Driving Control Research for Longitudinal Dynamics of Electric Vehicles with Independently Driven Front and Rear Wheels

Table 4

Recognition algorithms of typical surfaces based on slip rates.

Typical surfaces	Recognition algorithms
High	𝑆𝑖≤𝜆opt,(𝑖=fl,fr,rl,rr)
Low and uniform	𝑆𝑖≥𝜆optand14∑𝑖(𝑆𝑖−𝑆ave)^2≤𝜀ave,(𝑖=fl,fr,rl,rr)
Bisectional	𝑆left≥𝜆opt||𝑆right≥𝜆opt,𝑆front−𝑆rear≤𝜀fr and 𝑆left−𝑆right≥𝜀lr
Joint	𝑆front ≥𝜆opt||𝑆rear≥𝜆opt,𝑆front−𝑆rear≥𝜀fr and 𝑆left−𝑆right≤𝜀lr
Back to high	𝑆𝑖≤𝜆opt(𝑖=fl,fr,rl,rr) and 𝑆ave≤𝜆𝑝