Slip Suppression Control of Electric Vehicle Using Torque Function with Bias Value for Uphill Road

We propose a new torque function control (TFC) method having a command value and a bias value for an uphill road and confirm its effectiveness by simulations and experiments. In the conventional TFC method, the torque is repeatedly set to the command value or 0 Nm. Therefore, there is a possibility that the vehicle will repeatedly slip and move backward in the case of driving on an uphill road, and the vehicle will be unable to accelerate. On the other hand, in our proposed TFC method, 0 Nm is replaced with a bias value, and an electric vehicle (EV) carrying one person can start moving on a 1° uphill road without slipping or moving backward. Moreover, the vehicle speed after 3 seconds reaches 1.7 m/s. These results show that the proposed method improves the acceleration performance and slip suppression performance.