Anti-slip control method, device, equipment and storage medium

Abstract

The present invention relates to the field of automotive control technology, and discloses an anti-slip control method, device, equipment and storage medium. During the driving process of a vehicle, it is determined whether the vehicle is in a skidding state according to the slip ratio or the difference in rotational speeds of the front and rear wheels; when the vehicle is in a skidding state, the torque to be adjusted is obtained; a torque control strategy is determined according to the current vehicle speed or the current rotational speed of the driving wheel, and the torque to be adjusted is reduced according to the torque control strategy to obtain the execution torque; the execution torque is sent to the motor controller, and the motor is controlled by the motor controller to operate according to the execution torque, so that the vehicle control unit automatically judges the skidding state and quickly adjusts the torque according to the skidding state judgment result. The vehicle control module does not need to wait for the vehicle skidding judgment result and torque adjustment request of the vehicle dynamics control. After the vehicle control module independently judges that the vehicle is skidding, it quickly performs skidding correction control and quickly requests the motor to execute, realizing fast anti-slip control.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to an anti-skid control method, device, equipment and storage medium. Background Art

[0002] In the existing vehicle state and drive anti-skid control in the Vehicle Dynamics Control (VDC) controller, the VDC needs to develop the matching of the braking force of the four wheels according to the vehicle weight, braking system and other states of the vehicle, and various environmental road surfaces and high temperature, high altitude and high humidity experiments need to be calibrated. The development cycle is long and the cost is high. Due to different vehicle states, each vehicle model needs to be newly developed. If the motor system of the vehicle changes, the VDC also needs to perform corresponding matching development, resulting in high development costs.

[0003] After the VDC system determines that the vehicle is skidding, it sends the information to the Vehicle Control Module (VCM). After arbitration of information such as the driver's intention and vehicle state by the VCM, the calculated execution torque value is sent to the motor controller for execution. The control link is long. From the start of vehicle skidding to the execution of skid control, the required cycle is relatively long, and the vehicle skid cannot be corrected in the first time. If it is in the case of accelerating skidding, during this period, the execution torque of the motor is still increasing rapidly, making the skid control more difficult. If the control strategy is slightly deviated, it will bring an obvious sense of impact to the vehicle, and the driving performance score is poor. Moreover, when on the ice side of the road, it will also bring driving hazards. Summary of the Invention

[0004] The main purpose of the present invention is to propose an anti-skid control method, device, equipment and storage medium, aiming to solve how to more effectively achieve fast anti-skid control.

[0005] To achieve the above object, the present invention provides an anti-skid control method, which includes the following steps:

[0006] During the vehicle driving process, determine whether the vehicle is in a skidding state according to the slip ratio or the difference between the front and rear wheel speeds;

[0007] When the vehicle is in a skidding state, obtain the torque to be adjusted;

[0008] Determine the torque control strategy according to the current vehicle speed or the current driving wheel speed, and perform a torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque;

[0009] Send the execution torque to the motor controller, and control the motor to work according to the execution torque through the motor controller.

[0010] Optionally, determining whether the vehicle is in a skidding state according to the slip ratio includes:

[0011] When the current vehicle speed is greater than or equal to the vehicle speed threshold, obtain the front wheel speed and the rear wheel speed of the vehicle;

[0012] Obtain the slip ratio based on the front wheel speed and the rear wheel speed;

[0013] When the slip ratio is greater than or equal to the slip ratio threshold, determine that the vehicle is in a skidding state.

[0014] Optionally, obtaining the slip ratio based on the front wheel speed and the rear wheel speed includes:

[0015] When the vehicle is a front-wheel drive vehicle, obtain the first difference between the front wheel speed and the rear wheel speed;

[0016] Obtain the slip ratio based on the first difference and the rear wheel speed;

[0017] When the vehicle is a rear-wheel drive vehicle, obtain the second difference between the rear wheel speed and the front wheel speed;

[0018] Obtain the slip ratio based on the second difference and the front wheel speed.

[0019] Optionally, determining whether the vehicle is in a skidding state according to the speed difference between the front and rear wheels includes:

[0020] When the current vehicle speed is less than the vehicle speed threshold, obtain the front wheel speed and the rear wheel speed of the vehicle;

[0021] Obtain the speed difference between the front and rear wheels based on the front wheel speed and the rear wheel speed;

[0022] When the speed difference between the front and rear wheels is greater than or equal to the first wheel speed threshold, determine that the vehicle is in a skidding state.

[0023] Optionally, obtaining the speed difference between the front and rear wheels based on the front wheel speed and the rear wheel speed includes:

[0024] When the vehicle is a front-wheel drive vehicle, subtract the rear wheel speed from the front wheel speed to obtain the speed difference between the front and rear wheels;

[0025] When the vehicle is a rear-wheel drive vehicle, subtract the front wheel speed from the rear wheel speed to obtain the speed difference between the front and rear wheels.

