A study on the algorithm for real-time road identification with distributed-drive electric vehicles

The method of adhesion coefficient identification for a distributed-drive battery electric vehicle rectilinearly running on different roads is studied. The Burckhardt tire model is selected and modified based on the experimental data of slip ratio of the vehicle with different road surfaces. The roads are identified with recursive least square algorithm with forgetting factor. The results show that the algorithm can accurately, effectively and quickly identify the roads (ice, dry asphalt and wet asphalt) the vehicle running on in real time, providing a base for vehicle active safety control.