Method, device, vehicle and storage medium for vehicle to cross a deceleration strip

Abstract

The application relates to the technical field of vehicles, in particular to a vehicle overspeed-reduction-belt passing method and device, a vehicle and a storage medium, wherein the method comprises the following steps: detecting whether a vehicle is in a speed-reduction-belt working condition; acquiring a target activation state of an anti-lock braking system of the vehicle and an actual overspeed-reduction-belt passing mode of the vehicle when it is detected that the vehicle is in the speed-reduction-belt working condition; determining a first driving motor for unloading feedback torque and a second driving motor for loading feedback torque according to the target activation state and the actual overspeed-reduction-belt passing mode, and acquiring a control value of the speed-reduction-belt working condition; and controlling the first driving motor to unload the feedback torque and controlling the second driving motor to load the feedback torque according to the control value. Therefore, the problems that, in the related art, when a vehicle is passing a speed-reduction belt by stepping on a brake, the feedback torque of a motor is unloaded, hydraulic compensation braking is insufficient or overshoot, and the vehicle produces a forward rush or a jerk feeling after the torque of the motor is unloaded, thereby reducing the smoothness and comfort of the vehicle and the like are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, and storage medium for a vehicle to pass over speed bumps. Background Technology

[0002] Nowadays, continuous or single speed bumps are installed on roads with high pedestrian traffic, such as school zones, highway entrances and exits, and steep downhill sections, to remind drivers to slow down and improve road safety. When a vehicle drives over a speed bump at medium to high speed with its brakes on, there is a certain probability that the ABS (Anti-lock Braking System) will be activated because the wheels are in the air, thus increasing vehicle stability.

[0003] Current solutions for handling ABS activation in new energy vehicles primarily involve disengaging the current motor regenerative torque to prevent wheel lock-up or prolonged wheel lock-up time caused by the regenerative torque applied by the motor during ABS activation. Additionally, new energy vehicles generally have energy recovery capabilities, which involve converting the vehicle's kinetic energy into electrical energy stored in the battery via the motor. Because the front axle load is significantly greater than the rear axle load during braking, current four-wheel drive vehicles primarily rely on the front motor for energy recovery during braking, or the front motor's regenerative torque accounts for a larger proportion than that of the rear motor.

[0004] However, when the vehicle primarily uses the front motor for energy recovery and the driver applies constant braking depth over speed bumps, if the ABS activation causes the motor's feedback torque to dissipate too quickly, and the hydraulic braking fails to compensate in time or is insufficient, the deceleration decreases, giving the driver a feeling of the vehicle lurching forward and being unable to stop. Excessive hydraulic compensation results in a jerking sensation. If the ABS activation causes the motor's feedback torque to unload slowly, it will affect the vehicle on low-friction surfaces such as water-sprinkled tiles, compacted snow, and ice, leading to increased wheel lock-up time, increased tire wear, and a higher risk of loss of vehicle control. These issues urgently need to be addressed. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for a vehicle to pass over speed bumps, in order to solve the problem in the related art where, when a vehicle applies the brakes to pass over a speed bump, the motor feedback torque is deactivated, resulting in insufficient or over-adjusted hydraulic compensation braking, causing the vehicle to experience a forward lurch or jerking sensation after the motor torque is deactivated, reducing the smoothness of the vehicle and the user's driving experience.

[0006] The first aspect of this application provides a method for a vehicle to pass over a speed bump, comprising the following steps: detecting whether the vehicle is in a speed bump condition; when the vehicle is detected to be in the speed bump condition, acquiring the target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump passing mode; determining a first drive motor for unloading feedback torque and a drive motor for loading feedback torque based on the target activation state and the actual speed bump passing mode, acquiring a control value for the speed bump condition, controlling the first drive motor to unload feedback torque based on the control value, and controlling the second drive motor to load feedback torque.

[0007] Optionally, in one embodiment of this application, determining the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode includes: detecting whether the target activation state of the anti-lock braking system is activated and whether the actual speed bump crossing mode is a front wheel speed bump crossing mode; if the target activation state is activated and the actual speed bump crossing mode is the front wheel speed bump crossing mode, determining that the first target wheel corresponding to the first drive motor for unloading feedback torque is the front wheel of the vehicle, and determining that the second target wheel corresponding to the second drive motor for loading feedback torque is the rear wheel of the vehicle.

[0008] Optionally, in one embodiment of this application, before detecting that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, the method further includes: based on the vehicle's four-wheel wheel speed signals, determining a first average value of the left front wheel speed and the right front wheel speed and a second average value of the left rear wheel speed and the right rear wheel speed, respectively; obtaining the difference between the first average value and the second average value, and determining whether the difference satisfies a first preset condition; if the difference satisfies the first preset condition, determining the rotational speed fluctuation of the vehicle's front wheels, and determining whether the rotational speed fluctuation satisfies a second preset condition; if the rotational speed fluctuation satisfies the second preset condition, determining that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, otherwise determining that the actual speed bump crossing pattern is not the vehicle's front wheel speed bump crossing pattern.

