Method and system for anti-slip control of a vehicle

Abstract

The application discloses a vehicle anti-slip control method and system, the method comprises the following steps: a vehicle body electronic stability controller determines a target rotating speed of a driving component corresponding to a slipping wheel, and transmits the target rotating speed to a vehicle controller; the vehicle controller determines a target torque of the driving component according to the target rotating speed and an actual rotating speed of the driving component, and transmits the target torque to a driving system controller; and the driving system controller adjusts an output torque of the driving component according to the target torque, so as to stabilize the vehicle. It can be seen that the application can shorten the communication link, improve the control speed, reduce the torque response closed-loop time, and does not increase the hardware cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, in particular to a vehicle anti-slip control method and system. BACKGROUND

[0002] With the development of automobile industry and the progress of technology, the existing new energy vehicle motor power system has the characteristics of rapid electromagnetic induction and low speed and large torque, so that the driving wheel has greater energy and dynamic characteristics when accelerating, which makes the driving wheel of the vehicle more likely to slip on low adhesion road surface. At present, the anti-slip control method of the vehicle needs to transmit the actual speed of the motor to the vehicle controller through the drive system controller, and then transmit it to the body electronic stability controller by the vehicle controller. In this communication transmission, the communication link is long and the control delay is large, which results in low response speed of the vehicle to slip, causing the vehicle to be unstable and producing acceleration jerk. SUMMARY

[0003] The present application provides a vehicle anti-slip control method and system, which can shorten the communication link, improve the control speed, and at the same time, without increasing the hardware cost.

[0004] In order to solve the above technical problems, the first aspect of the present application discloses a vehicle anti-slip control method, which comprises:

[0005] The body electronic stability controller determines the target speed of the driving component corresponding to the slipping wheel and transmits it to the vehicle controller;

[0006] The vehicle controller determines the target torque of the driving component according to the target speed and the actual speed of the driving component, and transmits it to the drive system controller;

[0007] The drive system controller adjusts the output torque of the driving component according to the target torque to stabilize the vehicle.

[0008] As an optional implementation, in the first aspect of the present application, the actual speed is calculated by the drive system controller based on the driving component speed and transmitted to the vehicle controller.

[0009] As an optional implementation, in the first aspect of the present application, the vehicle controller determines the target torque according to the target speed and the actual speed, which comprises:

[0010] The vehicle controller determines the first torque according to the target speed and the actual speed;

[0011] The vehicle controller determines the target torque according to the first torque and the throttle torque.

[0012] Optionally, the vehicle controller determines the target torque according to the first torque and the throttle torque, which comprises:

[0013] According to the comparison between the first torque and the throttle torque, the smaller value is taken as the target torque.

[0014] As an optional implementation, in the first aspect of the present application, the body electronic stability controller determines the target speed of the driving component corresponding to the slipping wheel, comprising:

[0015] The body electronic stability controller calculates the target speed of the driving component according to the reference speed of the vehicle; wherein the reference speed is determined according to the sensor information of a plurality of wheels of the vehicle, and the sensor includes at least one of a wheel speed sensor, an IMU sensor, a steering wheel angle sensor and a yaw rate sensor.

[0016] Optionally, the body electronic stability controller calculates the target speed of the driving component according to the reference speed of the vehicle, comprising:

[0017] The body electronic stability controller calculates the target speed of the driving component according to the reference speed of the vehicle and a preset conversion relationship.

[0018] As an optional implementation, in the first aspect of the present application, before the body electronic stability controller determines the target speed corresponding to the slipping wheel, the above method further comprises:

[0019] Based on the wheel speed information of any wheel, and in combination with the reference speed of the vehicle, the slip rate of the wheel is determined;

[0020] When the slip rate of the wheel is greater than the slip rate threshold, the wheel is determined as a slipping wheel.

[0021] As an optional implementation, in the first aspect of the present application, the communication between the body electronic stability controller and the vehicle controller and the communication between the vehicle controller and the driving system controller are through the CAN communication mode.

