| 摘要 |
PURPOSE: A wheel slip control method is provided to solve such problems efficiently by setting multiple wheel slip amount allowances. CONSTITUTION: A wheel slip control method comprises the following steps: a wheel speed detection step (S110) aims to detect each wheel rotation speed of a vehicle; a steering angle detection step (S120) aims to detect a steering angle of the vehicle; a wheel slip amount calculation step (S210) aims to calculate a wheel slip amount as the wheel rotation speed; a car speed estimation step (S220) aims to estimate a forecast speed of the vehicle as the wheel rotation speed and the steering angle; a coordination turn wheel speed calculation step (S230) aims to estimate a forecast wheel rotation speed in a coordination turn of each wheel as the forecast speed of the vehicle and the steering angle; a coordination turn wheel slip amount calculation step (S240) aims to calculate a forecast wheel slip amount as the forecast wheel rotation speed in a coordination turn; a proportional control step (S310) aims to output a basis slip control torque as the wheel slip amount and the forecast wheel slip amount; a fixed torque control step (S320) aims to output a slip control torque by controlling a fixed torque by being inputted the basis slip control torque; and an actuator control step (S330) aims to control a torque transfer by being inputted the slip control torque. [Reference numerals] (S110) Wheel speed detection; (S120) Steering angle detection; (S210) Wheel slip amount calculation; (S220) Car speed estimation; (S230) Coordination turn wheel speed calculation; (S240) Coordination turn wheel slip amount calculation; (S310) Proportional control; (S320) Fixed torque control; (S330) Actuator control |
