Compensation methods, systems, electronic devices, and storage media for eliminating vehicle skidding

Abstract

This invention relates to the field of vehicle technology, specifically to a compensation method, system, electronic device, and storage medium for eliminating vehicle slippage. The method includes: determining a standard engine reference wheel speed required to eliminate slippage based on the vehicle's current speed, accelerator pedal opening, and standard engine speed; determining PID control parameters required for adjusting engine torque based on the vehicle's current speed and the standard engine reference wheel speed; if the PID control parameters exceed the normal range, obtaining the actual engine speed; determining the actual engine reference wheel speed required to eliminate slippage based on the vehicle's current speed, accelerator pedal opening, and actual engine speed; and correcting the PID control parameters based on the actual engine reference wheel speed. This invention uses the actual engine speed to determine the rationality of intermediate variables in calculating the PID control parameters and corrects the PID control parameters using the actual engine speed, thereby enabling the vehicle's wheels to quickly and accurately eliminate slippage.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a compensation method for eliminating vehicle slip, a vehicle traction control system, an electronic device and a storage medium. BACKGROUND

[0002] When a vehicle starts at low or full throttle, the driving wheel will slip and spin rapidly without the control of a traction control system (TCS), and the vehicle will lose stability rapidly. When the TCS detects that the vehicle is slipping, it will adjust the driving torque, calculate the appropriate torque control according to the input signal through PID, and then transmit the torque to the vehicle motor, so as to reduce the vehicle torque and achieve the effect of rapid torque reduction, slip reduction and smooth start of the vehicle.

[0003] However, when the torque is controlled by PID, the PID adjustment parameter may exceed the normal adjustment range and still fail to reach the desired purpose, that is, the target wheel is still slipping, and at this time the PID adjustment parameter needs to be corrected. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a compensation method for eliminating vehicle slip, a vehicle operation adjustment device, an electronic device and a storage medium.

[0005] In a first aspect, the present disclosure provides a compensation method for eliminating vehicle slip, comprising: determining a standard engine reference wheel speed required for eliminating slip according to a current vehicle speed, a throttle pedal opening degree and a standard engine speed; determining a PID adjustment parameter required for PID adjustment engine torque according to the current vehicle speed and the standard engine reference wheel speed, and obtaining an actual engine speed if the PID adjustment parameter exceeds a normal range; determining an actual engine reference wheel speed required for eliminating slip according to the current vehicle speed, the throttle pedal opening degree and the actual engine speed, and correcting the PID adjustment parameter according to the actual engine reference wheel speed.

[0006] In one embodiment, the standard engine reference wheel speed required for eliminating slip is determined according to the current vehicle speed, the throttle pedal opening degree and the standard engine speed, specifically comprising: determining a standard engine reference offset wheel speed required for eliminating slip according to the current vehicle speed, the throttle pedal opening degree and the standard engine speed by searching an engine reference offset wheel speed parameter table; determining a standard engine zero reference wheel speed required for eliminating slip according to the current vehicle speed, the throttle pedal opening degree and the standard engine speed by searching an engine zero reference wheel speed parameter table; and determining the standard engine reference wheel speed according to the standard engine reference offset wheel speed and the standard engine zero reference wheel speed.

[0007] In one embodiment, the PID adjustment parameters required for adjusting the engine torque according to the current vehicle speed and the standard engine reference wheel speed are determined, specifically including: determining the PID variation parameters according to the standard engine reference wheel speed, the vehicle type, the accelerator pedal opening and the current vehicle speed; and determining the PID adjustment parameters according to the standard engine reference wheel speed, the current vehicle speed and the PID variation parameters.

[0008] In one embodiment, the compensation method for eliminating vehicle slip further includes: determining the standard engine torque according to the PID adjustment parameters; comparing the standard engine torque with the driver requested torque, and taking the smaller value as the target engine torque for adjusting the engine.

