Driving anti-slip control method and device of four-drive electric vehicle

Abstract

The invention discloses a driving anti-slip control method and device of a four-drive electric vehicle. The method comprises the following steps of detecting wheel speeds of four vehicle wheels of theelectric vehicle and the depth of an accelerator pedal; according to the wheel speeds of the vehicle wheels, estimating the vehicle speed of the electric vehicle, determining a target difference value of the vehicle speed and the wheel speeds according to the vehicle speed, and obtaining needed torque of the electric vehicle according to the depth of the accelerator pedal; according to the wheelspeeds, the vehicle speed, the target difference value and the needed torque, conducting driving anti-slip control over the vehicle wheels corresponding to the wheel speeds. Therefore, the differencevalue of the wheel speeds and the vehicle speed can be stabilized within a corresponding target difference range to maintain a proper slip rate; meanwhile, pavement identification is not needed, therefore the error caused by the pavement identification is reduced, and the driving anti-slip control method and device have practical value.

Description

technical field [0001] The invention relates to the technical field of electric vehicles, in particular to a driving anti-skid control method for a four-wheel drive electric vehicle and a driving anti-skid control device for a four-wheel drive electric vehicle. Background technique [0002] In the related art, a method for anti-skid control of a four-wheel hub electric vehicle is proposed. Specifically, the optimal slip ratio of the wheel is calculated in real time through the road surface recognition algorithm, and the expected rotational speed of the wheel is calculated from the optimal slip ratio of the wheel. Then, calculate the compensation torque of the wheel according to the state of the wheel; if the wheel slips, take the desired wheel speed as the control target, and calculate the compensation torque through the PI controller of the wheel speed, if the wheel does not slip, the compensation torque At the same time, the vehicle speed control takes the desired vehicle...

AI Technical Summary

Problems solved by technology

[0003] However, the above technology needs to identify the road first, then calculate the optimal slip ratio, and control with the optimal slip ratio

However, in practical applications, since the wheel speed and speed difference will also increase with the increase of vehicle speed during driving, it will cause the vehicle to skid, the direction cannot be controlled, and the road surface recognition itself will also cause certain errors, so the best slip ratio Controlling for goals is not practical

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