Vehicle control method, device, equipment and medium based on traction control system

Abstract

The present invention discloses a vehicle control method, device, equipment and medium based on a traction control system. The method includes: when it is detected that the vehicle driving state parameter meets the first preset ramp condition, the slope of the driving road is obtained, and the minimum driving force is calculated according to the slope; the first slip amount of the vehicle is obtained through the traction control system, and the weight value corresponding to the minimum driving force is obtained according to the first slip amount; the target initial integral point of the closed-loop control is calculated according to the minimum driving force and the corresponding weight value, and the vehicle torque control is performed based on the target initial integral point. The technical solution of this embodiment, by obtaining the minimum driving force according to the slope when it is detected that the vehicle is in a ramp condition, and calculating the initial integral point of the PID control based on the minimum driving force and the corresponding weight value, can better exert the vehicle acceleration ability on the ramp road surface, can effectively optimize the vehicle's ramp climbing performance, and does not affect other working conditions.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, device, equipment and medium based on a traction control system. Background Art

[0002] With the rapid development of the automobile industry, the traction control system (TCS) has become an essential subsystem for all vehicles. By adopting the TCS system, the wheel slippage that occurs when the vehicle brakes on a slippery road can be effectively suppressed, which can improve driving safety.

[0003] At present, the existing vehicle control method based on the TCS system usually estimates the current working condition based on the steering angle, longitudinal acceleration, lateral acceleration, yaw angular velocity and wheel speed, and limits the engine (motor) torque through closed-loop control of yaw and wheel slip, thereby ensuring the stability of the vehicle's acceleration and steering. However, the existing TCS system usually uses the same torque control logic for different road conditions, and on sloped roads, the use of a universal torque control logic can easily lead to a waste of vehicle acceleration performance, resulting in poor hill start performance of the vehicle. Summary of the invention

[0004] The present invention provides a vehicle control method, device, equipment and medium based on a traction control system, which can better exert the vehicle's acceleration capability on a ramp road surface, effectively optimize the vehicle's ramp climbing performance, and does not affect the performance of other working conditions.

[0005] According to one aspect of the present invention, a vehicle control method based on a traction control system is provided, comprising:

[0006] When it is detected that the vehicle driving state parameter meets the first preset slope condition, the slope of the driving road is obtained, and the minimum driving force is calculated according to the slope;

[0007] Acquiring a first slip amount of the vehicle through a traction control system, and acquiring a weight value corresponding to the minimum driving force according to the first slip amount;

[0008] According to the minimum driving force and the corresponding weight value, a target initial integration point of the closed-loop control is calculated, and the vehicle torque control is performed based on the target initial integration point.

[0009] According to another aspect of the present invention, a vehicle control device based on a traction control system is provided, comprising:

[0010] A minimum driving force calculation module, configured to obtain the slope of the driving road when it is detected that the vehicle driving state parameter meets a first preset slope condition, and calculate the minimum driving force according to the slope;

[0011] a weight value acquisition module, configured to acquire a first slip amount of the vehicle through a traction control system, and acquire a weight value corresponding to the minimum driving force according to the first slip amount;

[0012] The vehicle torque control module is used to calculate a target initial integration point of the closed-loop control according to the minimum driving force and a corresponding weight value, and perform vehicle torque control based on the target initial integration point.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method based on the traction control system described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method based on the traction control system described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention is to obtain the slope of the driving road when it is detected that the vehicle driving state parameters meet the first preset ramp condition, and calculate the minimum driving force according to the slope; then, obtain the first slip amount of the vehicle through the traction control system, and obtain the weight value corresponding to the minimum driving force according to the first slip amount; finally, calculate the target initial integration point of the closed-loop control according to the minimum driving force and the corresponding weight value, and perform vehicle torque control based on the target initial integration point. When it is detected that the vehicle is in a ramp condition, the minimum driving force is obtained according to the slope, and the initial integration point of the closed-loop control is calculated based on the minimum driving force and the corresponding weight value. The acceleration ability of the vehicle can be better exerted on the ramp road surface, and the vehicle's ramp climbing performance can be effectively optimized without affecting the performance of other working conditions.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1A is a flow chart of a vehicle control method based on a traction control system provided according to Embodiment 1 of the present invention;

