Overview on Key Technologies of Acceleration Slip Regulation for Four-wheel-independently-actuated Electric Vehicles

doi:10.3901/JME.2019.12.099

Abstract

Abstract: Four-wheel-independently-actuated electric vehicles have attracted tremendous attention due to its potential for enhancing vehicle dynamics stability and handling performance. Acceleration slip regulation (ASR) is of great importance for improving the driveability of FWIA EVs under the low-friction road surface. This paper presents a comprehensive overview on the key techniques of ARS for FWIA EVs with the primary goal to summarize recent progress and spark innovative ideas for further research advance. The state-of-the-art vehicle speed estimation, road identification and ASR control algorithms are systematically and thoroughly surveyed. Especially, the kinematics-and dynamics-based estimation methods for vehicle speed estimation are compared, and multi-sensor fusion technique represents the most promising direction in this aspect. The experimental-and model-based road identification algorithms are also overviewed with the emphases on the road adhesion coefficient and road surface identification. The slip rate-based and torque-based ASR controllers are covered with detailed analysis on the factors that need consideration in practical implementations. Finally, the prospects for key technologies for ASR are discussed.

Key words: acceleration slip regulation, four-wheel-independently-actuated electric vehicles, road identification, speed estimation

CLC Number:

TG156

WANG Zhenpo, DING Xiaolin, ZHANG Lei. Overview on Key Technologies of Acceleration Slip Regulation for Four-wheel-independently-actuated Electric Vehicles[J]. Journal of Mechanical Engineering, 2019, 55(12): 99-120.

References

[1] 余卓平,冯源,熊璐. 分布式驱动电动汽车动力学控制发展现状综述[J]. 机械工程学报,2013,49(8):105-114. YU Zhuoping,FENG Yuan,XIONG Lu. Review on vehicle dynamics control of distributed drive electric vehicle[J]. Journal of Mechanical Engineering,2013,49(8):105-114.
[2] 陈慧,高博麟,徐帆. 车辆质心侧偏角估计综述[J]. 机械工程学报,2013,49(24):76-94. CHEN Hui,GAO Bolin,XU Fan. Review on vehicle sideslip angle estimation[J]. Journal of Mechanical Engineering,2013,49(24):76-94.
[3] WANG Z,WANG Y,ZHANG L,et al. Vehicle stability enhancement through hierarchical control for a four-wheel-independently-actuated electric vehicle[J]. Energies,2017,10(7):947-964.
[4] 李静,李幼德,赵健,等. 四轮驱动汽车牵引力控制系统研究[J]. 吉林大学学报,2003,33(4):1-6. LI Jing,LI Youde,ZHAO Jian,et al. Research on traction control system for four wheel drive vehicle[J]. Journal of Jilin University of Technology,2003,33(4):1-6.
[5] 刘刚,靳立强,陈鹏飞. 复杂工况下基于最佳滑移率的汽车牵引力控制算法[J]. 吉林大学学报,2016,46(5):1391-1398. LIU Gang,JIN Liqiang,CHEN Pengfei. Vehicle traction control algorithm based on optimal slip ratio under complicated road conditions[J]. Journal of Jilin University,2016,46(5):1391-1398.
[6] 余卓平,高晓杰. 车辆行驶过程中的状态估计问题综述[J]. 机械工程学报,2009,45(5):20-33. YU Zhuoping,GAO Xiaojie. Review of vehicle state estimation problem under driving situation[J]. Journal of Mechanical Engineering,2009,45(5):20-33.
[7] 徐倜凡,高晓杰. 车辆纵向速度估算算法发展现状综述[J]. 上海汽车,2007,2007(6):39-42. XU Tifan,GAO Xiaojie The statement of the development situation of the longitudinal velocity estimation method of the vehicle[J]. Shanghai Auto,2007(6):39-42.
[8] WANG Zhenpo,WU Jianyang,ZHANG Lei,et al. Vehicle sideslip angle estimation for a four-wheel-independent-drive electric vehicle based on a hybrid estimator and a moving polynomial Kalman smoother[J]. Proceedings of the Institution of Mechanical Engineers,Part K:Journal of Multi-body Dynamics,2018,DOI:10.1177/1464419318770923.
[9] VIETINGHOFF A V,HIEMER M,KIENCKE U. Nonlinear observer design for lateral vehicle dynamics[J]. IFAC Proceedings Volumes,2005,38(1):988-993.
[10] KIENCKE U,NIELSEN L. Automotive control systems:for engine,driveline,and vehicle[J]. Sensor Review,2015,11(4):1828.
