Vehicle skid control method, device and electronic equipment

Abstract

The present invention provides a vehicle slip control method, device, and electronic device. The control method includes: calculating the axle speed differential, where the axle speed differential is the difference between the vehicle's axle speed and the vehicle's driving speed. When the axle speed differential exceeds the permissible axle speed differential value at the current vehicle speed, the vehicle is in a slip state; determining whether the vehicle's state meets the initiation conditions for a slip control process, where the initiation conditions include: the vehicle is in a slip state and the vehicle's state meets additional determination conditions; and, if the vehicle's state meets the initiation conditions, initiating the vehicle's slip control process to control the axle speed differential within a permissible range. The present invention rapidly reduces vehicle slip before the TCS function is activated, reducing the frequency of TCS intervention, thereby improving vehicle stability and safety.

Description

Technical Field

[0001] The present invention mainly relates to the field of vehicle control technology, and in particular to a vehicle skidding control method, device and electronic equipment. Background Art

[0002] As vehicles become increasingly common, skidding and locking are becoming more commonplace. Currently, the industry primarily relies on the ESP (Electronic Stability Program)'s TCS (Traction Control System) to control slippage and ensure safe driving.

[0003] Taking electric vehicles as an example, their TCS function controls the slip rate. During the control process, due to the characteristics of electric vehicles such as rapid torque rise, large acceleration and late TCS activation (caused by the signal cycle), it is difficult to control the slip of electric vehicles in a timely and effective manner by relying solely on the simple TCS function when the electric vehicle slips.

[0004] In addition, when the TCS function is activated, the vehicle will have a noticeable sense of jerkiness, and the riding experience will be poor. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a vehicle skid control method, device and electronic equipment to quickly reduce vehicle skid before the TCS function is activated, reduce the frequency of TCS function intervention, and thus improve vehicle stability and safety.

[0006] To solve the above technical problems, in a first aspect, the present invention provides a vehicle slip control method, comprising: calculating the axle speed difference, wherein the axle speed difference is the difference between the axle speed of the vehicle and the driving speed of the vehicle; when the axle speed difference is greater than the allowable value of the axle speed difference at the current vehicle speed, the vehicle is in a slip state; judging whether the state of the vehicle meets the starting conditions of the slip control process; wherein the starting conditions include: the vehicle is in a slip state, and the state of the vehicle meets additional judgment conditions; when the vehicle state meets the starting conditions, starting the vehicle slip control process to control the axle speed difference within an allowable range.

[0007] Optionally, the axle speed of the vehicle is an average of the wheel speeds of each driving wheel of the vehicle.

[0008] Optionally, the additional judgment conditions include: the motor speed is greater than the set value, the motor torque is greater than the set value, the brake switch is not set, the vehicle speed and wheel speed signal verification is passed, the motor is not overspeeding, the exit mechanism of the slip control process is not activated, the vehicle gear is not in the parking gear, the hub mode is not activated and the steering wheel angle is less than the set value.

[0009] Optionally, the determination of whether the state of the vehicle satisfies a start condition of a slip control process comprises a first environmental judgment condition, wherein the first environmental judgment condition is whether the ambient temperature is less than an ambient temperature setting value.

[0010] Optionally, the ambient temperature setting value is 0°C.

[0011] Optionally, the determination of whether the state of the vehicle satisfies a start condition of a slip control process comprises a second environmental judgment condition, and the second environmental judgment condition is whether a current slope value is greater than a slope setting value.

[0012] Optionally, the process of starting the vehicle slip control includes: performing PID dynamic control according to a difference between the axle speed difference and an allowable value of the axle speed difference at the current vehicle speed.

[0013] Optionally, during the PID dynamic control of the vehicle, a torque decrease rate of the vehicle is greater than a torque recovery rate of the vehicle.

[0014] Optionally, after starting the vehicle slip control process, when the axle speed difference is controlled to be within an allowable range, the current slip control process is exited.

[0015] Optionally, after starting the vehicle's slip control process, when the vehicle's TCS intervenes in the vehicle control, the current slip control process is exited.

