A vehicle wheel speed control method and device, electronic equipment and storage medium

Abstract

The vehicle wheel speed control method in the embodiment of the application, through the motor control module, obtains the current motor speed of the target vehicle and the tire radius, determines the current wheel speed according to the current motor speed and the tire radius, and determines the current speed difference change rate according to the current wheel speed and the current vehicle speed; if the current speed difference change rate is greater than the preset speed difference change rate threshold, the slip torque request issued by the vehicle control module is terminated, and the load torque is unloaded by the motor control module, so as to control the wheel speed of the target vehicle; the method determines the control strategy of the load torque by determining the speed difference change rate based on the wheel speed and comparing the preset change rate value based on the road surface, controls the wheel speed, reduces the determination steps of the load torque control, and the analysis and judgment steps are concentrated in the motor control module, so that the interaction between the modules is reduced, and the control efficiency of the load torque is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of software automated testing, and in particular to a vehicle wheel speed control method and device, an electronic device and a storage medium. BACKGROUND

[0002] With the development of new energy vehicle technology and the support of national policy, the market share of new energy vehicles is increasing. As the market share continues to increase, some user experience problems have gradually become one of the key factors for the development of existing technology. For example, when an electric vehicle slides over a deceleration strip, the wheels are in the air for a moment, the sliding recovery torque makes the wheel speed decrease rapidly or even lock, and the wheels touch the ground, which may trigger the chassis ABS anti-lock function. When the ABS function is triggered, the vehicle sliding recovery torque is exited, and the deceleration feeling is lost after the wheels touch the ground, causing the vehicle to move forward.

[0003] In the existing vehicle wheel speed control process, the technical solution of CN114056126B discloses a kind of electric vehicle longitudinal motion control method and device based on deceleration strip detection, which realizes the dynamic change based on the longitudinal acceleration of vehicle, the change rate of longitudinal acceleration and the difference between the driving wheel speed and driven wheel speed of the vehicle, judges the motion state of the vehicle, controls motor according to the motion state of the vehicle to execute corresponding operation, to prevent false triggering ABS system, but the determination step of load torque control is complicated, and the required time length between module interaction is long, resulting in low control efficiency of load torque. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a vehicle wheel speed control method, device, electronic device and storage medium to solve the problem of complicated determination steps of load torque control and low control efficiency of load torque.

[0005] The present application provides a vehicle wheel speed control method, which comprises: in the process of target vehicle driving, the motor control module obtains the current motor speed and tire radius of the target vehicle; the current wheel speed is determined according to the current motor speed and tire radius, and the current speed difference change rate is determined according to the current wheel speed and the current vehicle speed, which is obtained by the chassis control module and sent to the motor control module; if the current speed difference change rate is greater than the preset speed difference change rate threshold, the sliding torque request issued by the vehicle control module is terminated, and the load torque is unloaded by the motor control module to control the target vehicle wheel speed.

[0006] In an embodiment of the present application, after determining the current speed difference change rate according to the current wheel speed and the current vehicle speed, the vehicle wheel speed control method further comprises: if the current speed difference change rate is less than or equal to a preset speed difference change rate threshold, controlling the torque according to the coasting torque request issued by the vehicle control module.

[0007] In an embodiment of the present application, if the current speed difference change rate is greater than the preset speed difference change rate threshold, the vehicle wheel speed control method further comprises: after terminating the coasting torque request issued by the vehicle control module and unloading the load torque by the motor control module, listening to the current speed difference change rate after unloading the load torque; if the current speed difference change rate recovers to be less than or equal to the preset speed difference change rate threshold, receiving the coasting torque request issued by the vehicle control module, and controlling the torque based on the coasting torque request to recover the control of the vehicle wheel speed.

[0008] In an embodiment of the present application, before the motor control module obtains the current motor speed of the target vehicle and the tire radius, the vehicle wheel speed control method further comprises: the motor control module obtains the current road surface type information; based on the road surface type information, matching the road surface speed difference change rate threshold having a mapping relationship with the current road surface type information in a preset road surface speed difference change rate threshold list, and determining the road surface speed difference change rate threshold as the preset speed difference change rate threshold.