[11] 齐志权,刘昭度,时开斌,等. 基于汽车ABS/ASR/ACC集成化系统的ABS参考车速确定方法的研究[J]. 汽车工程,2003,25(6):617-620. QI Zhiquan,LIU Zhaodu,SHI Kaibin,et al. Determination of vehicle reference speed for ABS based on an ABS/ASR/ACC integrated system[J]. Automotive Engineering,2003,25(6):617-620.
[12] 张文建. 基于车速估计改进算法的四轮轮毂电动汽车控制策略研究[D]. 成都:电子科技大学,2016. ZHANG Wenjian. Control strategy of four-wheel Independent drive electric vehicle based on improved vehicle velocity estimation algorithm[D]. Chengdu:University of Electronic Science and Technology of China,2016.
[13] 齐志权,刘昭度,马岳峰,等. 汽车制动防抱系统参考车速确定方法[J]. 农业机械学报,2005,36(11):8-11. QI Zhiquan,LIU Zhaodu,MA Yuefeng,et al. Determination of vehicle reference speed for ABS system[J]. Transactions of the Chinese Society of Agricultural Machinery,2005,36(11):8-11.
[14] JIANG Fangjun,GAO Zhiqiang. An adaptive nonlinear filter approach to the vehicle velocity estimation for ABS[C]//IEEE International Conference on Control Applications. IEEE,2000:490-495.
[15] ZHAO M,MAMMERI A,BOUKERCHE A. Distance measurement system for smart vehicles[C]//International Conference on New Technologies. IEEE,2015:1-5.
[16] 王志超. 基于模糊Kalman滤波的纯电动汽车TCS控制策略的研究[D]. 合肥:合肥工业大学,2017. WANG Zhichao. Research on traction control strategy based on fuzzy adaptive kalman filtering for electric vehicle[D].Hefei:Hefei University of Technology,2017.
[17] 陆晶晶,张为公,周耀群. 基于GPS和加速度计的车速测量系统的开发与研制[J]. 测控技术,2007,26(8):15-16. LU Jingjing,ZHANG Weigong,ZHOU Yaoqun. Development of vehicle velocity testing system based on GPS and accelerometer[J]. Measurement & Control Technology,2007,26(8):15-16.
[18] KIM J K,KIM J W,KIM J H,et al. Experimental studies of autonomous driving of a vehicle on the road using LiDAR and DGPS[C]//15th International Conference on Control,Automation and Systems (ICCAS). IEEE,2015:1366-1369.
[19] ALEXANDER L,RAJAMANI R. Tire road friction coefficient estimation[J]. Journal of Dynamic Systems Measurement & Control,2004,126(2):265-275.
[20] KIENCKE U,NIELSEN L. Automotive control systems[J]. Automotive Control Systems,2012,8(4):11-19.
[21] LEE H. Reliability indexed sensor fusion and its application to vehicle velocity estimation[J]. Journal of Biological Chemistry,2006,249(17):5614-5622.
[22] WATANABE K,KOBAYASHI K,CHEOK K C. Absolute speed measurement of automobile from noisy acceleration and erroneous wheel speed information[C/CD]//International Congress & Exposition,1992.
[23] KOBAYASHI K,CHEOK K C,WATANABE K. Estimation of absolute vehicle speed using fuzzy logic rule-based Kalman filter[C]//American Control Conference,Proceedings of the. IEEE,1995(5):3086-3090.
[24] 褚文博,李深,江青云,等. 基于多信息融合的全轮独立电驱动车辆车速估计[J]. 汽车工程,2011,33(11):962-966. CHU Wenbo,LI Shen,JIANG Qingyun,et al. Speed estimation for all-wheel drive vehicles based on multi-information fusion[J]. Automotive Engineering,2011,33(11):962-966.
[25] 郭洪艳,陈虹,赵海艳,等. 汽车行驶状态参数估计研究进展与展望[J]. 控制理论与应用,2013,30(6):661-672. GUO Hongyan,CHEN Hong,ZHAO Haiyan,et al. State and parameter estimation for running vehicle:recent developments and perspective[J]. Control Theory & Applications,2013,30(6):661-672.
[26] KALMAN R E. A new approach to linear filtering and prediction problems[J]. Transactions of the ASME-Journal of Basic Engineering,1960,82(D):35-45.
[27] CHU L,SHI Y,ZHANG Y,et al. Vehicle lateral and longitudinal velocity estimation based on adaptive Kalman filter[C]//International Conference on Advanced Computer Theory and Engineering. IEEE,2010(3):325-329.
[28] ALVAREZ J C. Estimation of the longitudinal and lateral velocities of a vehicle using extended kalman filters[D]. Atlanta:Georgia Institute of Technology,2006.
[29] ZHAO Zhiguo,CHEN Haijun,YANG Jie,et al. Estimation of the vehicle speed in the driving mode for a hybrid electric car based on an unscented Kalman filter[J]. Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,2015,229(4):437-456.
