A method and device for controlling vehicle stability

Abstract

The application relates to a method and device for controlling vehicle driving stability, computer equipment and a storage medium. The method comprises the following steps: collecting an accelerator pedal opening degree and a brake pedal opening degree of a vehicle, and obtaining a current driving state of the vehicle according to the accelerator pedal opening degree and the brake pedal opening degree; collecting wheel speed information of each wheel of the vehicle, and obtaining a current speed of the vehicle according to the wheel speed information; and outputting corresponding motor feedback torque according to the current driving state and the current speed, so as to control the vehicle driving stability. The method can solve the problem of unstable driving of the vehicle when the vehicle is sliding or braking.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, computer equipment, and storage medium for controlling the driving stability of a vehicle. Background Technology

[0002] To achieve energy conservation and environmental protection, pure electric vehicles are gradually becoming the development trend in the new energy vehicle field. Pure electric vehicles are primarily rear-wheel drive, and their power output characteristics are characterized by high speed and high torque. This means that when a pure electric vehicle is coasting or braking, the intervention of motor energy recovery generates a large braking torque, making the rear wheels prone to "locking up," thus causing instability. Currently, most pure electric vehicles on the market are equipped with an Anti-lock Braking System (ABS) instead of an Electronic Stability Control (ESC). However, ABS only deactivates motor energy recovery when the function is triggered to ensure vehicle stability. When ABS is not triggered, the deactivation of motor energy recovery causes the motor's feedback torque to suddenly drop to zero, potentially causing the vehicle to lurch forward and increasing the instability of the pure electric vehicle. Summary of the Invention

[0003] Based on this, a method, apparatus, computer device, and storage medium for controlling vehicle driving stability are provided to solve the problem of unstable vehicle driving during coasting or braking in the prior art.

[0004] On the one hand, a method for stabilizing vehicle driving is provided, the method comprising: acquiring the accelerator pedal opening and brake pedal opening of the vehicle, and obtaining the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening; acquiring wheel speed information of each wheel of the vehicle, and obtaining the current vehicle speed based on the wheel speed information; and outputting a corresponding motor feedback torque based on the current driving state and the current vehicle speed to control the vehicle driving stability.

[0005] In one embodiment, a corresponding motor feedback torque is output based on the current driving state and the current vehicle speed to control vehicle driving stability. This includes: obtaining the correspondence between the vehicle speed and the motor feedback torque; when the current driving state is a coasting state, obtaining and outputting the corresponding motor feedback torque based on the correspondence and the current vehicle speed.

[0006] In one embodiment, after obtaining the correspondence between the vehicle speed and the motor feedback torque, and when the current driving state is a coasting state, after obtaining and outputting the corresponding motor feedback torque based on the correspondence and the current vehicle speed, the method further includes: calculating the wheel slip ratio based on the current vehicle speed and the wheel speed information, and obtaining the duration of the wheel slip ratio; when the wheel slip ratio is greater than or equal to a wheel slip ratio threshold, and the duration is greater than or equal to a duration threshold, the motor feedback torque is gradient-reduced according to the motor feedback torque gradient value.

[0007] In one embodiment, based on the current driving state and the current vehicle speed, a corresponding motor feedback torque is output to control vehicle driving stability, including: when the current driving state is a braking state, obtaining the wheel slip ratio and its duration; simultaneously comparing the current vehicle speed with a vehicle speed threshold, comparing the wheel slip ratio with a wheel slip ratio threshold, and comparing the duration with a duration threshold to obtain a comparison result; and outputting a corresponding motor feedback torque based on the comparison result to control vehicle driving stability.

[0008] In one embodiment, based on the comparison result, a corresponding motor feedback torque is output to control vehicle driving stability, including: if the current vehicle speed is less than a first vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a first duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control vehicle driving stability.

[0009] In one embodiment, based on the comparison result, a corresponding motor feedback torque is output to control vehicle driving stability, including: if the current vehicle speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a second duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control vehicle driving stability.

[0010] In one embodiment, the accelerator pedal opening and brake pedal opening of the vehicle are collected, and the current driving state of the vehicle is obtained based on the accelerator pedal opening and brake pedal opening. This includes: collecting the accelerator pedal opening and brake pedal opening of the vehicle; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is less than the brake pedal opening threshold, the current driving state of the vehicle is a coasting state; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is greater than or equal to the brake pedal opening threshold, the current driving state of the vehicle is a braking state.

