Open AccessA Road Identification Method Based on Road Slope Information for Four-Wheel Independent Drive Electric Vehicles
Author(s) -
Lei Guo,
Huiling Xu,
Jianxiao Zou,
Hongyu Jie
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1519/1/012021
Subject(s) - carsim , slipping , control theory (sociology) , slip (aerodynamics) , identification (biology) , torque , road surface , slip ratio , current (fluid) , electric vehicle , matlab , automotive engineering , engineering , computer science , vehicle dynamics , structural engineering , control (management) , artificial intelligence , quantum mechanics , biology , aerospace engineering , power (physics) , botany , physics , civil engineering , brake , electrical engineering , thermodynamics , operating system
Four-wheel independent drive electric vehicles (4WID EV) drive safely and stably, which depends on current road conditions, especially road friction coefficient and slope, and different driving control strategies are used according to road conditions. Therefore, a road identification method is proposed to estimate the road information. Firstly, we design a road identification algorithm to identify the current road conditions of 4WID EV, and calculate the optimal slip ratio of the current road surface by curve fitting method. When the wheel slip ratio is controlled near the optimal slip ratio, the wheel adhesion coefficient can be maximized to prevent the wheel from slipping. Then, a slope identification algorithm based on Luenberger state observer is designed to identify the various slopes of uphill and downhill, and it provides a reference for the calculation of the slope compensation torque. Finally, through the joint simulation platform of MATLAB/Simulink and Carsim, it shows that the proposed road identification can identify the current road conditions and slope effectively.