CN107685733A - The method of estimation of four motorized wheels electric automobile coefficient of road adhesion - Google Patents
The method of estimation of four motorized wheels electric automobile coefficient of road adhesion Download PDFInfo
- Publication number
- CN107685733A CN107685733A CN201710693427.8A CN201710693427A CN107685733A CN 107685733 A CN107685733 A CN 107685733A CN 201710693427 A CN201710693427 A CN 201710693427A CN 107685733 A CN107685733 A CN 107685733A
- Authority
- CN
- China
- Prior art keywords
- mrow
- msub
- coefficient
- wheel
- mfrac
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of method of estimation of four motorized wheels electric automobile coefficient of road adhesion, its step is：Calculate the vertical tire force of lower four wheels of Current vehicle transport condition；Calculate corresponding wheel longitudinal tire force under current slip rate difference coefficient of road adhesion；Calculate current wheel longitudinal tire force；Calculate surface friction coefficient；By the wheel longitudinal tire force under current slip rate difference coefficient of road adhesion, the longitudinal tire force current with wheel makes the difference and squared respectively；The minimum value of squared difference is taken, corresponding coefficient of road adhesion is determined as current road attachment coefficient, by it compared with surface friction coefficient, and takes maximum therebetween；If the coefficient of road adhesion estimate duration after change is more than 0.5s, current road attachment coefficient estimate is updated；Otherwise, keep previous moment coefficient of road adhesion estimate constant.The present invention can be used for the adjustment of Anti-slip regulation strategy, improve the driveability of vehicle.
Description
Technical field
The present invention relates to a kind of method of estimation of coefficient of road adhesion, more particularly to one kind to open in vehicle traction anti-sliding control
The method that dynamic moment carries out each wheel coefficient of road adhesion estimation.
Background technology
Coefficient of road adhesion is the important parameter of vehicle active safety control system, as Anti-slip regulation control is attached using road surface
Coefficient and can plan and it is expected that slip rate, vehicle stabilization control using coefficient of road adhesion it is expected planning of yaw-rate etc.,
But coefficient of road adhesion be difficult to measure or sensor costly, therefore the estimation of coefficient of road adhesion is to realize the active of vehicle
The basis of security control, plays an important roll.
Existing coefficient of road adhesion method of estimation is broadly divided into following three class：1) the mainly slip rate by wheel and road
The relation pair surface friction coefficient of face adhesion coefficient utilization is estimated that such method can only estimate surface friction coefficient, i.e.,
The utilization rate of coefficient of road adhesion；2) estimated using algorithm for estimating road pavement attachment coefficient, but most algorithm for estimating are excessively
It is complicated；3) it can only estimate that vehicular four wheels are in the operating mode on same attachment coefficient road surface, different road surfaces are in for different wheel
The situation of attachment coefficient is difficult to estimate.
The content of the invention
For above mentioned problem existing for existing coefficient of road adhesion method of estimation, independently driven the invention provides a kind of four-wheel
The method of estimation of dynamic electric automobile coefficient of road adhesion.This method can control startup moment independently to drive four-wheel in Anti-slip regulation
Electrical automobile coefficient of road adhesion is estimated, available for the adjustment of Anti-slip regulation strategy, makes full use of road surface friction force, improves car
Driveability.
The purpose of the present invention is achieved through the following technical solutions：
A kind of method of estimation of four motorized wheels electric automobile coefficient of road adhesion, comprises the following steps：
Step 1：Calculate the vertical tire force of lower four wheels of Current vehicle transport condition；
Step 2：According to Dugoff longitudinal tire force models, coefficient of road adhesion is calculated under current slip rate respectively from 0.1
And corresponding wheel longitudinal tire force in the case of every 0.1 changing to 1；
Step 3：According to wheel power relation, the wheel longitudinal tire force under current driving torque and wheel speed is calculated；
Step 4：According to current wheel longitudinal tire force and vertical tire force, surface friction coefficient is calculated；
Step 5：By the wheel longitudinal tire force under the current slip rate difference coefficient of road adhesion calculated in step 2,
The longitudinal tire force current with the wheel that is calculated in step 3 makes the difference and squared respectively；
Step 6：Take the difference of wheel longitudinal tire force under the different coefficients of road adhesion obtained in step 5 square most
Small value, corresponding coefficient of road adhesion are determined as current road attachment coefficient；
Step 7：By the current road attachment coefficient judged in step 6 compared with the coefficient of friction in step 4, and take
Therebetween maximum is as coefficient of road adhesion estimate；
Step 8：When coefficient of road adhesion estimate changes, timing is carried out to it, if the road surface attachment after change
The coefficient estimate duration is more than 0.5s, then updates current road attachment coefficient estimate；Otherwise, previous moment road surface is kept
Attachment coefficient estimate is constant.