[0011] On the other hand, a device for controlling vehicle driving stability is provided, the device comprising:

[0012] The data acquisition module is used to acquire the accelerator pedal opening and brake pedal opening of the vehicle, and to obtain the current driving status of the vehicle based on the accelerator pedal opening and brake pedal opening.

[0013] The vehicle speed calculation module is used to collect the wheel speed information of each wheel of the vehicle and obtain the current vehicle speed based on the wheel speed information.

[0014] The torque control module is used to output corresponding motor feedback torque according to the current driving state and the current vehicle speed in order to control the vehicle driving stability.

[0015] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: acquiring the accelerator pedal opening and brake pedal opening of a vehicle, and obtaining the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening; acquiring wheel speed information of each wheel of the vehicle, and obtaining the current vehicle speed based on the wheel speed information; and outputting corresponding motor feedback torque based on the current driving state and the current vehicle speed to control the vehicle's driving stability.

[0016] In another aspect, a computer-readable storage medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the following steps are performed: acquiring the accelerator pedal opening and brake pedal opening of a vehicle, and obtaining the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening; acquiring wheel speed information of each wheel of the vehicle, and obtaining the current vehicle speed based on the wheel speed information; and outputting corresponding motor feedback torque based on the current driving state and the current vehicle speed to control the vehicle's driving stability.

[0017] The aforementioned method, device, computer equipment, and storage medium for controlling vehicle driving stability acquire the accelerator pedal opening and brake pedal opening of the vehicle, and obtain the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening; acquire the wheel speed information of each wheel of the vehicle, and obtain the current vehicle speed based on the wheel speed information; and output the corresponding motor feedback torque based on the current driving state and current vehicle speed, so as to control the vehicle driving stability in a coasting or braking state, under the condition of energy recovery. Attached Figure Description

[0018] Figure 1 This is an application environment diagram of a method for controlling vehicle driving stability in one embodiment;

[0019] Figure 2This is a flowchart illustrating a method for controlling vehicle driving stability in one embodiment;

[0020] Figure 3 This is a structural block diagram of a device for controlling vehicle driving stability in one embodiment;

[0021] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0023] The method for controlling vehicle driving stability provided in this application can be applied to, for example... Figure 1 In the application environment shown, terminal 102 and server 104 communicate via a network. First, the vehicle's accelerator pedal and brake pedal openings are collected to determine the vehicle's current driving state, which can be either coasting or braking. Then, wheel speed information for each wheel is collected to determine the vehicle's current speed. Finally, based on the current driving state and speed, corresponding motor feedback torque is output to control vehicle stability.

[0024] The terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets and portable wearable devices, and the server 104 can be implemented by a standalone server or a server cluster consisting of multiple servers.

[0025] In one embodiment, such as Figure 2 As shown, a method for controlling vehicle driving stability is provided, which can be applied to... Figure 1 Taking the terminal in the example, the explanation includes the following steps:

[0026] Step 201: Collect the accelerator pedal opening and brake pedal opening of the vehicle, and obtain the current driving status of the vehicle based on the accelerator pedal opening and brake pedal opening.

[0027] Step 202: Collect wheel speed information of each wheel of the vehicle, and obtain the current speed of the vehicle based on the wheel speed information;

[0028] Step 203: Based on the current driving status and current vehicle speed, output the corresponding motor feedback torque to control vehicle driving stability.

[0029] In step 201, for example, the accelerator pedal opening and brake pedal opening of the vehicle are collected, and the current driving state of the vehicle is obtained based on the accelerator pedal opening and brake pedal opening. For example, in some embodiments, on icy and snowy roads in winter, users generally do not press the accelerator pedal and brake pedal, but choose to let the vehicle coast. Since pure electric vehicles and other types of vehicles have coasting energy recovery strategies, the drive motor generates motor feedback torque based on the received energy recovery signal. If the motor feedback torque is set too large, it may result in a large wheel speed difference between the rear wheel speed and the front wheel speed of a rear-wheel drive vehicle. This can cause the rear wheels of the vehicle to lock up, resulting in a rapid decrease in lateral force and a fishtailing phenomenon. If the motor feedback torque is set too low, although the fishtailing phenomenon can be improved, the energy recovery effect of the vehicle will be reduced. In some other embodiments, on a wet and slippery road surface, the user gently presses the brake pedal, and the mechanical braking and electric braking are superimposed to obtain a total braking force. At this time, the mechanical braking reaches a certain intensity, and the wheel slip rate reaches the calibrated threshold but does not reach the ABS trigger threshold. The ABS sends a signal to the vehicle controller, at which point the vehicle controller immediately disengages energy recovery. Because the motor feedback torque suddenly becomes zero, the total braking force decreases, and the vehicle will lurch forward. Therefore, to address the situation mentioned in the above embodiments, the accelerator pedal signal and brake pedal signal can be collected first through the vehicle controller to obtain the accelerator pedal opening and brake pedal opening. Based on the accelerator pedal opening and brake pedal opening, it can be determined whether the current driving state is a coasting state or a braking state. When the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is less than the brake pedal opening threshold, the current driving state is a coasting state. When the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is greater than the brake pedal opening threshold, the current driving state is a braking state. In some implementations, the accelerator pedal opening threshold can be 0 and the brake pedal opening threshold can be 0, which is not specifically limited here.