[0026] Optionally, determining whether the vehicle is in a skidding state according to the slip ratio or the speed difference between the front and rear wheels includes:

[0027] Obtain the gear signal and the accelerator pedal signal;

[0028] When the gear signal is a forward gear signal, the pedal opening of the accelerator pedal signal reaches a preset opening, the slip ratio is greater than or equal to the slip ratio threshold, or the difference between the front and rear wheel speeds is greater than or equal to the wheel speed threshold, it is determined that the vehicle is in a skidding state.

[0029] Optionally, before determining whether the vehicle is in a skidding state according to the slip ratio or the difference between the front and rear wheel speeds during vehicle driving, it includes:

[0030] Set the priorities of the anti-skid control torque and the driver intention torque, so that the priority of the anti-skid control torque is greater than the priority of the driver intention torque;

[0031] When the vehicle is in a skidding state, obtaining the torque to be adjusted includes:

[0032] When the vehicle is in a skidding state, obtain the anti-skid control torque and the driver intention torque;

[0033] According to the priorities of the anti-skid control torque and the driver intention torque, shield the driver intention torque, and use the anti-skid control torque as the torque to be adjusted.

[0034] Optionally, the torque control strategy includes a low-speed torque control strategy;

[0035] Determine the torque control strategy according to the current vehicle speed or the current driving wheel speed, and perform a torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque, including:

[0036] When the vehicle is starting or the current vehicle speed is less than the vehicle speed threshold, obtain the execution torque of the previous cycle according to the low-speed torque control strategy;

[0037] Reduce the execution torque of the previous cycle to a preset torque, and use the preset torque as the execution torque.

[0038] Optionally, the torque control strategy includes a high-speed torque control strategy;

[0039] Determine the torque control strategy according to the current vehicle speed or the current driving wheel speed, and perform a torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque, including:

[0040] When the current vehicle speed is greater than or equal to the vehicle speed threshold or the current driving wheel speed is greater than or equal to the second wheel speed threshold, query the torque reduction ratio table according to the current slip ratio and the current driving wheel speed through the high-speed torque control strategy to obtain the current torque reduction ratio, where the torque reduction ratio table records the corresponding relationship between the slip ratio, the driving wheel speed, and the corresponding torque reduction ratio;

[0041] Dynamically adjust the torque to be adjusted according to the current torque reduction ratio to obtain the execution torque.

[0042] Optionally, after dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain the execution torque, it further includes:

[0043] Real-time monitor the changes in the slip ratio and the driving wheel speed;

[0044] When the torque reduction ratio corresponding to the changed slip ratio and driving wheel speed changes, reduce the torque according to the new torque reduction ratio until the execution torque reaches the preset torque.

[0045] In addition, to achieve the above object, the present invention further provides an anti-skid control device, which includes:

[0046] An acquisition module, configured to determine whether the vehicle is in a skidding state according to the slip ratio or the difference between the front and rear wheel speeds during the vehicle driving process;

[0047] The acquisition module is further configured to obtain the torque to be adjusted when the vehicle is in a skidding state;

[0048] An adjustment module, configured to determine a torque control strategy according to the current vehicle speed or the current driving wheel speed, and adjust the torque to be adjusted according to the torque control strategy to obtain the execution torque;

[0049] A control module, configured to send the execution torque to the motor controller, and control the motor to work according to the execution torque through the motor controller.

[0050] In addition, to achieve the above object, the present invention further provides an anti-skid control device, which includes: a memory, a processor, and an anti-skid control program stored on the memory and executable on the processor, and the anti-skid control program is configured to implement the anti-skid control method as described above.

[0051] In addition, to achieve the above object, the present invention further provides a storage medium, on which an anti-skid control program is stored, and when the anti-skid control program is executed by a processor, it implements the anti-skid control method as described above.

[0052] The anti-slip control method proposed by the present invention determines whether the vehicle is in a slipping state according to the slip ratio or the difference in wheel speeds of the front and rear wheels during the vehicle driving process; when the vehicle is in a slipping state, the torque to be adjusted is obtained; the torque control strategy is determined according to the current vehicle speed or the current driving wheel speed, and the torque to be adjusted is reduced according to the torque control strategy to obtain the execution torque; the execution torque is sent to the motor controller, and the motor is controlled by the motor controller to work according to the execution torque, so as to automatically judge the slipping state through VCM, and quickly adjust the torque according to the slipping state judgment result. VCM does not need to wait for the vehicle slipping judgment result and torque adjustment request of VDC. After VCM independently judges that the vehicle is slipping, it quickly performs slipping correction control and quickly requests the motor to execute, realizing fast anti-slip control. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic structural diagram of an anti-slip control device for the hardware operating environment involved in the embodiment solution of the present invention;

[0054] Figure 2 It is a schematic flowchart of the first embodiment of the anti-slip control method of the present invention;

[0055] Figure 3 It is a schematic flowchart of the second embodiment of the anti-slip control method of the present invention;

[0056] Figure 4 It is a schematic diagram of the function modules of the first embodiment of the anti-slip control device of the present invention.