[0022] The second aspect of the present application discloses a vehicle anti-slip control system, the system comprising:

[0023] The body electronic stability controller, the vehicle controller and the driving system controller;

[0024] The body electronic stability controller is used to determine the target speed of the driving component corresponding to the slipping wheel, and transmit the target speed to the vehicle controller;

[0025] The vehicle controller is used to calculate the target torque of the driving component according to the target speed and the actual speed of the driving component, and transmit the target torque to the driving system controller;

[0026] The driving system controller is used to adjust the output torque of the driving component according to the target torque.

[0027] Optionally, the drive system controller is further configured to acquire an actual rotating speed of the drive component and transmit the actual rotating speed to the vehicle controller.

[0028] Optionally, the vehicle body electronic stability controller comprises:

[0029] The vehicle body electronic stability controller integrates a TCS target rotating speed module configured to calculate the target rotating speed according to the wheel speed of the slipping wheel.

[0030] Optionally, the vehicle controller comprises:

[0031] The vehicle controller integrates a TCS target torque module configured to determine the first torque based on the target rotating speed and the actual rotating speed of the drive component.

[0032] Optionally, the vehicle controller is further configured to determine the target torque of the drive component based on the first torque and the throttle torque.

[0033] The third aspect of the present application discloses a vehicle comprising the anti-slip control system of the second aspect.

[0034] Compared with the prior art, the present application has the following beneficial effects:

[0035] In the present application, the target rotating speed of the drive component corresponding to the slipping wheel is determined by the vehicle body electronic stability controller and transmitted to the vehicle controller, the target torque is determined by the vehicle controller based on the target rotating speed and the actual rotating speed of the drive component and transmitted to the drive system controller, and the output torque of the drive component is adjusted by the drive system controller based on the target torque to stabilize the vehicle. This scheme reduces the transmission link of the actual rotating speed between the vehicle controller and the vehicle body electronic stability controller, shortens the communication link of the control signal, and changes the torque integration mode without increasing the hardware cost and complexity. Therefore, the response speed of the slipping is improved. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 is a flowchart of an anti-slip control method of a vehicle disclosed by the embodiments of the present application;

[0038] Figure 2is a structural schematic diagram of a vehicle anti-slip control system disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] In the specification and claims of the present application, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a series of steps or methods, devices, products or systems comprising the listed steps or units can optionally further comprise steps or units not listed, or can optionally further comprise other steps or units inherent to the processes, methods, products or systems.

[0041] In this document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean that the same embodiment is referred to, nor does it mean that the embodiments are mutually exclusive or alternative to each other. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with each other.

[0042] The present application discloses a vehicle anti-slip control method and system, which can shorten the signal link transmission path, reduce the torque response closed-loop time, and improve the slip response speed. The following will be described in detail.

[0043] Embodiment one

[0044] Please refer to Figure 1 , Figure 1 is a flowchart of a vehicle anti-slip control method disclosed by an embodiment of the present application. Among them, Figure 1 The described method can be applied to a vehicle anti-slip control system, which can be a separate system or integrated in a vehicle, and the embodiments of the present application are not limited.

[0045] As Figure 1 shown, the vehicle anti-slip control method can include the following operations:

[0046] 101, the body electronic stability controller determines the target speed of the driving component corresponding to the slipping wheel, and transmits it to the vehicle controller.

[0047] In the embodiment of the present application, the vehicle body electronic stability controller is an active safety device configured in an automobile and is also an active safety technology for assisting a driver to control the vehicle. The vehicle body electronic stability controller determines a slipping wheel by wheel speed and vehicle speed, and then determines a target rotating speed of a driving component corresponding to the wheel to avoid wheel slip, and sends the target rotating speed to the vehicle controller through CAN message. In the automobile, the driving component can refer to an engine or an electric motor.

