Vehicle anti-skidding method, device, electronic device and storage medium

Abstract

The present invention provides a vehicle anti-skidding method, device, electronic device and storage medium. The method includes obtaining tire speed and motor speed, obtaining a first judgment value and a second judgment value based on the tire speed and the motor speed, and if the first judgment value is an abnormal value, determining that the vehicle is in an abnormal state at this time, receiving a torque processing request, the torque processing request including a torque processing direction, the torque processing direction is determined according to the second judgment value, detecting the current torque direction of the vehicle, and if the torque processing direction is the same as the current torque direction, obtaining a target torque coefficient based on the tire speed, obtaining a target torque request based on the target torque coefficient and the torque processing request, and executing the target torque request. The method prevents the vehicle from skidding forward and improves driving comfort.

Description

Technical Field

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

[0002] With the development of science and technology, pure electric vehicles have become more and more popular in people's lives. Pure electric vehicles refer to vehicles that are powered by on-board power, use motors to drive wheels, and comply with various requirements of road traffic and safety regulations. The existing pure electric vehicle drive motor torque generally uses a predetermined input curve for query output.

[0003] During deceleration or braking of a vehicle, when the wheels slip, the wheels of the vehicle lose adhesion to the ground, which can cause the wheels to be locked while the vehicle is still moving. In a vehicle, the system that prevents slipping during deceleration is called an anti-lock braking system. This system can effectively keep the wheels in rotational mode during braking and maintain grip between the wheels and the ground, allowing the vehicle to run smoothly even during severe deceleration. In an electric vehicle, the system for driving the electric motor may include an inverter, which generates AC voltage from the vehicle's DC voltage source and supplies it to the motor. The motor provides a portion of the electric braking torque to assist the chassis system in vehicle braking. The inverter can control the motor more precisely and can control the torque generated by the motor. Its response time and accuracy are higher than those of traditional fuel vehicles, and it can assist the chassis system in vehicle control.

[0004] When electric vehicles are running over obstacles such as speed bumps and on low-adhesion roads, their wheels become airborne and slip. The existing body stability system may not be able to recognize and take action in a short time under this condition, resulting in forward movement or dragging, affecting the body stability and driving experience. The patent application document with patent number CN201711226230X discloses an active torque reduction strategy for electric vehicles in slipping conditions. This method adopts a strategy of torque far lower than the requested torque when the average speed exceeds the set speed difference. This method is only applicable to overcurrent protection of the motor under conditions where the vehicle accelerates and the wheels slip, and does not take into account the situation where the wheels are airborne under recovery conditions. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present invention provides a vehicle anti-skidding method, device, electronic device and storage medium to solve the technical problem of electric vehicles skidding or dragging when passing over speed bumps.

[0006] The present invention provides a vehicle anti-skidding method, device, electronic device and storage medium, including obtaining tire speed and motor speed, and obtaining a first judgment value and a second judgment value based on the tire speed and the motor speed; if the first judgment value is an abnormal value, it is determined that the vehicle is in an abnormal state at this time, and a torque processing request is received, the torque processing request includes a torque processing direction, and the torque processing direction is determined according to the second judgment value; detecting the current torque direction of the vehicle, if the torque processing direction is the same as the current torque direction, obtaining a target torque coefficient based on the tire speed, obtaining a target torque request according to the target torque coefficient and the torque processing request, and executing the target torque request.

[0007] In one embodiment of the present invention, a first intermediate value and a second intermediate value are obtained based on the tire speed and the motor speed; and a first determination value corresponding to the first intermediate value and a second determination value corresponding to the second intermediate value are obtained according to a preset relationship mapping table.

[0008] In one embodiment of the present invention, the tire speed includes the left rear wheel speed, the right rear wheel speed, the right front wheel speed, and the left front wheel speed, and the motor speed includes the current motor speed and the previous motor speed. The first intermediate value and the second intermediate value obtained based on the tire speed and the motor speed include:

[0009]

[0010]

[0011] Wherein, G1 is the first intermediate value, G2 is the second intermediate value, α1 is the preset motor end determination coefficient, n m is the current motor speed, f is the preset filter coefficient, n mi-1 is the motor speed at the previous moment, β1 is the preset wheel end determination coefficient, V FL is the left rear wheel speed, V FR is the right rear wheel speed, V RR is the right front wheel speed, V RL is the left front wheel speed, ΔT is the preset signal sampling period, K g The preset speed ratio of the reducer.

