Torque control method, device and equipment based on slip rate and readable storage medium

Abstract

The invention relates to the technical field of vehicles, and provides a torque control method, device and equipment based on the slip rate and a storage medium. The method comprises the steps that the current slip rate of a vehicle is obtained to judge the driving state of the vehicle; if the driving state is represented as a slip state, performing torque compensation on a current torque according to an adhesion coefficient corresponding to the current slip rate so as to output a target torque; controlling the vehicle to run according to the target torque; wherein in the running process of the vehicle according to the target torque, the current slip rate of the vehicle is within a stable slip rate range. By means of the technical scheme, the problem that in the prior art, the slip rate restraining effect is poor due to the fact that slip restraining response is slow can be solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a slip-rate-based torque method, device, apparatus, and computer-readable storage medium. Background Art

[0002] At present, when a car is driving on a low-adhesion road surface, it may slip and experience instability, especially electric vehicles, which have extremely fast torque response and low-speed high-torque characteristics, so that the drive wheels have greater energy and dynamic characteristics during acceleration and feedback, causing the drive wheels of electric vehicles to slip or lock more easily on low-adhesion roads.

[0003] In the prior art, when a vehicle slips, the torque request instruction needs to be transmitted to the VCU (Vehicle control unit) through the ESP (Electronic Stability Program), and the VCU transmits the torque request instruction to the MCU (Microcontroller Unit), which controls the motor to output the target torque. However, the torque request instruction needs to be transmitted multiple times in more than 100ms. The long transmission time causes torque output delay, which makes the vehicle's ability to suppress abnormal conditions such as slipping poor, affecting the smoothness and stability of the vehicle's driving. Summary of the invention

[0004] In view of the above problems, the present application provides a torque based on slip ratio, which is used to solve the problem of poor slip ratio suppression effect caused by slow slip suppression response in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a torque control method based on slip rate is provided, which is applied to a drive motor control unit, and the method comprises: obtaining a current slip rate of a vehicle to determine a driving state of the vehicle; if the driving state is characterized as a slip state, performing torque compensation on the current torque according to an adhesion coefficient corresponding to the current slip rate to output a target torque; controlling the vehicle to travel according to the target torque; wherein, during the vehicle traveling according to the target torque, the current slip rate of the vehicle is within a stable slip rate range.

[0006] In an optional manner, obtaining the current slip rate of the vehicle to determine the driving state of the vehicle further includes: obtaining the current slip rate of the vehicle based on a theoretical vehicle speed and an actual vehicle speed; wherein the theoretical vehicle speed is obtained based on a tire radius and a collected rotational speed of a resolver motor; if the current slip rate is greater than or equal to a first preset slip rate threshold, determining that the driving state of the vehicle is a slip state.

[0007] In an optional manner, before obtaining the current slip rate of the vehicle based on the theoretical vehicle speed and the actual vehicle speed, it further includes: obtaining the driving acceleration of the vehicle based on the current vehicle driving force, the current driving resistance and the vehicle mass; and integrating the driving acceleration to obtain the actual vehicle speed.

[0008] In an optional manner, the current driving resistance includes windward resistance, rolling resistance and ramp resistance; the driving acceleration of the vehicle obtained based on the current vehicle driving force, the current driving resistance and the vehicle mass further includes: obtaining the windward resistance according to the windward area, the drag coefficient and the actual vehicle speed; obtaining the driving acceleration of the vehicle according to the current vehicle driving force, the windward area, the drag coefficient, the windward resistance, the rolling resistance, the ramp resistance and the vehicle mass.

[0009] In an optional manner, the method further includes: obtaining the vehicle driving force according to the current torque and tire radius.

[0010] In an optional embodiment, the method further includes: determining the rolling resistance based on the vehicle mass, gravity acceleration, current slope and adhesion coefficient; and / or determining the slope resistance based on the vehicle mass, gravity acceleration and current slope.

[0011] In an optional manner, after controlling the vehicle to travel according to the target torque, the method further includes: if it is obtained that the current slip rate is less than a second preset slip rate threshold, then exiting the compensation for the current torque and maintaining the target torque to control the vehicle; wherein the second preset slip rate threshold is less than the first preset slip rate threshold, and the difference between the first preset slip rate threshold and the second preset slip rate threshold is greater than a preset slip rate difference, and the second preset slip rate threshold is within the stable slip rate range.

[0012] According to a second aspect of an embodiment of the present application, a torque control device based on slip rate is provided, characterized in that the device comprises: an acquisition module, used to acquire a current slip rate of a vehicle to determine a driving state of the vehicle; a compensation module, used to perform torque compensation on a current torque according to an adhesion coefficient corresponding to the current slip rate if the driving state is characterized as a slip state, so as to output a target torque; and a control module, used to control the driving of the vehicle according to the target torque; wherein, when the vehicle is driving according to the target torque, the current slip rate of the vehicle is within a stable slip rate range.

[0013] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a controller; a memory for storing one or more programs, wherein when the one or more programs are executed by the controller, the controller implements the following steps of the torque control method based on slip rate: obtaining a current slip rate of a vehicle to determine a driving state of the vehicle; if the driving state is characterized as a slip state, performing torque compensation on a current torque according to an adhesion coefficient corresponding to the current slip rate to output a target torque; controlling the driving of the vehicle according to the target torque; wherein, during the driving of the vehicle according to the target torque, the current slip rate of the vehicle is within a stable slip rate range.

