A novel non-precise vehicle speed-based acceleration slip regulation scheme for distributed drive electric vehicles

Distributed drive electric vehicles (DDEVs) are at the forefront of a transformative shift in the electric vehicle industry. The acceleration slip regulation (ASR) system, a specialized dynamic function within the DDEV application layer, plays a crucial role in ensuring vehicle stability at extreme handling limits. However, its practical implementation faces two main challenges: the high cost of accurate vehicle speed measurement and the real-time reference slip ratio identification. To address these issues, this paper proposes a non-precise vehicle speed-based ASR scheme (NPVS-ASRS). The NPVS-ASRS adopts a cascade structure, with the outer loop controlling driving force and the inner loop controlling wheel speed. A wheel speed limiter is implemented between the outer and inner control loops to prevent slip, with vehicle speed used solely to constrain wheel speed boundaries. Additionally, the paper presents a graphical method for conveniently verifying the stability of the NPVS-ASRS using the circle criterion. Finally, a real-time and efficient reference slip ratio identification method is designed based on the graphical characteristics of the curve model map for various road types. Simulation and road test results demonstrate the robustness and adaptability of the proposed NPVS-ASRS in handling complex road conditions and external disturbances.