四轮轮毂电机电动车自适应巡航控制

摘要

以四轮轮毂电机电动车为对象,研究了综合考虑理论安全距离与实际距离之差、两车相对速度的模式切换控制和再生制动的自适应巡航控制(ACC)策略.该控制策略将ACC分为跟随前车模式、定速巡航模式和匀速行驶模式,设计了包括理论安全距离算法、驱动力矩控制算法、制动力矩控制算法的自适应巡航控制器,通过再生制动对制动能量进行回收;并基于驾驶模拟器实验台设计典型工况,对控制策略进行实验验证.结果表明:设计的自适应巡航控制策略能够使本车安全跟随前车,提高驾驶舒适性,实现再生制动控制.%Adaptive cruise control(ACC)is studied based on electric vehicle with four wheel in-wheel motors, the control strategy of which is studied considering the difference between theoretical safety distance and actual dis -tance and relative speed as well as regenerative braking.The control strategy of ACC is divided into follow before the car mode, constant speed cruise mode and uniform driving mode.An adaptive cruise controller is designed, which includes the theoretical safety distance algorithm,the driving torque control algorithm and the braking torque control algorithm.Braking energy is recovered by regenerative braking.The control strategy is verified with typical conditions based on driving simulator.The results show that the design of the adaptive cruise control strategy can make the vehicle follow the safety of the car and the regenerative braking achieve energy-saving control.