[0048] Optionally, the vehicle body electronic stability controller collects wheel speed signals through a wheel speed sensor, determines a slipping wheel by driving wheel speed and reference vehicle speed calculated by a wheel speed and vehicle speed calculation module, calculates a real slip rate of the slipping wheel, determines whether the vehicle is slipping by the target slip rate and the real slip rate, and records a slip flag. When the slip flag is set to 1, the wheel or the vehicle is in a slipping state; when the slip flag is set to 0, the wheel or the vehicle is in a non-slip state. Meanwhile, the target rotating speed of the driving component corresponding to the wheel to avoid vehicle slip is calculated by the reference vehicle speed, and the calculation method can be proportional conversion of the numerical value, and the proportional value depends on the specific transmission mode and the reduction mechanism. The target rotating speed is sent to the vehicle controller through CAN message. The wheel speed sensor can be a control object of the vehicle body electronic stability controller and directly transmit signals, or be an external device.

[0049] 102. The vehicle controller determines a target torque of the driving component according to the target rotating speed and the actual rotating speed of the driving component, and transmits the target torque to the driving system controller.

[0050] In the embodiment of the present application, the vehicle controller is the control center of normal driving of the automobile and is the core component of the vehicle control system. The vehicle controller receives the target rotating speed of the driving component transmitted by the vehicle body electronic stability controller and the actual rotating speed of the driving component sent by the driving system controller, calculates the target torque of the driving component, and transmits the obtained target torque to the driving system controller to control the output torque of the driving component.

[0051] 103. The driving system controller adjusts the output torque of the driving component according to the target torque to stabilize the vehicle.

[0052] In the embodiments of the present application, the drive system controller is a core component of the automobile drive system, responsible for controlling the operation and output power of the motor and / or engine. The drive system controller can be a motor controller or an engine controller. If the current vehicle is a new energy vehicle, the drive system controller is a motor controller, which converts electrical energy into mechanical energy through a drive circuit to control the operation of the motor, thereby realizing acceleration, deceleration, braking and other operations of the vehicle. If the current vehicle is a new energy vehicle, the drive system controller is an engine controller, which can control the torque of the engine. The drive system controller receives the target torque transmitted by the vehicle controller, and adjusts the output torque of the drive component according to the received target torque to stabilize the vehicle. At the same time, the drive system controller also needs to continue to collect the speed and / or torque of the drive component to feedback the adjusted wheel state for the next control. If the drive component is a motor, the corresponding drive system controller is a motor controller; if the drive component is an engine, the corresponding drive system controller is an engine controller. In the following embodiments, the drive component is a motor, and the corresponding drive system controller is a motor controller.

[0053] It can be seen that the method described in the embodiments of the present application can determine the target speed of the drive component corresponding to the slipping wheel by the vehicle body electronic stability controller, and transmit it to the vehicle controller; the vehicle controller determines the target torque according to the target speed and the actual speed, and transmits it to the drive system controller; the drive system controller adjusts the output torque of the drive component according to the target torque of the drive component to stabilize the vehicle. The present embodiment gives the vehicle controller the function of calculating the target torque, avoiding the actual speed being transmitted from the drive system controller to the vehicle controller and then to the vehicle body electronic stability controller, shortening the signal link transmission path, reducing the torque response closed-loop time, and improving the slipping response speed.

[0054] In an optional embodiment, the vehicle controller determines the target torque according to the target speed and the actual speed, which can include the following operations:

[0055] The vehicle controller determines the first torque according to the target speed and the actual speed;

[0056] The vehicle controller determines the target torque according to the first torque and the throttle torque.