[0012] In one embodiment of the present invention, if the second determination value is at a preset increasing value, the torque processing direction is increasing; if the second determination value is at a preset decreasing value, the torque processing direction is decreasing.

[0013] In one embodiment of the present invention, the motor speed is low-pass filtered based on preset filtering parameters to obtain a target smooth speed; a target difference is obtained based on the difference between the tire speed and the target smooth speed, and a target torque coefficient is obtained based on the target difference and a preset difference-coefficient table.

[0014] It should be understood that low-pass filtering is used to smooth and remove noise from multiple motor data to obtain a target smooth speed.

[0015] In one embodiment of the present invention, the target torque coefficient is filtered based on a preset driving coefficient and a preset recovery coefficient to obtain a smoothed torque coefficient; a target torque request is obtained based on the smoothed torque coefficient and the torque processing request, and the target torque request is executed.

[0016] In one embodiment of the present invention, a difference between the target torque request and the torque processing request is used as a motor capability boundary value; and energy of the motor is allocated based on the motor capability boundary value.

[0017] An embodiment of the present invention also provides a vehicle anti-skidding device, which includes: an acquisition module, used to acquire tire speed and motor speed, and obtain a first judgment value and a second judgment value based on the tire speed and the motor speed; a request module, used to determine that the vehicle is in an abnormal state at this time if the first judgment value is an abnormal value, and receive a torque processing request, the torque processing request including a torque processing direction, and the torque processing direction is determined according to the second judgment value; an execution module, used to detect the current torque direction of the vehicle, if the torque processing direction is the same as the current torque direction, obtain a target torque coefficient based on the tire speed, obtain a target torque request according to the target torque coefficient and the torque processing request, and execute the target torque request.

[0018] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle anti-front-rushing method as described in any of the above embodiments.

[0019] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute the vehicle anti-diving method as described in any one of the above embodiments.

[0020] Beneficial effects of the present invention: A vehicle anti-skid method, device, electronic device, and storage medium in an embodiment of the present invention obtains tire speed and electrode speed, and obtains a first determination value and a second determination value based on the tire speed and motor speed. If the first determination value is an abnormal value, it is determined that the vehicle is in an abnormal state. The tire speed and motor speed are respectively looked up in a table to accurately determine the vehicle's operating state. A torque processing request is received. If the torque processing request includes a torque processing direction, the torque processing direction is in phase with the current torque direction. By determining the torque processing direction and the current torque direction, a target torque coefficient is calculated while ensuring vehicle safety. A target torque coefficient is obtained based on the tire speed. A target torque request is obtained based on the target torque coefficient and the torque processing request, and the target torque request is executed. If the vehicle stability system has not yet determined and processed the target torque, the motor controller quickly determines the vehicle state and the torque processing direction by monitoring the tire speed and motor speed. Torque can be increased or decreased immediately when the wheel touches the ground, filling the delay gap caused by communication delay. The present method prevents vehicle skidding and improves driving comfort.

[0021] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and it is clear that a person skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0023] Figure 1 is a schematic diagram of a vehicle anti-diving system according to an exemplary embodiment of the present invention;

[0024] Figure 2 1 is a flow chart of a method for preventing a vehicle from sliding forward, shown in an exemplary embodiment of the present invention;

[0025] Figure 3 is a schematic flow chart of a vehicle anti-diving method according to another exemplary embodiment of the present invention;

[0026] Figure 4 1 is a diagram showing the effect of preventing a vehicle from dashing forward according to an exemplary embodiment of the present invention;

[0027] Figure 5 is a block diagram of a vehicle anti-diving device according to an exemplary embodiment of the present invention;