[0009] In one embodiment, the normal range of the PID adjustment parameters is: the fluctuation value of P is less than 600, the fluctuation value of I is less than 10, and the fluctuation value of D is less than 30.

[0010] In one embodiment, the actual engine reference wheel speed required for eliminating slip is determined according to the current vehicle speed, the accelerator pedal opening and the actual engine speed, specifically including: determining the basic engine reference offset wheel speed required for eliminating slip by searching the engine reference offset wheel speed parameter table according to the current vehicle speed, the accelerator pedal opening and the actual engine speed; determining the actual engine reference offset wheel speed according to the vehicle yaw angle, the vehicle lateral acceleration and the vehicle longitudinal acceleration based on the basic engine reference offset wheel speed; determining the actual engine zero reference wheel speed required for eliminating slip by searching the engine zero reference wheel speed parameter table according to the current vehicle speed, the accelerator pedal opening and the actual engine speed; and determining the actual engine reference wheel speed according to the actual engine zero reference wheel speed and the actual engine reference offset wheel speed.

[0011] In one embodiment, the PID adjustment parameters are corrected according to the actual engine reference wheel speed, specifically including: determining the PID variation parameters according to the actual engine speed, the vehicle type, the accelerator pedal opening and the current vehicle speed; and correcting the PID adjustment parameters according to the actual engine reference wheel speed, the current vehicle speed and the PID variation parameters.

[0012] In one embodiment, before determining the standard engine reference wheel speed required for eliminating slip according to the current vehicle speed, the accelerator pedal opening and the standard engine speed, the method further includes: determining the current vehicle speed according to the wheel speeds of at least two wheels of the vehicle, and determining the slip rate of each wheel according to the current vehicle speed and the wheel speeds; determining whether the vehicle is slipping during large or full throttle acceleration according to the slip rate, the accelerator pedal opening and the standard engine speed; and obtaining the standard engine reference wheel speed if the vehicle is slipping.

[0013] In one of the embodiments, the slip ratio of each of the wheels is continuously detected when the current speed of the vehicle is greater than 0.5 km / h.

[0014] In one of the embodiments, before determining the PID adjustment parameters required for PID adjustment of the engine torque according to the current speed of the vehicle and the standard engine reference wheel speed, the method further comprises: determining whether there is a wheel speed difference between the driving wheels and the non-driving wheels of the vehicle according to the slip ratio; if there is no wheel speed difference, determining the PID adjustment parameters; and if there is the wheel speed difference, performing brake control while adjusting the engine torque.

[0015] The present application provides, in a second aspect, a vehicle traction control system applying the compensation method for eliminating vehicle slip as described above.

[0016] The present application provides, in a third aspect, an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the compensation method for eliminating vehicle slip as described above when executing the program.

[0017] The present application provides, in a fourth aspect, a non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the compensation method for eliminating vehicle slip as described above.

[0018] The technical solution provided by the embodiments of the present disclosure can have the following beneficial effects: when the PID is used for torque control, the PID adjustment parameters can exceed the normal adjustment range and still fail to reach the required purpose. At this time, the intermediate variable for calculating the PID adjustment parameters is determined to be reasonable or not by obtaining the actual engine speed, and the actual engine reference wheel speed is obtained by the actual engine speed to correct the PID adjustment parameters, so that the wheels of the vehicle can quickly and accurately eliminate the slip phenomenon.

[0019] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure together with the description.

[0021] Figure 1 is a flowchart of a vehicle operation adjustment method according to an exemplary embodiment.

[0022] Figure 2This is a flowchart illustrating another vehicle operation adjustment method according to an exemplary embodiment.

[0023] Figure 3 This is a flowchart illustrating another vehicle operation adjustment method according to an exemplary embodiment.

[0024] Figure 4 This is a flowchart illustrating another vehicle operation adjustment method according to an exemplary embodiment.

