针对ASR系统防误触的复杂路面识别算法

The significant fluctuation of wheel speed affected by the dynamic load of uneven road surface (URS) can lead to jumps in wheel slip rate, which will frequently trigger the Acceleration Slip Regulation (ASR) with the slip rate as the control target. Therefore, it is necessary to identify uneven road surface and subsequently optimize the control strategy. For uneven road with bumps, an identification algorithm employing threshold logic method with the variation of slip rate and lateral camber angle as the judgement index. For continuous uneven road, an identification method integrates traversal counting method and energy method is adopted to determine the road condition and take the area enclosed by slip rate and road surface adhesion coefficient as the characteristic value to judge the adhesion condition of the road surface. Furthermore, ASR threshold adjustment control is used to mitigate the slip phenomenon caused by wheel suspension and the non-ideal yaw resulted from the active braking imbalance. The results indicate that the algorithm can identify the condition of URS rapidly and precisely with an 18.8% reduction of the active braking duration, minimizing the power loss when driving on URS.