The coefficient of road adhesion method of estimation that the present invention provides can ensure the estimated accuracy of coefficient of road adhesion ± 0.1
In the range of, and relatively existing more number estimation methods, the coefficient of road adhesion of each wheel can be estimated.
Brief description of the drawings
Fig. 1 is the near front wheel coefficient of road adhesion and estimate, TCS starting states；
Fig. 2 is off-front wheel coefficient of road adhesion and estimate, TCS starting states；
Fig. 3 is left rear wheel coefficient of road adhesion and estimate, TCS starting states；
Fig. 4 is off hind wheel coefficient of road adhesion and estimate, TCS starting states；
Fig. 5 is the near front wheel slip rate；
Fig. 6 is off-front wheel slip rate；
Fig. 7 is left rear wheel slip rate；
Fig. 8 is off hind wheel slip rate.
Embodiment
Technical scheme is further described below, but is not limited thereto, it is every to the technology of the present invention
Scheme is modified or equivalent substitution, without departing from the spirit and scope of technical solution of the present invention, all should cover in the present invention
Protection domain in.
The invention provides a kind of method of estimation of four motorized wheels electric automobile coefficient of road adhesion, specific implementation step
It is rapid as follows：
Step 1：Calculate the vertical tire force of lower four wheels of current running state：
Wherein, Fi,zFor the vertical of i-th wheel (i=1,2,3,4, representing left front, before right, left back, off hind wheel respectively)
Power, m are vehicle mass, lfFor vehicle centroid to front axle distance, lrFor vehicle centroid to rear axle distance, l is automobile front-axle to rear axle
Distance, axFor longitudinal direction of car acceleration, ayFor vehicle side acceleration, h is the height of vehicle centroid, and g is acceleration of gravity.
Step 2：Considering that vehicle is in straight trip operating mode, tyre slip angle is smaller, it is therefore assumed that α=0, therefore simplify Dugoff
Longitudinal tire force model is：
Wherein, f (ψ) is obtained by following formula：
In formula (3), μ is coefficient of road adhesion, FzFor the vertical tire force of wheel, CxFor wheel longitudinal rigidity, λ is slided for wheel
Shifting rate.
Assuming that the slip rate of current wheel is λ0.According to Dugoff tire models, current slip rate λ is calculated respectively0Under, road
Face attachment coefficient is the longitudinal tire force in the case of [0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1]：
Fx(λ=λ0, μ=μ0) (4)。
Wherein, μ0Respectively [0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1], for simplicity is described below,
Therefore remember that the Dugoff longitudinal tire force nominal values under different coefficients of road adhesion are respectively：(i=1,2,
3,4, left front, before right, left back, off hind wheel is represented respectively).
Step 3：According to wheel power relation：
Wherein, JwiFor vehicle wheel rotation inertia, wiFor angular speed of wheel, TiFor wheel driving torque, riFor radius of wheel, Fi,x
For frictional ground force.I=1,2,3,4 represent vehicle the near front wheel, off-front wheel, left rear wheel, off hind wheel respectively.Wheel is calculated currently to indulge
To tire force：
Step 4：Calculate under corresponding present tire longitudinal force and vertical force, corresponding surface friction coefficient：
Step 5：Current wheel longitudinal force and Dugoff tire models are calculated respectively in different coefficients of road adhesion and are worked as
Square of the difference of tire force nominal value under preceding slip rate：
Wherein, j=1,2 ..., 9,10, represent the wheel longitudinal tire force under 10 kinds of coefficients of road adhesion, j=1, μ=
0.1, j=2, μ=0.2, j=3, μ=0.3, j=4, μ=0.4, j=5, μ=0.5, j=6, μ=0.6, j=7, μ=0.7, j
=8, μ=0.8, j=9, μ=0.9, j=10, μ=1.