[0022] Figure 1B is a schematic diagram of a mapping relationship between a vehicle speed and a slip compensation amount provided according to the first embodiment of the present invention;

[0023] Figure 1C is a schematic diagram of a vehicle torque change according to the first embodiment of the present invention;

[0024] Figure 2 is a structural schematic diagram of a vehicle control device based on a traction control system provided according to a second embodiment of the present invention;

[0025] Figure 3 It is a structural schematic diagram of an electronic device for implementing a vehicle control method based on a traction control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1A A flow chart of a vehicle control method based on a traction control system is provided for the first embodiment of the present invention. This embodiment is applicable to the case where a vehicle is controlled based on a traction control system under a slope condition. The method can be executed by a vehicle control device based on a traction control system. The vehicle control device based on a traction control system can be implemented in the form of hardware and / or software. The vehicle control device based on a traction control system can be configured in an electronic device. Typically, the electronic device can be a vehicle computer device. Figure 1A As shown, the method includes:

[0030] S110. When it is detected that the vehicle driving state parameter satisfies a first preset slope condition, the slope of the driving road is obtained, and the minimum driving force is calculated according to the slope.

[0031] The vehicle driving state parameters may include vehicle state parameters and driving road parameters, for example, the vehicle state parameters may include steering angle, pedal opening, vehicle speed, gear position and acceleration, etc.; the driving road parameters may include road slope, etc. The first preset ramp condition may be pre-set condition information for determining whether the vehicle is in a ramp road condition, for example, the slope may be greater than a certain value (for example, 8%), and the vehicle is in an accelerated forward state.

[0032] Optionally, detecting that the vehicle driving state parameter satisfies a first preset ramp condition may include:

[0033] If it is detected that the slope of the driving road is greater than or equal to a preset slope threshold, and it is detected based on the gear position and acceleration of the vehicle that the vehicle is in an accelerating uphill state, it is determined that the vehicle driving state parameters meet the first preset slope condition.

[0034] In a specific example, the slope of the current driving road, as well as the gear and acceleration data of the vehicle can be first obtained; then, if it is detected that the slope is greater than or equal to a preset slope threshold; and based on the gear and acceleration, it is determined that the vehicle is in an accelerating uphill state, then it can be determined that the vehicle driving state parameters meet the first preset ramp condition, that is, the vehicle is currently in a slope road condition.

[0035] The preset slope threshold may be a preset slope value for determining whether the current road is a ramp, for example, 8%; if the slope of the road is greater than or equal to the preset slope threshold, it can be determined that the current driving road is a ramp. In this embodiment, if it is detected that the gear position of the vehicle is the forward gear and the acceleration is a positive value, it can be determined that the vehicle is in an accelerating uphill state.

[0036] In this embodiment, after determining that the vehicle driving state parameter meets the first preset ramp condition, the minimum driving force can be calculated based on the slope information of the driving road. For example, the gravity component of the vehicle in the slope direction at the current position can be calculated based on the slope information and the weight of the vehicle, and the gravity component can be used as the minimum driving force. The minimum driving force can be the minimum value that the vehicle can overcome the ramp resistance (including rolling resistance / wind resistance, etc.).

[0037] In an optional implementation of this embodiment, calculating the minimum driving force according to the slope may include:

[0038] The weight of the vehicle is obtained, and the minimum driving force is calculated according to the weight of the vehicle, the slope and a preset basic limit.