[0009] In an embodiment of the present application, the current wheel speed is determined according to the current motor speed and the tire radius by the following formula:

[0010]

[0011] wherein, V 轮 represents the current wheel speed of the target vehicle, the unit is m / s, R represents the tire radius of the target vehicle, the unit is m, N represents the current motor speed of the target vehicle, the unit is rad / min, and i represents the motor of the target vehicle.

[0012] In an embodiment of the present application, the current speed difference change rate is determined according to the current wheel speed and the current vehicle speed by the following formula:

[0013]

[0014] wherein, V 轮 represents the current wheel speed of the target vehicle, the unit is m / s, V 实 represents the current vehicle speed of the target vehicle, the unit is m / s, S 实 represents the current speed difference change rate of the target vehicle.

[0015] In an embodiment of the present application, after the motor control module obtains the current motor speed and the tire radius of the target vehicle, the vehicle wheel speed control method further comprises: the motor control module obtains a synchronous speed, the synchronous speed being the speed of the rotating magnetic field generated by the motor stator; determining a current motor slip rate based on the synchronous speed and the current motor speed; if the current motor slip rate is greater than a preset slip rate threshold, terminating the coasting torque request issued by the vehicle control module, and unloading the load torque by the motor control module to control the target vehicle wheel speed.

[0016] In an embodiment of the present application, after the current motor slip rate is determined based on the synchronous speed and the current motor speed, the vehicle wheel speed control method further comprises: if the current motor slip rate is less than or equal to the preset slip rate threshold, controlling the torque according to the coasting torque request issued by the vehicle control module.

[0017] The embodiment of the present application also provides a vehicle wheel speed control device, characterized in that the vehicle wheel speed control device comprises: a vehicle control module configured to issue a coasting torque request; a motor control module configured to obtain the current motor speed and the tire radius of a target vehicle during driving of the target vehicle; determine a current wheel speed based on the current motor speed and the tire radius, and determine a current speed difference change rate based on the current wheel speed and the current vehicle speed; if the current speed difference change rate is greater than a preset speed difference change rate threshold, terminate the coasting torque request issued by the vehicle control module, and unload the load torque by the motor control module to control the target vehicle wheel speed; and a chassis control module configured to obtain the current vehicle speed of the target vehicle during driving of the target vehicle, and send the current vehicle speed to the motor control module.

[0018] The embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle wheel speed control method according to any one of the above embodiments.

[0019] The embodiment of the present application also provides a computer-readable storage medium having computer-readable instructions stored thereon, when the computer-readable instructions are executed by a processor of a computer, the computer executes the vehicle wheel speed control method according to any one of the above embodiments.

[0020] The vehicle wheel speed control method in the embodiment of the application, the current motor speed of the target vehicle and the tire radius are obtained through the motor control module, the current wheel speed is determined according to the current motor speed and the tire radius, and the current speed difference change rate is determined according to the current wheel speed and the current vehicle speed, if the current speed difference change rate is greater than the preset speed difference change rate threshold, the coasting torque request issued by the vehicle control module is terminated, and the load torque is unloaded by the motor control module, so as to control the wheel speed of the target vehicle; the method determines the control strategy of the load torque by determining the speed difference change rate based on the wheel speed and comparing the preset change rate value based on the road surface, so as to control the wheel speed, reduce the determination steps of the load torque control, and the analysis and judgment steps are concentrated in the motor control module, so as to reduce the interaction between the modules and improve the control efficiency of the load torque.

