Online Identification Strategy of Sand Terrain for SUVs

SUVs need to be driven on variety of terrains. Due to the unstable soil structure, the control parameters and strategies of chassis control systems when travelling on sand terrain are different from on hard surfaces. If travelling on sand can be identified automatically, it can provide basic information for online adjustment of each chassis subsystem. In this paper, a domestic SUV is used, and the strategy of sand terrain identification is studied. Only signals on CAN bus are used in the algorithm, and no additional sensors are necessary. Based on the analysis results of road experiments, driving resistance and wheel speed fluctuation are calculated, and the incremental factor calculation method of sand recognition counter based on fuzzy logic and the sand identification strategy are proposed. The road experiments on various roads and working conditions show that the strategy can effectively identify sandy land and avoid false recognition.