[0039] In a specific example, the minimum driving force FtMin can be calculated based on the formula FtMin=m×g×sinθ+offset; wherein m can represent the weight of the vehicle, θ can represent the slope, offset can represent a preset basic limit value, which can be adaptively adjusted according to the application scenario, and g can represent the acceleration of gravity.

[0040] Optionally, when the application object is a four-wheel hub motor, the minimum driving force can be used as the minimum force limit of the high-attachment side wheel, and can also be used as the target force output by adjusting the offset value, thereby effectively avoiding the serious disadvantage of slipping caused by the existing control based on slip rate.

[0041] S120. Obtain a first slip amount of the vehicle through a traction control system, and obtain a weight value corresponding to the minimum driving force according to the first slip amount.

[0042] The first slip amount may be the current slip amount of the vehicle; for example, the TCS system may detect the transmission wheel speed and the drive wheel speed of the vehicle in real time, and use the speed difference between the drive wheel speed and the transmission wheel speed as the slip amount. It should be noted that under normal operating conditions, the vehicle's drive wheel speed is equal to the transmission wheel speed. When there is a speed difference, it means that the vehicle is slipping, and the TCS system needs to intervene to ensure the stability of the vehicle.

[0043] Specifically, the current weight value can be found based on the first slip amount and the correspondence between the preset slip amount and the weight value; or the slip difference can be obtained by subtracting the first slip amount from the preset slip amount, and the weight value corresponding to the minimum driving force can be found based on the slip difference and the correspondence between the preset slip difference and the weight value. The correspondence can be stored in a table; the weight value can be a value in the range of [0,1].

[0044] S130. Calculate a target initial integration point of closed-loop control according to the minimum driving force and a corresponding weight value, and perform vehicle torque control based on the target initial integration point.

[0045] Among them, the closed-loop control can be PID (Proportion Integral Differential) control; the initial integration point can be the starting point of the integral operation in the PID control, that is, the torque point when the TCS system begins to intervene.

[0046] In a specific example, the initial integration point calculated by TCS itself can be first obtained, and then 1 is subtracted from the weight value, and the difference is multiplied by the initial integration point to obtain the first product; at the same time, the weight value is multiplied by the minimum driving force to obtain the second product; finally, the first product is added to the second product, and the sum is used as the final target initial integration point.

[0047] In this embodiment, only the acquisition of the initial integration point is intervened. After the TCS system begins to intervene at the target initial integration point, the engine torque can be continuously adjusted through the PID control algorithm based on the slip amount detected in real time to ensure the stability of the vehicle.

[0048] The technical solution of the embodiment of the present invention is to obtain the slope of the driving road when it is detected that the vehicle driving state parameters meet the first preset ramp condition, and calculate the minimum driving force according to the slope; then, obtain the first slip amount of the vehicle through the traction control system, and obtain the weight value corresponding to the minimum driving force according to the first slip amount; finally, calculate the target initial integration point of the closed-loop control according to the minimum driving force and the corresponding weight value, and perform vehicle torque control based on the target initial integration point. When it is detected that the vehicle is in a ramp condition, the minimum driving force is obtained according to the slope, and the initial integration point of the closed-loop control is calculated based on the minimum driving force and the corresponding weight value. The acceleration ability of the vehicle can be better exerted on the ramp road surface, and the vehicle's ramp climbing performance can be effectively optimized without affecting the performance of other working conditions.

[0049] In another optional implementation of this embodiment, performing vehicle torque control based on the target initial integration point may include:

[0050] When it is detected that the vehicle driving state parameter satisfies a second preset ramp condition, obtaining a current vehicle speed, and obtaining a current slip compensation amount according to the current vehicle speed;

[0051] Acquiring a second slip amount of the vehicle through a traction control system, and acquiring a target slip amount according to the current slip compensation amount and the second slip amount of the vehicle;

[0052] Vehicle torque control is performed based on the target initial integration point and the target slip amount.