[0016] In a second aspect, the present invention provides a vehicle slip control device, comprising: a calculation module for calculating an axle speed difference, wherein the axle speed difference is the difference between the axle speed of the vehicle and the driving speed of the vehicle; when the axle speed difference is greater than the allowable value of the axle speed difference at the current vehicle speed, the vehicle is in a slip state; a judgment module for judging whether the state of the vehicle meets the starting conditions of a slip control process; wherein the starting conditions include: the vehicle is in a slip state, and the state of the vehicle meets additional judgment conditions; a starting module for starting the slip control process of the vehicle when the vehicle state meets the starting conditions, so that the axle speed difference is controlled within an allowable range.

[0017] Optionally, an exit module is further included, and the exit module is used to exit the current slip control process.

[0018] In a third aspect, the present invention provides an electronic device comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the vehicle slip control method as described in the first aspect are implemented.

[0019] In a fourth aspect, the present invention provides a readable storage medium storing a program or instruction, which, when executed by a processor, implements the steps of the vehicle slip control method as described in the first aspect.

[0020] Compared with the prior art, the present invention has the following advantages: by calculating the axle speed difference, where the axle speed difference is the difference between the vehicle's axle speed and the vehicle's driving speed, when the axle speed difference is greater than the allowable value of the axle speed difference at the current vehicle speed, the vehicle is in a slipping state; then judging whether the vehicle's state meets the starting conditions for the slip control process, wherein the starting conditions include: the vehicle is in a slipping state and the vehicle's state meets additional judgment conditions; when the vehicle state meets the starting conditions, starting the vehicle's slip control process, so that the axle speed difference is controlled within the allowable range, achieving rapid reduction of vehicle slip before the TCS function is activated, reducing the frequency of TCS function intervention, and thus improving vehicle stability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are included to provide a further understanding of the present application. They are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present application and, together with this specification, serve to explain the principles of the present application. In the accompanying drawings:

[0022] Figure 1 1 is a flow chart of a vehicle skid control method according to an embodiment of the present invention;

[0023] Figure 2 is a flow chart of a vehicle skidding control method according to another embodiment of the present invention;

[0024] Figure 3 is a flow chart of a vehicle skidding control method according to another embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a vehicle skid control device according to an embodiment of the present invention. Figure 1 ;

[0026] Figure 5 This is a schematic diagram of the structure of a vehicle skid control device according to an embodiment of the present invention. Figure 2 ;

[0027] Figure 6 FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0029] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0030] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0031] Flowcharts are used in this application to illustrate the operations performed by systems according to embodiments of the present application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the various steps may be processed in reverse order or simultaneously. Furthermore, other operations may be added to these processes, or one or more operations may be removed from these processes.

[0032] Example 1

[0033] Figure 1 This is a flow chart of a vehicle skidding control method according to an embodiment of the present invention, with reference to Figure 1 , the method 100 shown includes:

[0034] S110. Calculate an axle speed difference, where the axle speed difference is the difference between the axle speed of the vehicle and the driving speed of the vehicle; when the axle speed difference is greater than an allowable axle speed difference at the current vehicle speed, the vehicle is in a slipping state.

[0035] During vehicle driving, the phenomenon in which the wheels slide relative to the ground due to the rolling torque being less than the anti-rolling torque is called skidding. In order to evaluate the proportion of the vehicle wheel slip component, the slip ratio is often used to represent it. However, when the vehicle speed is too low, the slip ratio will be distorted. Therefore, in this embodiment, the vehicle's skidding is characterized by the axle speed difference. The axle speed difference is the difference between the vehicle's axle speed and the vehicle's driving speed, which can be expressed as ΔV=V1-V2, where ΔV represents the axle speed difference, V1 represents the axle speed, and V2 represents the vehicle's driving speed. In this embodiment, when the axle speed difference is greater than the axle speed difference allowable value at the current vehicle speed, the vehicle is in a skidding state. It can be understood that under different vehicle speed conditions, the axle speed difference allowable value can be set according to actual conditions.