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device according to an exemplary embodiment. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0027] like Figure 1 As shown, the present invention provides a compensation method for eliminating vehicle skidding, comprising:

[0028] Step S201: Determine the standard engine reference wheel speed required to eliminate slippage based on the vehicle's current speed, accelerator pedal opening, and standard engine speed;

[0029] Step S202: Determine the PID adjustment parameters required for PID adjustment of engine torque based on the current vehicle speed and the standard engine reference wheel speed. If the PID adjustment parameters exceed the normal range, obtain the actual engine speed.

[0030] Step S203: Determine the actual engine reference wheel speed required to eliminate slippage based on the vehicle's current speed, accelerator pedal opening, and actual engine speed, and correct the PID adjustment parameters based on the actual engine reference wheel speed.

[0031] According to existing technology, when the TCS detects vehicle slippage, it adjusts the drive torque. Based on the input signal, it calculates a suitable torque control using a PID controller, thereby transmitting torque to the vehicle's motor to reduce vehicle torque, achieving the effects of quickly reducing slippage and enabling a smooth vehicle start. However, when using PID for torque control, the PID adjustment parameters may exceed the normal adjustment range, still failing to achieve the desired effect.

[0032] At this point, the actual engine speed is obtained to determine whether the intermediate variables used to calculate the PID adjustment parameters are reasonable, and the actual engine reference wheel speed is obtained through the actual engine speed to correct the PID adjustment parameters, so that the vehicle's wheels can quickly and accurately eliminate slippage.

[0033] For S201, the standard engine reference wheel speed is the wheel speed that the drive wheels should reach at the engine speed required to eliminate slippage. It is obtained by consulting the engine reference offset wheel speed parameter table and the engine zero-point reference wheel speed parameter table, based on the vehicle's current speed, accelerator pedal opening, and standard engine speed. For example... Figure 2 As shown, the specific steps are as follows:

[0034] S2011 determines the standard engine reference offset wheel speed required to eliminate slippage by consulting the engine reference offset wheel speed parameter table based on the vehicle's current speed, accelerator pedal opening, and standard engine speed.

[0035] S2012 determines the standard engine zero-point reference wheel speed required to eliminate slippage by consulting the engine zero-point reference wheel speed parameter table based on the vehicle's current speed, accelerator pedal opening, and standard engine speed.

[0036] S2013 determines the standard engine reference wheel speed based on the standard engine reference offset wheel speed and the standard engine zero-point reference wheel speed.

[0037] The engine reference offset wheel speed parameter table and the engine zero-point reference wheel speed parameter table were obtained by the inventors through vehicle testing. These lookup tables were created experimentally, facilitating the vehicle traction control system's query of the engine reference wheel speed. In both tables, vehicle speed can be divided into at least three segments: 1) 0~30; 2) 30~50; 3) 50~70. Different speed segments correspond to different engine reference offset wheel speeds and engine zero-point reference wheel speeds. Therefore, in subsequent steps, different PID control parameters can be obtained for each speed stage to adapt to the vehicle speed and ensure the reliability of the adjustment.

[0038] Table 1 below shows some parameters of the engine reference offset wheel speed parameter table. These parameters are the lookup values ​​of the engine reference offset wheel speed at a certain engine speed and accelerator pedal opening:

[0039] Table 1

[0040]

[0041] Table 2 below shows some parameters of the engine zero-point reference wheel speed parameter table. These parameters are the lookup values ​​of the engine zero-point reference wheel speed at a certain engine speed and accelerator pedal opening:

[0042] Table 2

[0043]

[0044] For step S202, the PID control parameters are obtained from the following formula 1:

[0045] p(next moment) = p(current) - (Vcurrent - Vtarget) * Pgain; (Formula 1)

[0046] Where Vcurrent is the vehicle's current speed, Vtarget is the standard engine reference wheel speed, and Pgain is the PID variable parameter. Once the P value is determined, the I and D values ​​are then determined. Thus, as... Figure 3 As shown, the specific steps to obtain PID control parameters are as follows:

[0047] Step S2021: Determine the PID variation parameters based on the standard engine speed, vehicle type (gasoline vehicle or electric vehicle), accelerator pedal opening, and current vehicle speed;

[0048] Step S2022: Determine the PID adjustment parameters based on the standard engine reference wheel speed, the vehicle's current speed, and the PID variation parameters.