[0057] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0059] Refer to Figure 1 , Figure 1 It is a schematic structural diagram of the device for the hardware operating environment involved in the embodiment solution of the present invention.

[0060] Such as Figure 1As shown in the figure, the device may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a button. Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0061] Those skilled in the art can understand that Figure 1 the anti-slip control device structure shown in the figure does not constitute a limitation on the anti-slip control device, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0062] As Figure 1 shown in the figure, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an anti-slip control program.

[0063] In Figure 1 the anti-slip control device shown in the figure, the network interface 1004 is mainly used to connect to a server and perform data communication with the server; the user interface 1003 is mainly used to connect to a user terminal and perform data communication with the terminal; the anti-slip control device of the present invention calls the anti-slip control program stored in the memory 1005 through the processor 1001 and executes the anti-slip control method provided by the embodiments of the present invention.

[0064] Based on the above hardware structure, an embodiment of the anti-slip control method of the present invention is proposed.

[0065] Referring to Figure 2 , Figure 2 is a schematic flowchart of the first embodiment of the anti-slip control method of the present invention.

[0066] In the first embodiment, the anti-slip control method includes the following steps:

[0067] Step S10, during the vehicle driving process, determine whether the vehicle is in a skidding state according to the slip ratio or the front and rear wheel speed difference.

[0068] It should be noted that the execution entity of this embodiment is the VCM. An anti-slip control program is provided on the VCM, which can automatically perform anti-slip control according to the anti-slip control program. Generally, the VDC determines vehicle driving wheel spin based on gear information, vehicle speed signal, wheel speed signal, accelerator pedal signal, and brake pedal signal, and then the VCM calculates the execution torque based on the vehicle wheel spin determination result and torque adjustment request awaited from the VDC, resulting in a long control link and inability to perform anti-slip control in a timely manner. Therefore, in this embodiment, the vehicle driving wheel spin determination is set in the VCM. The VCM performs the vehicle driving wheel spin determination without waiting for the wheel spin determination result of the VDC, effectively shortening the anti-slip control link.

[0069] A specific implementation example is provided. Whether the vehicle is in a wheel spin state is determined according to the slip ratio. When the current vehicle speed is greater than or equal to the vehicle speed threshold, the front wheel speed and rear wheel speed of the vehicle are obtained; the slip ratio is obtained based on the front wheel speed and rear wheel speed; when the slip ratio is greater than or equal to the slip ratio threshold, it is determined that the vehicle is in a wheel spin state.

[0070] It should be noted that during starting, the front and rear wheel speeds are both low and slightly different. Using the calculation method of the slip ratio is likely to cause misjudgment. Since when the vehicle is starting and at a low speed, it is possible that the front or rear wheels are still stationary. In this case, the slip ratio cannot be determined by the difference between the front and rear wheels and the ratio to the front or rear wheels. Therefore, when performing vehicle driving wheel spin determination, a vehicle speed signal is added as a threshold condition for differentiating vehicle driving wheel spin determination. When the vehicle speed is greater than or equal to the vehicle speed threshold, the slip ratio is used for determination. When the vehicle speed is less than the vehicle speed threshold, the difference between the front and rear wheel speeds is used for vehicle driving wheel spin determination, thereby improving the accuracy of vehicle driving wheel spin determination. The vehicle speed threshold can be 5 km / h or other parameters. This embodiment does not limit this. In this embodiment, only 5 km / h is used as an example of the vehicle speed threshold for illustration. The slip ratio threshold can be 0.08 or other parameters. This embodiment does not limit this. In this embodiment, only 0.08 is used as an example of the slip ratio threshold for illustration.

[0071] In this embodiment, the specific method for obtaining the slip ratio based on the front wheel speed and the rear wheel speed is as follows: when the vehicle is a front-wheel drive vehicle, obtain the first difference between the front wheel speed and the rear wheel speed, and obtain the slip ratio based on the first difference and the rear wheel speed; when the vehicle is a rear-wheel drive vehicle, obtain the second difference between the rear wheel speed and the front wheel speed; obtain the slip ratio based on the second difference and the front wheel speed. Since when the vehicle is a front-wheel drive vehicle, the rear wheel speed is equivalent to the actual vehicle speed, the ratio of the first difference between the front wheel speed and the rear wheel speed to the rear wheel speed is used to obtain the slip ratio. Thus, by the ratio of the difference between the front wheel speed and the rear wheel speed to the actual vehicle speed, the slip determination of the front-wheel drive vehicle is realized. Correspondingly, when performing the slip determination of the rear-wheel drive vehicle, since the front wheel speed is equivalent to the actual vehicle speed, the ratio of the second difference between the rear wheel speed and the front wheel speed to the front wheel speed is used to obtain the slip ratio, thereby improving the accuracy of the vehicle slip determination.