[0036] In some embodiments, the vehicle's axle speed is the average of the wheel speeds of each of the vehicle's drive wheels. For example, if the vehicle is a two-wheel drive vehicle, the average of the wheel speeds of the two drive wheels on a single axle is calculated, and this average is the vehicle's axle speed. If the vehicle is a four-wheel drive vehicle, the average of the four wheel speeds is calculated, and this average is the vehicle's axle speed. The vehicle's axle speed difference is then calculated by adding this average to the vehicle's running speed (obtained from the vehicle speed signal).

[0037] S120: Determine whether the state of the vehicle satisfies a start condition of a slip control process; wherein the start condition includes: the vehicle is in a slip state, and the state of the vehicle satisfies an additional determination condition.

[0038] In this embodiment, when the axle speed difference is greater than the allowable axle speed difference value at the current vehicle speed and the vehicle is in a slipping state, the slip control process of this embodiment is not necessarily activated. This is because the slipping state may also be a slight slip that exists in the vehicle during driving, and will not have a significant impact on the vehicle's state or driving process. In addition, if the slip control process of this embodiment is executed whenever the vehicle slips, it will inevitably be executed more frequently, which will inevitably cause the slip control process to intervene too much in the vehicle, and will have an adverse effect on the stability of the vehicle's driving. Therefore, when the vehicle slips, other judgment conditions, that is, additional judgment conditions, should be used to accurately determine whether it is necessary to intervene in the vehicle slip control process at present. It can be understood that the additional judgment conditions can be reasonably set according to the actual use of the vehicle and the driver's personal operating habits.

[0039] In some embodiments, additional judgment conditions may include: motor speed greater than a set value; motor torque greater than a set value; brake switch not set; vehicle speed and wheel speed signal verification passed; motor not overspeeding; slip control process exit mechanism not activated; vehicle gear not in park; wheel rotation mode not activated; and steering wheel angle less than a set value. For an electric vehicle (e.g., Nezha U) as an example, the additional judgment conditions are as follows: motor speed ≥ 100 rpm (to prevent interference caused by motor speed fluctuations); motor torque ≥ 10 Nm (vehicle in driving state); brake pedal not pressed; vehicle speed and wheel speed signal verification is valid and reliable; motor speed ≤ 16,500 rpm (i.e., ≤ the actual maximum speed of the motor); vehicle gear is in D / R gear; wheel rotation mode not activated; and steering wheel angle ≤ 5°. When the vehicle's current state meets the above additional judgment conditions and the vehicle is in a slipping state, it indicates that the slipping state has significantly adversely affected the vehicle's driving safety.

[0040] S130: When the vehicle state satisfies the starting condition, start the vehicle slip control process to control the axle speed difference within an allowable range.

[0041] In this embodiment, when the vehicle state meets the starting conditions, that is, the vehicle is in a slipping state and the vehicle state meets the additional judgment conditions, and the vehicle slipping state has brought a significant adverse effect on the vehicle's driving safety, the vehicle's slip control process is started, thereby controlling the axle speed difference within the allowable range, preventing the vehicle slip from continuing to increase, reducing TCS intervention, and improving vehicle safety performance.

[0042] In some embodiments, a determination is made as to whether the vehicle's state satisfies the conditions for initiating a slip control process, wherein the initiation conditions include a first environmental judgment condition. The first environmental judgment condition is whether the ambient temperature is less than a set ambient temperature value. In this embodiment, when it is detected that the ambient temperature is less than the set ambient temperature value, it is assumed that the vehicle is on an icy or frosty road surface, and the vehicle actively enters the vehicle slip control process and performs pre-slip control. The theoretical basis for determining whether to enter pre-slip control based on ambient temperature conditions is the Kam's circle principle, which will not be elaborated here. Furthermore, the ambient temperature setting value can be 0°C.

[0043] In some embodiments, it is determined whether the state of the vehicle meets the starting conditions of the slip control process, wherein the starting conditions include a second environmental judgment condition. The second environmental judgment condition is whether the current ramp value (slope) is greater than the ramp setting value. For different vehicles on a fixed ramp, the maximum driving force without slipping is constant and calculable when the tires remain unchanged. The maximum driving torque can be calculated using Tq=mg sinθ*r, where Tq is the maximum driving torque, m is the vehicle mass, g is the acceleration of gravity, θ is the ramp value, and r is the tire radius. In this embodiment, if it is detected that the vehicle is on a ramp and the current ramp value is greater than the ramp setting value, the vehicle actively enters the vehicle slip control process and performs pre-slip control. The theoretical basis for determining whether to enter pre-slip control based on the ramp value is ramp load transfer, which will not be repeated here.

