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- Title
Instability detection of the tire-road contact and torque control for wheel-individual driven vehicles.
- Authors
Speth, Peter; Hummler, Andreas; Buchholz, Michael; Dietmayer, Klaus
- Abstract
Traction control for vehicles with wheel individual drives is a challenging task, since the wheel slips are unknown when each wheel transfers a torque. This contribution presents an approach which deals with this problem especially for electrical vehicles, where the drive torques can be changed very fast in comparison to vehicles with combustion engines. The algorithm is based on two filters. The first filter is an adaptive Kalman filter which is used to detect fast changes in the stability conditions of the wheels. The filter also delivers a valuation for the torque to which the drive torque has to be reduced to get the wheel stable again. The second filter estimates the wheel slip. It is based on a simplified expression of the slip dynamics in combination with a special reset strategy for low slip situations. This filter allows detection of slow changes in the stability conditions. All filters arewheel individual and use only standard sensor information. No tire model is needed for the filters to work. A simple reflexive traction controller, which is based on a state machine, computes the drive torques in dependence on the stability criteria based on the filter outputs.
- Subjects
AUTOMOBILE traction; TORQUE control; ADAPTIVE filters; KALMAN filtering; WHEELS -- Design &; construction; STABILITY of automobiles
- Publication
Automatisierungstechnik, 2018, Vol 66, Issue 1, p41
- ISSN
0178-2312
- Publication type
Article
- DOI
10.1515/auto-2017-0091