Slip control method, device, electronic device and storage medium

Abstract

The present invention provides a slip control method, device, electronic device and storage medium, which relate to the field of vehicle anti-skid technology. The method includes: first, when the vehicle is in the working condition of the launch start execution stage, the wheel speed of each wheel of the vehicle is obtained; then, according to the wheel speed of each wheel, the slip condition of the vehicle is determined, the motor operating parameters of the vehicle are obtained, and according to the slip condition of the vehicle and the motor operating parameters, the slip output torque of the vehicle is determined; finally, according to the slip output torque, the actual output torque of the vehicle is adjusted, and the motor is controlled to operate with the adjusted actual output torque. Since the present invention does not use the rate of change of the motor speed as a reference factor for the slip output torque, the calculated slip output torque is not affected by the rate of change of the motor speed, and the calculation result is more accurate, and the user can effectively improve the driving experience and comfort performance of the vehicle in the process of enabling the launch start function.

Description

Technical Field

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

[0002] The launch control function is designed to activate the electric drive system to output the maximum torque or maximum power when the vehicle accelerates from a standstill, thereby shortening the acceleration time of the vehicle. However, it is precisely because the vehicle outputs the maximum power that the vehicle is prone to slipping, which leads to vehicle instability. Therefore, in order to reduce the probability of slipping during the launch control process, the corresponding slip control strategy is used to control it.

[0003] The existing slip control strategy calculates the slip output torque by the rate of change of the motor speed, that is, the rate of change of the motor speed is obtained by comparing the difference between the engine speed at the current acquisition moment and the engine speed at the previous acquisition moment with the acquisition cycle. However, the motor speed change rate is too fast and the acquisition cycle can no longer be optimized. Therefore, the motor speed change rate is inaccurately calculated by this method, resulting in inaccurate calculated slip output torque, which makes the user's driving experience and comfort poor. Summary of the invention

[0004] The embodiments of the present invention provide a slip control method, device, electronic device and storage medium, which are intended to solve or partially solve the problem of inaccurate slip output torque in the above-mentioned background technology.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0006] In a first aspect, an embodiment of the present invention provides a slip control method, the method comprising:

[0007] When the vehicle is in the working condition of the launch start execution phase, the wheel speed of each wheel of the vehicle is obtained;

[0008] Determine the skidding condition of the vehicle based on the wheel speed of each wheel;

[0009] Obtaining the motor operating parameters of the vehicle, and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters;

[0010] According to the slip output torque, the actual output torque of the vehicle is adjusted, and the motor is controlled to operate with the adjusted actual output torque.

[0011] Optionally, the step of determining the slipping condition of the vehicle according to the wheel speed of each wheel includes:

[0012] If the speed difference between the front wheel speed and the rear wheel speed of the vehicle on any same side is greater than a first threshold, it is determined that the vehicle's slipping condition is a unilateral wheel slipping condition;

[0013] If the rotation speed of the left rear wheel of the vehicle is greater than a preset second threshold value, and the rotation speed of the right rear wheel of the vehicle is greater than a preset third threshold value, it is determined that the slipping condition of the vehicle is a double-side wheel slipping condition.

[0014] Optionally, the step of obtaining motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters includes:

[0015] If the vehicle's slipping condition is a one-side wheel slipping condition, the real-time speed and gear request of the motor are obtained;

[0016] Determine a target torque gradient according to the motor speed level to which the real-time motor speed belongs and the gear request type;

[0017] The initial output torque of the vehicle is obtained, and the initial output torque is corrected according to the target torque gradient to obtain the slip output torque under the single-side wheel slip condition.

[0018] Optionally, according to the motor speed level and gear requirement to which the real-time speed of the motor belongs, the step of determining the target torque gradient includes:

[0019] If the gear request is an upshift request, a loading torque gradient of a corresponding level is determined according to the motor speed level;

[0020] If the gear request is a downshift request, the unloading torque gradient of the corresponding level is determined according to the motor speed level;

[0021] The motor speed level matches the level of the loading torque gradient and the level of the unloading torque gradient. The unloading torque gradient changes linearly with the change of the motor speed level, and the loading torque gradient changes linearly with the change of the motor speed level.