[0030] In step 202, it is exemplarily explained that the wheel speed information of each wheel of the vehicle is collected, and the current vehicle speed is obtained based on the wheel speed information. For example, the wheel speed information of each wheel can be obtained based on vehicle parameters such as the wheel rolling radius and the number of teeth on the gear ring. The mathematical expression of the wheel speed information is: V1=2πRf / n, where V1 is the wheel speed information, π is pi, R is the wheel rolling radius, and n is the number of teeth on the gear ring. The vehicle controller can be set to count the number of teeth that pass through the wheel speed sensor gear ring within a period of time, i.e., the frequency f. In some implementations, the current vehicle speed is calculated by the wheel speed information of the four wheels, and then the current vehicle speed is sent to the vehicle controller.

[0031] In step 203, it is illustrated by way of example that, based on the current driving state and the current vehicle speed, a corresponding motor feedback torque is output to control the vehicle driving stability. For example, when the vehicle is in a coasting state, a correspondence between the current vehicle speed and the motor feedback torque is established, and then, based on the obtained current vehicle speed and the correspondence, a corresponding motor feedback torque is output. Furthermore, a correspondence between the vehicle speed, brake pedal opening, and accelerator pedal opening and the motor feedback torque can be established, and then the corresponding motor feedback torque can be obtained.

[0032] As a specific implementation of the above embodiments, the corresponding motor feedback torque is output according to the current driving state and the current vehicle speed to control the vehicle driving stability, including: establishing the correspondence between the vehicle speed and the motor feedback torque; when the current driving state is a coasting state, the corresponding motor feedback torque is obtained and output according to the correspondence and the current vehicle speed.

[0033] As a specific implementation of the above embodiments, after establishing the correspondence between vehicle speed and motor feedback torque, and obtaining and outputting the corresponding motor feedback torque based on the correspondence and current vehicle speed when the current driving state is coasting, the method further includes: calculating the wheel slip ratio based on the current vehicle speed and wheel speed information, and obtaining the duration of the wheel slip ratio; when the wheel slip ratio is greater than or equal to the wheel slip ratio threshold, and the duration is greater than or equal to the duration threshold, the motor feedback torque is gradient-reduced according to the motor feedback torque gradient value.

[0034] It should be noted that when the wheel slip ratio reaches the calibrated wheel slip ratio threshold and duration, the ABS can send an energy recovery control signal to the vehicle controller. Specifically, this could be a signal to disable energy recovery, allowing the vehicle controller to reduce the motor feedback torque according to the calibrated motor feedback torque gradient, thus achieving energy recovery. As the motor feedback torque decreases, the wheel slip ratio also decreases, increasing the vehicle's lateral force and maintaining stability. In some implementations, energy recovery will not re-enter the system if the wheel slip ratio is below the calibrated wheel slip ratio threshold to prevent frequent understeer (pushing). In other implementations, the vehicle controller re-enters coasting energy recovery only when the accelerator pedal is depressed and then released, thus resolving the understeer phenomenon. The mathematical expression for wheel slip ratio is: δ = (VV) / V a ) / V*100%, where δ represents the wheel slip ratio, V a V represents wheel speed, and V represents vehicle speed.

[0035] As a specific implementation of the above embodiments, the corresponding motor feedback torque is output according to the current driving state and the current vehicle speed to control vehicle driving stability, including: when the current driving state is braking state, obtaining the wheel slip ratio and duration; simultaneously comparing the current vehicle speed with a vehicle speed threshold, comparing the wheel slip ratio with a wheel slip ratio threshold, and comparing the duration with a duration threshold to obtain a comparison result; and outputting the corresponding motor feedback torque according to the comparison result to control vehicle driving stability.

