The real-time change of tire-road friction coefficient is one of the important factors that influence vehicle safety performance.\nBesides, the vehicle wheels� locking up has become an important issue. In order to solve these problems, this paper comes up with\na novel slip control of electric vehicle (EV) based on tire-road friction coefficient estimation. First and foremost, a novel method\nis proposed to estimate the tire-road friction coefficient, and then the reference slip ratio is determined based on the estimation\nresults. Finally, with the reference slip ratio, a slip control based on model predictive control (MPC) is designed to prevent the\nvehicle wheels from locking up. In this regard, the proposed controller guarantees the optimal braking torque on each wheel by\nindividually controlling the slip ratio of each tire within the stable zone. Theoretical analyses and simulation show that the proposed\ncontroller is effective for better braking performance.
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