[0049] For step S2021, the PID variation parameters are determined by standard engine speed, vehicle type, accelerator pedal opening and current vehicle speed. The PID variation parameters integrate multiple parameters, which improves the accuracy of adjustment.

[0050] As an embodiment of the present invention, in step 202, the compensation method for eliminating vehicle slippage of the present invention further includes:

[0051] Step S2023: Determine the standard engine torque based on the PID adjustment parameters; compare the standard engine torque with the torque requested by the driver, and take the smaller value as the target engine torque for adjusting the engine.

[0052] Understandably, comparing the standard engine torque with the torque requested by the driver and taking the smaller value as the target engine torque combines the driver's understanding of road conditions and the driver's needs, making the adjustment more user-friendly and safer.

[0053] Additionally, in step S202, the normal range for the PID adjustment parameters can be: P fluctuation less than 600, I fluctuation less than 10, and D fluctuation less than 30. When the PID adjustment parameters exceed this normal range, the traction control system acquires the vehicle's actual engine speed. This step sets reasonable triggering conditions for the traction control system.

[0054] For step S203, the actual engine reference wheel speed is the wheel speed that the drive wheels should reach at the engine speed actually required to eliminate slippage. It is obtained by querying the engine reference offset wheel speed parameter table and the engine zero-point reference wheel speed parameter table based on the vehicle's current speed, accelerator pedal opening, and actual engine speed. For example... Figure 4 As shown, the specific steps are as follows:

[0055] Step S2031: Determine the basic engine reference offset wheel speed required to eliminate slippage by consulting the engine reference offset wheel speed parameter table based on the vehicle's current speed, accelerator pedal opening and actual engine speed;

[0056] Step S2032: Determine the actual engine reference offset wheel speed by fitting the vehicle yaw angle, vehicle lateral acceleration, and vehicle longitudinal acceleration based on the base engine reference offset wheel speed;

[0057] Step S2033: Based on the vehicle's current speed, accelerator pedal opening, and actual engine speed, determine the actual engine zero-point reference wheel speed required to eliminate slippage by consulting the engine zero-point reference wheel speed parameter table;

[0058] Step S2034: Determine the actual engine reference wheel speed based on the actual engine zero-point reference wheel speed and the actual engine reference offset wheel speed.

[0059] Specifically, in step S2032, the actual engine reference offset wheel speed is obtained by fitting the vehicle adjustment data to the base engine reference offset wheel speed. The vehicle adjustment data can be obtained from gyroscope signals, including vehicle yaw angle, vehicle lateral acceleration, and vehicle longitudinal acceleration, or it can include more adjustment data. Fitting the base engine reference offset wheel speed to the vehicle adjustment data, this setting incorporates various factors that cause PID control overshoot, making the results of correcting the PID control parameters more reliable.

[0060] Furthermore, based on the aforementioned steps, in step S203, the PID adjustment parameters are corrected according to the actual engine reference wheel speed, such as... Figure 4 The specific steps shown may include:

[0061] Step S2035: Determine the PID variation parameters based on the actual engine speed, vehicle type, accelerator pedal opening, and current vehicle speed;

[0062] Step S2036: Correct the PID adjustment parameters based on the actual engine reference wheel speed, the current vehicle speed, and the PID variation parameters.

[0063] Furthermore, according to the present invention, before step S201, it should be determined whether the vehicle is slipping under full throttle or high throttle acceleration. When the vehicle speed is greater than 0.5 km / h, the vehicle traction control system continuously monitors the slip ratio of each wheel. If the vehicle slips under this condition, a standard engine reference wheel speed is obtained to begin the step of eliminating vehicle slippage. The compensation method for eliminating vehicle slippage may further include:

[0064] Step S101: Determine the current speed of the vehicle based on the wheel speeds of at least two wheels of the vehicle, and determine the slip ratio of each wheel based on the current speed of the vehicle and the wheel speeds.