[0021] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the application, and together with the specification, serve to explain the principles of the application. Obviously, the drawings in the following description are only some embodiments of the application, and those skilled in the art can obtain other drawings from these drawings without creative labor. In the drawings:

[0023] Figure 1 is a schematic diagram of an exemplary system architecture shown by an exemplary embodiment of the application;

[0024] Figure 2 is a flowchart of a vehicle wheel speed control method shown by an exemplary embodiment of the application;

[0025] Figure 3 is a flowchart of a specific vehicle wheel speed control method shown by an exemplary embodiment of the application;

[0026] Figure 4 is a schematic diagram of an application architecture of a specific vehicle wheel speed control method shown by an exemplary embodiment of the application;

[0027] Figure 5 is a schematic diagram of a vehicle wheel speed control device shown by an exemplary embodiment of the application;

[0028] Figure 6 is a structural schematic diagram of a computer system of an electronic device shown by an exemplary embodiment of the application. DETAILED DESCRIPTION

[0029] Other advantages and embodiments of the application will be more readily appreciated from the following description, taken in conjunction with the accompanying drawings. The description and drawings are not intended to limit the application to the specific embodiment described. The description itself is not intended to limit the application. The description and drawings are intended to explain the principles of the application.

[0030] It should be noted that the drawings included in the following embodiments are only schematic and so are not to precise scale shown in the figures. In the description of embodiments of the application, relative terms are used to describe their orientation, for example, near, distal, upper, lower, behind, in front of, above, below and the like, which are used as a shorthand not to imply necessary relative orientations of the application. Such terms are used for ease of description of the embodiments of the application and do not limit the application. It should be apparent, however, to one of ordinary skill in the art having the benefit of this description that the application can be practiced in other embodiments that are not necessarily depicted in the accompanying drawings.

[0031] In the following description, numerous specific details are discussed to provide a thorough understanding of the embodiments of the application. One of ordinary skill in the art, however, will recognize that the application can be practiced without one or more of the specific details. In other instances, well-known structures and devices are not shown in detail in order not to obscure the embodiments of the application. The term "data" as used throughout this detailed description and in the claims means any representation of information, such as by numbers, characters, symbols, images, sounds, and so on.

[0032] In this application, "and / or" describes associated objects in the association relationship, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship.

[0033] First of all, it should be noted that torque is a special moment of force that causes an object to rotate. The torque of the engine refers to the moment of force output from the crankshaft end of the engine. Under the condition of fixed power, it is inversely proportional to the engine speed. The faster the speed, the smaller the torque, and vice versa. It reflects the load capacity of the car within a certain range. The external torque is called torque or external force couple, and the internal torque is called internal force couple or torque.

[0034] The antilock brake system, in English, is called antilock brake system, abbreviated as ABS. Its function is to automatically control the size of the brake force of the brake when the car is braking, so that the wheels are not locked and are in a state of rolling and sliding (slip rate is about 20%). To ensure that the adhesion between the wheel and the ground is at the maximum. In ABS, the brake circuit that can independently adjust the brake pressure is called a control channel. The control channel of the ABS device is divided into four-channel, three-channel, two-channel and one-channel

[0035] The application can also provide the beneficial effects including: acquiring road surface information, and matching the preset speed difference change rate threshold according to the road surface type information in the road surface information, which can determine different road surfaces and increase the applicable road conditions during the implementation of the scheme; determining the current motor slip rate based on the synchronous speed and the current motor speed, and controlling the load torque according to the current motor slip rate to control the target vehicle wheel speed, which expands the implementation mode of the scheme.

[0036] Figure 1 is a schematic diagram of an exemplary system architecture according to an exemplary embodiment of the present application.

[0037] Referring to Figure 1 , the system architecture can include a vehicle 101 and a computer device 102. The computer device 102 is configured to acquire the current motor speed and the tire radius of the vehicle 101, determine the current wheel speed based on the current motor speed and the tire radius, determine the current speed difference change rate based on the current wheel speed and the current vehicle speed, and terminate the coasting torque request issued by the vehicle control module and unload the load torque by the motor control module if the current speed difference change rate is greater than the preset speed difference change rate threshold. The computer device 102 can be at least one of a microcomputer, an embedded computer, a network computer, a single-chip computer, etc.

