤四、制作MAP图;步骤五、对低滑移率范围建立滑移率有效标志位;步骤六、若对应车轮的滑移率为无效标志位时,则通过PID控制器对车辆前后轴转矩进行调节,使得对应车轮的滑移率满足有效标志位后,通过当前计算得到的轮胎纵向力对垂直载荷的增益与滑移率查取MAP图识别当前路面附着率。本发明具有提高效率和精确度的特点。
Method for estimating road adhesion coefficient of four-wheel independent drive automobile based on torque transfer
一种基于扭矩转移的四轮独立驱动汽车路面附着系数估算方法
2023-08-04
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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