[30] WANG Guanyu,LI Shengbo. A novel longitudinal speed estimator for fully automation ground vehicle on cornering maneuver[C]//International Conference on Artificial Intelligence and Computational Intelligence. IEEE,2010:433-437.
[31] 赵治国,杨杰,吴枭威. 四驱混合动力轿车分布式卡尔曼车速估计[J]. 机械工程学报,2015,51(16):50-56. ZHAO Zhiguo,YANG Jie,WU Xiaowei. Vehicle speed estimation based on distributed Kalman filter for four wheel drive hybrid electric car[J]. Journal of Mechanical Engineering,2015,51(16):50-56.
[32] 王志福,刘明春,周杨. 基于模糊扩展卡尔曼滤波的轮毂电机驱动车辆纵向速度估计算法[J]. 西南交通大学学报,2015,50(6):1094-1099. WANG Zhifu,LIU Mingchun,ZHOU Yang. Estimation of longitudinal speed of in-wheel motor driven vehicle using fuzzy extended kalman filter[J]. Journal of Southwest Jiaotong University,2015,50(6):1094-1099.
[33] 张家旭,李静. 采用自适应无迹卡尔曼滤波器的车速和路面附着系数估计[J]. 西安交通大学学报,2016,50(3):68-75. ZHANG Jiaxu,LI Jing. Estimation of vehicle speed and tire-road adhesion coefficient by adaptive unscented Kalman filter[J]. Journal of Xi'an Jiaotong University,2016,50(3):68-75.
[34] 高博麟,陈慧,谢书港,等. 分布式电驱动车车速及路面附着系数融合估计[J]. 汽车工程,2016,38(2):216-220. GAO Bolin,CHEN Hui,XIE Shugang,et al. Velocity and road friction coefficient fusion estimation of distributed electric drive vehicle[J]. Automotive Engineering,2016,38(2):216-220.
[35] 赵林辉,刘志远,陈虹. 一种车辆状态滑模观测器的设计方法[J]. 电机与控制学报,2009,13(4):565-570. ZHAO Linhui,LIU Zhiyuan,CHEN Hong. Design method of sliding model observer for vehicle state[J]. Electric Machines & Control,2009,13(4):565-570.
[36] TANNOURY C E,PLESTAN F,MOUSSAOUI S,et al. Tyre effective radius and vehicle velocity estimation:A variable structure observer solution[C]//International Multi-Conference on Systems,Signals and Devices. IEEE,2011,1-6.
[37] IMSLAND L,JOHANSEN T A,FOSSEN T I,et al. Vehicle velocity estimation using modular nonlinear observers[C]//Decision and Control,2005 and 2005 European Control Conference. Cdc-Ecc'05. IEEE Conference on. IEEE,2006:6728-6733.
[38] 郭洪艳. 车辆速度估计非线性观测器方法研究[D]. 长春:吉林大学,2010. GUO Hongyan. Study on nonlinear observer method for vehicle velocity estimation[D]. Changchun:Jilin University,2010.
[39] 郭洪艳,陈虹,高振海,等. 基于随机算法的级联车速观测器设计[J]. 吉林大学学报,2014,44(2):296-304. GUO Hongyan,CHEN Hong,GAO Zhenhai,et al. Design of cascaded vehicle velocity observer based on randomized algorithms[J]. Journal of Jilin University,2014,44(2):296-304.
[40] 郭洪艳,陈虹,张华玉. 车辆动力学数据/机理建模及车速估计应用[C/CD]//中国自动化学会控制理论专业委员会D卷,2011. GUO Hongyan,CHEN Hong,ZHANG Huayu. Data/Physics modelling of vehicle dynamics and application to velocity estimation[C/CD]//Proceedings of the 30th Chinese Control Conference,2011.
[41] 刘金琨. 智能控制.[M]. 3版. 北京:电子工业出版社,2014. LIU Jinkun. Intelligent control.[M]. 3rd ed. Beijing:House of Electronics Industry,2014.
[42] 陈鑫鑫,张复春,郝雁中. 神经网络辅助的GPS/INS组合导航滤波算法研究[J]. 电子技术应用,2015,41(5):84-87. CHEN Xinxin,ZHANG Fuchun,HAO Yanzhong. Study on GPS/INS integrated navigation filtering algorithm asststed by neural network[J]. Application of Electronic Technique,2015,41(5):84-87.
[43] 桂临秋,罗杰,秦凯. 基于信号采集的电动4WD汽车滑转率计算的研究[J]. 武汉理工大学学报,2017,41(2):344-348. GUI Linqiu,LUO Jie,QIN Kai. Study on calculation of 4WD electric vehicle slip ratio based on signal acquisition[J]. Journal of Wuhan University of Technology,2017,41(2):344-348.