[0072] In a specific implementation, taking W f to represent the front wheel speed and W r to represent the rear wheel speed as an example for illustration, when the vehicle is a front-wheel drive vehicle, the slip ratio is (W f - W r ) / W r . When the vehicle is a rear-wheel drive vehicle, the slip ratio is (W r - W f ) / W f , thereby obtaining an accurate slip ratio.

[0073] Another specific implementation example is provided. Determine whether the vehicle is in a slipping state based on the difference between the front and rear wheel speeds. When the current vehicle speed is less than the vehicle speed threshold, obtain the front wheel speed and the rear wheel speed of the vehicle; obtain the difference between the front and rear wheel speeds based on the front wheel speed and the rear wheel speed; when the difference between the front and rear wheel speeds is greater than or equal to the first wheel speed threshold, determine that the vehicle is in a slipping state.

[0074] It should be noted that the first wheel speed threshold can be 25 rpm or other parameters. This embodiment does not limit this. In this embodiment, only 25 rpm is taken as an example of the first wheel speed threshold for illustration, that is, when the difference between the front and rear wheel speeds is greater than or equal to 25 rpm, it is determined that the vehicle is in a slipping state, thereby realizing the determination of vehicle drive slip through the difference between the front and rear wheel speeds.

[0075] Based on the same principle above, when obtaining the difference between the front and rear wheel speeds based on the front wheel speed and the rear wheel speed, first determine whether the vehicle is a front-wheel drive vehicle or a rear-wheel drive vehicle. When the vehicle is a front-wheel drive vehicle, subtract the rear wheel speed from the front wheel speed to obtain the difference between the front and rear wheel speeds. When the vehicle is a rear-wheel drive vehicle, subtract the front wheel speed from the rear wheel speed to obtain the difference between the front and rear wheel speeds. For example, for a front-wheel drive vehicle, the difference between the front and rear wheel speeds is Wf -W r For a rear-wheel drive vehicle, the wheel speed difference between the front and rear wheels is W r -W f , thus avoiding misjudgment of the calculation result and improving the accuracy of anti-skid judgment.

[0076] Step S20: When the vehicle is in a skidding state, obtain the torque to be adjusted.

[0077] It should be noted that the torque to be adjusted is the execution torque of the previous cycle. In this embodiment, an input torque will be set. By recording the execution torque of the previous cycle as the input torque of the current cycle, when it is determined that the vehicle is in a skidding state, the flag position of the anti-skid control torque will be set to valid, thereby shielding the driver's intended torque and realizing the arbitration between the skid control torque and the driver's intended torque.

[0078] In a specific implementation, by setting the priorities of the anti-skid control torque and the driver's intended torque, making the priority of the anti-skid control torque greater than the priority of the driver's intended torque, when the vehicle is in a skidding state, obtain the anti-skid control torque and the driver's intended torque; according to the priorities of the anti-skid control torque and the driver's intended torque, shield the driver's intended torque and use the anti-skid control torque as the torque to be adjusted.

[0079] It can be understood that when making a skid judgment, in addition to combining the slip ratio and the wheel speed difference between the front and rear wheels, the skid judgment can also be further made by referring to other parameters, so as to improve the accuracy of the skid judgment. Therefore, the skid judgment can also be made by combining the gear signal and the accelerator pedal signal, that is, by obtaining the gear signal and the accelerator pedal signal, when the gear signal is a forward gear signal, the pedal opening of the accelerator pedal reaches a preset opening, the slip ratio is greater than or equal to the slip ratio threshold, or the wheel speed difference between the front and rear wheels is greater than or equal to the wheel speed threshold, it is determined that the vehicle is in a skidding state, that is, the accelerator pedal is depressed by a certain opening, the slip ratio is greater than or equal to the threshold of 0.08, this slip ratio threshold can be calibrated and is applicable to a vehicle speed greater than or equal to 5 km / h, or the wheel speed difference between the front and rear wheels is greater than the threshold of 25 rpm, this wheel speed difference threshold between the front and rear wheels can be calibrated and is applicable to a vehicle speed less than 5 km / h. If the above conditions are met and the duration is 0.05 s, this duration can be calibrated, it is determined that the vehicle is in a skidding state.