[0038] Illustratively, the computer device 102 acquires the current motor speed and the tire radius of the vehicle 101 when the vehicle 101 is running, determines the current wheel speed based on the current motor speed and the tire radius, determines the current speed difference change rate based on the current wheel speed and the current vehicle speed, and terminates the coasting torque request issued by the vehicle control module and unloads the load torque by the motor control module if the current speed difference change rate is greater than the preset speed difference change rate threshold, to control the target vehicle wheel speed. The method determines the control strategy of the load torque by determining the speed difference change rate based on the wheel speed and comparing the preset change rate value of the road surface, to control the wheel speed, reduce the determination steps of the load torque control, and concentrate the analysis and judgment steps in the motor control module, reduce the interaction between modules, and improve the control efficiency of the load torque.

[0039] Figure 2 is a flowchart of a vehicle wheel speed control method according to an exemplary embodiment of the present application, which can be executed in the system architecture of the vehicle 101 and the computer device 102 shown in Figure 1 . Referring to Figure 2 , the flowchart of the vehicle wheel speed control method includes at least steps S210 to S230, which are described in detail as follows:

[0040] In step S210, the motor control module obtains the current motor speed and tire radius of the target vehicle.

[0041] In an embodiment of the present application, before the motor control module obtains the current motor speed and tire radius of the target vehicle, the current road surface type information is obtained, and based on the road surface type information, a road surface speed difference change rate threshold value having a mapping relationship with the current road surface type information is matched in the preset road surface speed difference change rate threshold value list, and the road surface speed difference change rate threshold value is determined as the preset speed difference change rate threshold value. The road surface information is obtained, and the speed difference change rate threshold value is matched based on the road surface type information in the road surface information, so that the determination can be made for different road surfaces, and the applicable road surface types in the implementation process of the present solution are increased.

[0042] In an embodiment of the present application, the synchronous speed refers to the speed of the rotating magnetic field, which is determined by the frequency of the alternating current power supply and the number of magnetic pole pairs of the magnetic field. In the embodiment of the present application, based on the expandable solution of the above-mentioned solution, the slip rate can also be determined based on the synchronous speed and the current motor speed, and the load torque is controlled based on the slip rate, and then the speed is controlled, so as to avoid the decrease of driving experience caused by too large wheel speed difference in special road sections. The specific implementation solution is as follows: after the motor control module obtains the current motor speed and tire radius of the target vehicle, the motor control module can also obtain the synchronous speed, and determine the current motor slip rate based on the synchronous speed and the current motor speed. If the current motor slip rate is greater than the preset slip rate threshold value, the coasting torque request issued by the vehicle control module is terminated, and the load torque is unloaded by the motor control module, so as to control the wheel speed of the target vehicle.

[0043] In an embodiment of the present application, if the current motor slip rate is less than or equal to the preset slip rate threshold value, the torque is controlled according to the coasting torque request issued by the vehicle control module.

[0044] In an embodiment of the present application, the stator winding is connected to three-phase alternating current to generate a rotating magnetic field. The rotating magnetic field cuts the rotor conductor to generate an induced electromotive force. The induced electromotive force generates an induced current in the closed loop of the conductor. The rotor current interacts with the stator magnetic field to generate electromagnetic force, which drives the rotor to rotate. It should be noted that in the absence of external force, the speed of the rotor rotation is lower than the speed of the stator magnetic field rotation. The difference between the speed of the stator magnetic field rotation and the speed of the rotor rotation and the ratio of the speed of the stator magnetic field rotation is the slip rate. The slip rate calculation formula can be calculated according to S=(n1-n) / n1, where n1 is the synchronous speed and n is the motor speed. The speed variation range of the asynchronous motor is 0≤n≤n1.

[0045] In an embodiment of the present application, the current motor slip rate is determined based on the synchronous speed and the current motor speed, and the load torque is controlled according to the current motor slip rate to control the target vehicle wheel speed, which expands the implementation of the present application.

[0046] In an embodiment of the present application, the fixed part in the motor is called a stator, and pairs of direct-current excited static main magnetic poles are arranged on the stator. The stator winding is divided into two types of concentrated type and distributed type according to the shape and embedding mode of the coil winding. In the embodiment, the synchronous speed is the speed of the rotating magnetic field generated by the motor stator.