[44] 卓桂荣,王冰雪. 自适应插值BP神经网络的ABS纵向车速估计[J]. 机电一体化,2014,20(9):55-59. ZHUO Guirong,WANG Bingxue. Adaptive interpolated BP neural network approach to vehicle velocity estimation for ABS[J]. Mechatronics,2014,20(9):55-59.
[45] CHENG Z,CHOW M Y,JUNG D,et al. A big data based deep learning approach for vehicle speed prediction[C]//IEEE,International Symposium on Industrial Electronics. IEEE:2017,389-394.
[46] ZHENG Taixiong,MA Fulei,ZHANG Kaibi. Estimation of reference vehicle speed based on T-S fuzzy model[J]. Procedia Engineering,2011,15(1):188-193.
[47] CHU Liang,CHAO Libo,ZHANG Yongsheng,et al. Design of longitudinal vehicle velocity observer using fuzzy logic and Kalman filter[C]//International Conference on Electronic and Mechanical Engineering and Information Technology. IEEE,2011:3225-3228.
[48] FARRELLY J,WELLSTEAD P. Estimation of vehicle lateral velocity[C]//IEEE International Conference on Control Applications. IEEE,2002:552-557.
[49] 袁景明,何正义,欧阳,等. 轮毂电机电动汽车纵向车速估计方法研究[J]. 汽车工程学报,2013,3(4):287-294. YUAN Jingming,HE Zhengyi,OU Yang,et al. A method of vehicle longitudinal speed estimation for four-wheel drive in-wheel motor electric vehicle[J]. Chinese Journal of Automotive Engineering,2013,3(4):287-294.
[50] 李以农,郝奕,郑玲,等. 基于多传感器信息融合的车速估计方法[J]. 江苏大学学报,2007,28(4):301-304. LI Yinong,HAO Yi,ZHENG Ling,et al. Method for estimating vehicle speed based on multi-sensor fusion[J]. Journal of Jiangsu University,2007,28(4):301-304.
[51] BEVLY D M. Global positioning system (GPS):A low-cost velocity sensor for correcting inertial sensor errors on ground vehicles[J]. Journal of Dynamic Systems Measurement & Control,2004,126(2):255-264.
[52] BEVLY D M,RYU J,GERDES J C. Integrating INS sensors with GPS measurements for continuous estimation of vehicle sideslip,roll,and tire cornering stiffness[J]. IEEE Transactions on Intelligent Transportation Systems,2006,7(4):483-493.
[53] GUSTAFSSON F,AHLQVIST S,FORSSELL U,et al. Sensor fusion for accurate computation of yaw rate and absolute velocity[C/CD]//SAE 2001 World Congress,2001.
[54] MEYER W E,WALTER J D. Frictional interaction of tire and pavement[M]. Philadelphia:ASTM International,1983.
[55] KHALEGHIAN S,EMAMI A,TAHERI S. A technical survey on tire-road friction estimation[J]. Friction,2017,5(2):123-146.
[56] ANDERSSON M,BRUZELIUS F,CASSELGREN J,et al. Road friction estimation[C/CD]//Saab Automobile AB,Trollhattan,Sweden,2007.
[57] BREUER B,EICHHORN U,ROTH J. Measurement of tyre/road friction ahead of the car and inside the tyre[C/CD]//International Symposium on Advanced Vehicle Control,Yokohama,Japan. 1992.
[58] FUJIMURA K,SAKAMOTO T. Road surface sensor. FUJISU TEN Tech.J,1988(1):64-72.
[59] EICHHORN U,ROTH J. Prediction and monitoring of tyre/road friction[J]. Proceedings Fisita,1992:67-74.
[60] KOSKINEN S. Sensor data fusion based estimation of tyre-road friction to enhance collision avoidance[D]. Tampere:Tampere University of Technology,2010.
[61] ALONSO J,LÓPEZ J,PAVÓN I,et al. On-board wet road surface identification using tyre/road noise and support vector machines[J]. Applied Acoustics,2014,76(1):407-415.
[62] ERDOGAN G,ALEXANDER L,RAJAMANI R. Estimation of tire road friction coefficient using a novel wireless piezoelectric tire sensor[J]. IEEE Sensors Journal,2011,11(2):267-279.
[63] KHALEGHIAN S. The application of intelligent tires and model based estimation algorithms in tire-road contact characterization[D]. Blacksburg:Virginia Polytechnic Institute and State University,2017.
[64] NISKANEN A J,TUONONEN A J. Three 3-axis accelerometers fixed inside the tyre for studying contact patch deformations in wet conditions[J]. Vehicle System Dynamics,2014,52(Supp.1):287-298.
[65] NISKANEN A J,TUONONEN A J. Accelerometer tyre to estimate the aquaplaning state of the tyre-road contact[C]//Intelligent Vehicles Symposium. IEEE,2015,343-348.