[0036] It should be noted that when the vehicle is currently braking, the ABS obtains the current vehicle speed by collecting wheel speed signals from the wheel speed sensors. Then, it compares the current vehicle speed with a vehicle speed threshold and the wheel slip ratio with a wheel slip ratio threshold. Specifically, in some embodiments, when the current vehicle speed is less than 20 km / h, if the slip ratios of both wheels are simultaneously greater than 10% for a duration greater than 80 ms, the ABS sends a signal to the vehicle controller to disable energy recovery, controlling the discontinuation of energy recovery and reducing the motor's regenerative torque to 0. In other embodiments, when the current vehicle speed is greater than or equal to 20 km / h but less than 50 km / h, if the slip ratios of both wheels are simultaneously greater than 10% for a duration greater than 100 ms, the ABS sends a signal to the vehicle controller to disable energy recovery. In some embodiments, when the current vehicle speed is greater than or equal to 50 km / h and less than 80 km / h, if the slip ratio of both wheels is simultaneously greater than 12% for a duration greater than 100 ms, or the slip ratio of a single wheel is greater than 12% for a duration greater than 160 ms, the ABS sends an energy recovery prohibition signal to the vehicle controller to control the discontinuation of energy recovery, and the motor regenerative torque is reduced to 0. In other embodiments, when the current vehicle speed is greater than 100 km / h, if the slip ratio of both wheels is simultaneously greater than 15% for a duration of 100 ms, or the slip ratio of a single wheel is greater than 15% for a duration of 160 ms, the ABS sends an energy recovery prohibition signal to the vehicle controller to control the discontinuation of energy recovery, and the motor regenerative torque is reduced to 0.

[0037] Where km / h represents kilometers per hour and ms represents milliseconds.

[0038] It should be noted that, based on the comparison results, the corresponding motor feedback torque is output to control the vehicle's driving stability, including: if the current vehicle speed is less than the first vehicle speed threshold, the wheel slip ratio is greater than the first wheel slip ratio threshold, and the duration is greater than the first duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control the vehicle's driving stability.

[0039] It should be noted that, based on the comparison results, the corresponding motor feedback torque is output to control vehicle driving stability, including: if the current vehicle speed is greater than or equal to the first vehicle speed threshold and less than the second vehicle speed threshold, the wheel slip ratio is greater than the first wheel slip ratio threshold, and the duration is greater than the second duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control vehicle driving stability.

[0040] It should be noted that the process involves collecting the accelerator pedal opening and brake pedal opening of the vehicle, and determining the vehicle's current driving state based on these openings. This includes: collecting the accelerator pedal opening and brake pedal opening; when the accelerator pedal opening is less than an accelerator pedal opening threshold and the brake pedal opening is less than a brake pedal opening threshold, the vehicle's current driving state is coasting; when the accelerator pedal opening is less than an accelerator pedal opening threshold and the brake pedal opening is greater than or equal to a brake pedal opening threshold, the vehicle's current driving state is braking.

[0041] It should be understood that, although Figure 2 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0042] In one embodiment, such as Figure 3 As shown, a device for controlling vehicle driving stability is provided, including: a data acquisition module, a vehicle speed calculation module, and a torque control module, wherein:

[0043] The data acquisition module is used to collect the accelerator pedal opening and brake pedal opening of the vehicle, and to obtain the current driving status of the vehicle based on the accelerator pedal opening and brake pedal opening.

[0044] The vehicle speed calculation module is used to collect wheel speed information of each wheel of the vehicle and obtain the current vehicle speed based on the wheel speed information.

[0045] The torque control module is used to output the corresponding motor feedback torque according to the current driving status and current vehicle speed in order to control the vehicle's driving stability.

[0046] Optionally, the torque control module is also used to establish the correspondence between the vehicle speed and the motor feedback torque. When the current driving state is coasting, the corresponding motor feedback torque is obtained and output according to the correspondence and the current vehicle speed.

[0047] Optionally, the torque control module is also used to calculate the wheel slip ratio based on the current vehicle speed and wheel speed information, and obtain the duration of the wheel slip ratio; when the wheel slip ratio is greater than or equal to the wheel slip ratio threshold, and the duration is greater than or equal to the duration threshold, the motor feedback torque is reduced in a gradient according to the motor feedback torque gradient value.

[0048] Optionally, the torque control module is also used to obtain the wheel slip ratio and duration when the current driving state is braking; at the same time, it compares the current vehicle speed with the vehicle speed threshold, the wheel slip ratio with the wheel slip ratio threshold, and the duration with the duration threshold to obtain the comparison results; based on the comparison results, it outputs the corresponding motor feedback torque to control the vehicle driving stability.