[0009] Optionally, in one embodiment of this application, determining the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode includes: detecting whether the target activation state of the anti-lock braking system is inactive and whether the actual speed bump crossing mode is a rear wheel speed bump crossing mode; if the target activation state is detected to be inactive and the actual speed bump crossing mode is the rear wheel speed bump crossing mode, determining that the first target wheel corresponding to the first drive motor for unloading feedback torque is the rear wheel of the vehicle, and determining that the second target wheel corresponding to the second drive motor for loading feedback torque is the front wheel of the vehicle.

[0010] Optionally, in one embodiment of this application, obtaining the control value for the speed bump condition includes: obtaining the actual braking depth of the vehicle's brake pedal; and determining the control value for the speed bump condition based on the actual braking depth.

[0011] Optionally, in one embodiment of this application, after detecting that the vehicle is in the condition of the speed bump, the method further includes: determining whether the vehicle has activated the speed bump warning, wherein the speed bump warning method includes a voice warning method and a pop-up screen warning method; if the vehicle has activated the speed bump warning, the speed bump warning is sent to a preset terminal, otherwise the speed bump warning is not sent.

[0012] A second aspect of this application provides a device for a vehicle to pass over speed bumps, comprising: a detection module for detecting whether the vehicle is in a speed bump condition; an acquisition module for acquiring, when the vehicle is detected to be in the speed bump condition, a target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump passing mode; and a control module for determining a first drive motor for unloading feedback torque and a second drive motor for loading feedback torque based on the target activation state and the actual speed bump passing mode, acquiring a control value for the speed bump condition, controlling the first drive motor to unload feedback torque based on the control value, and controlling the second drive motor to load feedback torque.

[0013] Optionally, in one embodiment of this application, the control module includes: a first detection unit, configured to detect whether the target activation state of the anti-lock braking system is activated and whether the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode; and a first control unit, configured to, when the target activation state is detected as activated and the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, determine that the first target wheel corresponding to the first drive motor that unloads the feedback torque is the vehicle's front wheel, and determine that the second target wheel corresponding to the second drive motor that loads the feedback torque is the vehicle's rear wheel.

[0014] Optionally, in one embodiment of this application, the apparatus further includes: a determining module, configured to, before detecting that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, determine, based on the vehicle's four-wheel wheel speed signals, a first average value of the left front wheel speed and a second average value of the left rear wheel speed and a second average value of the right rear wheel speed; and an acquiring module, configured to, before detecting that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, acquire the difference between the first average value and the second average value, and determine whether the difference satisfies a first preset condition; The first processing module is configured to, before detecting that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, determine the speed fluctuation of the vehicle's front wheels if the difference satisfies the first preset condition, and determine whether the speed fluctuation satisfies the second preset condition; the second processing module is configured to, before detecting that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, determine that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern if the speed fluctuation satisfies the second preset condition, otherwise determine that the actual speed bump crossing pattern is not the vehicle's front wheel speed bump crossing pattern.

[0015] Optionally, in one embodiment of this application, the control module includes: a second detection unit, configured to detect whether the target activation state of the anti-lock braking system is an inactive state, and whether the actual speed bump crossing mode is a rear wheel speed bump crossing mode; and a second control unit, configured to, when the target activation state is detected to be the inactive state and the actual speed bump crossing mode is the rear wheel speed bump crossing mode, determine that the first target wheel corresponding to the first drive motor that unloads the feedback torque is the rear wheel of the vehicle, and determine that the second target wheel corresponding to the second drive motor that loads the feedback torque is the front wheel of the vehicle.

[0016] Optionally, in one embodiment of this application, the control module includes: an acquisition unit for acquiring the actual braking depth of the vehicle's brake pedal; and a determination unit for determining the control value for the speed bump condition based on the actual braking depth.

[0017] Optionally, in one embodiment of this application, the apparatus further includes: a judgment module, configured to determine whether the vehicle has activated a speed bump warning after detecting that the vehicle is in the speed bump condition, wherein the speed bump warning method includes a voice warning method and a pop-up screen warning method; and a processing module, configured to send the speed bump warning to a preset terminal if the vehicle has activated the speed bump warning after detecting that the vehicle is in the speed bump condition, otherwise not send the speed bump warning.

[0018] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for a vehicle to pass over speed bumps as described in the above embodiments.

[0019] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for a vehicle to pass over a speed bump.

[0020] A fifth aspect of this application provides a computer program product, including a computer program that, when executed, is used to implement the above-described method for a vehicle to pass over a speed bump.

