Electric vehicle, active safety control system of electric vehicle, control method of active safety control system of electric vehicle, and motor controller

摘要

The present invention discloses an electric vehicle, an active safety control system of an electric vehicle, and a control method of the active safety control system of an electric vehicle. The electric vehicle includes: multiple wheels, multiple motors respectively corresponding to the multiple wheels, a wheel speed detection module that generates a wheel speed signal, a steering wheel rotation angle sensor that detects direction information of the electric vehicle, a yaw rate sensor that detects yaw information of the electric vehicle, and a battery pack. The active safety control system includes: an acquisition module, acquiring the wheel speed signal, the direction information of the electric vehicle, the yaw information of the electric vehicle, status information of the battery pack, and status information of the multiple motors; a status determining module, determining status of the electric vehicle; and a control module, generating a control instruction and delivering the control instruction to at least one motor, so that when the electric vehicle has a side slip and is about to enter a side slip limit interval, the at least one motor is enabled to perform driving control on at least one corresponding wheel; and when the electric vehicle is in the side slip limit interval, the at least one motor is enabled to perform braking control on the at least one corresponding wheel.