[66] 韩建保,张鲁滨,李邦国. 轮胎路面附着系数实时感应识别系统[J]. 车辆与动力技术,2005,2005(2):62-64. HAN Jianbao,ZHANG Lubin,LI Bangguo. Electronic sensing system for real time identification of the tire-road adhesion[J]. Vehicle & Power Technology,2005(2):62-64.
[67] GUSTAFSSON F. Slip-based tire-road friction estimation[M]. London:Pergamon Press,Inc. 1997.
[68] GUSTAFSSON F. Monitoring tire-road friction using the wheel slip[J]. Control Systems IEEE,1998,18(4):42-49.
[69] 王博,卢萍萍,管欣,等. 路面附着系数识别方法发展现状综述[J]. 汽车技术,2014(8):1-7. WANG Bo,LU Pingping,GUAN Xin,et al. A review on the development status of road adhesion coefficient identification approach[J]. Automobile Technology,2014(8):1-7.
[70] ALEXANDER L,RAJAMANI R. Friction estimation on highway vehicles using longitudinal measurements[J]. Journal of Dynamic Systems Measurement & Control,2004,126(2):265-275.
[71] 赵立军,邓宁宁,葛柱洪,等. 四轮驱动车辆路面附着系数实时估计[J]. 哈尔滨工业大学学报,2014,46(11):42-46. ZHAO Lijun,DENG Ningning,GE Zhuhong,et al. Real-time road condition estimation for four-wheel-drive vehicle[J]. Journal of Harbin Institute of Technology,2014,46(11):42-46.
[72] 徐颖. 基于信息融合技术的线控汽车状态和路面参数的仿真估算与实验研究[D]. 长春:吉林大学,2009. XU Ying. Estimation and experimental research on the steer-by-wire vehicle states and road parameters based on information fusion[D]. Changchun:Jilin University,2009.
[73] LI K,MISENER J A,HEDRICK K. On-board road condition monitoring system using slip-based tire-road friction estimation and wheel speed signal analysis[C]//ASME 2006 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers,2006:267-276.
[74] 李刚,宗长富,张强,等. 基于模糊路面识别的4WID电动车驱动防滑控制[J]. 华南理工大学学报,2012,40(12):99-104. LI Gang,ZONG Changfu,ZHANG Qiang,et al. Acceleration slip regulation control of 4WID electric vehicles based on fuzzy road identification[J]. Journal of South China University of Technology,2012,40(12):99-104.
[75] PACEJKA H B. The magic formula tyre model[C/CD]//Proc. International Colloquium on Tyre MODELS for Vehicle Dynamics Analysis. 1991.
[76] PACEJKA H B. Tire and vehicle dynamics[M]. Netherlands:Butterworth Heinemann,2012.
[77] VAN OOSTEN J J,BAKKER E. Determination of magic tyre model parameters[J]. Vehicle System Dynamics,1992,21(Suppl.1):19-29.
[78] JAYACHANDRAN R,ASHOK S D,NARAYANAN S. Fuzzy logic based modelling and simulation approach for the estimation of tire forces[J]. Procedia Engineering,2013,64:1109-1118.
[79] YI K,HEDRICK K,LEE S C. Estimation of tire-road friction using observer based identifiers[J]. Vehicle System Dynamics,1999,31(4):233-261.
[80] CABRERA J A,CASTILLO J J,PEREZ J,et al. A procedure for determining tire-road friction characteristics using a modification of the magic formula based on experimental results[J]. Sensors,2018,18(3):896-912.
[81] BURCKHARDT M. Wheel slip control systems[M]. Würzburg:Vogel Verlag,1993.
[82] 卜未琦. 全线控纯电动汽车行驶状态估算与路面识别[D]. 长春:吉林大学,2014. BU Weiqi. State estimation and road identification for a full drive-by-wire electric vehicle[D]. Changchun:Jinlin University,2014.
[83] 袁朝春,张龙飞,陈龙,等. 路面峰值附着系数辨识算法研究[J]. 汽车工程,2017,39(11):1268-1273. YUAN Chaochun,ZHANG Longfei,CHEN Long,et al. A research on the algorithm for identifying the peak adhesion coefficient of road surface[J]. Automotive Engineering,2017,39(11):1268-1273.
[84] 申超. 基于路面识别的四轮轮毂电机电动汽车驱动防滑控制策略研究[D]. 成都:电子科技大学,2016. SHEN Chao. Study on acceleration slip regulation control strategy of four-wheel independent drive electric vehicle based on road identification[D]. Chengdu:University of Electronic Science and Technology of China,2016.
[85] 王博,孙仁云. 基于状态特征因子的路面识别方法研究[J]. 汽车工程,2012,34(6):506-510. WANG Bo,SUN Renyun. A research on road condition identification based on characterization factors[J]. Automotive Engineering,2012,34(6):506-510.