[0021] This application embodiment can, when the vehicle is detected to be going over a speed bump, determine the first drive motor for unloading the feedback torque and the second drive motor for loading the feedback torque based on the target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump crossing pattern. It also acquires control values ​​for the speed bump condition, controls the first drive motor to unload the feedback torque based on these control values, and controls the second drive motor to load the feedback torque. This effectively reduces the forward lurch and jerking sensation experienced by the vehicle after the motor torque is released, improving vehicle smoothness. Therefore, it solves the problem in related technologies where, when the vehicle brakes over a speed bump, the motor feedback torque is released, resulting in insufficient or over-adjusted hydraulic braking, causing the vehicle to lurch or jerk after the motor torque is released, reducing vehicle smoothness and the user's driving experience.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0024] Figure 1 This is a schematic diagram of a vehicle over speed bump system according to an embodiment of this application;

[0025] Figure 2 This is a flowchart illustrating a method for a vehicle to travel over a speed bump according to an embodiment of this application;

[0026] Figure 3 This is a flowchart illustrating a specific embodiment of the present application regarding a vehicle crossing a speed bump;

[0027] Figure 4 A flowchart illustrating the determination of whether a vehicle's front wheels are passing over a speed bump, as a specific embodiment of this application;

[0028] Figure 5 This is a schematic diagram of a device for a vehicle to go over a speed bump according to an embodiment of this application;

[0029] Figure 6 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0030] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0031] The following description, with reference to the accompanying drawings, outlines a method, apparatus, vehicle, and storage medium for a vehicle to pass over speed bumps according to embodiments of this application. Addressing the issue mentioned in the background art where, when a vehicle brakes over a speed bump, the motor feedback torque dissipates, resulting in insufficient or over-adjusted hydraulic braking, causing a lurching or jerking sensation after the motor torque is withdrawn, reducing vehicle smoothness and the user's driving experience, this application provides a method for a vehicle to pass over speed bumps. In this method, upon detecting that the vehicle is in a speed bump condition, a first drive motor for unloading feedback torque and a second drive motor for loading feedback torque are determined based on the target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump passing mode. A control value for the speed bump condition is obtained, and based on the control value, the first drive motor is controlled to unload feedback torque, while the second drive motor is controlled to load feedback torque. This effectively reduces the lurching and jerking sensation after the motor torque is withdrawn, improving vehicle smoothness. This solves the problem in related technologies where the motor feedback torque is deactivated when the vehicle brakes over a speed bump, resulting in insufficient or over-adjusted hydraulic braking, causing the vehicle to lurch forward or jerk after the motor torque is deactivated, reducing vehicle smoothness and the user's driving experience.

[0032] This application embodiment establishes a system for a vehicle to pass over a speed bump, specifically as follows: Figure 1 As shown, the system includes a vehicle controller, front and rear motor controllers, front and rear drive motors, and an ESP (Electronic Stability Program) system. The vehicle controller connects to the vehicle's drive system and sensor components via hardwired connections or a CAN (Controller Area Network) bus, and interacts with the ESP system. The drive system includes front and rear motor controllers and front and rear drive motors. The sensor components include wheel speed sensors, brake pedal sensors, and vehicle speed sensors.

[0033] Specifically, the vehicle controller can collect signals from the accelerator pedal, gear position, brake pedal, etc. to determine the driver's driving intentions and send corresponding control commands to the power system control units such as the front and rear motor controllers.

[0034] The front and rear motor controllers can receive torque and speed commands from the vehicle controller and control the front and rear drive motors to achieve the target control speed and output torque.

[0035] The ESP system analyzes the vehicle's driving status through sensors to help the vehicle maintain dynamic balance under various driving conditions. At the same time, it sends signals such as the speed of the four wheels to the vehicle controller. The ABS anti-lock braking system can prevent the vehicle from locking up completely by controlling the amount of braking force when the vehicle is braking, thus ensuring that the vehicle's adhesion to the ground is at its maximum.

[0036] It should be noted that the vehicle in this application embodiment is a pure electric or hybrid four-wheel drive vehicle with front and rear dual motors, and the vehicle has at least two drive motors, front and rear, and the vehicle's motor regenerative braking and hydraulic braking are decoupled.

[0037] Specifically, Figure 2 This is a flowchart illustrating a method for a vehicle to cross a speed bump, as provided in an embodiment of this application.

[0038] like Figure 2 As shown, the method for the vehicle to go over the speed bump includes the following steps:

[0039] In step S201, it is detected whether the vehicle is in a speed bump condition.

[0040] It is understood that the embodiments of this application can detect whether the vehicle is in a speed bump condition. For example, the embodiments of this application can detect whether there is a speed bump in front of the vehicle through a front camera. When a speed bump is detected 20m in front of the vehicle, it can be determined that the vehicle has entered a speed bump condition. In addition, the embodiments of this application can detect whether there is a speed bump behind the vehicle through a rear camera when the vehicle is reversing, thereby controlling the vehicle to enter a speed bump condition. The specific details are not elaborated here. The embodiments of this application mainly use the case of a speed bump in front of the vehicle as an example for detailed explanation, which effectively improves the feasibility of controlling the vehicle to pass over speed bumps.

[0041] In step S202, when the vehicle is detected to be in a speed bump condition, the target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump crossing mode are obtained.

[0042] In this embodiment, the target activation state of the anti-lock braking system is an activated state and an inactive state; the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode and the vehicle's rear wheel speed bump crossing mode.

[0043] It is understood that, in the embodiments of this application, when the vehicle is detected to be in a speed bump condition, the anti-lock braking system (ABS) signal of the vehicle can be obtained. For example, in the embodiments of this application, the vehicle controller in the above system can collect chassis network ABS speed, four-wheel wheel speed signals, vehicle acceleration signals, ABS signals, etc. through the vehicle CAN network. The current activation state of the vehicle can be determined by the ABS signal, and the four-wheel wheel speed signals, vehicle acceleration signals, etc. can be used to determine whether the vehicle is currently crossing the speed bump by the front wheels or the rear wheels, effectively improving the feasibility of the vehicle smoothly crossing the speed bump by applying the brakes.

