Advanced Estimation Techniques of Road Surface Condition and Their Experimental Evaluation using Test Electric Vehicle 'UOT March I and II'

摘要

In this paper, advanced techniques of road surface condition estimation for electric vehicles (EVs) are reported. Information on driving-force transmitted from the tire to the road is indispensable for the estimation of road surface condition in deciding a vehicle's state of motion. In our laboratory, various road surface condition estimation techniques have been proposed based on driving-force observer. This observer utilize one of the excellent features of EVs, i.e., motor torque can be known easily and precisely from motor current. First, the principle of the driving-force observer is explained. Next, two kinds of the road surface