Step 6：To the present tire power that formula (8) calculates under different coefficients of road adhesion the nominal value difference of tire force it is flat
The minimum value of side, the then attachment coefficient for judging corresponding current road are：
Step 7：In the coefficient of road adhesion for the current judgement that the coefficient of friction that modus ponens (7) calculates represents with formula (9) most
Big value, the attachment coefficient as the corresponding wheel of estimationI.e.：
Step 8：When coefficient of road adhesion estimate changes, timing is carried out to it, if the road surface attachment after change
The coefficient estimate duration is more than 0.5s, then updates current road attachment coefficient estimate；Otherwise, previous moment road surface is kept
Attachment coefficient estimate is constant.
Vehicle produces sliding in low attachment coefficient road traveling, coefficient of road adhesion 0.4, wheel, and slip rate is more than
When 10%, polling power controlling starts, and coefficient of road adhesion starts to estimate, after 0.5s, coefficient of road adhesion estimation value changes.By scheming
Simulation result shown in 1-8 can be seen that the evaluated error of coefficient of road adhesion in the range of ± 0.1.
Claims (7)
1. a kind of method of estimation of four motorized wheels electric automobile coefficient of road adhesion, it is characterised in that the method for estimation is such as
Lower step：
Step 1：Calculate the vertical tire force of lower four wheels of Current vehicle transport condition；
Step 2：According to Dugoff longitudinal tire force models, coefficient of road adhesion is calculated under current slip rate respectively from 0.1 and every
Corresponding wheel longitudinal tire force in the case of changing to 1 every 0.1；
Step 3：According to wheel power relation, the wheel longitudinal tire force under current driving torque and wheel speed is calculated；
Step 4：According to current wheel longitudinal tire force and vertical tire force, surface friction coefficient is calculated；
Step 5：By the wheel longitudinal tire force under the current slip rate difference coefficient of road adhesion calculated in step 2, difference
Current longitudinal tire force makes the difference and squared with the wheel that is calculated in step 3；
Step 6：Take the difference of wheel longitudinal tire force under the different coefficients of road adhesion obtained in step 5 square minimum
Value, corresponding coefficient of road adhesion are determined as current road attachment coefficient；
Step 7：By the current road attachment coefficient judged in step 6 compared with the coefficient of friction in step 4, and take the two
Between maximum as coefficient of road adhesion estimate；
Step 8：When coefficient of road adhesion estimate changes, timing is carried out to it, if the coefficient of road adhesion after change
The estimate duration is more than 0.5s, then updates current road attachment coefficient estimate；Otherwise, the attachment of previous moment road surface is kept
Coefficient estimate is constant.
2. the method for estimation of four motorized wheels electric automobile coefficient of road adhesion according to claim 1, its feature exist
In the step 1, the calculation formula of vertical tire force is as follows：
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<msub>
<mi>F</mi>
<mrow>
<mn>1</mn>
<mo>,</mo>
<mi>z</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>mgl</mi>
<mi>r</mi>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>x</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>y</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>b</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>F</mi>
<mrow>
<mn>2</mn>
<mo>,</mo>
<mi>z</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>mgl</mi>
<mi>r</mi>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>x</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>y</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>b</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>F</mi>
<mrow>
<mn>3</mn>
<mo>,</mo>
<mi>z</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>mgl</mi>
<mi>f</mi>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>x</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>-</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>y</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>b</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>F</mi>
<mrow>
<mn>4</mn>
<mo>,</mo>
<mi>z</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>mgl</mi>
<mi>g</mi>
</msub>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>x</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>l</mi>
</mrow>
</mfrac>
<mo>+</mo>
<mfrac>
<mrow>
<msub>
<mi>ma</mi>
<mi>y</mi>
</msub>
<mi>h</mi>
</mrow>
<mrow>
<mn>2</mn>
<mi>b</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>;</mo>
</mrow>
Wherein, Fi,zForiThe vertical force of individual wheel, i=1,2,3,4, after representing the near front wheel, off-front wheel, left rear wheel, the right side respectively
Wheel；M is vehicle mass；lfFor vehicle centroid to front axle distance；lrFor vehicle centroid to rear axle distance；L is automobile front-axle to rear axle
Distance；axFor longitudinal direction of car acceleration；ayFor vehicle side acceleration；H is the height of vehicle centroid；G is acceleration of gravity.
