Research on fusion control of driving anti-skid and hill starting for distributed driving vehicles

Improvement of off-road passability and safety of off-road vehicles, a hill starting control method fusing drive anti-slip control technology is proposed. Firstly, the axle load adaptive torque distribution method for torque pre-distribution is developed, and secondly, based on the coupling relationship between the attachment force, driving force and braking force in hill start, the braking retardation method is used to identify the wheel attachment state. The wheel drive torque and braking torque of the slipping wheels are limited by the maximum transferable torque method, and the loss torque of the slipping wheels is distributed to the other wheels according to the slipping state and axle load ratio of each wheel. Subsequently, a logic threshold-based distributed drive system and electronic parking system (EPB) cooperative control method are established to adjust the braking force of the parking brake in real time. Finally, comparative studies and simulations confirm its effectiveness.