[0044] In some embodiments, the vehicle's slip control process can be initiated by performing PID dynamic control based on the difference between the axle speed difference and the allowable axle speed difference at the current vehicle speed. After the vehicle's slip control is initiated, PID dynamic control of the torque is performed based on the difference between the axle speed difference and the axle speed difference allowed at the current vehicle speed, thereby controlling the speed difference to within the allowable axle speed difference and ensuring vehicle stability. The PID controller consists of a proportional unit P, an integral unit I, and a differential unit D. Its proportional adjustment coefficient Kp, integral adjustment coefficient Ki, and differential adjustment coefficient Kd need to be calibrated on the actual vehicle and will not be described in detail here. More preferably, during the PID dynamic control of the vehicle, the vehicle's torque reduction rate is greater than the vehicle's torque recovery rate. For example, the PID dynamic control of the torque rise and fall should have a certain gradient. The torque reduction slope should be relatively large to achieve rapid torque reduction to control slip, and the torque recovery rise slope should be relatively small to prevent excessive torque recovery, which may lead to secondary slip.

[0045] The vehicle slip control method of this embodiment can be executed by the vehicle's VCU (Vehicle Control Unit), which controls various vehicle subsystems and is generally the control center of an electric vehicle. The VCU performs vehicle slip control based on slip conditions, wheel speed differentials, slope, ambient temperature, and other factors before the TCS function is activated, proactively reducing torque.

[0046] The vehicle slip control method provided in this embodiment first calculates the axle speed difference, where the axle speed difference is the difference between the vehicle's axle speed and the vehicle's driving speed. When the axle speed difference is greater than the allowable axle speed difference at the current vehicle speed, the vehicle is in a slip state. Then, it is determined whether the vehicle state meets the starting conditions for the slip control process, where the starting conditions include: the vehicle is in a slip state, and the vehicle state meets additional judgment conditions. If the vehicle state meets the starting conditions, the vehicle slip control process is started to control the axle speed difference within the allowable range, quickly reduce vehicle slip before the TCS function is activated, reduce the frequency of TCS function intervention, and thus improve vehicle stability and safety.

[0047] Example 2

[0048] Figure 2 is a flow chart of a vehicle skidding control method according to another embodiment of the present invention, with reference to Figure 2 , the method 200 shown includes:

[0049] S110: Calculate an axle speed difference, where the axle speed difference is the difference between the vehicle's axle speed and the vehicle's travel speed. When the axle speed difference is greater than the permissible axle speed difference at the current vehicle speed, the vehicle is in a slipping state. This step has been described in detail above and will not be repeated here.

[0050] S120: Determine whether the vehicle state satisfies a start condition for a slip control process; wherein the start condition includes: the vehicle is in a slip state and the vehicle state satisfies an additional determination condition. This step has been described in detail above and will not be repeated here.

[0051] S130: If the vehicle state satisfies the start condition, start the vehicle slip control process to control the axle speed difference within the allowable range. This step has been described in detail above and will not be repeated here.

[0052] S210: Exit the current slip control process.

[0053] The method of this embodiment sets an exit mechanism to reduce the intervention in vehicle control and facilitate the smooth operation of the vehicle. First, after starting the vehicle's slip control process, when the axle speed difference is controlled to be within the allowable range, the current slip control process is exited. This exit method is an active exit of the method of this embodiment, that is, when the purpose of vehicle slip control is achieved, the mechanism of exiting vehicle control is used to avoid excessive control intervention. Second, after starting the vehicle's slip control process, when the vehicle's TCS intervenes in vehicle control, the current slip control is exited. This exit method is a passive exit of the method of this embodiment. Since TCS has intervened in vehicle control, the control method of this embodiment can be directly exited as an auxiliary method, and the vehicle can directly respond to TCS control.

[0054] The details of other operations performed in each step of this embodiment can be referred to the aforementioned embodiment and will not be elaborated here.