[0028] Figure 6A schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0029] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0030] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0031] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0032] See Figure 1 , Figure 1 1 is a schematic diagram of a vehicle anti-diving system according to an exemplary embodiment of the present invention. The system includes a data acquisition device 101, an internal motor 102, and an external vehicle 103. The data acquisition device 101 acquires tire speed and motor speed, and calculates a first intermediate value and a second intermediate value based on the tire speed and motor speed in the internal motor 102. A first determination value and a second determination value are then obtained by looking up a table based on the first intermediate value and the second intermediate value. If the first determination value is an abnormal value, it is determined that the vehicle is in an abnormal state. At this time, the external vehicle 103 also detects the vehicle abnormality and generates a torque processing request. After receiving the torque processing request, the internal motor 102 detects the current torque direction of the vehicle and determines whether the torque processing direction is in the same direction as the current torque direction. If so, a target torque coefficient is obtained based on the tire speed, and a target torque request is obtained based on the target torque coefficient and the torque processing request. The target torque request is executed. If not, the torque processing request is executed first to ensure the normal operation of the vehicle.

[0033] See Figure 2 , Figure 2FIG2 is a flow chart of a method for preventing a vehicle from dashing forward according to an exemplary embodiment of the present invention. The method for preventing a vehicle from dashing forward includes at least steps S210 to S230, which are described in detail as follows:

[0034] Step S210 , obtaining the tire speed and the motor speed, and obtaining a first determination value and a second determination value based on the tire speed and the motor speed.

[0035] In one embodiment of the present invention, the motor speed and the tire speed are obtained, the motor speed includes the electrode speed at the current moment and the motor speed at the previous moment, and the tire speed includes the right rear wheel speed, the right front wheel speed, the left rear wheel speed, and the left front wheel speed, and the first judgment value and the second judgment value are obtained based on the motor speed and the tire speed.

[0036] In one embodiment of the present invention, a first intermediate value and a second intermediate value are obtained based on the tire speed and the motor speed; a first determination value corresponding to the first intermediate value and a second determination value corresponding to the second intermediate value are obtained according to a preset relationship mapping table.

[0037] In one embodiment of the present invention, a first determination value and a second determination value are obtained by looking up a table based on the first intermediate value and the second intermediate value. The first determination value has a value range of 0, 1, and the second determination value has a value range of 0, 1, and 2.

[0038] In one embodiment of the present invention, the wheel speed includes the left rear wheel speed, the right rear wheel speed, the right front wheel speed, and the left front wheel speed; the motor speed includes the current motor speed and the previous motor speed; and the first intermediate value and the second intermediate value obtained based on the tire speed and the motor speed include:

[0039]

[0040]

[0041] In formula (1) and formula (2), G1 is the first intermediate value, G2 is the second intermediate value, α1 is the preset motor end determination coefficient, n m is the current motor speed, f is the preset filter coefficient, n mi-1 is the motor speed at the last moment, β1 is the preset wheel end determination coefficient, V FL is the left rear wheel speed, V FR is the right rear wheel speed, V RR is the right front wheel speed, V RL is the left front wheel speed, ΔT is the preset signal sampling period, K g The preset speed ratio of the reducer.

[0042] Step S220: If the first determination value is an abnormal value, it is determined that the vehicle is in an abnormal state at this time, and a torque processing request is received. The torque processing request includes a torque processing direction, and the torque processing direction is determined according to the second determination value.

[0043] In one embodiment of the present invention, if the second determination value is at a preset rising value, the torque processing direction is rising; if the second determination value is at a preset falling value, the torque processing direction is falling.