3. the method for estimation of four motorized wheels electric automobile coefficient of road adhesion according to claim 1, its feature exist
In the step 2, Dugoff longitudinal tire force models are：
<mrow>
<msub>
<mi>F</mi>
<mi>x</mi>
</msub>
<mo>=</mo>
<msub>
<mi>C</mi>
<mi>x</mi>
</msub>
<mfrac>
<mi>&lambda;</mi>
<mrow>
<mn>1</mn>
<mo>+</mo>
<mi>&lambda;</mi>
</mrow>
</mfrac>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>&psi;</mi>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, f (ψi) obtained by following formula：
<mrow>
<mtable>
<mtr>
<mtd>
<mrow>
<mi>f</mi>
<mrow>
<mo>(</mo>
<mi>&psi;</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>-</mo>
<mi>&psi;</mi>
<mo>)</mo>
<mi>&psi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>&psi;</mi>
<mo>&le;</mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mrow>
<mi>&psi;</mi>
<mo>></mo>
<mn>1</mn>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>&psi;</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>&mu;F</mi>
<mi>z</mi>
</msub>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>+</mo>
<mi>&lambda;</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<mn>2</mn>
<msub>
<mi>C</mi>
<mi>x</mi>
</msub>
<mi>&lambda;</mi>
</mrow>
</mfrac>
</mrow>
</mtd>
</mtr>
</mtable>
<mo>;</mo>
</mrow>
μ is coefficient of road adhesion, FzFor the vertical tire force of wheel, CxFor wheel longitudinal rigidity, λ is wheel slip.
4. the method for estimation of four motorized wheels electric automobile coefficient of road adhesion according to claim 1, its feature exist
In the step 2, longitudinal tire force is：
Fx(λ=λ0, μ=μ0)；
Wherein, λ0For the slip rate of current wheel, μ0Respectively [0.1,0.2,0.3,0.4,0.5,0.6,0.7,0.8,0.9,1].
5. the method for estimation of four motorized wheels electric automobile coefficient of road adhesion according to claim 1, its feature exist
In the step 3, the calculation formula of the current longitudinal tire force of wheel is as follows：
<mrow>
<msub>
<mi>F</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>x</mi>
</mrow>
</msub>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>T</mi>
<mi>i</mi>
</msub>
<mo>-</mo>
<msub>
<mi>J</mi>
<mrow>
<mi>w</mi>
<mi>i</mi>
</mrow>
</msub>
<msub>
<mover>
<mi>w</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>i</mi>
</msub>
</mrow>
<msub>
<mi>r</mi>
<mi>i</mi>
</msub>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, JwiFor vehicle wheel rotation inertia；wiFor angular speed of wheel；TiFor wheel driving torque；riFor radius of wheel；I=1,2,
3,4, vehicle the near front wheel, off-front wheel, left rear wheel, off hind wheel are represented respectively.
6. the method for estimation of four motorized wheels electric automobile coefficient of road adhesion according to claim 1, its feature exist
In the step 4, the calculation formula of current road coefficient of friction is as follows：
<mrow>
<msub>
<mi>&mu;</mi>
<mi>i</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>F</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>x</mi>
</mrow>
</msub>
<msub>
<mi>F</mi>
<mrow>
<mi>i</mi>
<mo>,</mo>
<mi>z</mi>
</mrow>
</msub>
</mfrac>
<mo>;</mo>
</mrow>
Wherein, Fi,xFor the current longitudinal tire force of wheel；Fi,zFor the vertical force of i-th of wheel；I=1,2,3,4, a left side is represented respectively
Front-wheel, off-front wheel, left rear wheel, off hind wheel.
