A drive wheel slip detection method and system for an all-wheel independent drive vehicle

[0072] Example 1:

[0073] The present invention provides a driving wheel slip detection algorithm for all-wheel independent driving vehicles, which can only use the speed and torque information of each driving wheel, combine the relative relationship between each wheel speed, and estimate the longitudinal acceleration ratio of the vehicle to the tire. The judgment of whether each wheel speed is slipping is given in a probabilistic way, which lays the foundation for driving anti-skid control and improving vehicle driving stability. Such as figure 1 Shown:

[0074] Step 1: Obtain the first slip probability according to the rotation speed of all driving wheels and the set slip probability table;

[0075] Step 2: Measure the second tire slip probability based on the longitudinal acceleration of the vehicle and the rotational speed of each driving wheel;

[0076] Step 3: Determine the final slip probability result of each driving wheel based on the first slip probability and the second sli

[0115] Example 2:

[0116] In the following, an 8×8 wheeled vehicle with a distributed in-wheel motor drive scheme is taken as an example, and the method proposed by the present invention will be further described in conjunction with the accompanying drawings. Such as figure 2 As shown, the platform contains eight independent drive motors M1, M2, M3, M4, M5, M6, M7, M8, and four corresponding two-in-one motor controllers MCU1, MCU2, MCU3, MCU4, and one CAN network for communication between the vehicle controller VCU and the motor controller. The main function of the four motor controllers is to collect the current and speed information of the corresponding motor, and use the speed / torque command provided by the vehicle controller to complete the speed / torque closed-loop control of the corresponding drive motor; the vehicle controller is based on the motor controller The provided information on the rotational speed and torque of each driving wheel can determine whether the corr

[0148] Example 3:

[0149] Based on the same inventive concept, the present invention also provides a driving wheel slip detection system for all-wheel independent drive vehicles, including:

[0150] The first calculation module is used to obtain the first slip probability according to the driving wheel speed and the set slip probability table;

[0151] The second calculation module is used to measure the second tire slip probability based on the longitudinal acceleration of the vehicle and the rotational speed of each driving wheel;

[0152] The third calculation module is configured to determine the final slip probability result of each driving wheel based on the first slip probability and the second slip probability.

[0153] The second calculation module includes:

[0154] The longitudinal driving force calculation sub-module is used to construct a state observer from the rotational dynamic equation of the driving wheel to obtain the longitudinal driving force generated by the tire;

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