[0057] In the embodiment, the target torque determined by the vehicle controller is determined by the first torque and the throttle torque, wherein the first torque can be determined by the target speed and the actual speed. The actual speed can be calculated by the drive system controller based on the motor speed and transmitted to the vehicle controller. The throttle torque can be calculated by the throttle torque calculation unit based on the throttle depth collected by the throttle pedal. The target torque can be transmitted by the vehicle body electronic stability controller, and can also be transmitted by the TCS target speed module integrated in the vehicle body electronic stability controller. The target speed and the actual speed determine the first torque, which can be determined by the vehicle controller or the TCS target torque module embedded in the vehicle controller. Specifically, if the actual speed is lower than the target speed, the additional torque required will make the engine or motor work harder to increase the speed. If the actual speed is higher than the target speed, the additional torque required will make the engine work to reduce the speed. At the same time, the throttle pedal is considered to determine the final target torque.

[0058] It can be seen that the method described in the embodiment of the application can determine the target torque according to the target speed and the actual speed, and at the same time, the operation of the driver (such as stepping on the throttle pedal) is considered, which helps to accurately determine the output of the target torque.

[0059] In another optional embodiment, further optionally, the vehicle controller determines the target torque according to the first torque and the throttle torque, comprising:

[0060] According to the comparison of the first torque and the throttle torque, the smaller value is taken as the target torque.

[0061] In the embodiment, the vehicle controller determines the first torque according to the target speed and the actual speed, and then combines the throttle torque to compare the two torque values. If the first torque is greater than the throttle torque, the target torque will be set to the throttle torque; if the first torque is less than the throttle torque, the first torque will be set as the target torque. In this way, no matter how the driver operates the throttle, the target torque will not exceed the smaller value of the throttle torque and the first torque. The vehicle controller will send the target torque to the drive system controller to control the torque output of the motor.

[0062] It can be seen that the method described in the embodiment of the application can prevent torque overload, and at the same time, the operation of the driver is considered, so that the driving experience is more humanized, and the torque output of the motor is accurately controlled.

[0063] In another optional embodiment, the method can further include the following operations:

[0064] The vehicle body electronic stability controller determines the target speed of the driving component corresponding to the slipping wheel, comprising:

[0065] The vehicle body electronic stability controller calculates a target rotating speed of the driving component according to a reference vehicle speed of the vehicle, wherein the reference vehicle speed is determined according to sensor information of a plurality of wheels of the vehicle, and the sensor includes at least one of a wheel speed sensor, an IMU sensor, a steering wheel angle sensor, and a yaw rate sensor.

[0066] In the embodiment, the vehicle body electronic stability controller determines the reference vehicle speed of the vehicle according to sensor information of four wheels of the vehicle. The reference vehicle speed of the vehicle is obtained by various sensors and control systems of the vehicle, such as a vehicle speed sensor, an IMU sensor, a steering wheel angle sensor, a yaw rate sensor, or other related sensors, to obtain corresponding wheel speed signals, yaw rates, steering wheel angles, and / or lateral accelerations according to the installed sensors. The embodiment described in the application can more accurately determine the vehicle speed and the target rotating speed of the vehicle through the fusion of a plurality of sensor information, thereby improving the controllability and stability of the vehicle. The vehicle body electronic stability controller can calculate the target rotating speed of the slipping wheel according to the determined reference vehicle speed, and transmit the target rotating speed to the vehicle controller.

[0067] It can be seen that the method described in the embodiment of the application can effectively determine the target rotating speed of the slipping wheel by the vehicle body electronic stability controller, and provide more accurate data for the vehicle controller to calculate the target torque, thereby controlling the driving state of the vehicle. At the same time, the use of multiple sensors can increase the redundancy and robustness of the system.

[0068] In an optional embodiment, before the vehicle body electronic stability controller determines the target rotating speed of the slipping wheel, the method further includes:

[0069] determining a slip rate of the wheel based on wheel speed information of the wheel and in combination with the reference vehicle speed of the vehicle;

[0070] determining the wheel as the slipping wheel when the slip rate of the wheel is greater than a slip rate threshold.

[0071] In the embodiment, before the vehicle body electronic stability controller determines the target rotating speed of the slipping wheel, the method further includes determining a slip rate of the wheel based on wheel speed information of the wheel and in combination with the reference vehicle speed of the vehicle, and determining the wheel as the slipping wheel when the slip rate of the wheel is greater than a slip rate threshold.