[0053] The second preset ramp condition may be pre-set condition information for determining whether slip compensation is currently required; for example, the slope may be greater than or equal to a certain value and the vehicle is in an accelerating state. In this embodiment, if the vehicle driving state parameter satisfies the second preset ramp condition, it indicates that slip compensation is required.

[0054] In this embodiment, in the process of vehicle torque control based on the PID control algorithm, the actual slip amount detected in real time can be compensated to obtain a larger slip amount, thereby reasonably relaxing the restriction on torque to better exert the vehicle's acceleration ability on the slope road surface and optimize the vehicle's slope climbing performance.

[0055] In a specific example, first, according to the current vehicle speed, the matching current slip compensation amount can be found in the pre-set mapping relationship table of vehicle speed and slip compensation amount. Then, the current second slip amount is obtained through the TCS system, and the second slip amount is added to the current slip compensation amount to obtain the target slip amount. Finally, the output of the engine torque is adjusted based on the target slip amount through the PID control algorithm.

[0056] Among them, the mapping relationship between vehicle speed and slip compensation amount can be as follows: Figure 1B As shown in FIG. 1 , as the vehicle speed gradually increases, the slip compensation amount gradually decreases until it decreases to 0.

[0057] Optionally, detecting that the vehicle driving state parameter satisfies a second preset ramp condition may include:

[0058] If it is detected that the slope of the driving road is greater than or equal to a preset slope threshold, and the opening of the accelerator pedal is greater than or equal to a preset opening threshold, it is determined that the vehicle driving state parameters meet the second preset slope condition.

[0059] The preset opening threshold may be a preset opening value of the accelerator pedal.

[0060] In a specific example, if it is detected that the slope of the driving road is greater than or equal to 8 percent and the opening of the accelerator pedal is greater than or equal to a preset opening threshold, it can be determined that the vehicle driving state parameters meet the second preset slope condition, that is, the compensation for the slip amount is activated.

[0061] Optionally, in this embodiment, if it is detected that the slope of the driving road is less than a preset slope threshold, or the current slip amount is greater than a preset exit threshold delta_V_threshold, the compensation operation for the current slip amount is exited.

[0062] In another optional implementation of this embodiment, acquiring a weight value corresponding to the minimum driving force according to the first slip amount may include:

[0063] A slip control deviation is calculated according to the first slip and a preset slip, and a weight value corresponding to the minimum driving force is obtained according to the slip control deviation.

[0064] In a specific example, the slip control deviation can be calculated by subtracting the first slip from the preset slip; then, according to the slip control deviation, a matching weight value can be found in a pre-set mapping relationship table of slip control deviation and weight value to be used as the weight value corresponding to the minimum driving force. The larger the slip control deviation, the smaller the weight value; the smaller the slip control deviation, the larger the weight value.

[0065] In another optional implementation of this embodiment, calculating the target initial integration point of the closed-loop control according to the minimum driving force and the corresponding weight value may include:

[0066] The current initial integration point is calculated by the traction control system, and the target initial integration point is calculated according to the current initial integration point, the minimum driving force and the corresponding weight value.

[0067] In a specific example, the TCS system can use the actual engine torque minus the inertia torque loss, and use the force value corresponding to the torque difference as the current initial integration point; then, the target initial integration point PID_I_initial_Point_Final can be calculated based on the formula PID_I_initial_Point_Final = (1-MinWeight) × PID_I_initial_Point + MinWeight × FtMin.

[0068] Among them, MinWeight can represent the weight value, PID_I_initial_Point can represent the current initial integration point, and FtMin can represent the minimum driving force. It should be noted that in non-current ramp conditions, MinWeight=0 is the default, that is, the minimum driving force is not introduced.

[0069] It should be noted that PID_I_initial_Point_Final is a force value, which can be converted into a corresponding torque value. When sending it to the drive unit, it can be decided whether to send a force value or a torque value according to the type of the host factory interface.

