越野车辆陡坡缓降防抱死控制系统及方法

S1, calculating the reference speed of each wheel according to the current wheel speed peak value of each wheel, the moment when the wheel speed peak value appears and the wheel reference acceleration, and synthesizing the whole vehicle reference speed through fuzzy logic to calculate the reference acceleration of the vehicle; S2, calculating a gradient through deviation of reference acceleration of the vehicle and an acceleration sensor, S3, calculating basic braking pressure according to the gradient, adding compensation quantity of current speed to the basic braking pressure to obtain feedforward braking pressure, S4, calculating single wheel slip rate integration, S5, calculating braking pressure compensation quantity of the vehicle according to deviation of actual vehicle speed and gradient descent target vehicle speed, calculating braking pressure compensation quantity of wheels based on deviation of single wheel slip rate to obtain feedback braking pressure, and combining the feedforward braking pressure and the feedback braking pressure into single wheel braking pressure to realize feedback adjustment based on feedforward control.