[0049] Optionally, the torque control module is also used to receive an energy recovery control signal and reduce the motor feedback torque according to the energy recovery control signal if the current vehicle speed is less than a first vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a first duration threshold, so as to control the vehicle driving stability.

[0050] Optionally, the torque control module is also used to receive an energy recovery control signal and reduce the motor feedback torque according to the energy recovery control signal if the current vehicle speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a second duration threshold, so as to control the vehicle driving stability.

[0051] Optionally, the data acquisition module is also used to acquire the accelerator pedal opening and brake pedal opening of the vehicle. When the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is less than the brake pedal opening threshold, the current driving state of the vehicle is the coasting state; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is greater than or equal to the brake pedal opening threshold, the current driving state of the vehicle is the braking state.

[0052] Specific limitations regarding the device for controlling vehicle stability can be found in the limitations regarding the method for controlling vehicle stability described above, and will not be repeated here. Each module in the aforementioned device for controlling vehicle stability can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0053] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for controlling the stability of vehicle driving. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0054] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0055] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: acquiring the accelerator pedal opening and brake pedal opening of a vehicle, and obtaining the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening; acquiring wheel speed information of each wheel of the vehicle, and obtaining the current vehicle speed based on the wheel speed information; and outputting corresponding motor feedback torque based on the current driving state and the current vehicle speed to control the vehicle's driving stability.

[0056] In one embodiment, when the processor executes the computer program, it also performs the following steps: establishing a correspondence between the vehicle speed and the motor feedback torque; when the current driving state is a coasting state, obtaining and outputting the corresponding motor feedback torque based on the correspondence and the current vehicle speed.

[0057] In one embodiment, when the processor executes the computer program, it further implements the following steps: calculating the wheel slip ratio based on the current vehicle speed and wheel speed information, and obtaining the duration of the wheel slip ratio; when the wheel slip ratio is greater than or equal to the wheel slip ratio threshold and the duration is greater than or equal to the duration threshold, the motor feedback torque is gradient-reduced according to the motor feedback torque gradient value.

[0058] In one embodiment, when the processor executes the computer program, it further implements the following steps: when the current driving state is braking, it obtains the wheel slip ratio and duration; at the same time, it compares the current vehicle speed with a vehicle speed threshold, the wheel slip ratio with a wheel slip ratio threshold, and the duration with a duration threshold to obtain a comparison result; based on the comparison result, it outputs the corresponding motor feedback torque to control the vehicle driving stability.

[0059] In one embodiment, when the processor executes the computer program, it further implements the following steps: if the current vehicle speed is less than a first vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a first duration threshold, then it receives an energy recovery control signal and reduces the motor feedback torque according to the energy recovery control signal to control the vehicle driving stability.

[0060] In one embodiment, when the processor executes the computer program, it further implements the following steps: if the current vehicle speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a second duration threshold, then it receives an energy recovery control signal and reduces the motor feedback torque according to the energy recovery control signal to control the vehicle's driving stability.

[0061] In one embodiment, when the processor executes the computer program, it further implements the following steps: acquiring the accelerator pedal opening and brake pedal opening of the vehicle; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is less than the brake pedal opening threshold, the current driving state of the vehicle is a coasting state; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is greater than or equal to the brake pedal opening threshold, the current driving state of the vehicle is a braking state.

[0062] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: acquiring the accelerator pedal opening and brake pedal opening of the vehicle, and obtaining the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening; acquiring wheel speed information of each wheel of the vehicle, and obtaining the current vehicle speed based on the wheel speed information; and outputting corresponding motor feedback torque based on the current driving state and the current vehicle speed to control the vehicle's driving stability.

[0063] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: establishing a correspondence between the vehicle speed and the motor feedback torque; when the current driving state is a coasting state, obtaining and outputting the corresponding motor feedback torque based on the correspondence and the current vehicle speed.

[0064] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: calculating the wheel slip ratio based on the current vehicle speed and wheel speed information, and obtaining the duration of the wheel slip ratio; when the wheel slip ratio is greater than or equal to the wheel slip ratio threshold and the duration is greater than or equal to the duration threshold, the motor feedback torque is gradient-reduced according to the motor feedback torque gradient value.

[0065] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: when the current driving state is braking, it obtains the wheel slip ratio and duration; at the same time, it compares the current vehicle speed with the vehicle speed threshold, the wheel slip ratio with the wheel slip ratio threshold, and the duration with the duration threshold to obtain the comparison result; based on the comparison result, it outputs the corresponding motor feedback torque to control the vehicle driving stability.