[0070] In this embodiment, the vehicle torque change can be as follows: Figure 1C As shown, by using the minimum driving force and the corresponding weight value to adjust the initial integration point calculated by the TCS system itself, the initial integration point when the TCS is activated can be increased, so that when the vehicle starts from a standstill on a slope or travels on a slope, the first torque reduction point after the TCS is activated will not be too small (the default setting of automobile manufacturers is automatic torque reduction after the car starts), which can avoid a sharp drop in wheel speed, so that the driving force itself is sufficient to overcome the slope resistance.

[0071] Therefore, the technical solution of this embodiment can optimize the on-road climbing performance independently, quickly and effectively, without affecting other road conditions, and the slope threshold during traction control is large, which has little impact on other road conditions; secondly, the hill starting performance can be optimized, and sufficient power can be used for quick starting; if the on-road acceleration condition is entered while going uphill, the optimization effect is more obvious, which can avoid serious power loss or even pause.

[0072] Embodiment 2

[0073] Figure 2 This is a schematic diagram of the structure of a vehicle control device based on a traction control system provided in the second embodiment of the present invention. Figure 2As shown, the device may include: a minimum driving force calculation module 210, a weight value acquisition module 220 and a vehicle torque control module 230; wherein,

[0074] The minimum driving force calculation module 210 is used to obtain the slope of the driving road when it is detected that the vehicle driving state parameter meets the first preset slope condition, and calculate the minimum driving force according to the slope;

[0075] A weight value acquisition module 220, configured to acquire a first slip amount of the vehicle through a traction control system, and acquire a weight value corresponding to the minimum driving force according to the first slip amount;

[0076] The vehicle torque control module 230 is used to calculate a target initial integration point of the closed-loop control according to the minimum driving force and the corresponding weight value, and perform vehicle torque control based on the target initial integration point.

[0077] The technical solution of the embodiment of the present invention is to obtain the slope of the driving road when it is detected that the vehicle driving state parameters meet the first preset ramp condition, and calculate the minimum driving force according to the slope; then, obtain the first slip amount of the vehicle through the traction control system, and obtain the weight value corresponding to the minimum driving force according to the first slip amount; finally, calculate the target initial integration point of the closed-loop control according to the minimum driving force and the corresponding weight value, and perform vehicle torque control based on the target initial integration point. When it is detected that the vehicle is in a ramp condition, the minimum driving force is obtained according to the slope, and the initial integration point of the closed-loop control is calculated based on the minimum driving force and the corresponding weight value. The acceleration ability of the vehicle can be better exerted on the ramp road surface, and the vehicle's ramp climbing performance can be effectively optimized without affecting the performance of other working conditions.

[0078] Optionally, the vehicle torque control module 230 includes:

[0079] A slip compensation amount acquisition unit, configured to acquire a current vehicle speed when it is detected that the vehicle driving state parameter satisfies a second preset slope condition, and acquire a current slip compensation amount according to the current vehicle speed;

[0080] a target slip amount acquisition unit, configured to acquire a second slip amount of the vehicle through a traction control system, and acquire a target slip amount according to the current slip compensation amount and the second slip amount of the vehicle;

[0081] The vehicle torque control unit is used to perform vehicle torque control based on the target initial integration point and the target slip amount.

[0082] Optionally, the minimum driving force calculation module 210 is specifically used to determine that the vehicle driving state parameters meet the first preset ramp condition if it is detected that the slope of the driving road is greater than or equal to a preset slope threshold, and it is detected based on the gear position and acceleration of the vehicle that the vehicle is in an accelerating uphill state.

[0083] Optionally, the slip compensation amount acquisition unit is specifically used to determine that the vehicle driving state parameters meet the second preset slope condition if it is detected that the slope of the driving road is greater than or equal to a preset slope threshold and the opening of the accelerator pedal is greater than or equal to a preset opening threshold.