[0047] In step S220, the current wheel speed is determined according to the current motor speed and the tire radius, and the current speed difference change rate is determined according to the current wheel speed and the current vehicle speed.

[0048] In an embodiment of the present application, the current vehicle speed is obtained by the chassis control module and sent to the motor control module.

[0049] In an embodiment of the present application, the current wheel speed determined according to the current motor speed and the tire radius is calculated by the following formula:

[0050]

[0051] In formula (1), V represents the current wheel speed of the target vehicle, the unit is m / s, R represents the tire radius of the target vehicle, the unit is m, N represents the current motor speed of the target vehicle, the unit is rad / min, and i represents the transmission ratio from the motor of the target vehicle to the wheel. 轮

[0052] In an embodiment of the present application, the current speed difference change rate determined according to the current wheel speed and the current vehicle speed is calculated by the following formula:

[0053]

[0054] In formula (2), V represents the current wheel speed of the target vehicle, the unit is m / s, V represents the current vehicle speed of the target vehicle, the unit is m / s, S represents the current speed difference change rate of the target vehicle. 轮 实 实

[0055] In step S230, if the current speed difference change rate is greater than the preset speed difference change rate threshold, the coasting torque request issued by the whole vehicle control module is terminated, and the load torque is unloaded by the motor control module to control the target vehicle wheel speed.

[0056] ​​​​In an embodiment of the present application, after the motor control module unloads the load torque, the current speed difference change rate after unloading the load torque is monitored, and if the current speed difference change rate returns to less than or equal to the preset speed difference change rate threshold, the vehicle control module sends a request for a coasting torque, and the torque is controlled based on the request for the coasting torque to restore control of the vehicle wheel speed.

[0057] In an embodiment of the present application, if the current speed difference change rate is less than or equal to the preset speed difference change rate threshold, the torque is controlled according to the coasting torque request sent by the vehicle control module.

[0058] Please refer to Figure 3 , Figure 3 is a specific vehicle wheel speed control method flowchart shown in an exemplary embodiment of the present application. The specific vehicle wheel speed control method flow can be executed in a system architecture as shown in Figure 1 , and is specifically executed by the computer device 102 shown in Figure 1 , and can also be implemented by other implementation environments, which are not limited in the specific implementation environment.

[0059] First of all, it needs to be pointed out that in the following specific embodiments, the preset S value is consistent with the preset speed difference change rate threshold in the above embodiment, the motor speed N is consistent with the current motor speed in the above embodiment, the wheel end vehicle speed V 轮 is consistent with the current wheel speed in the above embodiment, and the actual vehicle speed V 实 is consistent with the current vehicle speed in the above embodiment, and the S 实 value is consistent with the current speed difference change rate in the above embodiment.

[0060] In a specific embodiment of the present application, the specific vehicle wheel speed control method can be specifically implemented among the vehicle control module, the motor control module and the chassis control module.

[0061] In a specific embodiment of the present application, the motor needs to be preset according to the road S value, such as a short and uneven road like a deceleration zone. It should be noted that the threshold value of the preset S value needs to be slightly larger than the low adhesion road threshold to ensure that the motor will not frequently trigger torque unloading on some low adhesion roads. Among them, the high adhesion and low adhesion are mainly calibrated by ESP calibration, which is an important part of ensuring the stability of the vehicle on different adhesion roads. The internal logic can calculate the adhesion capacity of the current vehicle on the road, and then call different factors or logic to control the braking system and the power system. The high adhesion road includes but is not limited to asphalt, cement, concrete, gravel road, cobblestone road, grating road, Belgium road, waterlogged road, etc. The low adhesion road includes but is not limited to ice surface, snow surface, compacted snow surface, checkerboard road, open wharf road, etc.

[0062] In a specific embodiment of the present application, the motor control module needs to detect the motor speed N at any time and convert the motor speed N into the wheel end speed V in real time. 轮 , the chassis control module needs to send the actual vehicle speed V in real time 实 To the motor control module, and the motor control module calculates S in real time 实 If the motor control module detects S 实 If the value is greater than the preset S value, the motor control module needs to unload the load to ensure that the wheel speed difference will not be further expanded when the wheel is in the air, effectively solving the problem of wheel locking during the air process and ensuring that there is no tire noise after landing.