[86] DUGOFF H. Tire performance characteristics affecting vehicle response to steering and braking control inputs. Final report[R]. Washington D. C.:National Bureau of Standards,1969.
[87] PIYABONGKARN D,LEW J Y,RAJAMANI R,et al. On the use of torque-biasing systems for electronic stability control:limitations and possibilities[J]. IEEE Transactions on Control Systems Technology,2007,15(3):581-589.
[88] GHANDOUR R,VICTORINO A,DOUMIATI M,et al. Tire/road friction coefficient estimation applied to road safety[C]//Control & Automation. IEEE,2010:1485-1490.
[89] CHEN L,BIAN M,LUO Y,et al. Maximum tire road friction estimation based on modified Dugoff tire model[C]//International Conference on Mechanical and Automation Engineering. IEEE,2013:56-61.
[90] BHORASKAR A,SAKTHIVEL P. A review and a comparison of Dugoff and modified Dugoff formula with magic formula[C]//International Conference on Nascent Technologies in Engineering. IEEE,2017:1-4.
[91] PATRA N,DATTA K. Observer based road-tire friction estimation for slip control of braking system[J]. Procedia Engineering,2012,38:1566-1574.
[92] 李刚,解瑞春,卫绍元,等. 基于双容积卡尔曼滤波的车辆状态与路面附着系数估计[J]. 中国科学:技术科学,2015,45(4):403-414. LI Gang,XIE Ruichun,WEI Shaoyuan,et al. Vehicle state and road friction coefficient estimation based on double cubature Kalman filter[J]. Scientia Sinica,2015,45(4):403-414.
[93] DE WIT C C,OLSSON H,ASTROM K J,et al. A new model for control of systems with friction[J]. IEEE Transactions on Automatic Control,1995,40(3):419-425.
[94] CANUDAS DE WIT C,PETERSEN M L,SHIRIAEV A. A new nonlinear observer for tire/road distributed contact friction[C]//Decision and Control,2003. Proceedings. IEEE Conference on. IEEE,2003(3):2246-2251.
[95] CHEN Y,WANG J. Vehicle longitudinal motion independent real-time tire-road friction coefficient estimation[C]//IEEE Conference on Decision and Control. IEEE,2010:2910-2915.
[96] 李欣. 基于LuGre动力学摩擦模型的路面估计与车辆制动控制研究[D]. 上海:上海交通大学,2007. LI Xin. On-line road estimation and vehicle braking control based on luGre tire dynamic friction model[D]. Shanghai:Shanghai Jiao Tong University,2007.
[97] SVENDENIUS J,GÄ M,FVERT,et al. Experimental validation of the brush tire model[J]. Tire Science & Technology,2009,37(2):122-137.
[98] PACEJKA H B. Tire and vehicle dynamics[M]. Netherlands:Butterworth Heinemann,2012.
[99] RAJAMANI R. Vehicle dynamics and control[M]. Berlin:Springer,2012.
[100] CHEN Y,WANG J. Adaptive vehicle speed control with input injections for longitudinal motion independent road frictional condition estimation[J]. IEEE Transactions on Vehicular Technology,2011,60(3):839-848.
[101] CHOI M,OH J J,CHOI S B. Linearized recursive least squares methods for real-time identification of tire-road friction coefficient[J]. IEEE Transactions on Vehicular Technology,2013,62(7):2906-2918.
[102] 王其东,刘伟,陈无畏,等. 基于路面识别的汽车稳定系统滑模控制[J]. 汽车工程,2018,40(1):82-90. WANG Qidong,LIU Wei,CHEN Wuwei,et al. Sliding mode control of vehicle electronic stability program based on road identification[J]. Automotive Engineering,2018,40(1):82-90.
[103] 朱冰,朴奇,赵健,等. 基于路面附着系数估计的汽车纵向碰撞预警策略[J]. 汽车工程,2016,38(4):446-452. ZHU Bing,PIAO Qi,ZHAO Jian,et al. Vehicle longitudinal collision warning strategy based on road adhesive coefficient estimation[J]. Automotive Engineering,2016,38(4):446-452.
[104] 丁惜瀛,裴延亮,张洪月,等. 基于非线性观测器的路面附着系数估计方法[J]. 大功率变流技术,2012,2012(5):55-59. DING Xiying,PEI Yanliang,ZHANG Hongyue,et al. Estimation approach of road friction coefficient based on nonlinear observer[J]. High Power Converter Technology,2012(5):55-59.
[105] GERMANN S,WURTENBERGER M,DAISS A. Monitoring of the friction coefficient between tyre and road surface[C]//Proceedings of the Third IEEE Conference on Control Applications. IEEE,1994(1):613-618.