[0084] Optionally, the minimum driving force calculation module 210 is specifically used to obtain the weight of the vehicle, and calculate the minimum driving force according to the weight of the vehicle, the slope and a preset basic limit.

[0085] Optionally, the weight value acquisition module 220 is specifically configured to calculate a slip control deviation according to the first slip and a preset slip, and acquire a weight value corresponding to the minimum driving force according to the slip control deviation.

[0086] Optionally, the vehicle torque control module 230 is specifically configured to calculate a current initial integration point through a traction control system, and calculate a target initial integration point based on the current initial integration point, the minimum driving force and a corresponding weight value.

[0087] The vehicle control device based on the traction control system provided in the embodiment of the present invention can execute the vehicle control method based on the traction control system provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0088] Embodiment 3

[0089] Figure 3 A schematic diagram of the structure of an electronic device 30 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0090] like Figure 3As shown, the electronic device 30 includes at least one processor 31, and a memory connected to the at least one processor 31, such as a read-only memory (ROM) 32, a random access memory (RAM) 33, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 31 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 32 or the computer program loaded from the storage unit 38 to the random access memory (RAM) 33. In the RAM 33, various programs and data required for the operation of the electronic device 30 can also be stored. The processor 31, the ROM 32, and the RAM 33 are connected to each other through a bus 34. An input / output (I / O) interface 35 is also connected to the bus 34.

[0091] A number of components in the electronic device 30 are connected to the I / O interface 35, including: an input unit 36, such as a keyboard, a mouse, etc.; an output unit 37, such as various types of displays, speakers, etc.; a storage unit 38, such as a disk, an optical disk, etc.; and a communication unit 39, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 39 allows the electronic device 30 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0092] The processor 31 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 31 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 31 executes the various methods and processes described above, such as a vehicle control method based on a traction control system.

[0093] In some embodiments, the vehicle control method based on the traction control system may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 38. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 30 via the ROM 32 and / or the communication unit 39. When the computer program is loaded into the RAM 33 and executed by the processor 31, one or more steps of the vehicle control method based on the traction control system described above may be performed. Alternatively, in other embodiments, the processor 31 may be configured to execute the vehicle control method based on the traction control system in any other appropriate manner (e.g., by means of firmware).

[0094] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0096] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0097] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0098] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0099] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0100] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0101] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method based on a traction control system, characterized in that: include: If it is detected that the slope of the driving road is greater than or equal to a preset slope threshold, and it is detected according to the gear position and acceleration of the vehicle that the vehicle is in an accelerating uphill state, it is determined that the vehicle driving state parameter meets a first preset slope condition, and the slope of the driving road is obtained; Obtaining the weight of the vehicle, and calculating the minimum driving force according to the weight of the vehicle, the slope and a preset basic limit; The minimum driving force is calculated according to the weight of the vehicle, the slope and the preset basic limit, including: the minimum driving force FtMin is calculated based on the formula FtMin=m×g×sinθ+offset, where m represents the weight of the vehicle, θ represents the slope, offset represents the preset basic limit, and is adaptively adjusted according to the application scenario, and g represents the acceleration of gravity; Obtaining a first slip amount of the vehicle through a traction control system, and calculating a slip amount control deviation according to the first slip amount and a preset slip amount, and obtaining a weight value corresponding to the minimum driving force according to the slip amount control deviation, wherein the slip amount is a speed difference between a driving wheel speed and a transmission wheel speed; The current initial integration point is calculated by the traction control system, and the target initial integration point is calculated according to the current initial integration point, the minimum driving force and the corresponding weight value; wherein, according to the current initial integration point, the minimum driving force and the corresponding weight value, the target initial integration point is calculated, including: the target initial integration point PID_I_initial_Point_Final is calculated based on the formula PID_I_initial_Point_Final=(1-MinWeight)×PID_I_initial_Point+ MinWeight×FtMin, MinWeight represents the weight value, PID_I_initial_Point represents the current initial integration point, and FtMin represents the minimum driving force; by adopting the minimum driving force and the corresponding weight value, the initial integration point calculated by the traction control system itself is adjusted to improve the initial integration point when the traction control system is activated, so that when the vehicle starts from a standstill on a slope or when the vehicle is traveling on a slope, a sharp decrease in wheel speed is avoided, and the vehicle's climbing performance is effectively optimized; If it is detected that the slope of the driving road is greater than or equal to a preset slope threshold, and the opening of the accelerator pedal is greater than or equal to a preset opening threshold, it is determined that the vehicle driving state parameter meets the second preset slope condition, and the current vehicle speed is obtained, and according to the current vehicle speed, a matching current slip compensation amount is searched in a preset mapping relationship table of vehicle speed and slip compensation amount to obtain; Acquiring a second slip amount of the vehicle through a traction control system, and adding the second slip amount to the current slip compensation amount to acquire a target slip amount; The vehicle torque is controlled based on the target initial integration point and the target slip amount by a PID control algorithm.