[0063] In a specific embodiment of the present application, the vehicle control module does not exit the analysis of the coasting recovery torque during the period when the wheel is suspended, and continues to request the coasting torque during this period. 实 If the value is greater than the preset S value, the coasting torque required by the vehicle control module will not be executed, and the wheels will be kept idling. At the moment of landing, due to the adhesion of the wheels, S 实 When the value returns to the normal range, the motor control module resumes executing the required torque of the vehicle control module, ensuring the deceleration of the vehicle after landing, effectively solving the problem of the vehicle rushing forward when going over a speed bump.

[0064] See also Figure 4 , Figure 4 It is a schematic diagram of a specific application architecture of a vehicle wheel speed control method shown in an exemplary embodiment of the present application.

[0065] like Figure 4 As shown, in a specific embodiment of the present application, the application architecture specifically includes a vehicle control module, a motor control module and a chassis control module, wherein the chassis control module includes but is not limited to a vehicle speed detection module, which is used to detect the current vehicle speed and send the current vehicle speed to the motor control module; the vehicle control module includes but is not limited to a sliding torque control module, which is used to request sliding torque from the motor control module; the motor control module includes but is not limited to an S value calculation module and a torque dynamic unloading module, wherein the S value calculation module determines S 实 After the value is 实 The value is compared with the preset S value. If the motor control module detects S 实 If the value is greater than the preset S value, the torque dynamic unloading module will unload the load torque.

[0066] The vehicle wheel speed control method in the embodiment of the application, the motor control module obtains the current motor speed of the target vehicle and the tire radius, determines the current wheel speed according to the current motor speed and the tire radius, and determines the current speed difference change rate according to the current wheel speed and the current vehicle speed. If the current speed difference change rate is greater than the preset speed difference change rate threshold, the coasting torque request issued by the vehicle control module is terminated, and the load torque is unloaded by the motor control module to control the wheel speed of the target vehicle. The method determines the speed difference change rate based on the wheel speed, compares the preset change rate value based on the road surface, determines the control strategy of the load torque, controls the wheel speed, reduces the determination steps of the load torque control, and improves the low control efficiency of the load torque. The application can also provide beneficial effects, including obtaining road surface information and matching the preset speed difference change rate threshold according to the road surface type information in the road surface information, which can be used to determine different road surfaces and increase the applicable road conditions during the implementation of the scheme. The current motor slip rate is determined based on the synchronous speed and the current motor speed, and the load torque is controlled according to the current motor slip rate to control the wheel speed of the target vehicle, which expands the implementation mode of the scheme.

[0067] The device embodiment of the application is introduced below, which can be used to execute the vehicle wheel speed control method in the above-mentioned embodiments of the application. For details not disclosed in the device embodiment of the application, please refer to the above-mentioned embodiments of the vehicle wheel speed control method.

[0068] Figure 5 A vehicle wheel speed control device shown in an exemplary embodiment of the application is a schematic diagram of a vehicle wheel speed control device. The device can be applied to Figure 2 the implementation environment shown in the embodiment. The device can also be applied to other exemplary implementation environments and specifically configured in other devices, and the embodiment does not limit the implementation environment to which the device is applied.

[0069] As Figure 5 shown, the exemplary vehicle wheel speed control device includes a vehicle control module 501, a motor control module 502, and a chassis control module 503.

[0070] The vehicle control module 501 is configured to send a coasting torque request; the motor control module 502 is configured to, during target vehicle driving, acquire a current motor speed and a tire radius of the target vehicle; determine a current wheel speed according to the current motor speed and the tire radius, and determine a current speed difference change rate according to the current wheel speed and a current vehicle speed; if the current speed difference change rate is greater than a preset speed difference change rate threshold, terminate the coasting torque request sent by the vehicle control module, and unload a load torque by the motor control module to control the target vehicle wheel speed; and the chassis control module 503 is configured to, during target vehicle driving, acquire a current vehicle speed of the target vehicle and send the current vehicle speed to the motor control module.