[106] DE CASTRO R,ARAUJO R E,CARDOSO J S,et al. A new linear parametrization for peak friction coefficient estimation in real time[C]//Vehicle Power and Propulsion Conference. IEEE,2010:1-6.
[107] LEE C,HEDRICK K,YI K. Real time slip based estimation of maximum tire-road friction coefficient[J]. IEEE/ASME Transactions on Mechatronics,2004,9(2):454-458.
[108] 张龙飞. 基于路面辨识的主动避撞制动系统关键技术研究[D]. 镇江:江苏大学,2017. ZHANG Longfei. Research on key technology of active collision avoidance braking system based on pavement identification[D].Zhenjiang:Jiangsu University,2017.
[109] 金胡辛. 电动车驱动防滑控制策略的研究[D]. 重庆:重庆大学,2016. JIN Huxin. Research on electric vehicle drive-slip control strategy[D]. Chongqing:Chongqing University,2016.
[110] 宋健,杨财,李红志,等. AYC系统基于多传感器数据融合的路面附着系数估计算法[J]. 清华大学学报,2009,49(5):715-718. SONG Jian,YANG Cai,LI Hongzhi,et al. Road friction coefficient estimation based on multisensor data fusion for an AYC system[J]. Journal of Tsinghua University,2009,49(5):715-718.
[111] 杨克. 乘用车ESP全工况的路面附着识别算法研究[D]. 秦皇岛:燕山大学,2014. YANG Ke. Road friction estimation method under complex operations used by ESP system[D]. Qinhuangdao:Yanshan University,2014.
[112] 武钟财. 基于扩展卡尔曼滤波的路面附着系数估计算法研究[D]. 长春:吉林大学,2008. WU Zhongcai. Research on the algorithm of the road friction coefficient estimation based on the extended Kalman filter[D]. Changchun:Jilin University,2008.
[113] ZONG C,DAN HU,ZHENG H. Dual extended Kalman filter for combined estimation of vehicle state and road friction[J]. Chinese Journal of Mechanical Engineering,2013,26(2):313-324.
[114] 赵林辉,刘志远,陈虹. 车速和路面附着系数的滚动时域估计[J]. 汽车工程,2009,31(6):520-525. ZHAO Linhui,LIU Zhiyuan,CHEN Hong. The estimation of vehicle speed and tire-road adhesion coefficient using moving horizon strategy[J]. Automotive Engineering,2009,31(6):520-525.
[115] 丁惜瀛,李琳,于华,等. 电动汽车DYC/ASR变论域模糊集成控制[J]. 汽车工程,2014,36(5):527-531. DING Xiying,LI Lin,YU Hua,et al. Integrated DYC/ASR-based variable universe fuzzy control for electric vehicles[J]. Automotive Engineering,2014,36(5):527-531.
[116] 张博涵,陈哲明,付江华,等. 四轮独立驱动电动汽车自适应驱动防滑控制[J]. 山东大学学报,2018,48(1):96-103. ZHANG Bohan,CHEN Zheming,FU Jianghua,et al. Self-adaption acceleration slip regulation control of four-wheel independently-driving electric vehicle[J]. Journal of Shandong University,2018,48(1):96-103.
[117] 陈哲明,张博涵,陈宝,等. 独立驱动电动汽车驱动防滑控制的优化研究[J]. 机械设计与制造,2017,2017(11):67-70. CHEN Zheming,ZHANG Bohan,CHEN Bao,et al. Research on optimization of acceleration slip regulation control of independently-driving electric vehicle[J]. Machinery Design & Manufacture,2017,2017(11):67-70.
[118] 秦健. 基于最优滑转率识别的轮边电驱动客车驱动防滑研究[D]. 合肥:合肥工业大学,2017. QIN Jian. Acceleration slip regulation system of direct driving electric bus based on the optimal slip rate control[D]. Hefei:Hefei University of Technology,2017.
[119] 李军,苏炎召,隗寒冰,等. 四轮驱动混合动力汽车驱动防滑控制策略的研究[J]. 汽车工程,2017,39(3):296-303. LI Jun,SU Yanzhao,WEI Hanbing,et al. A research on the acceleration slip regulation strategy for a four wheel drive hybrid electric vehicle[J]. Automotive Engineering,2017,39(3):296-303.
[120] 阳贵兵,廖自力,马晓军,等. 多轮独立电驱动车辆驱动力优化控制研究[J]. 兵工学报,2016,37(1):23-30. YANG Guibing,LIAO Zili,MA Xiaojun,et al. A study of driving force optimal control of multi-wheel independent electric drive vehicle[J]. Acta Armamentarii,2016,37(1):23-30.