[0044] In one embodiment of the present invention, when the first judgment value is 0, it is judged that the vehicle is in a normal state at this time; when the first judgment value is 0 and the second judgment value is 0, the vehicle is in a normal working state; when the first judgment value is 0 and the second judgment value is 1, the wheel speed increases abnormally, which is a driving condition, but there is no abnormality on the motor end, and the vehicle is still judged to be normal at this time; when the first judgment value is 0 and the second judgment value is 2, the wheel speed decreases abnormally, which is a recovery condition, but there is no abnormality on the motor end, and the vehicle is still judged to be normal at this time; when the first judgment value is 1, it is judged that the vehicle is in an abnormal state at this time; when the first judgment value is 1 and the second judgment value is 1, it is judged that the wheel speed of the vehicle in the driving condition increases abnormally, and the vehicle needs to be subjected to torque reduction processing; when the first judgment value is 1 and the second judgment value is 2, it is judged that the wheel speed of the vehicle in the recovery condition decreases abnormally, and the vehicle needs to be subjected to torque increase processing.

[0045] Step S230 , detecting the current torque direction of the vehicle. If the torque processing direction is the same as the current torque direction, obtaining a target torque coefficient based on the tire speed, obtaining a target torque request based on the target torque coefficient and the torque processing request, and executing the target torque request.

[0046] In one embodiment of the present invention, when the wheels are off the ground or an abnormal situation occurs, the external vehicle torque intervention may send a torque processing request to the internal motor. If the external vehicle torque intervention does not take effect and the internal motor does not receive the torque processing request, the internal torque increase or decrease request is executed.

[0047] In one embodiment of the present invention, if the torque processing direction is the same as the current torque direction, the torque processing request is smoothed based on the target torque coefficient to obtain a target torque request, and the target torque request is executed to prevent the vehicle from moving forward; if the torque processing direction is opposite to the current torque direction, the torque processing request is not processed at this time, but is responded to first to stabilize the vehicle operating state.

[0048] In one embodiment of the present invention, the motor speed is low-pass filtered based on preset filtering parameters to obtain a target smooth speed; a target difference is obtained based on the difference between the tire speed and the target smooth speed, and a target torque coefficient is obtained based on the target difference and a preset difference-coefficient table.

[0049] In one embodiment of the present invention, the average wheel speed is obtained, a target torque coefficient is obtained by performing a two-dimensional table lookup on the average wheel speed and the target difference, and the target torque coefficient is multiplied by the torque processing request to obtain the target torque request.

[0050] In one embodiment of the present invention, the target torque coefficient is filtered based on a preset driving coefficient and a preset recovery coefficient to obtain a smoothed torque coefficient; a target torque request is obtained based on the smoothed torque coefficient and the torque processing request, and the target torque request is executed.

[0051] In one embodiment of the present invention, after step S230 , the difference between the target torque request and the torque processing request is used as the motor capability boundary value; and the energy of the motor is allocated based on the motor capability boundary value.

[0052] In one embodiment of the present invention, the difference between the target torque request and the torque processing request is calculated, and the difference is used as the motor boundary capability value and sent back to the vehicle controller. The vehicle controller allocates the corresponding energy according to the motor capability boundary to avoid energy management problems such as motor current overcurrent.

[0053] See Figure 3 , Figure 3 FIG. 1 is a flow chart of a method for preventing a vehicle from advancing according to another exemplary embodiment of the present invention, the method comprising:

[0054] Based on the above formula (1) and formula (2), the abnormal value of the vehicle working state is calculated to obtain the first intermediate value G1 and the second intermediate value G2. Based on G1 and G2, the first judgment value F1 and the second judgment value F2 are obtained by looking up the table.

[0055] If F1=1 and F2=1 or 2, the vehicle torque increase request or vehicle torque reduction request is activated based on the value of F2. If F1=0, the vehicle torque request of the CAN line is responded to.

[0056] When F2=1, the vehicle torque reduction request is activated, and it is determined whether the torque processing direction is in phase with the current torque. If they are not, the torque reduction request torque is directly executed to ensure normal driving of the vehicle. If the torque processing direction is in phase with the current torque, the vehicle torque request is smoothed, and the speed target smoothing value is calculated. The torque reduction coefficient is obtained by looking up the torque three-dimensional table based on the speed, target difference and wheel speed. The torque reduction coefficient is smoothed, and the current execution torque is calculated and the click capacity boundary is obtained based on the current execution torque.