2. A vehicle control device based on a traction control system, characterized in that: include: a minimum driving force calculation module, configured to determine that the vehicle driving state parameter satisfies a first preset slope condition and obtain the slope of the driving road if it is detected that the slope of the driving road is greater than or equal to a preset slope threshold and it is detected according to the gear position and acceleration of the vehicle that the vehicle is in an accelerating uphill state; Obtaining the weight of the vehicle, and calculating the minimum driving force according to the weight of the vehicle, the slope and a preset basic limit; The minimum driving force is calculated according to the weight of the vehicle, the slope and the preset basic limit, including: the minimum driving force FtMin is calculated based on the formula FtMin=m×g×sinθ+offset, where m represents the weight of the vehicle, θ represents the slope, offset represents the preset basic limit, and is adaptively adjusted according to the application scenario, and g represents the acceleration of gravity; a weight value acquisition module, configured to acquire a first slip amount of the vehicle through a traction control system, and calculate a slip amount control deviation according to the first slip amount and a preset slip amount, and acquire a weight value corresponding to the minimum driving force according to the slip amount control deviation, wherein the slip amount is a speed difference between a driving wheel speed and a transmission wheel speed; A vehicle torque control module, configured to calculate a current initial integration point through a traction control system, and calculate a target initial integration point according to the current initial integration point, the minimum driving force and a corresponding weight value; wherein, according to the current initial integration point, the minimum driving force and the corresponding weight value, the target initial integration point is calculated, including: the target initial integration point PID_I_initial_Point_Final is calculated based on the formula PID_I_initial_Point_Final=(1-MinWeight)×PID_I_initial_Point+ MinWeight×FtMin, MinWeight represents the weight value, PID_I_initial_Point represents the current initial integration point, and FtMin represents the minimum driving force; by adopting the minimum driving force and the corresponding weight value, the initial integration point calculated by the traction control system itself is adjusted to improve the initial integration point when the traction control system is activated, so that when the vehicle starts from a standstill on a slope or when the vehicle is traveling on a slope, a sharp decrease in wheel speed is avoided, and the vehicle's climbing performance is effectively optimized; If it is detected that the slope of the driving road is greater than or equal to a preset slope threshold, and the opening of the accelerator pedal is greater than or equal to a preset opening threshold, it is determined that the vehicle driving state parameter meets the second preset slope condition, and the current vehicle speed is obtained, and according to the current vehicle speed, a matching current slip compensation amount is searched in a preset mapping relationship table of vehicle speed and slip compensation amount to obtain; Acquiring a second slip amount of the vehicle through a traction control system, and adding the second slip amount to the current slip compensation amount to acquire a target slip amount; The vehicle torque is controlled based on the target initial integration point and the target slip amount by a PID control algorithm.

3. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle control method based on the traction control system according to claim 1.

4. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle control method based on the traction control system of claim 1 when executed.

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