[0080] If the above conditions are met, it is determined that the vehicle is in a skidding state, and the vehicle enters the skid control mode. The vehicle skid control flag position is set to valid, and arbitration is performed between the skid control torque and the driver's intended torque. At this time, the driver's demand torque derived from the APO opening will be shielded by the vehicle skid control torque with a higher priority, thereby realizing effective torque arbitration.

[0081] Step S30: Determine a torque control strategy based on the current vehicle speed or the current driving wheel speed, and perform a torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque.

[0082] It should be noted that the torque control strategy includes a high-speed torque control strategy and a low-speed torque control strategy. When the vehicle is starting or at a relatively low speed, torque control is performed through the low-speed torque control strategy. When the vehicle is at a relatively high speed or the driving wheel speed is relatively high, torque control is performed through the high-speed torque control strategy.

[0083] In a specific implementation, when performing torque control through the low-speed torque control strategy, the execution torque of the previous cycle is directly adjusted to 0 Nm as the torque to be adjusted. When performing torque control through the high-speed torque control strategy, the slip ratio and the driving wheel speed are used to look up a table to obtain a matrix reduction ratio, and gradient descent is performed according to the matrix reduction ratio. Compared with obtaining the target torque by looking up the table through the slip ratio, adding the driving wheel speed as a two-dimensional look-up table input improves the accuracy of torque control. And torque control is performed through the matrix reduction ratio, rather than directly adjusting the torque through the target torque obtained by looking up the table, making the torque reduction process of the vehicle smoother and also improving the driving experience of the driver.

[0084] Step S40: Send the execution torque to the motor controller, and control the motor to work according to the execution torque through the motor controller.

[0085] In this embodiment, during the vehicle driving process, it is determined whether the vehicle is in a skidding state according to the slip ratio or the difference in the front and rear wheel speeds; when the vehicle is in a skidding state, the torque to be adjusted is obtained; a torque control strategy is determined based on the current vehicle speed or the current driving wheel speed, and the torque to be adjusted is subjected to a torque reduction adjustment according to the torque control strategy to obtain an execution torque; the execution torque is sent to the motor controller, and the motor is controlled to work according to the execution torque through the motor controller, so as to automatically judge the skidding state through VCM, and quickly perform torque adjustment according to the skidding state judgment. VCM does not need to wait for the vehicle skidding judgment result and torque adjustment request of VDC. After VCM judges that the vehicle is skidding, it quickly performs skidding correction control and quickly requests the motor to execute, realizing fast anti-skid control.

[0086] In an embodiment, as Figure 3 shown, a second embodiment of the anti-skid control method of the present invention is proposed based on the first embodiment. The torque control strategy includes a low-speed torque control strategy, and the step S30 includes:

[0087] When the vehicle is starting or the current vehicle speed is less than the vehicle speed threshold, obtain the execution torque of the previous cycle according to the low-speed torque control strategy; reduce the execution torque of the previous cycle to a preset torque, and use the preset torque as the execution torque.

[0088] In this embodiment, according to the vehicle speed or the driving wheel speed setting threshold, different torque reduction algorithms are set, and a driving wheel speed look-up table is added to the slip control algorithm. When starting or at a low vehicle speed, in the vehicle slip control mode, VCM can directly adjust the execution torque sent to the motor controller in the previous cycle to 0 Nm in the current cycle and send it to the motor controller through CAN. Since the vehicle speed is low at this time, it is directly reduced to 0 Nm, which can efficiently correct the slip while bringing a weak sense of impact to the driver.

[0089] In another provided embodiment, the torque control strategy includes a high-speed torque control strategy, and step S30 includes:

[0090] In step S301, when the current vehicle speed is greater than or equal to the vehicle speed threshold or the current driving wheel speed is greater than or equal to the second wheel speed threshold, query the torque reduction ratio table according to the current slip ratio and the current driving wheel speed through the high-speed torque control strategy to obtain the current torque reduction ratio, where the torque reduction ratio table records the corresponding relationship between the slip ratio, the driving wheel speed, and the corresponding torque reduction ratio; dynamically adjust the torque to be adjusted according to the current torque reduction ratio to obtain the execution torque.

[0091] In this embodiment, when the vehicle speed is relatively high or the driving wheel speed is relatively high, the current slip ratio and the driving wheel speed are used as inputs to query a two-dimensional table, which has been tested on the actual vehicle on the road surface. According to different slip ratios and different driving wheel speeds, different torque gradient reduction ratios are obtained, and the torque is adjusted according to this ratio.

[0092] During the process of torque reduction, dynamic adjustment is also performed in real time, and the changes in the slip ratio and the driving wheel speed are monitored in real time; when the torque reduction ratio corresponding to the changed slip ratio and driving wheel speed changes, torque reduction is performed according to the new torque reduction ratio until the execution torque reaches the preset torque, that is, after several cycles of torque reduction, look up the table again according to the latest slip ratio and driving wheel speed. This cycle continues until the torque reduction value reaches the set value. The preset torque can be 0 Nm or other parameters. This embodiment does not limit this, and the preset torque is generally set to 0 Nm for models without energy recovery.

