分布式驱动电动汽车实时路面识别算法研究

A Study on the Algorithm for Real-time Road Identification with Distributed-drive Electric Vehicles

以分布式驱动纯电动汽车为研究对象,进行了车辆在多种路面上直线行驶时的附着系数识别方法的研究。根据车辆的多路面滑转率实验数据,选择并改进了轮胎模型。使用带有遗忘因子的递推最小二乘算法对电动汽车行驶的路面进行估计和识别。结果表明,该识别算法可实时、准确、有效和快速地分辨出电动汽车行驶的路面(结冰、干沥青和湿沥青),为车辆的主动安全控制提供依据。

The method of adhesion coefficient identification for a distributed-drive battery electric vehicle rectilinearly running on different roads is studied.The Burckhardt tire model is selected and modified based on the experimental data of slip ratio of the vehicle with different road surfaces.The roads are identified with recursive least square algorithm with forgetting factor.The results show that the algorithm can accurately,effectively and quickly identify the roads （ice,dry asphalt and wet asphalt） the vehicle running on in real time,providing a base for vehicle active safety control.