[0071] Embodiments of the present application also provide an electronic device, including: one or more processors; a storage device configured to store one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the vehicle wheel speed control method provided in each of the above embodiments.

[0072] Figure 6 is a structural schematic diagram of a computer system of an electronic device shown in an exemplary embodiment of the present application. It should be noted that, Figure 6 The computer system 600 of the electronic device shown is only an example, and should not impose any limitation on the functions and use range of the embodiments of the present application.

[0073] As Figure 6 shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 602 or programs loaded from a storage portion into a random access memory (RAM) 603, such as performing the methods in the above embodiments. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus. An input / output (I / O) interface 605 is also connected to the bus 604.

[0074] The following components are connected to the I / O interface 605: an input part 606 including a keyboard, a mouse, etc.; an output part 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), etc., and a speaker, etc.; a storage part 608 including a hard disk, etc.; and a communication part 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface 605 as necessary. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 610 as necessary, so that a computer program read out therefrom is installed in the storage part 608 as necessary.

[0075] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0076] It should be noted that the computer-readable medium in the embodiments of the present application can 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 electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, 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 this application, the computer-readable signal medium can include a data signal propagated in a baseband or as a carrier wave in a propagated data signal, in which the computer-readable computer program is carried. Such a propagated data signal can take on many forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit the program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted in any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination thereof.

[0077] The flowcharts and block diagrams in the drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Each block in the flowcharts or block diagrams can represent a module, a program segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that shown in the figures. For example, two blocks noted in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the flowcharts or block diagrams, and combinations of blocks in the flowcharts or block diagrams, can be implemented by special-purpose hardware-based systems, which perform the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0078] In the corresponding drawings of the above-described embodiments, connection lines can represent connection relationships between various components to represent more constituent signal paths and / or one or more ends of some lines have arrows to represent the main information flow direction. The connection lines serve as an identification and are not a limitation on the scheme itself. Using these lines in conjunction with one or more example embodiments helps to more easily trace the circuit or logic unit. Any represented signals (determined by design requirements or preferences) can actually include one or more signals that can be transmitted in either direction and can be implemented in any appropriate type of signal scheme.

[0079] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be located in a processor. In some cases, the names of the units do not limit the units themselves.

[0080] Another aspect of the present application also provides a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described above. The computer readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately and not be assembled into the electronic device.

[0081] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into several modules or units.

[0082] From the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) or a network, and includes several instructions to make a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) execute the methods according to the embodiments of the present application.

[0083] It is appreciated that the application can be employed in a variety of general purpose or special purpose computing system environments or configurations. Examples of well- known computing systems, environments, and / or configurations that can be suitable for use with the application include, but are not limited to, personal computers, server computers, handheld or laptop devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.

[0084] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope of the application being indicated by the following claims.

[0085] It should be understood that the above description is only one example of implementation and is not intended to limit the scope of the application. One of ordinary skill in the art will readily recognize various alternative or additional methods, structures, devices, and / or functions that can be employed in accordance with the principles of the present application. Accordingly, the present application is not intended to be limited to the examples described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle wheel speed control method characterized by, The vehicle wheel speed control method comprises: During target vehicle driving, the motor control module acquires the current motor speed and tire radius of the target vehicle; The current wheel speed is determined according to the current motor speed and tire radius, and the current speed difference change rate is determined according to the current wheel speed and current vehicle speed, wherein the current vehicle speed is acquired by the chassis control module and sent to the motor control module, and the current speed difference change rate is calculated according to the current wheel speed and the current vehicle speed by the following formula: wherein V 轮 represents the current wheel speed of the target vehicle, V 实 represents the current vehicle speed of the target vehicle, S 实 represents the current speed difference change rate of the target vehicle; If the current speed difference change rate is greater than the preset speed difference change rate threshold, the vehicle control module issued slip torque request is terminated, and the load torque is unloaded by the motor control module to control the target vehicle wheel speed, wherein the preset speed difference change rate threshold is preset by the motor according to the road surface, and the road surface is a short and uneven road surface.