[0044] In step S203, the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque are determined according to the target activation state and the actual speed bump crossing mode. The control value of the speed bump working condition is obtained, and the first drive motor is controlled to unload feedback torque according to the control value, and the second drive motor is controlled to load feedback torque.

[0045] In this embodiment, the control value is a value that ensures the decrease in the feedback torque of the first drive motor and the increase in the feedback torque of the second drive motor are consistent within a unit time.

[0046] It is understood that, in this application embodiment, the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque can be determined based on the target activation state and the actual speed bump crossing mode in the following steps. For example, in this application embodiment, the vehicle controller in the above system can determine whether the anti-lock braking system is activated based on the received ABS signal. When the anti-lock braking system is activated, in order to avoid the feedback torque applied by the motor during the activation of the anti-lock braking system affecting the anti-lock braking system and increasing the tire lock-up time, the vehicle controller in the above system can control the drive motor corresponding to the vehicle wheel that is crossing the deceleration point to unload feedback torque. For example, when controlling the front drive motor corresponding to the front wheel of the vehicle to unload feedback torque, in order to ensure that the braking force of the vehicle remains unchanged, the rear drive motor corresponding to the rear wheel of the vehicle needs to load the corresponding braking torque according to the braking depth of the driver. In order to ensure the smoothness of the vehicle when the feedback torque unloaded by the front drive motor and the feedback torque loaded by the rear drive motor, it is necessary to ensure that the decrease in feedback torque of the front drive motor and the increase in feedback torque of the rear drive motor per unit time are consistent.

[0047] Furthermore, since the maximum feedback capabilities of the front drive motor and the rear drive motor are not necessarily the same, and in some models the rear drive motor is a small motor used for auxiliary drive, or the rear drive motor of the vehicle is in a faulty state and cannot provide feedback, in this case, the feedback torque of the front drive motor cannot be transferred to the rear drive motor, i.e., T r >T r_maxEven if the rear drive motor operates at maximum capacity, it cannot guarantee the vehicle's target braking deceleration. In this case, the embodiment of this application can request hydraulic intervention from the ESP system through the vehicle controller in the above system to ensure the vehicle's braking deceleration. Table 1 shows the relationship between the vehicle's brake pedal depth and deceleration, as detailed in Table 1 below:

[0048] Table 1

[0049] Brake pedal depth (%) <![CDATA[Vehicle deceleration (m / s 2 )]]> 10 <![CDATA[a1]]> 20 <![CDATA[a2]]> … … n <![CDATA[a n ]]> … … 90 <![CDATA[a9]]> 100 <![CDATA[a 10 ]]>

[0050] The target feedback torque for the whole vehicle is:

[0051] T=(m*a n -f)*r

[0052] Where T represents the target regenerative torque of the vehicle; m represents the vehicle mass, typically half-loaded; a n The value represents the target braking deceleration of the vehicle corresponding to the current braking depth; f represents the gliding resistance at the current vehicle speed; and r represents the vehicle rolling radius.

[0053] The target feedback torque of the rear drive motor is:

[0054] T r =(TT) f *i1) / i2

[0055] Where T represents the target feedback torque of the whole vehicle; i1 represents the speed ratio of the front drive motor reducer; i2 represents the speed ratio of the rear drive motor reducer; T f Indicates the target feedback torque of the front drive motor; T r T represents the target feedback torque of the rear drive motor. r_max This indicates the maximum feedback capability of the rear drive motor.

[0056] Therefore, the embodiments of this application can prevent the vehicle from lurching forward due to the withdrawal of feedback torque, untimely or insufficient hydraulic compensation, or jerking caused by hydraulic overshoot, thereby improving the smoothness and economy of the vehicle, as well as enhancing the safety and comfort of the vehicle.

[0057] Optionally, in one embodiment of this application, determining the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode includes: detecting whether the target activation state of the anti-lock braking system is activated and whether the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode; if the target activation state is detected to be activated and the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, determining that the first target wheel corresponding to the first drive motor for unloading feedback torque is the vehicle's front wheel, and determining that the second target wheel corresponding to the second drive motor for loading feedback torque is the vehicle's rear wheel.

[0058] In this embodiment of the application, the first target wheel and the second target wheel are specifically determined by the target activation state and the actual speed bump crossing mode. For example, when the first target wheel is the front wheel of the vehicle, the first drive motor is the front drive motor; the speed bump crossing mode of the vehicle's front wheel is the mode in which the front wheel of the vehicle is crossing the speed bump.

[0059] In some embodiments, this application embodiment can detect whether the target activation state of the anti-lock braking system is activated and whether the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode. When the target activation state is detected to be activated and the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, the first drive motor for unloading feedback torque is determined to be the front drive motor, and the corresponding first target wheel is the vehicle's front wheel. The second drive motor for loading feedback torque is determined to be the rear drive motor, and the corresponding second target wheel is the vehicle's rear wheel, effectively improving the accuracy of vehicle speed bump crossing control.