[0065] Step S102: Determine whether the vehicle slips during high throttle or full throttle acceleration based on the slip ratio, throttle pedal opening and standard engine speed; if slip occurs, obtain the standard engine reference wheel speed.

[0066] In step S101, the slip ratio is obtained by the following formula 2:

[0067] S = (V - V0) / V * 100%; (Formula 2)

[0068] Where S is the slip ratio; V is the current speed of the vehicle, which can be obtained by averaging the wheel speeds of the two non-driving wheels; V0 is the wheel speed of a single wheel, which can be calculated from the pulse of a single wheel (after two filtering steps).

[0069] In step S102, the specific criteria for determining whether the vehicle slips during high throttle or full throttle acceleration are: 1) slip ratio S greater than 9%~20%; 2) throttle pedal opening greater than 0; 3) engine speed greater than 1200 rpm.

[0070] Furthermore, according to the present invention, before step 202, it should be determined whether there is a wheel speed difference between the drive wheel and the non-drive wheel based on the slip ratio, so as to determine whether to intervene in braking control. If there is a wheel speed difference between the drive wheel and the non-drive wheel, it is difficult to effectively eliminate slippage by ordinary PID adjustment alone, so braking control needs to be intervened. This step specifically includes:

[0071] Step S103: Determine whether there is a wheel speed difference between the drive wheels and non-drive wheels of the vehicle based on the slip ratio;

[0072] Step S104: If there is no wheel speed difference, then determine the PID adjustment parameters;

[0073] Step S105: If the wheel speed difference exists, brake control is performed while adjusting the engine torque.

[0074] In this invention, during braking and torque control, the target wheel speed and actual wheel speed, the target PID torque and actual torque, and the target wheel cylinder pressure and actual wheel cylinder pressure are all subject to closed-loop control. In this stage, the difference between the actual and target values ​​is used as the input value for the next stage until the slip ratio is controlled within the acceptable range (S < 9%~20%). It should be noted that when adjusting engine torque via PID control, the adjustment range is limited by the slip ratio to avoid overshoot.

[0075] The present invention also provides a vehicle traction control system, wherein the vehicle traction control system applies the compensation method described above for eliminating vehicle slippage.

[0076] like Figure 5 As shown in the diagram, the present invention also provides a schematic diagram of the physical structure of an electronic device, which may include: a processor 1010, a communication interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute a compensation method for eliminating vehicle slippage, wherein the compensation method for eliminating vehicle slippage is applied to a vehicle traction control system.

[0077] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0078] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program that can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer is able to execute the compensation method for eliminating vehicle slippage provided by the above methods, wherein the compensation method for eliminating vehicle slippage is applied to a vehicle traction control system.

[0079] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the compensation method for eliminating vehicle slippage provided by the above methods, wherein the compensation method for eliminating vehicle slippage is applied to a vehicle traction control system.

[0080] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0081] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0082] It is further understood that although the operations are described in a specific order in the accompanying drawings in the embodiments of the present invention, this should not be construed as requiring these operations to be performed in the specific order or serial order shown, or requiring all the operations shown to obtain the desired result. In certain environments, multitasking and parallel processing may be advantageous.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A compensation method for eliminating slippage of a vehicle, characterized by, The method comprises the following steps: determining a standard engine reference wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the standard engine speed; determining a PID adjustment parameter required for PID adjustment engine torque according to the current vehicle speed and the standard engine reference wheel speed, and obtaining an actual engine speed if the PID adjustment parameter exceeds a normal range; determining an actual engine reference wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the actual engine speed, and correcting the PID adjustment parameter according to the actual engine reference wheel speed; determining a standard engine reference wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the standard engine speed, specifically comprising the following steps: determining a standard engine reference offset wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the standard engine speed by searching an engine reference offset wheel speed parameter table; determining a standard engine zero reference wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the standard engine speed by searching an engine zero reference wheel speed parameter table; determining the standard engine reference wheel speed according to the standard engine reference offset wheel speed and the standard engine zero reference wheel speed.