[0055] The vehicle slip control method provided in this embodiment first calculates the axle speed difference, where the axle speed difference is the difference between the vehicle's axle speed and the vehicle's driving speed. When the axle speed difference is greater than the allowable axle speed difference at the current vehicle speed, the vehicle is in a slip state. Then, it is determined whether the vehicle state meets the starting conditions for the slip control process, where the starting conditions include: the vehicle is in a slip state, and the vehicle state meets additional judgment conditions. If the vehicle state meets the starting conditions, the vehicle slip control process is started to control the axle speed difference within the allowable range, quickly reduce vehicle slip before the TCS function is activated, reduce the frequency of TCS function intervention, and thus improve vehicle stability and safety.

[0056] Example 3

[0057] Figure 3 is a flow chart of a vehicle skidding control method according to another embodiment of the present invention, with reference to Figure 3 The method 300 shown adopts a closed-loop control + pre-control mode. The closed-loop control is based on the actual situation of vehicle slippage. The pre-control is based on external road conditions. When the vehicle is slipping or about to slip, it actively limits the torque to control the vehicle slippage and reduce the frequency of TCS function intervention, including:

[0058] S301: Calculate the shaft speed difference.

[0059] The axle speed differential is the difference between the vehicle's axle speed and its travel speed. The axle speed differential can be expressed as ΔV = V1 - V2, where ΔV represents the axle speed differential, V1 represents the axle speed, and V2 represents the vehicle's travel speed. When the axle speed differential exceeds the allowable axle speed differential at the current vehicle speed, the vehicle is slipping.

[0060] S302: Whether there is a slope, or whether the ambient temperature < 0 is satisfied.

[0061] When the current slope value meets the slope condition, that is, the current slope value is greater than the slope setting value, the vehicle is assumed to be slipping or at risk of slipping on the slope. When the ambient temperature is detected to be less than 0°C, the vehicle is assumed to be on an icy or frosty road.

[0062] S303: Actively limit torque.

[0063] In the judgment of step 302 , if the vehicle driving road meets the environmental judgment conditions, pre-slip control is actively performed.

[0064] S304: Determine whether the slip control start condition is met.

[0065] The activation condition here can be that the vehicle is in a slipping state and the vehicle state meets additional judgment conditions. For example, if the vehicle is in a slipping state, the motor speed is greater than the set value, the motor torque is greater than the set value, the brake switch is not set, the vehicle speed and wheel speed signal verification is passed, the motor is not overspeeding, the exit mechanism of the slip control process is not activated, the vehicle gear is not in park, the steering wheel mode is not activated, and the steering wheel angle is less than the set value.

[0066] S305: Limit torque according to the slip situation.

[0067] The vehicle's slip control process is initiated, and the torque is limited according to the slip situation so that the axle speed difference is controlled within the allowable range.

[0068] S306: Exit control.

[0069] It includes an active exit mechanism, that is, when the axle speed difference is controlled to within the allowable range, the current slip control process is exited, or a passive exit mechanism, that is, when the vehicle's TCS intervenes in vehicle control, the current slip control is exited.

[0070] The details of other operations performed in each step of this embodiment can be referred to the aforementioned embodiment and will not be elaborated here.

[0071] The vehicle slip control method provided in this embodiment first calculates the axle speed difference, where the axle speed difference is the difference between the vehicle's axle speed and the vehicle's driving speed. When the axle speed difference is greater than the allowable axle speed difference at the current vehicle speed, the vehicle is in a slip state. Then, it is determined whether the vehicle state meets the starting conditions for the slip control process, where the starting conditions include: the vehicle is in a slip state, and the vehicle state meets additional judgment conditions. If the vehicle state meets the starting conditions, the vehicle slip control process is started to control the axle speed difference within the allowable range, quickly reduce vehicle slip before the TCS function is activated, reduce the frequency of TCS function intervention, and thus improve vehicle stability and safety.

[0072] Example 4

[0073] Figure 4 This is a schematic diagram of the structure of a vehicle skid control device according to an embodiment of the present invention. Figure 1 ,refer to Figure 4 , the device 400 mainly includes:

[0074] The calculation module 401 is used to calculate the axle speed difference, where the axle speed difference is the difference between the axle speed of the vehicle and the driving speed of the vehicle; when the axle speed difference is greater than the allowable axle speed difference at the current vehicle speed, the vehicle is in a slipping state.