[121] 廖自力,刘栋,阳贵兵,等. 基于模糊路面识别的多轮独立电驱动车辆驱动防滑控制[J]. 装甲兵工程学院学报,2017,31(3):46-52. LIAO Zili,LIU Dong,YANG Guibing,et al. Acceleration slip regulation of multi-wheel independent electric drive vehicle based on fuzzy road surface identification[J]. Journal of Academy of Armored Force Engineering,2017,31(3):46-52.
[122] ZOU G,LUO Y,LI K,et al. Slip ratio control of independent AWD EV based on fuzzy DSMC[C]//IEEE International Conference on Vehicular Electronics and Safety,2008:1-6.
[123] SUBUDHI B,GE S S. Sliding-mode-observer-based adaptive slip ratio control for electric and hybrid vehicles[J]. IEEE Transactions on Intelligent Transportation Systems,2012,13(4):1617-1626.
[124] CASTRO R D,RUI E A,FREITAS D. Wheel slip control of EVs based on sliding mode technique with conditional integrators[J]. IEEE Transactions on Industrial Electronics,2013,60(8):3256-3271.
[125] LI H Z,LI L,HE L,et al. PID plus fuzzy logic method for torque control in traction control system[J]. International Journal of Automotive Technology,2012,13(3):441-450.
[126] 闫永宝,张豫南,颜南明. 6×6电驱动轮式车辆驱动防滑控制研究[J]. 兵工学报,2014,35(9):1335-1343. YAN Yongbao,ZHANG Yunan,YAN Nanming. Research on acceleration slip regulation of 6×6 electrically-driven wheeled vehicle[J]. Acta Armamentarii,2014,35(9):1335-1343.
[127] 赵治国,顾君,余卓平. 四轮驱动混合动力轿车驱动防滑控制研究[J]. 机械工程学报,2011,47(14):83-98. ZHAO Zhiguo,GU Jun,YU Zhuoping. Study of acceleration slip regulation strategy for four wheel drive hybrid electric car[J]. Journal of Mechanical Engineering,2011,47(14):83-98.
[128] 孙杰. 基于逻辑门限值的四轮独立驱动汽车牵引力控制研究[D]. 长春:吉林大学,2015. SUN Jie. Study on traction control strategy of four-wheel independently driven vehicle based on threshold algorithm[D]. Changchun:Jilin University,2015.
[129] FUJⅡ K,FUJIMOTO H. Traction control based on slip ratio estimation without detecting vehicle speed for electric vehicle[C]//Power Conversion Conference-Nagoya. IEEE,2007:688-693.
[130] FUJIMOTO H,SAITO T,TSUMASAKA A,et al. Motion control and road condition estimation of electric vehicles with two in-wheel motors[C]//IEEE International Conference on Control Applications. IEEE,2004(2):1266-1271.
[131] CASTRO R D,RUI E A,TANELLI M,et al. Torque blending and wheel slip control in EVs with in-wheel motors[J]. Vehicle System Dynamics,2012,50(1):71-94.
[132] AKIBA T,SHIRATO R,FUJITA T,et al. A study of novel traction control method for electric motor driven vehicle[C]//Power Conversion Conference. IEEE,2007:699-704.
[133] HORI Y,TOYODA Y,TSURUOKA Y. Traction control of electric vehicle:basic experimental results using the test EV "UOT electric march"[J]. Industry Applications IEEE Transactions on,1998,34(5):1131-1138.
[134] KATO M. Proposal of anti-slip control method for electric vehicles with adaptive torque limiter[C]//JSAE Annual Congress (Spring). 2013:1-4.
[135] JOÅiKODEUR,DANIJELPAVKOVIÄ,GILBERTOBURGIO,et al. A model-based traction control strategy non-reliant on wheel slip information[J]. Vehicle System Dynamics,2011,49(8):1245-1265.
[136] COLLI V,TOMASSI G,SCARANO M. "Single Wheel" longitudinal traction control for electric vehicles[J]. IEEE Transactions on Power Electronics,2006,21(3):799-808.
[137] GEAMANU M S,MOUNIER H,NICULESCU S I,et al. Longitudinal control for an all-electric vehicle[C]//Electric Vehicle Conference. IEEE,2013:1-6.
[138] GEAMANU M S,CELA A,LESOLLIEC G,et al. Maximum friction estimation and longitudinal control for a full in-wheel electric motor vehicle[C]//International Conference on Control,Automation and Systems. IEEE,2013:856-861.
[139] MAERDA K,FUJIMOTO H,HORI Y. Four-wheel driving-force distribution method for instantaneous or split slippery roads for electric vehicle with in-wheel motors[C]//International Workshop on Advanced Motion Control. IEEE,2012:1-6.
[140] MAERDA K,FUJIMOTO H,HORI Y. Four-wheel driving-force distribution method based on driving stiffness and slip ratio estimation for electric vehicle with in-wheel motors[C]//Vehicle Power and Propulsion Conference.IEEE,2012:1286-1291.