2. The compensation method for eliminating vehicle slip according to claim 1, characterized in that, determining a PID adjustment parameter required for PID adjustment engine torque according to the current vehicle speed and the standard engine reference wheel speed, specifically comprising the following steps: determining a PID variation parameter according to the standard engine speed, the vehicle type, the accelerator pedal opening degree and the current vehicle speed; determining the PID adjustment parameter according to the standard engine reference wheel speed, the current vehicle speed and the PID variation parameter.

3. The compensation method for eliminating vehicle slip according to claim 2, characterized in that, The method further comprises the following steps: determining a standard engine torque according to the PID adjustment parameter; comparing the standard engine torque with a driver request torque, and taking the smaller value as a target engine torque for adjusting the engine.

4. The compensation method for eliminating vehicle slip according to claim 1, characterized in that, The normal range of the PID adjustment parameter is that the fluctuation value of P is less than 600, the fluctuation value of I is less than 10, and the fluctuation value of D is less than 30.

5. The compensation method for eliminating vehicle slip according to claim 1, characterized in that, determining an actual engine reference wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the actual engine speed, specifically comprising the following steps: determining a basic engine reference offset wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the actual engine speed by searching an engine reference offset wheel speed parameter table; determining an actual engine reference offset wheel speed according to the basic engine reference offset wheel speed, the vehicle roll angle, the vehicle lateral acceleration and the vehicle longitudinal acceleration; determining an actual engine zero reference wheel speed required for eliminating slippage according to the current vehicle speed, the accelerator pedal opening degree and the actual engine speed by searching an engine zero reference wheel speed parameter table; determining the actual engine reference wheel speed according to the actual engine zero reference wheel speed and the actual engine reference offset wheel speed.

6. The compensation method for eliminating vehicle slip according to claim 2, characterized in that, correcting the PID adjustment parameter according to the actual engine reference wheel speed, specifically comprising the following steps: determining a PID variation parameter according to the actual engine speed, the vehicle type, the accelerator pedal opening degree and the current vehicle speed; correcting the PID regulating parameters according to the actual engine reference wheel speed, the current vehicle speed and the PID varying parameters.

7. The compensation method for eliminating vehicle slip according to claim 1, characterized in that, Before determining the standard engine reference wheel speed required to eliminate the slippage according to the current vehicle speed, the accelerator pedal opening and the standard engine speed, further comprising: determining the current vehicle speed according to wheel speeds of at least two wheels of the vehicle, and determining the slip rate of each wheel according to the current vehicle speed and the wheel speeds; determining whether the vehicle is in full throttle or full throttle acceleration when slippage occurs according to the slip rate, the accelerator pedal opening and the standard engine speed, and obtaining the standard engine reference wheel speed if slippage occurs.

8. The compensation method for eliminating vehicle slip according to claim 7, characterized in that, continuously detecting the slip rate of each wheel when the current vehicle speed is greater than 0.5km / h.

9. The compensation method for eliminating vehicle slip according to claim 7, characterized in that, Before determining the PID regulating parameters required to regulate the engine torque according to the current vehicle speed and the standard engine reference wheel speed, further comprising: determining whether there is a wheel speed difference between the driving wheels and the non-driving wheels of the vehicle according to the slip rate; if there is no wheel speed difference, determining the PID regulating parameters; if there is the wheel speed difference, performing brake control while regulating the engine torque.

10. A vehicle traction control system characterized by, The vehicle traction control system applies the compensation method for eliminating vehicle slippage according to any one of claims 1 to 9.

11. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the compensation method for eliminating vehicle slippage according to any one of claims 1 to 9 when executing the program.

12. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program implements the compensation method for eliminating vehicle slippage according to any one of claims 1 to 9 when executed by the processor.

Images