[0075] In some embodiments, the axle speed of the vehicle is an average of the wheel speeds of each drive wheel of the vehicle.

[0076] The judgment module 402 is used to judge whether the state of the vehicle meets the starting conditions of the slip control process; wherein the starting conditions include: the vehicle is in a slip state, and the state of the vehicle meets additional judgment conditions.

[0077] In some embodiments, additional judgment conditions may be that the motor speed is greater than the set value, the motor torque is greater than the set value, the brake switch is not set, the vehicle speed and wheel speed signal verification is passed, the motor is not overspeeding, the exit mechanism of the slip control process is not activated, the vehicle gear is not in the parking gear, the hub mode is not activated, and the steering wheel angle is less than the set value.

[0078] In some embodiments, the start condition includes a first environmental judgment condition, where the first environmental judgment condition is whether the ambient temperature is less than a set ambient temperature value.

[0079] In some embodiments, the ambient temperature set point is 0°C.

[0080] In some embodiments, the start condition includes a second environmental judgment condition, and the second environmental judgment condition is whether the current ramp value is greater than the ramp setting value.

[0081] The starting module 403 is configured to start the vehicle slip control process when the vehicle state satisfies the starting condition, so as to control the axle speed difference within an allowable range.

[0082] In some embodiments, the vehicle slip control process may be initiated by performing PID dynamic control based on the difference between the axle speed difference and the allowable axle speed difference at the current vehicle speed.

[0083] In some embodiments, during the PID dynamic control of the vehicle, the vehicle's torque reduction rate is greater than the vehicle's torque recovery rate.

[0084] Figure 5 This is a schematic diagram of the structure of a vehicle skid control device according to an embodiment of the present invention. Figure 2 ,refer to Figure 5 The device 400 shown may further include an exit module 501, and the exit module 501 is used to exit the current slip control process.

[0085] In some implementations, when the shaft speed difference is controlled to be within an allowable range, the current slip control process is exited.

[0086] In some implementations, when the vehicle's TCS intervenes in vehicle control, the current slip control process is exited.

[0087] The details of other operations performed by each module in this embodiment can be referred to the aforementioned embodiments and will not be elaborated here.

[0088] The vehicle skid control device provided in this embodiment first calculates the axle speed difference, where the axle speed difference is the difference between the vehicle's axle speed and the vehicle's driving speed. When the axle speed difference is greater than the allowable axle speed difference at the current vehicle speed, the vehicle is in a skidding state; then, it is determined whether the vehicle's state meets the starting conditions for the skid control process, where the starting conditions include: the vehicle is in a skidding state, and the vehicle's state meets additional judgment conditions; if the vehicle's state meets the starting conditions, the vehicle's skid control process is started to control the axle speed difference within the allowable range, quickly reduce vehicle skidding before the TCS function is activated, reduce the frequency of TCS function intervention, and thus improve vehicle stability and safety.

[0089] A vehicle skid control device in an embodiment of the present application may be a device, or a component, integrated circuit, or chip in a terminal. A vehicle skid control device in an embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the present embodiment.

[0090] The present application also provides an electronic device, comprising: a memory for storing programs or instructions executable by a processor; and a processor for executing the above programs or instructions to implement the various processes of the above-mentioned vehicle slip control method embodiment, and to achieve the same technical effect, which will not be repeated here to avoid repetition.

[0091] Figure 6 6 is a schematic diagram of an electronic device according to an embodiment of the present invention. Electronic device 600 may include an internal communication bus 601, a processor 602, a read-only memory (ROM) 603, a random access memory (RAM) 604, and a communication port 605. When used on a personal computer, electronic device 600 may also include a hard disk 606. Internal communication bus 601 enables data communication between components of electronic device 600. Processor 602 can make decisions and issue prompts. In some embodiments, processor 602 may be composed of one or more processors. Communication port 605 enables data communication between electronic device 600 and the outside world. In some embodiments, electronic device 600 can send and receive information and data from a network via communication port 605. Electronic device 600 may also include various forms of program storage units and data storage units, such as a hard disk 606, a read-only memory (ROM) 603, and a random access memory (RAM) 604, capable of storing various data files used for computer processing and / or communication, as well as possible programs or instructions executed by processor 602. The result processed by the processor 602 is transmitted to the user equipment through the communication port 605 and displayed on the user interface.