[0022] Optionally, the step of obtaining motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters further includes:

[0023] If the vehicle's skidding condition is a double-side wheel skidding condition, the running current of the motor under a steady-state condition is obtained;

[0024] According to the running current of the motor under steady-state condition and the preset motor parameters, the slip output torque under the condition of double-side wheel slip is obtained.

[0025] Optionally, according to the running current of the motor under steady-state working condition and preset motor parameters, the calculation formula for obtaining the slip output torque under the double-side wheel slip condition is:

[0026] T rq =n p [φ f i q +(L d -L q )i d i q ]

[0027] Where, T rq is the slip output torque; n p is the number of motor pole pairs, φ f is the permanent magnet flux, L d is the d-axis inductance of the stator winding; L q is the q-axis inductance of the stator winding; i d is the d-axis current of the motor under steady-state conditions, i q is the q-axis current of the motor under steady-state conditions.

[0028] Optionally, the step of adjusting the actual output torque of the vehicle according to the slip output torque includes:

[0029] Calculating the torque difference between the slip output torque and the target output torque;

[0030] If the torque difference is greater than a fourth threshold, the slip output torque is determined as the actual output torque;

[0031] If the torque difference is less than or equal to the fourth threshold, the target output torque is determined as the actual output torque.

[0032] A second aspect of an embodiment of the present invention provides a slip control device, the device comprising:

[0033] An acquisition unit, used for acquiring the wheel speed of each wheel of the vehicle when the vehicle is in the working condition of the launch start execution phase;

[0034] A first determining unit, used to determine the slipping condition of the vehicle according to the wheel speed of each wheel;

[0035] A second determination unit is used to obtain the motor operating parameters of the vehicle and determine the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters;

[0036] The execution unit is used to adjust the actual output torque of the vehicle according to the slip output torque, and control the motor to operate with the adjusted actual output torque.

[0037] A third aspect of an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0038] Memory, used to store computer programs;

[0039] The processor is used to implement the method steps proposed in the first aspect of the embodiment of the present invention when executing the program stored in the memory.

[0040] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method provided in the first aspect of the embodiment of the present invention.

[0041] The embodiments of the present invention include the following advantages: first, when the vehicle is in the operating condition of the launch start execution phase, the wheel speed of each wheel of the vehicle is obtained; then, according to the wheel speed of each wheel, the slipping condition of the vehicle is determined, the motor operating parameters of the vehicle are obtained, and according to the slipping condition of the vehicle and the motor operating parameters, the slipping output torque of the vehicle is determined; finally, according to the slipping output torque, the actual output torque of the vehicle is adjusted, and the motor is controlled to operate with the adjusted actual output torque. The present invention divides the slipping condition of the vehicle according to the wheel speed, and calculates the slipping output torque according to different slipping conditions and the actual operating parameters of the motor. Since the slipping output torque of the rate of change of the motor speed is not used as a reference factor, the calculation result will not be affected by the rate of change of the motor speed.

[0042] The embodiments of the present invention can effectively control a vehicle in a slipping condition, thereby improving the driving experience and comfort performance of the vehicle.

[0043] The embodiments of the present invention do not need to increase hardware costs, thus greatly reducing the use cost and improving versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 is a flow chart of steps of a slip control method in an embodiment of the present invention;

[0046] Figure 2 is a block diagram of an anti-skid control system according to an embodiment of the present invention;

[0047] Figure 3 is a module schematic diagram of a slip control device in an embodiment of the present invention;

[0048] Figure 4It is a schematic diagram of functional modules of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] The vehicle skidding phenomenon mainly occurs in the execution stage of the launch control. Therefore, the core concept of the present invention is how to accurately calculate the skidding output torque not based on the rate of change of the motor speed.

[0051] The present invention provides a method for controlling slippage. Figure 1 , Figure 1 A flowchart of a slip control method according to an embodiment of the present application is shown, and the method includes:

[0052] S101: When the vehicle is in the operating condition of the launch start execution phase, the wheel speed of each wheel of the vehicle is obtained.