2. The vehicle wheel speed control method according to claim 1, characterized by, After determining the current speed difference change rate according to the current wheel speed and the current vehicle speed, the vehicle wheel speed control method further comprises: If the current speed difference change rate is less than or equal to the preset speed difference change rate threshold, the torque is controlled according to the vehicle control module issued slip torque request.

3. The vehicle wheel speed control method according to claim 1, characterized by, After the vehicle wheel speed control method terminates the vehicle control module issued slip torque request and unloads the load torque by the motor control module when the current speed difference change rate is greater than the preset speed difference change rate threshold, the vehicle wheel speed control method further comprises: Listening to the current speed difference change rate after unloading the load torque; If the current speed difference change rate recovers to be less than or equal to the preset speed difference change rate threshold, the vehicle control module issued slip torque request is received, and the torque is controlled based on the slip torque request to recover the control of the vehicle wheel speed.

4. The vehicle wheel speed control method according to claim 1, characterized by, Before the motor control module acquires the current motor speed and tire radius of the target vehicle, the vehicle wheel speed control method further comprises: The motor control module acquires the current road surface type information; Based on the road surface type information, the road surface speed difference change rate threshold having a mapping relationship with the current road surface type information is matched in the preset road surface speed difference change rate threshold list, and the road surface speed difference change rate threshold is determined as the preset speed difference change rate threshold.

5. The vehicle wheel speed control method according to claim 1, characterized by, The current wheel speed is determined according to the current motor speed and tire radius by the following formula: wherein V 轮 represents the current wheel speed of the target vehicle, R represents the tire radius of the target vehicle, N represents the current motor speed of the target vehicle, and i represents the transmission ratio of the motor to the wheel of the target vehicle.

6. The vehicle wheel speed control method according to any one of claims 1 to 5, characterized by, After the motor control module acquires the current motor speed and tire radius of the target vehicle, the vehicle wheel speed control method further comprises: The motor control module acquires the synchronous speed, which is the speed of the rotating magnetic field generated by the motor stator; The current motor slip rate is determined based on the synchronous speed and the current motor speed; If the current motor slip rate is greater than the preset slip rate threshold, the vehicle control module issued slip torque request is terminated, and the load torque is unloaded by the motor control module to control the target vehicle wheel speed.

7. The vehicle wheel speed control method according to claim 6, characterized by, After the current motor slip rate is determined based on the synchronous speed and the current motor speed, the vehicle wheel speed control method further comprises: If the current motor slip rate is less than or equal to the preset slip rate threshold, the torque is controlled according to the vehicle control module issued slip torque request.

8. A vehicle wheel speed control apparatus characterized by comprising: The vehicle wheel speed control device comprises: A vehicle control module is configured to send a coasting torque request; A motor control module is configured to, during driving of the target vehicle, acquire a current motor speed and a tire radius of the target vehicle, determine a current wheel speed based on the current motor speed and the tire radius, and determine a current speed difference change rate based on the current wheel speed and a current vehicle speed; if the current speed difference change rate is greater than a preset speed difference change rate threshold, the vehicle control module sends the coasting torque request is terminated, and the motor control module unloads a load torque to control the wheel speed of the target vehicle, wherein the current speed difference change rate is determined based on the current wheel speed and the current vehicle speed by the following formula: wherein V 轮 represents the current wheel speed of the target vehicle, V 实 represents the current vehicle speed of the target vehicle, S 实 represents the current speed difference change rate of the target vehicle; A chassis control module is configured to, during driving of the target vehicle, acquire a current vehicle speed of the target vehicle and send the current vehicle speed to the motor control module, wherein the preset speed difference change rate threshold is obtained by the motor according to a road surface, and the road surface is a short and uneven road surface.

9. An electronic device, comprising: comprising: one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the vehicle wheel speed control method of any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, a computer readable instruction stored thereon, which, when executed by a processor of a computer, causes the computer to perform the vehicle wheel speed control method of any one of claims 1 to 7.

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