The invention relates to the technical field of anti-skid control, in particular to an anti-skid control method and device for a distributed driving vehicle, and the method comprises the steps: detecting the road surface working condition of the current driving road surface of the vehicle, and recognizing the actual road surface adhesion grade and the slip rate boundary value according to the road surface working condition; the target wheel speed of the vehicle is calculated based on the current driving working condition of the vehicle, the actual road adhesion grade and the slip rate boundary value, and the target driving torque of at least one wheel of the vehicle is determined according to the wheel speed deviation between the actual wheel speed and the target wheel speed; and based on the road surface working condition, correcting or compensating the target driving torque to obtain the final driving torque of the at least one wheel to control the at least one wheel to slip. Therefore, the problems that an anti-skid control method in the related technology is poor in robustness when dealing with various complex working conditions and uncertain factors, the driving torque of the motor cannot be adjusted in time, the control effect is unstable, and the stability and safety cannot be effectively guaranteed when the vehicle is driven are solved.

    本申请涉及防滑控制技术领域,特别涉及一种分布式驱动车辆的防滑控制方法及装置,其中,方法包括:检测车辆的当前行驶路面的路面工况,并根据路面工况识别实际路面附着等级与滑移率边界值;基于车辆的当前驾驶工况、实际路面附着等级与滑移率边界值,计算车辆的目标轮速,并根据实际轮速和目标轮速之间的轮速偏差确定车辆的至少一个车轮的目标驱动扭矩;基于路面工况,修正或补偿目标驱动扭矩,以得到至少一个车轮的最终驱动扭矩控制至少一个车轮进行滑转。由此,解决了相关技术中的防滑控制方法在应对各种复杂工况和不确定性因素时鲁棒性较差,不能及时调整电机的驱动转矩,控制效果不稳定,车辆驱动时的稳定性和安全性无法得到有效保障等问题。


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    Title :

    Anti-skid control method and device for distributed driving vehicle


    Additional title:

    分布式驱动车辆的防滑控制方法及装置


    Contributors:
    YANG ZHILING (author) / ZHENG HAILIANG (author) / CHU QI (author) / MEN CHANGWEI (author) / LIANG CHAO (author)

    Publication date :

    2025-04-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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