[0093] In this embodiment, when the vehicle is starting or the current vehicle speed is less than the vehicle speed threshold, the execution torque of the previous cycle is obtained according to the low-speed torque control strategy; the execution torque of the previous cycle is reduced to a preset torque, and the preset torque is used as the execution torque. When the current vehicle speed is greater than or equal to the vehicle speed threshold or the current driving wheel speed is greater than or equal to the second wheel speed threshold, the high-speed torque control strategy is used to query the torque reduction ratio table according to the current slip ratio and the current driving wheel speed to obtain the current torque reduction ratio, where the torque reduction ratio table records the corresponding relationship between the slip ratio, the driving wheel speed, and the corresponding torque reduction ratio; the torque to be adjusted is dynamically adjusted according to the current torque reduction ratio to obtain the execution torque, that is, the torque is controlled according to two torque control strategies according to the vehicle speed, and the torque is adjusted according to the torque reduction ratio, so as to achieve refined control of the torque, ensure smooth transition of the torque, and improve the driving experience of the driver.

[0094] The present invention further provides an anti-skid control device.

[0095] Refer to Figure 4 , Figure 4 which is a schematic diagram of the functional modules of the first embodiment of the anti-skid control device of the present invention.

[0096] In the first embodiment of the anti-skid control device of the present invention, the anti-skid control device includes:

[0097] An acquisition module 10, configured to determine whether the vehicle is in a skidding state according to the slip ratio or the difference between the front and rear wheel speeds during the vehicle driving process.

[0098] The acquisition module 10 is further configured to obtain the torque to be adjusted when the vehicle is in a skidding state.

[0099] An adjustment module 20, configured to determine a torque control strategy according to the current vehicle speed or the current driving wheel speed, and perform a torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque.

[0100] A control module 30, configured to send the execution torque to the motor controller, and control the motor to work according to the execution torque through the motor controller.

[0101] In this embodiment, during the vehicle driving process, it is determined whether the vehicle is in a skidding state according to the slip ratio or the front and rear wheel speed difference; when the vehicle is in a skidding state, the torque to be adjusted is obtained; the torque control strategy is determined according to the current vehicle speed or the current driving wheel speed, and the torque to be adjusted is reduced according to the torque control strategy to obtain the execution torque; the execution torque is sent to the motor controller, and the motor is controlled by the motor controller to work according to the execution torque, so as to automatically judge the skidding state through VCM, and quickly adjust the torque according to the skidding state judgment. VCM does not need to wait for the vehicle skidding judgment result and torque adjustment request of VDC. After VCM judges that the vehicle is skidding, it quickly performs skidding correction control and quickly requests the motor to execute, realizing fast anti-skid control.

[0102] Optionally, the obtaining module 10 is further configured to obtain the front wheel speed and the rear wheel speed of the vehicle when the current vehicle speed is greater than or equal to the vehicle speed threshold;

[0103] Obtain the slip ratio according to the front wheel speed and the rear wheel speed;

[0104] When the slip ratio is greater than or equal to the slip ratio threshold, it is determined that the vehicle is in a skidding state.

[0105] Optionally, the obtaining module 10 is further configured to obtain the first difference between the front wheel speed and the rear wheel speed when the vehicle is a front-wheel drive vehicle;

[0106] Obtain the slip ratio according to the first difference and the rear wheel speed;

[0107] When the vehicle is a rear-wheel drive vehicle, obtain the second difference between the rear wheel speed and the front wheel speed;

[0108] Obtain the slip ratio according to the second difference and the front wheel speed.

[0109] Optionally, the obtaining module 10 is further configured to obtain the front wheel speed and the rear wheel speed of the vehicle when the current vehicle speed is less than the vehicle speed threshold;

[0110] Obtain the front and rear wheel speed difference according to the front wheel speed and the rear wheel speed;

[0111] When the front and rear wheel speed difference is greater than or equal to the first wheel speed threshold, it is determined that the vehicle is in a skidding state.

[0112] Optionally, the obtaining module 10 is further configured to subtract the rear wheel speed from the front wheel speed to obtain the front and rear wheel speed difference when the vehicle is a front-wheel drive vehicle;

[0113] When the vehicle is a rear-wheel drive vehicle, subtract the front wheel speed from the rear wheel speed to obtain the front and rear wheel speed difference.