[0066] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the current vehicle speed is less than a first vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a first duration threshold, then it receives an energy recovery control signal and reduces the motor feedback torque according to the energy recovery control signal to control the vehicle's driving stability.

[0067] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the current vehicle speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a second duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control the vehicle driving stability.

[0068] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: acquiring the accelerator pedal opening and brake pedal opening of the vehicle; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is less than the brake pedal opening threshold, the current driving state of the vehicle is a coasting state; when the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is greater than or equal to the brake pedal opening threshold, the current driving state of the vehicle is a braking state.

[0069] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling vehicle driving stability, characterized in that, include: The accelerator pedal opening and brake pedal opening of the vehicle are collected, and the current driving state of the vehicle is obtained based on the accelerator pedal opening and brake pedal opening. Collect wheel speed information of each wheel of the vehicle, and obtain the current vehicle speed based on the wheel speed information; When the current driving state is a coasting state, the corresponding motor feedback torque is obtained and output according to the correspondence between the vehicle speed and the motor feedback torque and the current vehicle speed. The wheel slip ratio is calculated according to the current vehicle speed and the wheel speed information, and the duration of the wheel slip ratio is obtained. When the wheel slip ratio is greater than or equal to the wheel slip ratio threshold and the duration is greater than or equal to the duration threshold, the motor feedback torque is reduced in a gradient according to the motor feedback torque gradient value. When the current driving state is braking, the wheel slip ratio and duration are obtained. At the same time, the current vehicle speed is compared with the vehicle speed threshold, the wheel slip ratio is compared with the wheel slip ratio threshold, and the duration is compared with the duration threshold. The comparison results are obtained, and the corresponding motor feedback torque is output according to the comparison results to control the vehicle driving stability.

2. The method for controlling vehicle driving stability as described in claim 1, characterized in that, Based on the comparison results, a corresponding motor feedback torque is output to control vehicle driving stability, including: If the current vehicle speed is less than a first vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a first duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control vehicle driving stability.

3. The method for controlling vehicle driving stability as described in claim 1, characterized in that, Based on the comparison results, a corresponding motor feedback torque is output to control vehicle driving stability, including: If the current vehicle speed is greater than or equal to a first vehicle speed threshold and less than a second vehicle speed threshold, the wheel slip ratio is greater than a first wheel slip ratio threshold, and the duration is greater than a second duration threshold, then an energy recovery control signal is received, and the motor feedback torque is reduced according to the energy recovery control signal to control vehicle driving stability.

4. The method for controlling vehicle driving stability as described in claim 1, characterized in that, The system collects the accelerator pedal opening and brake pedal opening of the vehicle, and obtains the current driving state of the vehicle based on the accelerator pedal opening and brake pedal opening, including: The accelerator pedal opening and brake pedal opening of the vehicle are collected. When the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is less than the brake pedal opening threshold, the current driving state of the vehicle is a coasting state. When the accelerator pedal opening is less than the accelerator pedal opening threshold and the brake pedal opening is greater than or equal to the brake pedal opening threshold, the current driving state of the vehicle is the braking state.

5. A device for controlling vehicle driving stability, characterized in that, include: The data acquisition module is used to acquire the accelerator pedal opening and brake pedal opening of the vehicle, and to obtain the current driving status of the vehicle based on the accelerator pedal opening and brake pedal opening. The vehicle speed calculation module is used to collect the wheel speed information of each wheel of the vehicle and obtain the current vehicle speed based on the wheel speed information. Torque control module, used for: When the current driving state is a coasting state, the corresponding motor feedback torque is obtained and output according to the correspondence between the vehicle speed and the motor feedback torque and the current vehicle speed. The wheel slip ratio is calculated according to the current vehicle speed and the wheel speed information, and the duration of the wheel slip ratio is obtained. When the wheel slip ratio is greater than or equal to the wheel slip ratio threshold and the duration is greater than or equal to the duration threshold, the motor feedback torque is reduced in a gradient according to the motor feedback torque gradient value. When the current driving state is braking, the wheel slip ratio and duration are obtained. At the same time, the current vehicle speed is compared with the vehicle speed threshold, the wheel slip ratio is compared with the wheel slip ratio threshold, and the duration is compared with the duration threshold. The comparison results are obtained, and the corresponding motor feedback torque is output according to the comparison results to control the vehicle driving stability.

6. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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