[0053] In this embodiment, the vehicle driving signal is collected in real time by an information collection module arranged on the vehicle. The information collection module can be various sensors. The vehicle driving signal includes at least a vehicle speed signal, an accelerator pedal depth, gear information, a brake state, a motor speed signal and fault information and the wheel speed of each wheel. When the VCU (Vehicle Control Unit) recognizes that the brake pedal and the accelerator pedal are stepped on at the same time, it is determined that the vehicle enters the launch start preparation stage. After the brake pedal is released, it is determined that the vehicle launch start execution stage function is activated, that is, the vehicle enters the launch start execution stage. Under this working condition, the vehicle outputs at the maximum torque. If the vehicle slips at this time, if it continues to output at the maximum torque, the vehicle is very likely to roll over and lose control. Serious accidents. Therefore, in order to prevent the above situation from occurring and ensure the driving safety of users, when the vehicle is in the working condition of the launch start execution stage, it is necessary to obtain the wheel speed of each wheel collected by the information collection module, and use the obtained wheel speed of each wheel to determine whether the vehicle slips and the specific type of slip.

[0054] S102: Determine the skidding condition of the vehicle according to the wheel speed of each wheel.

[0055] In this embodiment, according to the wheel speed of each wheel, it is determined whether the vehicle has a slipping condition and the specific type of the slipping condition, so that different slipping output torque calculation strategies are executed according to the type of slipping condition, so that the slipping output torque can be calculated according to the specific slipping condition, that is, classified calculation is performed according to different working conditions, so the calculation is more accurate. After obtaining the wheel speed of each wheel collected by the vehicle information collection module, the method for determining the specific slipping condition type according to the wheel speed of each wheel of the vehicle can specifically include the following steps:

[0056] S102-1: If the speed difference between the front wheel speed and the rear wheel speed of the vehicle on any same side is greater than a first threshold, determining that the vehicle's skidding condition is a unilateral wheel skidding condition;

[0057] S102-2: If the rotation speed of the left rear wheel of the vehicle is greater than the preset second threshold value, and the rotation speed of the right rear wheel of the vehicle is greater than the preset third threshold value, it is determined that the vehicle's slipping condition is a double-side wheel slipping condition.

[0058] In the implementation of S102-1 to S102-2, when the left rear wheel speed L of the vehicle is obtained, lB , left front wheel speed L lF , right rear wheel speed R lB and right front wheel speed R lF Then, if the front and rear wheel speeds on any side are equal, for example, if the left rear wheel speed L lB The left front wheel speed L lF The speed difference A is greater than the preset single-side wheel slip speed threshold L thres The wheel speed threshold for unilateral wheel slip is obtained through vehicle calibration, or the right rear wheel speed R lB and right front wheel speed R lF The speed difference B is greater than the preset single-side wheel slip speed threshold L thres , then the vehicle's slip condition is determined to be a single-wheel slip condition. For the judgment of double-wheel slip, since both the front and rear wheels are slipping, the speed difference between the front and rear wheels is not large. Therefore, the judgment method of single-wheel slip may result in misjudgment. Double-wheel slip is often for the rear wheels. Therefore, by comparing the speed of the rear wheels with the preset calibrated threshold, a more accurate judgment of the slip condition can be achieved. That is, if the left rear wheel speed L lB Greater than the preset double-side wheel slip speed threshold L thres1 , and the right rear wheel speed of the vehicle is R lB Greater than the preset double-side wheel slip speed threshold L thres2 , then the vehicle's skidding condition is determined to be a double-side wheel skidding condition, where the double-side wheel skidding wheel speed threshold L thres1 and the wheel speed threshold L for the double-side wheel slip thres2They are all calibrated values, that is, they are estimated based on the road adhesion coefficient and slip rate curve.

[0059] Through different judgment methods, the slip types are divided according to the rotation speed of each wheel, and different slip output torque calculation strategies are specified according to the slip types, so that the calculation results match the actual scenarios, making the calculation results more accurate.

[0060] S103: Acquire the motor operating parameters of the vehicle, and determine the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters.

