Four-wheel driving-force distribution method for instantaneous or split slippery roads for electric vehicle with in-wheel motors
Four-wheel driving-force distribution method for instantaneous or split slippery roads for electric vehicle with in-wheel motors
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DOI：
10.1109/amc.2012.6197053
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发表时间：
2012-03
期刊：
影响因子：
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通讯作者：
K. Maeda;H. Fujimoto;Y. Hori
中科院分区：
文献类型：
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作者：
K. Maeda;H. Fujimoto;Y. Hori
提出了一种基于驱动力控制的四轮驱动力分配方法。驱动力控制是作者课题组提出的一种基于油门踏板产生适当驱动力的牵引力控制方法。然而，这种控制方法不能完全防止当车辆行驶在非常湿滑的路面上时驱动力的降低。如果湿滑路面的长度小于车辆的轴距，则通过将不足的驱动力分配给仍具有牵引力的车轮来保持总驱动力。另一方面，当左侧或右侧在光滑表面上行驶时，通过将左右轮的总驱动力设置为相同来抑制横摆力矩。为此，提出了在瞬时湿滑路面上保持驱动力，在劈裂路面上抑制横摆力矩的四轮驱动力分配方法。仿真和实验验证了该分配方法的有效性。
In this paper, a four-wheel driving force distribution method based on driving force control is proposed. Driving force control is a traction control method, previously proposed by the authors' research group, which generate appropriate driving force based on the acceleration pedal. However, this control method can not completely prevent reduction of driving force when a vehicle runs on an extremely slippery road. If the length of a slippery surface is shorter than the vehicle's wheel base, the total driving force is retained by distributing the shortage of driving force to the wheels that still have traction. On the other hand, when either the left or right side runs on a slippery surface, yaw-moment is suppressed by setting total driving forces of left and right wheels to be the same. Therefore, four-wheel driving force distribution method is proposed for retaining driving force on instantaneous slippery roads, and suppressing yaw-moment on split ones. The effectiveness of the proposed distribution method is verified by simulations and experiments.