[0060] Optionally, in one embodiment of this application, before detecting that the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, the method further includes: based on the vehicle's four wheel speed signals, determining a first average value of the vehicle's left front wheel speed and right front wheel speed and a second average value of the vehicle's left rear wheel speed and right rear wheel speed respectively; obtaining the difference between the first average value and the second average value, and determining whether the difference meets a first preset condition; if the difference meets the first preset condition, determining the speed fluctuation of the vehicle's front wheels, and determining whether the speed fluctuation meets a second preset condition; if the speed fluctuation meets the second preset condition, determining that the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, otherwise determining that the actual speed bump crossing mode is not the vehicle's front wheel speed bump crossing mode.

[0061] In this embodiment of the application, the first preset condition is the condition that the absolute value of the difference exceeds threshold 1; the second preset condition is the condition that the rotational speed fluctuation exceeds threshold 2; wherein, threshold 1 and threshold 2 can be set by those skilled in the art according to the actual situation, and are not specifically limited here.

[0062] For example, in this embodiment of the application, the vehicle controller in the above system can be used to obtain the wheel speed signals of the four wheels of the vehicle, and calculate in real time the difference between the average wheel speed of the left front wheel and the right front wheel and the average wheel speed of the left rear wheel and the right rear wheel, and determine the absolute value of the difference. When the absolute value exceeds threshold 1, such as 5 km / h and lasts for two communication cycles, the front wheel speed fluctuation is calculated, where the speed fluctuation = the average front wheel speed at the current moment - the average front wheel speed at the previous moment. When the speed fluctuation exceeds threshold 2, such as 7 km / h and lasts for three communication cycles, it is determined that the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, that is, the vehicle's front wheels are crossing the speed bump, and feedback torque compensation can be performed on the rear drive motor, which effectively improves the vehicle's stability and avoids the vehicle from jerking or lurching forward.

[0063] Specifically, when the actual speed bump driving mode is not the front wheel speed bump driving mode, that is, when the front wheels of the vehicle do not pass over the speed bump and the anti-lock braking system is activated, the front drive motor normally unloads the feedback torque, and the rear drive motor does not need to load feedback torque. In addition, when the vehicle is on a low-friction surface such as a wet epoxy floor, compacted snow, or ice, braking will also trigger the anti-lock braking system. However, in these conditions, the feedback torque of both the front and rear drive motors needs to be unloaded to improve the vehicle's stability.

[0064] Optionally, in one embodiment of this application, determining the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode includes: detecting whether the target activation state of the anti-lock braking system is inactive and whether the actual speed bump crossing mode is the rear wheel speed bump crossing mode; if the target activation state is detected to be inactive and the actual speed bump crossing mode is the rear wheel speed bump crossing mode, determining that the first target wheel corresponding to the first drive motor for unloading feedback torque is the rear wheel of the vehicle, and determining that the second target wheel corresponding to the second drive motor for loading feedback torque is the front wheel of the vehicle.

[0065] In this embodiment of the application, the vehicle rear wheel speed bump mode is the mode in which the vehicle rear wheel is about to pass over the speed bump.

[0066] In some embodiments, when the target activation state is detected to be inactive and the actual speed bump crossing mode is the rear wheel speed bump crossing mode, such as the rear wheel of the vehicle about to cross the speed bump (i.e., the front wheel of the vehicle has already crossed the speed bump), the first drive motor for unloading feedback torque is determined to be the rear drive motor, and the corresponding first target wheel is the rear wheel of the vehicle. The second drive motor for loading feedback torque is determined to be the front drive motor, and the corresponding second target wheel is the front wheel of the vehicle, effectively improving the smoothness of the entire vehicle.

[0067] For example, in this embodiment of the application, when the front wheels of the vehicle have passed over a speed bump and the anti-lock braking system is not activated, the rear drive motor of the rear wheels is controlled to unload the feedback torque and the front drive motor of the front wheels is controlled to load the feedback torque of the whole vehicle. It should be noted that in order to ensure the smoothness of the vehicle when the rear drive motor unloads the feedback torque and the front drive motor loads the feedback torque, it is necessary to ensure that the values ​​of the rear drive motor unloads the feedback torque and the front drive motor load the feedback torque are consistent per unit time, so as to improve the stability and safety of the vehicle.

[0068] Optionally, in one embodiment of this application, obtaining the control value for the speed bump condition includes: obtaining the actual braking depth of the vehicle's brake pedal; and determining the control value for the speed bump condition based on the actual braking depth.

[0069] For example, when the target activation state is detected as activated and the actual speed bump crossing mode is the front wheel speed bump crossing mode, the actual braking depth of the driver's brake pedal is obtained, and the control value of the speed bump condition is determined based on the actual braking depth. Then, the front drive motor of the front wheel of the vehicle is controlled to unload the feedback torque according to the control value, and the rear drive motor of the rear wheel of the vehicle is controlled to load the feedback torque, effectively improving the smoothness of the vehicle.