7. the method for estimation of four motorized wheels electric automobile coefficient of road adhesion according to claim 1, its feature exist
In the step 6, current road attachment coefficient is：
<mrow>
<msubsup>
<mi>&mu;</mi>
<mn>0</mn>
<mi>i</mi>
</msubsup>
<mo>=</mo>
<mn>0.1</mn>
<mi>j</mi>
<mo>;</mo>
</mrow>
Wherein, j=1,2 ..., 9,10, represent the wheel longitudinal tire force under 10 kinds of coefficients of road adhesion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710693427.8A CN107685733B (en) | 2017-08-14 | 2017-08-14 | The estimation method of four motorized wheels electric car coefficient of road adhesion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710693427.8A CN107685733B (en) | 2017-08-14 | 2017-08-14 | The estimation method of four motorized wheels electric car coefficient of road adhesion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107685733A true CN107685733A (en) | 2018-02-13 |
| CN107685733B CN107685733B (en) | 2019-09-24 |
Family
ID=61153256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710693427.8A Active CN107685733B (en) | 2017-08-14 | 2017-08-14 | The estimation method of four motorized wheels electric car coefficient of road adhesion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107685733B (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159787A (en) * | 2018-08-31 | 2019-01-08 | 上海大学 | A kind of electric car tire attachment stable state real-time detecting system and method |
| CN109515442A (en) * | 2018-11-06 | 2019-03-26 | 吉林大学 | Four-wheel driving electric vehicle coefficient of road adhesion estimation method |
| CN110395259A (en) * | 2019-07-16 | 2019-11-01 | 启迪云控(北京)科技有限公司 | A kind of estimation method of surface conditions, device, equipment and medium |
| WO2020001447A1 (en) * | 2018-06-29 | 2020-01-02 | 比亚迪股份有限公司 | Safe driving method for vehicle |
| CN111762172A (en) * | 2019-04-01 | 2020-10-13 | 江西理工大学 | Road adhesion estimation method based on electro-hydraulic parameters |
| CN112113779A (en) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Wheel friction coefficient detection method, detection terminal and storage medium |
| CN112298188A (en) * | 2019-07-24 | 2021-02-02 | 奥迪股份公司 | Driving assistance method, system, computer device, and storage medium |
| CN112660109A (en) * | 2020-12-25 | 2021-04-16 | 浙江吉利控股集团有限公司 | Four-wheel drive torque limiting method and device |
| CN114537346A (en) * | 2021-12-11 | 2022-05-27 | 清华大学 | Electric wheel slip rate determination method and device, computer equipment and storage medium |
| CN114715158A (en) * | 2022-04-22 | 2022-07-08 | 石家庄铁道大学 | Device and method for measuring road adhesion coefficient based on road texture features |
| CN116818648A (en) * | 2023-07-14 | 2023-09-29 | 河北省交通规划设计研究院有限公司 | Method for acquiring and correcting road friction coefficient based on automobile CAN line data |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612634A (en) * | 2013-12-03 | 2014-03-05 | 北京交通大学 | Method for estimating road adhesion coefficient of electromobile driven by distributed hub motor |
| CN104325980A (en) * | 2014-10-16 | 2015-02-04 | 北京汽车股份有限公司 | Attachment coefficient estimation method and device |
| CN105691403A (en) * | 2014-11-27 | 2016-06-22 | 沈阳工业大学 | Road adhesion coefficient estimation method for four-wheel all-drive electric automobile |
-
2017
- 2017-08-14 CN CN201710693427.8A patent/CN107685733B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103612634A (en) * | 2013-12-03 | 2014-03-05 | 北京交通大学 | Method for estimating road adhesion coefficient of electromobile driven by distributed hub motor |
| CN104325980A (en) * | 2014-10-16 | 2015-02-04 | 北京汽车股份有限公司 | Attachment coefficient estimation method and device |
| CN105691403A (en) * | 2014-11-27 | 2016-06-22 | 沈阳工业大学 | Road adhesion coefficient estimation method for four-wheel all-drive electric automobile |
Non-Patent Citations (2)
| Title |
|---|
| 余卓平，左建令，陈慧: "《基于四轮轮边驱动电动车的路面附着系数估算方法》", 《汽车工程》 * |
| 赵林辉，刘志远，陈虹: "车速和路面附着系数的滚动时域估计", 《汽车工程》 * |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020001447A1 (en) * | 2018-06-29 | 2020-01-02 | 比亚迪股份有限公司 | Safe driving method for vehicle |
| CN109159787A (en) * | 2018-08-31 | 2019-01-08 | 上海大学 | A kind of electric car tire attachment stable state real-time detecting system and method |
| CN109515442A (en) * | 2018-11-06 | 2019-03-26 | 吉林大学 | Four-wheel driving electric vehicle coefficient of road adhesion estimation method |
| CN111762172A (en) * | 2019-04-01 | 2020-10-13 | 江西理工大学 | Road adhesion estimation method based on electro-hydraulic parameters |