[0072] It can be seen that the method described in the embodiment of the application can enable the vehicle body electronic stability controller to more accurately detect the slipping condition of the vehicle, and can more quickly respond to and control the slipping wheel.

[0073] In still another optional embodiment, the method can further include the following operations:

[0074] The vehicle body electronic stability controller and the vehicle controller and the drive system controller are communicated through the CAN communication mode.

[0075] In this embodiment, CAN (Controller Area Network) is a commonly used vehicle network communication protocol with high reliability and real-time performance. The CAN communication mode can meet the requirements of the vehicle control system. Specifically, in the communication between the vehicle body electronic stability controller and the vehicle controller, the CAN communication can help them share sensor data, control instructions and state information, etc. Similarly, in the communication between the vehicle controller and the drive system controller, the CAN communication can help them share motor control instructions and state information.

[0076] It can be seen that the method described in the embodiments of the application can realize data exchange and cooperative work between the vehicle body electronic stability controller and the vehicle controller and between the vehicle controller and the drive system controller through the CAN communication mode, so as to realize more efficient, safer and more intelligent vehicle performance.

[0077] Embodiment Two

[0078] Please refer to Figure 2 , Figure 2 is a structural schematic diagram of a vehicle anti-slip control system disclosed in the embodiments of the application. Among them, Figure 2 The system described can be integrated in a vehicle, and the embodiments of the application are not limited. As Figure 2 shown, the vehicle anti-slip control system can include:

[0079] a vehicle body electronic stability controller, a vehicle controller and a drive system controller;

[0080] The vehicle body electronic stability controller is configured to determine a target speed of a driving component corresponding to a slipping wheel and transmit the target speed to the vehicle controller.

[0081] The vehicle controller is configured to calculate a target torque of the driving component according to the target speed and the actual speed of the driving component, and transmit the target torque to the drive system controller.

[0082] The drive system controller is configured to receive the target torque and adjust the output torque of the driving component.

[0083] In this embodiment, the interaction process between the vehicle body electronic stability controller and the drive system controller. In this process, the vehicle body electronic stability controller is responsible for obtaining the wheel speed of the slipping wheel and calculating the target speed, and then transmitting the target speed to the vehicle controller. The vehicle controller calculates the target torque according to the target speed and the actual speed, and transmits the target torque to the drive system controller. The drive system controller receives the target torque and adjusts the output torque of the driving component to realize the stability control of the vehicle. When the driving component is a motor, the motor controller receives the target torque and adjusts the motor output torque to realize the stability control of the vehicle.

[0084] It can be seen that the system described in the embodiments of the application can realize real-time information interaction between the vehicle body electronic stability controller, the vehicle controller and the drive system controller, so as to ensure the stability and safety of the vehicle during driving. At the same time, this distributed control system can shorten the link transmission path, improve the slipping response speed, and improve the efficiency and reliability of the whole system.

[0085] In this alternative embodiment, further alternatively, the drive system controller is further configured to obtain the actual speed of the driving component and transmit the actual speed to the vehicle controller.

[0086] In this embodiment, in addition to receiving the target torque and adjusting the output torque of the driving component, the drive system controller is also responsible for obtaining the actual speed of the driving component and transmitting it to the vehicle controller. In the embodiments, the driving component can refer to a motor or an engine.

[0087] It can be seen that the system described in the embodiments of the application can enable the vehicle controller to more accurately understand the actual driving state of the vehicle, so as to better adjust the calculation of the target torque and the control of the engine or the motor, and improve the stability and safety of the vehicle.

[0088] In an alternative embodiment, the vehicle body electronic stability controller can include:

[0089] The vehicle body electronic stability controller integrates a TCS target speed module for calculating the target speed according to the wheel speed of the slipping wheel.