[0057] When F2=2, the vehicle torque increase request is activated, and it is determined whether the torque processing direction is in phase with the current torque. If they are not in phase, the torque increase request torque is directly executed to ensure the normal driving of the vehicle. If the torque processing direction is in phase with the current torque, the vehicle torque request is smoothed, and the speed target smoothing value is calculated. The torque increase coefficient is obtained by looking up the table in the torque three-dimensional table based on the speed, target difference and wheel speed. The torque increase coefficient is smoothed, and the current execution torque is calculated and the click capacity boundary is obtained based on the current execution torque.

[0058] In one embodiment of the present invention, F1 and F2 are used to determine the current working condition of the wheel. When F1=1 and F2=1, F2=2, it is determined that the working condition of the wheel is abnormal, and the torque needs to be increased or decreased: when F2=1, it represents that the motor is in a positive torque output condition; when F2=2, it represents that the motor is in a negative torque output condition.

[0059] In one embodiment of the present invention, when the wheels are free during torque output, the vehicle / chassis torque intervention function may be activated, sending a torque increase or decrease request to the motor. In this case, arbitration is required between the internal torque increase or decrease function and the external torque increase or decrease request. The following processing is performed:

[0060] If no external torque lift request is received, the internal torque lift request is calculated. If an external torque lift request is received and the torque direction remains unchanged, the vehicle torque request is corrected to the torque lift request. In extreme operating conditions, after the torque lift reaches zero, the external torque lift request may cause torque reversal. In this case, the external torque lift request is directly executed.

[0061] In one embodiment of the present invention, the motor speed is low-pass filtered using preset filtering parameters to obtain a target smooth speed, and the target torque coefficient is obtained by looking up the wheel speed and the speed difference with the target, and the value range of the coefficient is 0-1.

[0062] In one embodiment of the present invention, the target torque coefficient is subjected to gradient or filtering processing to optimize the smoothness of the lifting torque entry and exit process.

[0063] In one embodiment of the present invention, the target torque coefficient is multiplied by the torque processing request to obtain the target torque request. The difference between the target torque request and the torque processing request is used to correct the motor's capacity limit and is fed back to the vehicle controller to prevent vehicle energy management issues caused by motor torque fluctuations.

[0064] See Figure 4 , Figure 4 : is a diagram showing the effect of preventing a vehicle from dashing forward according to an exemplary embodiment of the present invention.

[0065] When a wheel is operating abnormally, the first dashed line shows the positive torque condition. Before the external vehicle issues a torque processing request, the internal motor calculates that the vehicle is in an abnormal state. This is reflected in the data faster than when a torque processing request intervenes. When the torque processing request intervenes, the data is smoother after processing, improving drivability. The wheel speed signal below demonstrates the effectiveness and responsiveness of this control strategy. The second dashed line shows the implementation under negative torque conditions. Before the external vehicle issues a torque processing request, the internal motor calculates that the vehicle is in an abnormal state. This is reflected in the data faster than when a torque processing request intervenes. When the torque processing request intervenes, the data is smoother after processing, improving drivability. The wheel speed signal below demonstrates the effectiveness and responsiveness of this control strategy.

[0066] In an embodiment of the present invention, the first intermediate value and the second intermediate value are obtained by the tire speed and the motor speed, and the first judgment value and the second judgment value are obtained by looking up the table. The state of the vehicle can be quickly determined based on the judgment value, which facilitates subsequent torque processing control.

[0067] In an embodiment of the present invention, multiple signals of the vehicle are used as input variables, and the working status of the wheels is scored using a calculation formula to obtain the working status of the vehicle.

[0068] In an embodiment of the present invention, the torque processing direction is determined based on the value of the second determination value, and the torque processing direction is compared with the current torque direction to determine whether the torque processing request needs to be processed.

[0069] In an embodiment of the present invention, the motor speed is smoothed to obtain a target smoothed speed, and a target torque coefficient is obtained by looking up a table based on the difference between the tire speed and the target smoothed speed. The torque processing request is processed using the target torque coefficient to make the torque control smoother and prevent the vehicle from rushing forward.