[0070] Optionally, in one embodiment of this application, after detecting that the vehicle is in the condition of a speed bump, the method further includes: determining whether the vehicle has activated the speed bump warning, wherein the speed bump warning method includes a voice warning and a pop-up screen warning; if the vehicle has activated the speed bump warning, then the speed bump warning is sent to a preset terminal, otherwise the speed bump warning is not sent.

[0071] For example, in this embodiment of the application, after detecting that the vehicle is in the condition of passing a speed bump, it can determine whether the vehicle has activated the speed bump warning. The user can activate the speed bump warning through a physical button. When the user activates the speed bump warning, a voice broadcast of "Approaching a speed bump, please be careful" can be sent, and the text information can be sent to the vehicle's central control screen, thereby improving the vehicle's interactivity and safety.

[0072] It should be noted that the preset terminal is set by those skilled in the art according to the actual situation, and no specific limitation is made here.

[0073] For example, such as Figure 3 As shown, the working principle of the embodiments of this application will be described in detail below with a specific example.

[0074] Step S301: Obtain the four-wheel speed signals and ABS signals of the vehicle.

[0075] In other words, the embodiments of this application can obtain the four-wheel speed signals and ABS signals of the vehicle through the vehicle's CAN network, effectively improving the feasibility of the vehicle smoothly passing over speed bumps when braking.

[0076] Step S302: Determine whether the anti-lock braking system is activated.

[0077] In other words, the embodiments of this application can determine whether the anti-lock braking system is activated based on the ABS signal. If the anti-lock braking system is activated, step S303 is executed; otherwise, step S307 is executed.

[0078] Step S303: Disengage the front drive motor feedback torque.

[0079] In other words, the embodiments of this application can control the front drive motor to unload the regenerative torque when the anti-lock braking system is activated.

[0080] Step S304: Determine whether the actual speed bump crossing mode is the front wheel speed bump crossing mode.

[0081] In other words, the embodiments of this application can determine whether the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode. If the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, then step S305 is executed; otherwise, step S307 is executed.

[0082] Step S305: Loading the drive motor to provide feedback torque.

[0083] In other words, the embodiments of this application can apply feedback torque from the rear drive motor when the front wheels of the vehicle are passing over a speed bump, which effectively improves the stability of the vehicle.

[0084] Step S306: Determine whether the actual speed bump crossing mode is the rear wheel speed bump crossing mode and whether the anti-lock braking system is not activated.

[0085] In other words, if the actual speed bump crossing mode is the rear wheel speed bump crossing mode and the anti-lock braking system is not activated, then step S307 is executed; otherwise, step S305 is executed.

[0086] Step S307: The rear drive motor regenerative torque is disengaged, and the front drive motor applies regenerative torque.

[0087] In other words, the embodiments of this application can ensure that when the front wheels of the vehicle have not passed over the speed bump and the anti-lock braking system is not activated, the front drive motor can normally unload the feedback torque, and the rear drive motor can unload the feedback torque, thereby improving the stability of the vehicle when passing over speed bumps and avoiding jerking or forward lurching.

[0088] For example, such as Figure 4As shown, the working principle of the embodiments of this application will be described in detail below with a specific example.

[0089] Step S401: Obtain the wheel speed signals of the vehicle's four wheels.

[0090] In other words, the embodiments of this application can obtain the four-wheel speed signals of the vehicle through the vehicle's CAN network, effectively improving the feasibility of the vehicle smoothly passing over speed bumps when braking.

[0091] Step S402: Determine if the difference between the average front wheel speed and the average rear wheel speed is greater than the threshold 1.

[0092] In other words, in this embodiment of the application, step S403 can be executed when the difference between the average front wheel speed and the average rear wheel speed is greater than a threshold of 1; otherwise, step S405 can be executed.

[0093] Step S403: Determine whether the fluctuation of the vehicle's front wheel speed is greater than the threshold 2.

[0094] In other words, in this embodiment of the application, step S404 can be executed when the fluctuation of the front wheel speed of the vehicle is greater than the threshold 2, otherwise step S405.

[0095] Step S404: Loading the drive motor to provide feedback torque.

[0096] In other words, the embodiments of this application can apply feedback torque to the rear drive motor, which effectively improves the stability and comfort of the vehicle and avoids jerking or forward lurching.

[0097] Step S405: No loading is required for the regenerative torque of the rear drive motor.

[0098] In other words, the embodiments of this application do not require loading the feedback torque of the rear drive motor, effectively improving the smoothness of the vehicle.

[0099] The method for driving a vehicle over a speed bump according to the embodiments of this application can, when the vehicle is detected to be in a speed bump condition, determine the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state of the vehicle's anti-lock braking system and the actual speed bump driving mode. It also acquires the control value for the speed bump condition, controls the first drive motor to unload feedback torque based on the control value, and controls the second drive motor to load feedback torque. This effectively reduces the forward lurch and jerking sensation after the motor torque is released, improving vehicle smoothness. Therefore, it solves the problem in related technologies where, when the vehicle brakes over a speed bump, the motor feedback torque is released, resulting in insufficient or over-adjusted hydraulic compensation braking, causing the vehicle to lurch or jerk after the motor torque is released, reducing vehicle smoothness and the user's driving experience.

[0100] Next, with reference to the accompanying drawings, a device for a vehicle to pass over a speed bump according to an embodiment of this application is described.