[0061] In this embodiment, after the slipping condition of the vehicle is determined according to the wheel speed of each wheel, the slipping output torque calculation strategy matching the condition is executed for the corresponding different slipping conditions, and the slipping output torque of the vehicle is determined in combination with the real-time motor operating parameters. The rate of change of the motor speed is not used as a reference factor for the slipping output torque, and the calculation result will not be affected by the rate of change of the motor speed. According to the slipping condition of the vehicle and the motor operating parameters, the process of determining the slipping output torque of the vehicle is divided into the slipping output torque calculation process under the slipping condition of one side wheel and the slipping output torque calculation process under the slipping condition of both sides wheel.

[0062] Regarding the calculation process of the slip output torque under the single-side wheel slip condition, after determining that the vehicle is in the single-side wheel slip condition, the calculation method of the slip output torque under the single-side wheel slip condition may be the following steps:

[0063] S103-1: The step of obtaining the motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters includes:

[0064] S103-2: If the vehicle's slipping condition is a one-side wheel slipping condition, obtain the real-time speed and gear request of the motor;

[0065] S103-3: determining a target torque gradient according to the motor speed level to which the real-time motor speed belongs and the gear request type;

[0066] S103-4: Obtain the vehicle output torque, and correct the vehicle output torque according to the target torque gradient to obtain the slip output torque under the single-side wheel slip condition.

[0067] In this embodiment, when it is determined that the vehicle is in a single-side wheel slip condition, the real-time speed of the vehicle motor and the user's gear request are obtained, the user's gear request includes an upshift request and a downshift request, the target torque gradient includes a loading torque gradient and an unloading torque gradient, the real-time speed of the vehicle motor is divided into multiple speed levels from low to high speed, and the target torque gradient is determined according to the speed level to which the real-time speed of the vehicle motor belongs and the user's gear request. The method for determining the target torque gradient according to the motor speed level to which the real-time speed of the motor belongs and the gear requirement may include the following steps:

[0068] S103-3-1: If the gear request is an upshift request, determining a loading torque gradient of a corresponding level according to the motor speed level;

[0069] S103-3-2: If the gear request is a downshift request, determining an unloading torque gradient of a corresponding level according to the motor speed level;

[0070] S103-3-3: The motor speed level matches the loading torque gradient level and the unloading torque gradient level. The unloading torque gradient changes linearly with the motor speed level, and the loading torque gradient changes linearly with the motor speed level.

[0071] In this embodiment, if the motor speed interval to which the real-time speed of the motor belongs is the first speed interval, and the gear demand is an upshift request, the target torque gradient is determined to be the first level loading torque gradient;

[0072] If the motor speed interval to which the real-time speed of the motor belongs is the first speed interval, and the gear request is a downshift request, determining the target torque gradient to be the first level unloading torque gradient;

[0073] If the motor speed interval to which the real-time speed of the motor belongs is the second speed interval, and the gear request is an upshift request, determining the target torque gradient to be the second level loading torque gradient;

[0074] If the motor speed interval to which the real-time speed of the motor belongs is the second speed interval, and the gear request is a downshift request, determining the target torque gradient to be the second level unloading torque gradient;

[0075] If the motor speed interval to which the real-time motor speed belongs is the third-year speed interval, and the gear request is an upshift request, then the target torque gradient is determined to be the third-level loading torque gradient;

[0076] If the motor speed interval to which the real-time speed of the motor belongs is the third speed interval, and the gear request is a downshift request, determining the target torque gradient to be the third level unloading torque gradient;

[0077] If the real-time speed of the motor belongs to the fourth speed range and the gear demand is an upshift request, determine the target torque gradient as the fourth-level loading torque gradient;

[0078] If the real-time speed of the motor belongs to the fourth speed range and the gear demand is a downshift request, determine the target torque gradient as the fourth-level unloading torque gradient. Among them, the torque gradients of the first-level loading torque gradient to the fourth-level loading torque gradient increase sequentially, and the torque gradients of the first-level unloading torque gradient to the fourth-level unloading torque gradient increase sequentially.