[0070] In an embodiment of the present invention, the target torque coefficient is filtered based on a preset driving coefficient and a preset recovery coefficient to ensure the smoothness of the vehicle when entering and exiting the lifting and lowering torque action, and to avoid abnormal performance of the vehicle caused by excessive or non-linear lifting and lowering torque gradients.

[0071] In an embodiment of the present invention, the difference between the target torque request and the torque processing request is used as the motor capacity boundary value, and the energy of the motor is allocated based on the motor capacity boundary value to prevent vehicle energy management problems caused by motor torque increase or decrease, and avoid energy management problems such as motor current overcurrent.

[0072] Figure 5 FIG. 1 is a block diagram of a vehicle anti-diving device according to an exemplary embodiment of the present invention. Figure 5As shown, the exemplary vehicle anti-diving device includes an acquisition module 501 , a request module 502 and an execution module 503 .

[0073] An acquisition module 501 is configured to acquire a tire speed and a motor speed, and obtain a first determination value and a second determination value based on the tire speed and the motor speed;

[0074] a request module 502 configured to determine that the vehicle is in an abnormal state if the first determination value is an abnormal value, and receive a torque processing request, the torque processing request including a torque processing direction, the torque processing direction being determined according to the second determination value;

[0075] The execution module 503 is used to detect the current torque direction of the vehicle. If the torque processing direction is the same as the current torque direction, a target torque coefficient is obtained based on the tire speed, a target torque request is obtained based on the target torque coefficient and the torque processing request, and the target torque request is executed.

[0076] It should be noted that the vehicle anti-sprinting device provided in the above-mentioned embodiment and the vehicle anti-sprinting method provided in the above-mentioned embodiment are based on the same concept. The specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here. In actual applications, the vehicle anti-sprinting device provided in the above-mentioned embodiment can, as needed, allocate the above-mentioned functions to different functional modules, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0077] An embodiment of the present invention also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle anti-front-rushing method provided in the above-mentioned embodiments.

[0078] Figure 6 FIG1 shows a schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present invention. Figure 6 The computer system 600 of the electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0079] like Figure 6As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 into the random access memory (RAM) 603, such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 603. The CPU 601, ROM 602 and RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0080] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read therefrom can be installed into the storage section 608 as needed.

[0081] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a computer-readable medium, the computer program including a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 609 and / or installed from a removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the various functions defined in the system of the present invention are performed.

[0082] It should be noted that the computer-readable medium shown in the embodiments of the present invention may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. The computer-readable storage medium may, for example, be an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. Such a propagated data signal may take a variety of forms, including, but not limited to, an electromagnetic signal, an optical signal, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0083] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0084] The units involved in the embodiments of the present invention may be implemented in software or hardware, and the units described may also be provided in a processor. In some cases, the names of these units do not limit the units themselves.

[0085] Another aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a computer processor, causes the computer to perform the vehicle anti-diving method described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0086] Another aspect of the present invention provides a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the vehicle anti-diving method provided in each of the above-described embodiments.

[0087] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for preventing a vehicle from sliding forward, characterized in that: The vehicle anti-sprinting method comprises: Obtaining a tire speed and a motor speed, and obtaining a first determination value and a second determination value based on the tire speed and the motor speed; obtaining the first determination value and the second determination value based on the tire speed and the motor speed includes: obtaining a first intermediate value and a second intermediate value based on the tire speed and the motor speed; and obtaining a first determination value corresponding to the first intermediate value and a second determination value corresponding to the second intermediate value according to a preset relationship mapping table; The tire speed includes the left rear wheel speed, the right rear wheel speed, the right front wheel speed, and the left front wheel speed; the motor speed includes the current motor speed and the previous motor speed; and the first intermediate value and the second intermediate value obtained based on the tire speed and the motor speed include: Wherein, G1 is the first intermediate value, G2 is the second intermediate value, α1 is the preset motor end determination coefficient, n m is the current motor speed, f is the preset filter coefficient, n mi-1 is the motor speed at the previous moment, β1 is the preset wheel end determination coefficient, V FL is the left rear wheel speed, V FR is the right rear wheel speed, V RR is the right front wheel speed, V RL is the left front wheel speed, ΔT is the preset signal sampling period, K g is the preset speed ratio of the reducer; If the first determination value is an abnormal value, determining that the vehicle is in an abnormal state at this time, receiving a torque processing request, the torque processing request including a torque processing direction, and the torque processing direction is determined according to the second determination value; Detecting a current torque direction of the vehicle; if the torque processing direction is the same as the current torque direction, obtaining a target torque coefficient based on the tire speed; obtaining a target torque request based on the target torque coefficient and the torque processing request; and executing the target torque request. Obtaining the target torque coefficient based on the tire speed includes: performing low-pass filtering on the motor speed based on preset filtering parameters to obtain a target smoothed speed; obtaining a target difference based on a difference between the tire speed and the target smoothed speed; and obtaining a target torque coefficient based on the target difference and a preset difference-coefficient table.