[0101] Figure 5 This is a block diagram of a vehicle crossing a speed bump according to an embodiment of this application.

[0102] like Figure 5 As shown, the device 10 for the vehicle to pass over speed bumps includes: a detection module 100, an acquisition module 200, and a control module 300.

[0103] Specifically, the detection module 100 is used to detect whether the vehicle is in a speed bump condition.

[0104] The acquisition module 200 is used to acquire the target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump crossing mode when the vehicle is detected to be in a speed bump condition.

[0105] The control module 300 is used to determine the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump mode, and to obtain the control value of the speed bump working condition. Based on the control value, the first drive motor is controlled to unload feedback torque, and the second drive motor is controlled to load feedback torque.

[0106] Optionally, in one embodiment of this application, the control module 300 includes a first detection unit and a first control unit.

[0107] The first detection unit is used to detect whether the target activation state of the anti-lock braking system is activated and whether the actual speed bump crossing mode is the front wheel speed bump crossing mode of the vehicle.

[0108] The first control unit is configured to, when the target activation state is detected as activated and the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, determine that the first target wheel corresponding to the first drive motor that unloads the feedback torque is the vehicle's front wheel, and determine that the second target wheel corresponding to the second drive motor that loads the feedback torque is the vehicle's rear wheel.

[0109] Optionally, in one embodiment of this application, the apparatus 10 of this application embodiment further includes: a determining module, an acquiring module, a first processing module, and a second processing module.

[0110] The determining module is used to determine, before detecting that the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, the first average value of the vehicle's left front wheel speed and right front wheel speed and the second average value of the vehicle's left rear wheel speed and right rear wheel speed based on the vehicle's four wheel speed signals.

[0111] The acquisition module is used to acquire the difference between a first average value and a second average value before detecting that the actual speed bump crossing mode is the front wheel speed bump crossing mode of the vehicle, and to determine whether the difference meets a first preset condition.

[0112] The first processing module is used to determine the speed fluctuation of the vehicle's front wheels before detecting that the actual speed bump crossing mode is the vehicle's front wheels crossing the speed bump mode. If the difference meets the first preset condition, the module then determines whether the speed fluctuation meets the second preset condition.

[0113] The second processing module is used to determine that the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode if the speed fluctuation meets the second preset condition before detecting that the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode; otherwise, it determines that the actual speed bump crossing mode is not the vehicle's front wheel speed bump crossing mode.

[0114] Optionally, in one embodiment of this application, the control module 300 includes: a second detection unit and a second control unit.

[0115] The second detection unit is used to detect whether the target activation state of the anti-lock braking system is inactive and whether the actual speed bump crossing mode is the rear wheel speed bump crossing mode.

[0116] The second control unit is used to determine, when the target activation state is detected as inactive and the actual speed bump crossing mode is the rear wheel speed bump crossing mode of the vehicle, that the first target wheel corresponding to the first drive motor that unloads the feedback torque is the rear wheel of the vehicle, and to determine the second target wheel corresponding to the second drive motor that loads the feedback torque is the front wheel of the vehicle.

[0117] Optionally, in one embodiment of this application, the control module 300 includes an acquisition unit and a determination unit.

[0118] The acquisition unit is used to acquire the actual braking depth of the vehicle's brake pedal.

[0119] The determination unit is used to determine the control value for the speed bump condition based on the actual braking depth.

[0120] Optionally, in one embodiment of this application, the apparatus 10 of this application embodiment further includes: a judgment module and a processing module.

[0121] The judgment module is used to determine whether the vehicle has activated the speed bump warning after detecting that the vehicle is in the speed bump condition. The speed bump warning method includes voice reminder and pop-up screen reminder.

[0122] The processing module is used to send a speed bump warning to a preset terminal after detecting that the vehicle is in a speed bump condition, if the vehicle has the speed bump warning enabled, otherwise it will not send a speed bump warning.

[0123] It should be noted that the foregoing explanation of the method embodiment for vehicles crossing speed bumps also applies to the device for vehicles crossing speed bumps in this embodiment, and will not be repeated here.

[0124] The vehicle over speed bump device proposed in this application can, when detecting that the vehicle is in a speed bump condition, determine a first drive motor for unloading feedback torque and a second drive motor for loading feedback torque based on the target activation state of the vehicle's anti-lock braking system and the vehicle's actual speed bump over-traffic pattern. It also acquires control values ​​for the speed bump condition, controls the first drive motor to unload feedback torque based on these control values, and controls the second drive motor to load feedback torque. This effectively reduces the forward lurch and jerking sensation experienced by the vehicle after the motor torque is released, improving vehicle smoothness. Therefore, it solves the problem in related technologies where, when the vehicle brakes over a speed bump, the motor feedback torque is released, resulting in insufficient or over-adjusted hydraulic compensation braking, causing a forward lurch or jerking sensation after the motor torque is released, reducing vehicle smoothness and the user's driving experience.

[0125] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0126] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0127] When the processor 602 executes the program, it implements the method for a vehicle to pass over a speed bump provided in the above embodiments.