[0079] As an example, if the real-time speed of the motor is greater than the speed threshold Speed_1, that is, the real-time speed of the motor is in the first speed range and the motor speed level is the first level, the corresponding target slip output torque gradient is NegSlope_1, and the loading torque gradient is PosSlope_1;

[0080] If the real-time speed of the motor is greater than Speed_2 and less than Speed_1, that is, the real-time speed of the motor is in the second speed range and the motor speed level is the second level, the corresponding target slip output torque gradient is NegSlope_2, and the loading torque gradient is PosSlope_2;

[0081] If the real-time speed of the motor is greater than Speed_3 and less than Speed_2, that is, the real-time speed of the motor is in the third speed range and the motor speed level is the third level, the corresponding target slip output torque gradient is NegSlope_3, and the loading torque gradient is PosSlope_3;

[0082] If the real-time speed of the motor is greater than Speed_4 and less than Speed_3, that is, the real-time speed of the motor is in the fourth speed range and the motor speed level is the fourth level, the corresponding target slip output torque gradient is NegSlope_4, and the loading torque gradient is PosSlope_4;

[0083] Among them, the torque loading gradient PosSlope_1 < PosSlope_2 < PosSlope_3 < PosSlope_4, and the torque unloading gradient NegSlope_1 < NegSlope_2 < NegSlope_3 < NegSlope_4.

[0084] The torque loading gradient PosSlope_1 can be understood as when the real-time speed of the motor is in the first speed range, its corresponding target torque loading gradient is PosSlope_1 * N / s. That is, if the target torque at the current moment T1 is A (N), then the target torque at the next moment T2 is as shown in Equation 1:

[0085] B(N)=A(N)+(PosSlope_1*N / s)*(T2-T1) (1)

[0086] Similarly, the torque unloading gradient NegSlope_1 can be understood as when the real-time motor speed is in the first speed range, its corresponding target torque unloading gradient is NegSlope_1*N / s, that is, the target torque at the current moment T1 is A(N), and the target torque at the next moment T2 is as shown in Formula 2:

[0087] B(N)=A(N)-(NegSlope_1*N / s)*(T2-T1) (2)

[0088] The torque unloading gradient is used to indicate the ability to drop from the current torque to the target torque. The greater the level of the torque unloading gradient, the less time it takes to drop from the current torque to the target torque. Similarly, the torque unloading gradient is used to indicate the ability to rise from the current torque to the target torque. The greater the level of the torque loading gradient, the less time it takes to rise from the current torque to the target torque. The above torque loading gradient and torque unloading gradient are obtained through vehicle calibration to obtain actual values.

[0089] It can be understood that after determining the target torque loading gradient PosSlope and the torque unloading gradient NegSlope, combined with the current target torque gradient and the time for correction and compensation, the vehicle output torque can be corrected and compensated, so that the MCU can quickly and directly adjust the slip output torque through different speed ranges, thereby controlling the actual output torque under single-side wheel slip conditions.

[0090] Regarding the calculation process of the slip output torque under the double-side wheel slip condition, after determining that the vehicle is in the double-side wheel slip condition, the calculation method of the slip output torque under the double-side wheel slip condition may be the following steps:

[0091] After it is determined that the vehicle is in a double-side wheel slip condition, the method for calculating the slip output torque in the double-side wheel slip condition may be the following steps:

[0092] S103-5: The step of obtaining the motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters also includes:

[0093] S103-6: If the vehicle's skidding condition is a double-side wheel skidding condition, obtain the running current of the motor in a steady-state condition;

[0094] S103-7: Obtain the slip output torque under the double-side wheel slip condition according to the running current of the motor under the steady-state condition and the preset motor parameters.

[0095] In this embodiment, for the calculation of the slip output torque under the condition of double-side wheel slip, the operating current of the motor under steady-state condition is obtained. For the motor, if its operating parameters at the current moment do not fluctuate or change compared with the previous moment, it means that the motor is under steady-state operation. The operating current of the motor, that is, the d-axis and q-axis currents, is obtained. In the electromagnetic field, the direction of the rotor magnetic field is the d-axis, and the direction perpendicular to the rotor magnetic field is the q-axis. The slip output torque under the condition of side wheel slip can be determined according to the calculation formula of the electromagnetic torque of the permanent magnet synchronous motor shown in Formula 3;

[0096] T rq =n p [φ f i q +(L d -L q )i d i q ] (3)

[0097] Where, T rq is the slip output torque; n p is the number of motor pole pairs, φ f is the permanent magnet flux, L d is the d-axis inductance of the stator winding; L q is the q-axis inductance of the stator winding; i d is the d-axis current of the motor under steady-state conditions, i q is the q-axis current of the motor under steady-state conditions.