[0090] In this embodiment, the target speed of the driving component is obtained from the reference vehicle speed according to a certain preset conversion relationship. In the following embodiments, the driving component is taken as an electric motor, and the corresponding driving system controller is taken as an electric motor controller. The TCS target speed module refers to the target speed module of the traction control system. The traction control system (TCS) is an electronic control system that helps the vehicle achieve the best power output and fuel economy under various driving conditions by controlling the power system (such as the engine and transmission) of the vehicle. The TCS target speed module is a component of the system, which is responsible for calculating and setting the target speed of the vehicle. The target speed refers to the engine speed that the vehicle should reach, which is achieved by comparing the actual engine speed and the target engine speed. In this embodiment, the wheel speed signal is obtained through at least one of the wheel speed sensor, the IMU sensor, the steering wheel angle sensor and the yaw rate sensor, the driving wheel speed and the reference vehicle speed are calculated through the wheel speed and vehicle speed calculation module, so as to calculate the real slip rate, and then the vehicle is determined whether it is in the situation of slipping according to the target slip rate and the real slip rate, and the target speed is calculated according to the reference speed according to a certain preset conversion relationship, and is sent to the vehicle controller through CAN message. The vehicle body electronic stability controller integrates the TCS target speed module, which is equivalent to giving the vehicle body electronic stability controller the function of calculating the target speed based on the reference of the vehicle. The reference speed of the vehicle can be obtained according to at least one of the wheel speed sensor, the IMU sensor, the steering wheel angle sensor and the yaw rate sensor, and then the TCS target speed module can calculate the reference speed of the vehicle based on the information, and determine the target speed based on the reference speed. The calculated target speed is transmitted to the vehicle controller for determining the target torque, so as to adjust the torque output of the electric motor, so as to realize the stability control of the vehicle.

[0091] It can be seen that the system described in the embodiments of the application can improve the stability and safety of the vehicle. By integrating the TCS target speed module, the vehicle body electronic stability controller can more accurately calculate the target speed and can respond more quickly to changes in the driving state of the vehicle. This helps to reduce the occurrence of vehicle slipping, yawing and instability, and improves the controllability and safety of the vehicle.

[0092] In another optional embodiment, the vehicle controller integrates the TCS target torque module for determining the first torque based on the target speed and the actual speed.

[0093] In this embodiment, the target torque module of the TCS is a component of the traction control system, which is responsible for calculating and setting the target torque of the vehicle. When the vehicle slips, the TCS traction control system automatically adjusts the throttle opening of the engine, calculates the driver's throttle demand torque through the throttle torque calculation unit, receives the target speed from the TCS target speed module and the actual speed from the drive system controller, calculates the speed control target torque through the TCS target torque module, and outputs the final target torque by taking the smaller value of the throttle demand torque and the speed control target torque. The traction control system can be a DMC speed control unit for calculating the speed control target torque. The vehicle controller integrates the TCS target torque module for determining the first torque based on the target speed and the actual speed. In addition to receiving the target speed and calculating the target torque, the vehicle controller also includes determining the first torque based on the target speed and the actual speed. If there is a large difference between the target speed and the actual speed, it can be considered that the torque output of the motor needs to be adjusted. At this time, the TCS target torque module can calculate an appropriate torque (first torque) to make the actual speed close to the target speed.

[0094] As can be seen, the system described in the embodiments of the present application can help to reduce the occurrence of vehicle slipping, yawing and instability, and improve the handling and safety of the vehicle. At the same time, the integration of the TCS target torque module into the vehicle controller can reduce system complexity and cost, and shorten the link transmission path.

[0095] In this alternative embodiment, further alternatively, the vehicle controller is further configured to determine the target torque based on the first torque and the throttle torque.

[0096] In this embodiment, in addition to calculating the first torque based on the target speed and the actual speed, the vehicle controller also includes determining the target torque based on the first torque and the throttle torque. This process can be achieved by comparing the position of the throttle pedal and other related parameters (such as vehicle speed, gear position, etc.) to determine an appropriate torque (target torque) to drive the vehicle.