[0128] Furthermore, the vehicle also includes:

[0129] Communication interface 603 is used for communication between memory 601 and processor 602.

[0130] The memory 601 is used to store computer programs that can run on the processor 602.

[0131] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0132] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0133] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0134] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0135] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method for a vehicle to pass over a speed bump.

[0136] This embodiment also provides a computer program product, including a computer program, which, when executed, is used to implement the above-described method for a vehicle to pass over a speed bump.

[0137] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0138] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0139] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0140] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0141] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0142] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0143] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0144] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for a vehicle to pass over a speed bump, characterized in that, Includes the following steps: Detect whether the vehicle is in the condition of encountering a speed bump; When the vehicle is detected to be in the condition of the speed bump, the target activation state of the anti-lock braking system of the vehicle and the actual speed bump crossing mode of the vehicle are obtained. Based on the target activation state and the actual speed bump crossing mode, determine the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque, and obtain the control value of the speed bump working condition. Based on the control value, control the first drive motor to unload feedback torque and control the second drive motor to load feedback torque. The vehicle has at least two drive motors, one front and one rear, and the vehicle's regenerative braking and hydraulic braking are decoupled; ensuring that the regenerative torque unloaded by the rear drive motor and the regenerative torque loaded by the front drive motor are the same per unit time.

2. The method according to claim 1, characterized in that, The process of determining the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode includes: Detect whether the target activation state of the anti-lock braking system is activated, and whether the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode; When the target activation state is detected as the activated state and the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode, the first target wheel corresponding to the first drive motor that unloads the feedback torque is determined to be the vehicle's front wheel, and the second target wheel corresponding to the second drive motor that loads the feedback torque is determined to be the vehicle's rear wheel.

3. The method according to claim 2, characterized in that, Before detecting that the actual speed bump crossing pattern is the vehicle's front wheel speed bump crossing pattern, the method further includes: Based on the wheel speed signals of the four wheels of the vehicle, a first average value of the wheel speed of the left front wheel and the wheel speed of the right front wheel and a second average value of the wheel speed of the left rear wheel and the wheel speed of the right rear wheel are determined respectively. Obtain the difference between the first average value and the second average value, and determine whether the difference satisfies a first preset condition; If the difference satisfies the first preset condition, the speed fluctuation of the front wheels of the vehicle is determined, and it is determined whether the speed fluctuation satisfies the second preset condition. If the speed fluctuation meets the second preset condition, then the actual speed bump crossing mode is determined to be the vehicle's front wheel speed bump crossing mode; otherwise, the actual speed bump crossing mode is determined not to be the vehicle's front wheel speed bump crossing mode.

4. The method according to claim 2, characterized in that, The process of determining the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode includes: Detect whether the target activation state of the anti-lock braking system is inactive, and whether the actual speed bump crossing mode is the rear wheel speed bump crossing mode of the vehicle; If the target activation state is detected as the inactive state, and the actual speed bump crossing mode is the vehicle's rear wheel speed bump crossing mode, then the first target wheel corresponding to the first drive motor that unloads the feedback torque is determined to be the vehicle's rear wheel, and the second target wheel corresponding to the second drive motor that loads the feedback torque is determined to be the vehicle's front wheel.

5. The method according to claim 1, characterized in that, The process of obtaining the control value for the speed bump condition includes: Obtain the actual braking depth of the vehicle's brake pedal; The control value for the speed bump condition is determined based on the actual braking depth.

6. The method according to claim 1, characterized in that, After detecting that the vehicle is in the speed bump condition, the process further includes: Determine whether the vehicle has activated the speed bump warning function, wherein the speed bump warning method includes voice reminder and pop-up screen reminder; If the vehicle activates the speed bump warning, the speed bump warning is sent to a preset terminal; otherwise, the speed bump warning is not sent.

7. A device for guiding a vehicle over a speed bump, characterized in that, For implementing the method as described in any one of claims 1-6, comprising: The detection module is used to detect whether the vehicle is in the condition of a speed bump; The acquisition module is used to acquire the target activation state of the anti-lock braking system of the vehicle and the actual speed bump crossing mode of the vehicle when the vehicle is detected to be in the speed bump condition. The control module is used to determine the first drive motor for unloading feedback torque and the second drive motor for loading feedback torque based on the target activation state and the actual speed bump crossing mode, and to obtain the control value of the speed bump working condition, control the first drive motor to unload feedback torque based on the control value, and control the second drive motor to load feedback torque.

8. The apparatus according to claim 7, characterized in that, The control module includes: The detection unit is used to detect whether the target activation state of the anti-lock braking system is activated and whether the actual speed bump crossing mode is the vehicle's front wheel speed bump crossing mode. The control unit is configured to, when the target activation state is detected as the activated state and the actual speed bump crossing mode is the vehicle front wheel speed bump crossing mode, determine that the first target wheel corresponding to the first drive motor that unloads the feedback torque is the vehicle front wheel, and determine that the second target wheel corresponding to the second drive motor that loads the feedback torque is the vehicle rear wheel.

9. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the method for a vehicle to pass over a speed bump as described in any one of claims 1-5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the method for a vehicle to pass over a speed bump as described in any one of claims 1-5.

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