Control system for distributed driving wheels in multiple environments

The invention provides a multi-environment distributed driving wheel control system, which comprises a road surface recognition module, a vehicle state calculation module and a driving anti-skid module, and is characterized in that the road surface recognition module and the vehicle state calculation module are in signal connection with the driving anti-skid module, and the road surface recognition module comprises a camera. The method comprises the following steps: performing image acquisition on a road surface on which wheels run through a camera, establishing a road model to obtain a peak road surface coefficient and an optimal road surface slip rate, and transmitting the peak road surface coefficient and the optimal road surface slip rate to a driving anti-skid module; the vehicle state calculation module comprises a speed sensor and a driving torque sensor, and the wheel slip rate and the road adhesion coefficient are obtained in real time through parameters measured by the speed sensor and transmitted t