[0114] Optionally, the obtaining module 10 is further configured to obtain a gear signal and an accelerator pedal signal;

[0115] When the gear signal is a forward gear signal, the opening of the accelerator pedal of the accelerator pedal signal reaches a preset opening, the slip ratio is greater than or equal to a slip ratio threshold, or the wheel speed difference between the front and rear wheels is greater than or equal to a wheel speed threshold, it is determined that the vehicle is in a skidding state.

[0116] Optionally, the obtaining module 10 is further configured to set the priorities of the anti-skid control torque and the driver intention torque, so that the priority of the anti-skid control torque is greater than the priority of the driver intention torque.

[0117] Optionally, the obtaining module 10 is further configured to obtain the anti-skid control torque and the driver intention torque when the vehicle is in a skidding state;

[0118] According to the priorities of the anti-skid control torque and the driver intention torque, the driver intention torque is blocked, and the anti-skid control torque is used as the torque to be adjusted.

[0119] Optionally, the torque control strategy includes a low-speed torque control strategy, and the obtaining module 10 is further configured to obtain the execution torque of the previous cycle according to the low-speed torque control strategy when the vehicle is starting or the current vehicle speed is less than the vehicle speed threshold;

[0120] Reduce the execution torque of the previous cycle to a preset torque, and use the preset torque as the execution torque.

[0121] Optionally, the torque control strategy includes a high-speed torque control strategy, and the obtaining module 10 is further configured to query a torque reduction ratio table according to the current slip ratio and the current driving wheel speed through the high-speed torque control strategy when the current vehicle speed is greater than or equal to the vehicle speed threshold or the current driving wheel speed is greater than or equal to the second wheel speed threshold, so as to obtain the current torque reduction ratio, where the torque reduction ratio table records the corresponding relationship between the slip ratio, the driving wheel speed, and the corresponding torque reduction ratio;

[0122] Dynamically adjust the torque to be adjusted according to the current torque reduction ratio to obtain the execution torque.

[0123] Optionally, the control module 30 is further configured to monitor the changes in the slip ratio and the driving wheel speed in real time;

[0124] When the torque reduction ratio corresponding to the changed slip ratio and driving wheel speed changes, reduce the torque according to the new torque reduction ratio until the execution torque reaches the preset torque.

[0125] In addition, to achieve the above object, the present invention further provides an anti-slip control device, which includes: a memory, a processor, and an anti-slip control program stored on the memory and executable on the processor, and the anti-slip control program is configured to implement the anti-slip control method as described above.

[0126] In addition, an embodiment of the present invention further provides a storage medium, on which an anti-slip control program is stored, and when the anti-slip control program is executed by a processor, it implements the anti-slip control method as described above.

[0127] Since this storage medium adopts all the technical solutions of the above-mentioned all embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated here one by one.

[0128] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or system including that element.

[0129] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0130] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a computer-readable storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions for causing an intelligent terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0131] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. An anti-slip control method, characterized in that, Applied to a vehicle controller, the anti-skid control method includes: During vehicle driving, determining whether the vehicle is in a skidding state according to the slip ratio or the difference in front and rear wheel speeds; When the vehicle is in a skidding state, obtaining the torque to be adjusted; Determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and reducing the torque of the torque to be adjusted according to the torque control strategy to obtain an execution torque, wherein the torque control strategy includes a low-speed torque control strategy and a high-speed torque control strategy; Sending the execution torque to the motor controller, and controlling the motor to work according to the execution torque through the motor controller; The determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and reducing the torque of the torque to be adjusted according to the torque control strategy to obtain an execution torque includes: When the current vehicle speed is less than the vehicle speed threshold, obtaining the execution torque of the previous cycle according to the low-speed torque control strategy; Reducing the execution torque of the previous cycle to a preset torque, and using the preset torque as the execution torque; When the current vehicle speed is greater than or equal to the vehicle speed threshold or the current driving wheel speed is greater than or equal to the second wheel speed threshold, querying a torque reduction ratio table according to the slip ratio and the current driving wheel speed through the high-speed torque control strategy to obtain the current torque reduction ratio, wherein the torque reduction ratio table records the corresponding relationship between the slip ratio, the driving wheel speed, and the corresponding torque reduction ratio; Dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque.

2. The anti-slip control method according to claim 1, characterized in that, Determining whether the vehicle is in a skidding state according to the slip ratio includes: When the current vehicle speed is greater than or equal to the vehicle speed threshold, obtaining the front wheel speed and the rear wheel speed of the vehicle; Obtaining the slip ratio according to the front wheel speed and the rear wheel speed; When the slip ratio is greater than or equal to the slip ratio threshold, determining that the vehicle is in a skidding state.

3. The anti-slip control method according to claim 2, characterized in that, The obtaining the slip ratio according to the front wheel speed and the rear wheel speed includes: When the vehicle is a front-wheel drive vehicle, obtaining the first difference between the front wheel speed and the rear wheel speed; Obtaining the slip ratio according to the first difference and the rear wheel speed; When the vehicle is a rear-wheel drive vehicle, obtaining the second difference between the rear wheel speed and the front wheel speed; Obtaining the slip ratio according to the second difference and the front wheel speed.