[0098] S104: adjusting the actual output torque of the vehicle according to the slip output torque, and controlling the motor to operate with the adjusted actual output torque.

[0099] In this embodiment, when the vehicle is in the working condition of the launch start execution stage, if the vehicle is in a slipping state, and the vehicle is running at the maximum power output according to the torque command output by the VCU, the vehicle will be out of control. Therefore, in order to adjust the slipping state of the vehicle and put the vehicle into a normal operating state in time, it is necessary to correct the output target output torque based on the calculated slip output torque, so as to output the adjusted actual output torque of the vehicle, and control the motor to run with the adjusted actual output torque. After determining the slip output torque under the corresponding working condition according to different slip working conditions, the step of adjusting the actual output torque of the vehicle according to the slip output torque includes:

[0100] S104-1: Calculating the torque difference between the slip output torque and the target output torque;

[0101] S104-2: if the torque difference is greater than a fourth threshold, determining the slip output torque as the actual output torque;

[0102] S104 - 3 : If the torque difference is less than or equal to the fourth threshold, the target output torque is determined as the actual output torque.

[0103] In this embodiment, no matter whether the vehicle is in a single-side wheel slip condition or a double-side wheel slip condition, after determining the corresponding slip output torque according to the specific slip condition, the target output torque is obtained. The target output torque is the output torque output by the VCU that matches the user's target gear. The target output torque set by the user through the VCU and the calculated slip output torque are compared. If the difference is less than or equal to the preset difference threshold, the target output torque is determined as the actual output torque to meet the user's power demand. If the difference is greater than the preset difference threshold, if the target output torque is still determined as the actual output torque, an accident may occur. Therefore, for safety reasons, the slip output torque is determined as the actual output torque, thereby ensuring both the user's needs and the safety of driving.

[0104] In the implementation of S101-S104, the vehicle's slipping conditions are divided according to the wheel speed, and the slipping output torque is calculated according to different slipping conditions and combined with the actual operating parameters of the motor. Compared with the prior art, the slipping output torque is not taken as a reference factor based on the rate of change of the motor speed, so the calculation result will not be affected by the rate of change of the motor speed. Therefore, the calculation of the slipping output torque is more accurate, the control of the slipping vehicle is more accurate, and the user's safety and user experience are also improved.

[0105] In one possible implementation, Figure 2Taking the anti-skid control system shown as an example, the method of S101-S104 of the present invention is specifically described. In the anti-skid control system, the vehicle information collection module collects the real-time operating parameters of the vehicle, and sends the real-time operating parameters of the vehicle to the vehicle VCU and MCU (Motor Control Unit) through the vehicle CAN bus. The VCU at least includes a launch start preparation phase function module and a launch start execution phase function module. The launch start preparation phase function module and the launch start execution phase function module successively determine whether the launch start preparation phase function and the launch start execution phase function are activated according to the real-time operating parameters of the vehicle. When it is determined that the launch start execution phase function is activated, the VCU outputs a target torque instruction to the MCU. The MCU at least includes an anti-skid control module and a motor control module. The anti-skid control module is used to divide the vehicle's skidding conditions according to the wheel speed, and calculate the skidding output torque according to different skidding conditions and the actual operating parameters of the motor, and correct the target torque output by the VCU according to the skidding output torque, and send the corrected target torque to the motor control module, and the motor control module controls the motor according to the corrected target torque. Thereby, the vehicle skidding process can be corrected and processed, ensuring the driving safety of users.

[0106] The embodiment of the present invention provides a slip control device, the functional module block diagram of which is shown in Figure 3, and the device includes:

[0107] The acquisition unit 301 is used to acquire the wheel speed of each wheel of the vehicle when the vehicle is in the working condition of the launch start execution phase;

[0108] A first determining unit 302, configured to determine a slipping condition of the vehicle according to the wheel speed of each wheel;

[0109] The second determination unit 303 is used to obtain the motor operating parameters of the vehicle and determine the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters;

[0110] The execution unit 304 is used to adjust the actual output torque of the vehicle according to the slip output torque, and control the motor to operate with the adjusted actual output torque.