| CN110395259A (en) * | 2019-07-16 | 2019-11-01 | 启迪云控(北京)科技有限公司 | A kind of estimation method of surface conditions, device, equipment and medium |
| CN112298188A (en) * | 2019-07-24 | 2021-02-02 | 奥迪股份公司 | Driving assistance method, system, computer device, and storage medium |
| CN112113779A (en) * | 2020-06-30 | 2020-12-22 | 上汽通用五菱汽车股份有限公司 | Wheel friction coefficient detection method, detection terminal and storage medium |
| CN112113779B (en) * | 2020-06-30 | 2022-06-24 | 上汽通用五菱汽车股份有限公司 | Wheel friction coefficient detection method, detection terminal and storage medium |
| CN112660109A (en) * | 2020-12-25 | 2021-04-16 | 浙江吉利控股集团有限公司 | Four-wheel drive torque limiting method and device |
| CN112660109B (en) * | 2020-12-25 | 2022-08-30 | 浙江吉利控股集团有限公司 | Four-wheel drive torque limiting method and device |
| CN114537346A (en) * | 2021-12-11 | 2022-05-27 | 清华大学 | Electric wheel slip rate determination method and device, computer equipment and storage medium |
| CN114715158A (en) * | 2022-04-22 | 2022-07-08 | 石家庄铁道大学 | Device and method for measuring road adhesion coefficient based on road texture features |
| CN114715158B (en) * | 2022-04-22 | 2024-08-06 | 石家庄铁道大学 | Road surface adhesion coefficient measuring device and method based on road surface texture characteristics |
| CN116818648A (en) * | 2023-07-14 | 2023-09-29 | 河北省交通规划设计研究院有限公司 | Method for acquiring and correcting road friction coefficient based on automobile CAN line data |
| CN116818648B (en) * | 2023-07-14 | 2024-04-02 | 河北省交通规划设计研究院有限公司 | Method for acquiring and correcting road friction coefficient based on automobile CAN line data |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107685733B (en) | 2019-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107685733B (en) | The estimation method of four motorized wheels electric car coefficient of road adhesion | |
| CN111746299B (en) | System and method for controlling traction of electric vehicle and electric vehicle | |
| CN108248449B (en) | Driving antiskid control method and device for four-wheel-drive electric automobile | |
| CN105691381B (en) | A kind of four motorized wheels electric automobile stability control method and system | |
| US9950703B2 (en) | Vehicle with independently driven multiple axes, and controller which independently drives multiple axles | |
| US8483926B2 (en) | Device and method for estimating frictional condition of ground contact surface of wheel | |
| CN102267459B (en) | Driving antiskid adjustment and control method for motor-driven vehicle | |
| US8244432B2 (en) | Road-surface friction-coefficient estimating device | |
| CN105835721B (en) | A kind of four-wheel wheel hub electric automobile method for controlling driving speed | |
| CN105691403B (en) | The full drive electric automobile coefficient of road adhesion method of estimation of four-wheel | |
| CN103303157B (en) | Torque distribution method of four-wheel drive electric vehicle | |
| KR20180066417A (en) | Control system and method for distributing drive torque between front and rear wheels of four-wheel drive vehicle | |
| WO2010001819A1 (en) | Road surface friction coefficient estimating device and road surface friction coefficient estimating method | |
| CN103612634B (en) | The evaluation method of distributing In-wheel motor driving electronlmobil coefficient of road adhesion | |
| US20040176899A1 (en) | Torque distribution systems and methods for wheeled vehicles | |
| KR102692354B1 (en) | Vehicle driving control method using friction coefficient estimating of road surface | |
| JP5339121B2 (en) | Slip rate estimation device and method, and slip rate control device and method | |
| KR20090062321A (en) | Control technology for independent in wheel drive system for future vehicles | |
| CN105377622A (en) | Slip control device for electric vehicle | |
| CN102729999B (en) | Vehicle vibration control device and vehicle vibration control method | |
| CN105946826A (en) | Vehicle anti-slip control method and system with no need for wheel speed information and vehicle | |
| KR20150062779A (en) | Enhancement of cornering stability of direct-drive electric vehicle | |
| CN107117150A (en) | Vehicle limited slip control system and anti-skid control method based on data fusion | |
| Jang et al. | Lateral handling improvement with dynamic curvature control for an independent rear wheel drive EV | |
| CN105882634A (en) | High-robustness wheel anti-skid control method, high-robustness wheel anti-skid control system and vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |