Abstract
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.
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