4. The anti-slip control method according to claim 1, characterized in that, Determining whether the vehicle is in a skidding state according to the difference in front and rear wheel speeds includes: When the current vehicle speed is less than the vehicle speed threshold, obtaining the front wheel speed and the rear wheel speed of the vehicle; Obtaining the difference in front and rear wheel speeds according to the front wheel speed and the rear wheel speed; When the difference in front and rear wheel speeds is greater than or equal to the first wheel speed threshold, determining that the vehicle is in a skidding state.

5. The anti-slip control method according to claim 4, characterized in that, The obtaining the difference in front and rear wheel speeds according to the front wheel speed and the rear wheel speed includes: When the vehicle is a front-wheel drive vehicle, subtracting the rear wheel speed from the front wheel speed to obtain the difference in front and rear wheel speeds; When the vehicle is a rear-wheel drive vehicle, subtracting the front wheel speed from the rear wheel speed to obtain the difference in front and rear wheel speeds.

6. The anti-slip control method according to any one of claims 1 to 5, characterized in that, The determining whether the vehicle is in a skidding state according to the slip ratio or the difference in front and rear wheel speeds includes: Obtaining a gear signal and an accelerator pedal signal; When the gear signal is a forward gear signal and the pedal opening of the accelerator pedal signal reaches a preset opening, determine whether the slip ratio is greater than or equal to the slip ratio threshold or whether the difference between the front and rear wheel speeds is greater than or equal to the first wheel speed threshold; When the slip ratio is greater than or equal to the slip ratio threshold or the difference between the front and rear wheel speeds is greater than or equal to the first wheel speed threshold, determine that the vehicle is in a skidding state.

7. The anti-slip control method according to any one of claims 1 to 5, characterized in that Before determining whether the vehicle is in a skidding state according to the slip ratio or the difference between the front and rear wheel speeds during the vehicle driving process, it further includes: Set the priority of the anti-skid control torque and the driver intention torque, so that the priority of the anti-skid control torque is greater than the priority of the driver intention torque; When the vehicle is in a skidding state, obtaining the torque to be adjusted includes: When the vehicle is in a skidding state, obtain the anti-skid control torque and the driver intention torque; According to the priority of the anti-skid control torque and the driver intention torque, shield the driver intention torque, and use the anti-skid control torque as the torque to be adjusted.

8. The anti-slip control method according to claim 1, characterized in that After dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain the execution torque, it further includes: Real-time monitor the changes in the slip ratio and the drive wheel speed; When the torque reduction ratio corresponding to the changed slip ratio and drive wheel speed changes, reduce the torque according to the new torque reduction ratio until the execution torque reaches the preset torque.

9. An anti-slip control device, characterized in that, The anti-skid control device includes: An acquisition module for determining whether the vehicle is in a skidding state according to the slip ratio or the difference between the front and rear wheel speeds during the vehicle driving process; The acquisition module is further configured to obtain the torque to be adjusted when the vehicle is in a skidding state; An adjustment module for determining a torque control strategy according to the current vehicle speed or the current drive wheel speed, and adjusting the torque to be adjusted according to the torque control strategy to obtain an execution torque, where the torque control strategy includes a low-speed torque control strategy and a high-speed torque control strategy; A control module for sending the execution torque to the motor controller, and controlling the motor to work according to the execution torque through the motor controller; The adjustment module is further configured to, when the current vehicle speed is less than the vehicle speed threshold, obtain the execution torque of the previous cycle according to the low-speed torque control strategy; reduce the execution torque of the previous cycle to the preset torque, and use the preset torque as the execution torque; when the current vehicle speed is greater than or equal to the vehicle speed threshold or the current drive wheel speed is greater than or equal to the second wheel speed threshold, query the torque reduction ratio table according to the slip ratio and the current drive wheel speed through the high-speed torque control strategy to obtain the current torque reduction ratio, where the torque reduction ratio table records the corresponding relationship between the slip ratio, the drive wheel speed, and the corresponding torque reduction ratio; dynamically adjust the torque to be adjusted according to the current torque reduction ratio to obtain the execution torque.

10. An anti-slip control device, characterized in that, The anti-skid control device includes: a memory, a processor, and an anti-skid control program stored on the memory and executable on the processor, and the anti-skid control program is configured to implement the anti-skid control method according to any one of claims 1 to 8.

11. A storage medium, characterized in that, The anti-slip control program is stored on the storage medium, and when the anti-slip control program is executed by a processor, the anti-slip control method described in any one of claims 1 to 8 is implemented.

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