[0111] In a feasible implementation manner, the first determining unit 302 includes:

[0112] a first judgment subunit, configured to determine that the vehicle's slipping condition is a unilateral wheel slipping condition if a speed difference between a front wheel speed and a rear wheel speed on any same side of the vehicle is greater than a first threshold;

[0113] The second judgment subunit is used to determine that the vehicle's slipping condition is a double-side wheel slipping condition if the vehicle's left rear wheel speed is greater than a preset second threshold and the vehicle's right rear wheel speed is greater than a preset third threshold.

[0114] In a feasible implementation manner, the second determining unit 303 includes:

[0115] The speed acquisition subunit is used to acquire the real-time speed and gear request of the motor if the vehicle's slipping condition is a single-side wheel slipping condition;

[0116] a torque determination subunit, for determining a target torque gradient according to a motor speed level to which the real-time speed of the motor belongs and a gear request type;

[0117] The correction subunit is used to obtain the initial output torque of the vehicle, and correct the initial output torque according to the target torque gradient to obtain the slip output torque under the single-side wheel slip condition.

[0118] In a feasible implementation manner, the torque determination subunit includes:

[0119] a loading torque gradient subunit, for determining, if the gear request is an upshift request, a loading torque gradient of a corresponding level according to the motor speed level;

[0120] a loading torque gradient subunit, for determining an unloading torque gradient of a corresponding level according to a motor speed level if the gear request is a downshift request;

[0121] The motor speed level matches the level of the loading torque gradient and the level of the unloading torque gradient. The unloading torque gradient changes linearly with the change of the motor speed level, and the loading torque gradient changes linearly with the change of the motor speed level.

[0122] In a feasible implementation manner, the second determining unit 303 further includes:

[0123] The current acquisition subunit is used to acquire the operating current of the motor in a steady state if the vehicle's slipping condition is a double-side wheel slipping condition;

[0124] The calculation subunit is used to obtain the slip output torque under the condition of double-side wheel slip according to the running current of the motor under steady-state condition and preset motor parameters.

[0125] In a feasible implementation, the execution unit 304 includes:

[0126] A calculation subunit, calculating a torque difference between the slip output torque and the target output torque;

[0127] a first judgment subunit, configured to determine the slip output torque as the actual output torque if the torque difference is greater than a fourth threshold;

[0128] The second judgment subunit is configured to determine the target output torque as the actual output torque if the torque difference is less than or equal to a fourth threshold.

[0129] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, such as Figure 4 As shown, it includes a processor 41, a communication interface 42, a memory 43 and a communication bus 44, wherein the processor 41, the communication interface 42, and the memory 43 communicate with each other through the communication bus 44.

[0130] A memory 43, for storing computer programs;

[0131] The processor 41 is used to implement the steps of the first aspect of the embodiment of the present invention when executing the program stored in the memory 43.

[0132] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0133] The communication interface is used for communication between the above terminal and other devices.

[0134] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage system located away from the aforementioned processor.

[0135] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0136] In another embodiment provided by the present invention, a vehicle is provided, comprising the slip control device of the second aspect of the embodiment of the present application.

[0137] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, embodiments of the present invention may take the form of complete hardware embodiments, complete software embodiments, or embodiments combining software and hardware aspects. Moreover, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable vehicles (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0138] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A system that specifies the functions of a box or multiple boxes.