[0097] As can be seen, the method described in the embodiments of the present application can significantly improve the handling and stability of the vehicle, while reducing the occurrence of vehicle instability and other situations, providing a safer driving experience for the driver.

[0098] Embodiment Three

[0099] The vehicle disclosed in the embodiments of the present application is not limited to new energy vehicles, trucks and other vehicles. It should be noted that the vehicle refers to any one of the anti-slip control systems of the vehicle described in embodiment two.

[0100] It can be seen that the device described in the embodiments of the application can shorten the communication link, improve the control speed, and improve the driving performance of the vehicle without increasing the hardware cost.

[0101] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course, can also be realized by hardware.

[0102] Finally, it should be noted that: the vehicle anti-skid control method and system disclosed by the embodiments of the application are only the preferred embodiments of the application, and are used to illustrate the technical solutions of the application, but not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A method of anti-slip control of a vehicle, characterized by, The method comprises: The vehicle body electronic stability controller determines the target speed of the driving component corresponding to the slipping wheel and transmits it to the vehicle controller; The vehicle controller determines the target torque of the driving component according to the target speed and the actual speed of the driving component and transmits it to the driving system controller; The driving system controller adjusts the output torque of the driving component according to the target torque to stabilize the vehicle.

2. The vehicle slip control method according to claim 1, characterized by, The actual speed is transmitted by the driving system controller to the vehicle controller.

3. The vehicle slip control method according to claim 1 or 2, characterized by, The vehicle controller determines the target torque according to the target speed and the actual speed, comprising: The vehicle controller determines the first torque according to the target speed and the actual speed; The vehicle controller determines the target torque according to the first torque and the throttle torque.

4. The vehicle slip control method according to claim 3, characterized by, The vehicle controller determines the target torque according to the first torque and the throttle torque, comprising: According to the comparison of the first torque and the throttle torque, the smaller value is taken as the target torque.

5. The vehicle slip control method according to claim 1, characterized by, The vehicle body electronic stability controller determines the target speed of the driving component corresponding to the slipping wheel, comprising: The vehicle body electronic stability controller calculates the target speed of the driving component according to the reference speed of the vehicle; wherein the reference speed is determined according to the sensor information of multiple wheels of the vehicle, and the sensor includes at least one of wheel speed sensor, IMU sensor, steering wheel angle sensor and yaw rate sensor.

6. The vehicle slip control method according to claim 5, characterized by The vehicle body electronic stability controller calculates the target speed of the driving component according to the reference speed of the vehicle, comprising: The vehicle body electronic stability controller calculates the target speed of the driving component according to the reference speed of the vehicle and the preset conversion relationship.

7. The method of anti-skid control of a vehicle according to any one of claims 1 to 6, characterized in that, Before the vehicle body electronic stability controller determines the target speed corresponding to the slipping wheel, the method further comprises: Based on the wheel speed information of any wheel and combined with the reference speed of the vehicle, the slip rate of the wheel is determined; When the slip rate of the wheel is greater than the slip rate threshold, the wheel is determined as a slipping wheel.

8. The vehicle slip control method according to claim 1, characterized by, The communication between the vehicle body electronic stability controller and the vehicle controller and the communication between the vehicle controller and the driving system controller are through CAN communication mode.

9. An anti-skid control system for a vehicle, characterized by comprising: The system comprises: Vehicle body electronic stability controller, vehicle controller and driving system controller; The vehicle body electronic stability controller is used to determine the target speed of the driving component corresponding to the slipping wheel and transmit the target speed to the vehicle controller; The vehicle controller is used to calculate the target torque of the driving component according to the target speed and the actual speed of the driving component and transmit the target torque to the driving system controller; The driving system controller is used to adjust the output torque of the driving component according to the target torque.

10. A vehicle characterized by comprising: The vehicle comprises the anti-skid control system according to the above claim 9.

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