2. The method for preventing a vehicle from sliding forward according to claim 1, wherein: The torque processing direction is determined according to the second determination value, including: If the second determination value is a preset rising value, the torque processing direction is rising; If the second determination value is a preset decreasing value, the torque processing direction is decreasing.

3. The method for preventing a vehicle from sliding forward according to claim 1, wherein: After obtaining the target torque request according to the target torque coefficient and the torque processing request, the method further includes: Filtering the target torque coefficient based on a preset driving coefficient and a preset recovery coefficient to obtain a smoothed torque coefficient; A target torque request is obtained based on the smoothed torque coefficient and the torque processing request, and the target torque request is implemented.

4. The method for preventing a vehicle from sliding forward according to claim 1, wherein: After obtaining the target torque request according to the target torque coefficient and the torque processing request, the method further includes: using a difference between the target torque request and the torque processing request as a motor capability boundary value; Energy of the motor is distributed based on the motor capability limit value.

5. A vehicle anti-skidding device, characterized in that: The vehicle anti-front-running device comprises: An acquisition module is configured to acquire a tire speed and a motor speed, and obtain a first determination value and a second determination value based on the tire speed and the motor speed. Obtaining the first determination value and the second determination value based on the tire speed and the motor speed includes: obtaining a first intermediate value and a second intermediate value based on the tire speed and the motor speed; and obtaining a first determination value corresponding to the first intermediate value and a second determination value corresponding to the second intermediate value according to a preset relationship mapping table. The tire speed includes a left rear wheel speed, a right rear wheel speed, a right front wheel speed, and a left front wheel speed, and the motor speed includes a current motor speed and a previous motor speed. Obtaining the first intermediate value and the second intermediate value based on the tire speed and the motor speed includes: Wherein, G1 is the first intermediate value, G2 is the second intermediate value, α1 is the preset motor end determination coefficient, n m is the current motor speed, f is the preset filter coefficient, n mi-1 is the motor speed at the previous moment, β1 is the preset wheel end determination coefficient, V FL is the left rear wheel speed, V FR is the right rear wheel speed, V RR is the right front wheel speed, V RL is the left front wheel speed, ΔT is the preset signal sampling period, K g is the preset speed ratio of the reducer; a request module, configured to determine that the vehicle is in an abnormal state if the first determination value is an abnormal value, and receive a torque processing request, wherein the torque processing request includes a torque processing direction, and the torque processing direction is determined according to the second determination value; An execution module is configured to detect a current torque direction of the vehicle, obtain a target torque coefficient based on the tire speed if the torque processing direction is the same as the current torque direction, obtain a target torque request based on the target torque coefficient and the torque processing request, and execute the target torque request. Obtaining the target torque coefficient based on the tire speed includes: performing low-pass filtering on the motor speed based on preset filtering parameters to obtain a target smoothed speed; obtaining a target difference based on a difference between the tire speed and the target smoothed speed, and obtaining a target torque coefficient based on the target difference and a preset difference-coefficient table.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the vehicle anti-front-running method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the vehicle anti-diving method according to any one of claims 1 to 4.

Images