[0139] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction system, which is implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable terminal device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. "And / or" means that either one of the two can be selected, or both can be selected. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0142] The above is a detailed introduction to a slip control method, device, electronic device and storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A skid control method, characterized in that: The method comprises: When the vehicle is in the working condition of the launch start execution phase, the wheel speed of each wheel of the vehicle is obtained; Determining the skidding condition of the vehicle according to the wheel speeds of the wheels; Acquiring motor operating parameters of the vehicle, and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters; adjusting the actual output torque of the vehicle according to the slip output torque, and controlling the motor to operate with the adjusted actual output torque; The step of obtaining the motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters includes: If the vehicle's slipping condition is a double-side wheel slipping condition, the slipping output torque under the double-side wheel slipping condition is obtained by a calculation formula according to the running current of the motor under steady-state conditions and preset motor parameters, the running current includes the d-axis current and the q-axis current of the motor under steady-state conditions, and the preset motor parameters include the number of motor pole pairs and permanent magnet flux; The calculation formula is: = [ + ( ) ] In the formula, is the slip output torque, is the number of motor pole pairs, is the permanent magnet flux, is the d-axis inductance of the stator winding; is the q-axis inductance of the stator winding; is the d-axis current of the motor under steady-state conditions, is the q-axis current of the motor under steady-state conditions.

2. The method according to claim 1, characterized in that: The step of determining the slipping condition of the vehicle according to the wheel speeds of the respective wheels comprises: If the speed difference between the front wheel speed and the rear wheel speed of the vehicle on any same side is greater than a first threshold, it is determined that the vehicle's slipping condition is a unilateral wheel slipping condition; If the rotation speed of the left rear wheel of the vehicle is greater than a preset second threshold value, and the rotation speed of the right rear wheel of the vehicle is greater than a preset third threshold value, it is determined that the slipping condition of the vehicle is a double-side wheel slipping condition.

3. The method according to claim 2, characterized in that The steps of obtaining the motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters include: If the vehicle's slipping condition is the unilateral wheel slipping condition, the real-time speed and gear request of the motor are obtained; determining a target torque gradient according to a motor speed level to which the real-time speed of the motor belongs and a gear request type; The initial output torque of the vehicle is obtained, and the initial output torque is corrected according to the target torque gradient to obtain the slip output torque under the single-side wheel slip condition.

4. The method according to claim 3, characterized in that The step of determining the target torque gradient according to the motor speed level and gear requirement to which the real-time speed of the motor belongs includes: If the gear request is an upshift request, determining a loading torque gradient of a corresponding level according to the motor speed level; If the gear request is a downshift request, determining an unloading torque gradient of a corresponding level according to the motor speed level; The motor speed level matches the level of the loading torque gradient and the level of the unloading torque gradient, the unloading torque gradient changes linearly with the change of the motor speed level, and the loading torque gradient changes linearly with the change of the motor speed level.

5. The method according to claim 1, characterized in that The step of adjusting the actual output torque of the vehicle according to the slip output torque comprises: calculating a torque difference between the slip output torque and the target output torque; If the torque difference is greater than a fourth threshold, determining the slip output torque as the actual output torque; If the torque difference is less than or equal to the fourth threshold, the target output torque is determined as the actual output torque.

6. A skid control device, characterized in that: The device comprises: An acquisition unit, used for acquiring the wheel speed of each wheel of the vehicle when the vehicle is in the working condition of the launch start execution phase; A first determining unit, configured to determine a slipping condition of the vehicle according to the wheel speeds of the wheels; A second determination unit, configured to obtain a motor operating parameter of the vehicle, and determine a slip output torque of the vehicle according to a slip condition of the vehicle and the motor operating parameter; an execution unit, configured to adjust the actual output torque of the vehicle according to the slip output torque, and control the motor to operate with the adjusted actual output torque; The step of obtaining the motor operating parameters of the vehicle and determining the slip output torque of the vehicle according to the slip condition of the vehicle and the motor operating parameters includes: If the vehicle's slipping condition is a double-side wheel slipping condition, the slipping output torque under the double-side wheel slipping condition is obtained by a calculation formula according to the running current of the motor under steady-state conditions and preset motor parameters, the running current includes the d-axis current and the q-axis current of the motor under steady-state conditions, and the preset motor parameters include the number of motor pole pairs and permanent magnet flux; The calculation formula is: = [ + ( ) ] In the formula, is the slip output torque, is the number of motor pole pairs, is the permanent magnet flux, is the d-axis inductance of the stator winding; is the q-axis inductance of the stator winding; is the d-axis current of the motor under steady-state conditions, is the q-axis current of the motor under steady-state conditions.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the slip control method as described in any one of claims 1-5 is implemented.

8. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the slip control method described in any one of claims 1-5 when executing the program stored in the memory.

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