[0092] The above-mentioned vehicle slip control method can be implemented as a computer program, stored in the hard disk 606, and recorded in the processor 602 for execution to implement any vehicle slip control method in the present application.

[0093] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned vehicle slip control method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0094] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0095] At the same time, this application uses specific terms to describe the embodiments of this application. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned twice or multiple times in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application may be appropriately combined.

[0096] Some aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software can be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor can be one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program code. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs...), smart cards, and flash memory devices (e.g., cards, sticks, key drives...).

[0097] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0098] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A vehicle skid control method, characterized in that: include: Calculating an axle speed difference, wherein the axle speed difference is a difference between an axle speed of the vehicle and a driving speed of the vehicle; When the axle speed difference is greater than the axle speed difference allowable value at the current vehicle speed, the vehicle is in a slipping state; Determining whether the state of the vehicle satisfies a start condition of a slip control process; The starting conditions include: the vehicle is in a slipping state, and the state of the vehicle meets additional judgment conditions; In the case where the vehicle state satisfies the starting condition, starting the vehicle slip control process to control the axle speed difference within an allowable range; The additional judgment conditions include: the motor speed is greater than the set value, the motor torque is greater than the set value, the brake switch is not set, the vehicle speed and wheel speed signal verification is passed, the motor is not overspeeding, the exit mechanism of the slip control process is not activated, the vehicle gear is not in the parking gear, the hub mode is not activated, and the steering wheel angle is less than the set value; The process of starting the vehicle slip control includes: performing PID dynamic control according to the difference between the axle speed difference and the axle speed difference allowable value at the current vehicle speed; During the PID dynamic control of the vehicle, a torque reduction speed of the vehicle is greater than a torque recovery speed of the vehicle.

2. The vehicle slip control method according to claim 1, wherein: The axle speed of the vehicle is an average of the wheel speeds of the driving wheels of the vehicle.

3. The vehicle slip control method according to claim 1, wherein: The determining whether the vehicle state satisfies a start condition of the slip control process, wherein the start condition includes a first environmental determination condition, and the first environmental determination condition is whether the ambient temperature is less than an ambient temperature setting value.

4. The vehicle slip control method according to claim 3, wherein: The ambient temperature setting value is 0°C.

5. The vehicle slip control method according to claim 1 or 3, characterized in that: The determining whether the vehicle state satisfies the starting condition of the slip control process, wherein the starting condition includes a second environmental determination condition, and the second environmental determination condition is whether the current slope value is greater than a slope setting value.

6. The vehicle slip control method according to claim 1, wherein: After the vehicle slip control process is started, when the axle speed difference is controlled to be within an allowable range, the current slip control process is exited.

7. The vehicle slip control method according to claim 1, wherein: After the vehicle slip control process is started, when the TCS of the vehicle intervenes in the vehicle control, the current slip control process is exited.

8. A vehicle skid control device, used to implement the vehicle skid control method according to any one of claims 1 to 7, characterized in that: include: a calculation module, configured to calculate an axle speed difference, wherein the axle speed difference is a difference between an axle speed of the vehicle and a traveling speed of the vehicle; When the axle speed difference is greater than the axle speed difference allowable value at the current vehicle speed, the vehicle is in a slipping state; A judgment module, configured to judge whether the state of the vehicle satisfies the starting condition of the slip control process; The starting conditions include: the vehicle is in a slipping state, and the state of the vehicle meets additional judgment conditions; The starting module is used to start the vehicle slip control process when the vehicle state meets the starting condition, so that the axle speed difference is controlled within an allowable range.

9. The vehicle skid control device according to claim 8, wherein: The system also includes an exit module, which is used to exit the current slip control process.

10. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle slip control method according to any one of claims 1 to 7 are implemented.

11. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle slip control method according to any one of claims 1 to 7 are implemented.

Images