[0014] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, wherein the computer program includes at least one executable instruction, and when the executable instruction is executed on a torque control device / electronic device based on slip rate, the torque control device / electronic device based on slip rate performs the operation of the torque control method based on slip rate: obtaining a current slip rate of a vehicle to determine a driving state of the vehicle; if the driving state is characterized as a slip state, performing torque compensation on the current torque according to an adhesion coefficient corresponding to the current slip rate to output a target torque; controlling the vehicle to travel according to the target torque; wherein, during the driving of the vehicle according to the target torque, the current slip rate of the vehicle is within a stable slip rate range.

[0015] In the embodiment of the present application, the current slip rate is directly obtained by the drive motor control unit, and the driving state of the vehicle is determined according to the current slip rate. If it is determined to be a slip state, the current torque is directly compensated according to the adhesion coefficient corresponding to the slip rate, and the target torque is output to control the vehicle to drive, so that the slip rate of the vehicle is adjusted to a stable slip rate range. Compared with the prior art, it is necessary to obtain the vehicle speed through ESP to obtain the current slip rate, so that a target torque request instruction can be generated according to the current slip rate, and then the target torque request instruction is transmitted to the drive motor control unit. The drive motor control unit requests the instruction and then controls the vehicle according to the received target torque. The target request torque needs to consume a lot of time during the transmission process, resulting in poor slip rate suppression effect; the present application directly obtains the slip rate in the drive motor control unit, and can directly generate the target torque according to the slip rate to control the vehicle, eliminating the time consumed by the target torque request instruction during the transmission process, and the suppression response to the slip state is faster, so that the suppression of the slip rate is better, so that the vehicle can adjust the slip rate to a stable slip rate range faster, jump out of the slip state, and bring a better experience to the user.

[0016] The above description is only an overview of the technical solution of the embodiment of the present application. In order to more clearly understand the technical means of the embodiment of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0018] Figure 1 A flow chart of a first embodiment of a torque control method based on slip ratio provided by the present application is shown;

[0019] Figure 2 A slip rate adhesion coefficient relationship diagram provided for this embodiment;

[0020] Figure 3 A flow chart of a second embodiment of a torque control method based on slip ratio provided by the present application is shown;

[0021] Figure 4 A diagram showing the stress condition of a tire of a whole vehicle provided in an embodiment of the present application is shown;

[0022] Figure 5 An automatic control diagram of torque self-regulation provided by the present application is shown;

[0023] Figure 6 A schematic structural diagram of an embodiment of a torque control device based on slip ratio provided by the present application is shown;

[0024] Figure 7 A schematic structural diagram of an embodiment of an electronic device provided by the present application is shown. DETAILED DESCRIPTION

[0025] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0028] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0029] Figure 1 The flowchart of the first embodiment of a torque control method based on slip ratio provided by the present application is shown, and the method is executed by a vehicle. Figure 1 As shown, the torque control scheme based on slip ratio in the present application is applied to a drive motor control unit, and the method includes the following steps:

[0030] Step S110: Acquire the current slip rate of the vehicle to determine the driving state of the vehicle.

[0031] During the driving process, the adhesion coefficient of the vehicle's tires on the road may change due to road conditions and weather, which may cause the vehicle's tires to slip. By obtaining the vehicle's current slip rate, it can be determined whether the vehicle is slipping based on the size of the current slip rate.

[0032] Step S120: If the driving state is characterized as a slip state, torque compensation is performed on the current torque according to the adhesion coefficient corresponding to the current slip ratio to output a target torque.

[0033] Among them, the adhesion coefficient is the ratio of adhesion to the normal pressure of the wheel (the direction perpendicular to the road surface). It can be regarded as the static friction coefficient between the tire and the road surface. It is determined by the road surface and the tire. The larger the adhesion coefficient, the greater the available adhesion, and the less likely the car is to slip. Figure 2 For a slip ratio adhesion coefficient relationship diagram provided in this embodiment, please refer to Figure 2As shown, the horizontal axis represents the slip rate, and the vertical axis represents the adhesion coefficient. By obtaining the current slip rate of the vehicle, if the current slip rate is in an unstable area, it can be determined that the vehicle slip rate is in a slipping state. Figure 2 The ordinate corresponding to the current slip rate can be found in the figure, so that the adhesion coefficient of the current vehicle can be obtained. The current output torque can be calculated based on the adhesion coefficient, and then the current torque can be compensated to obtain the target torque and output it.

[0034] Step S130: controlling the vehicle to travel according to the target torque;

[0035] Wherein, during the driving process of the vehicle according to the target torque, the current slip rate of the vehicle is within a stable slip rate range. When the vehicle is in a slipping state, the adhesion coefficient is proportional to the target torque. When the vehicle is controlled according to the output target torque, the adhesion coefficient can be changed to control the slip rate of the vehicle to be adjusted within the stable slip rate range.

[0036] In this embodiment, the current slip ratio is directly obtained by the drive motor control unit, and the driving state of the vehicle is determined according to the current slip ratio. If it is determined to be a slip state, the current torque is directly compensated according to the adhesion coefficient corresponding to the slip ratio, and the target torque is output to control the vehicle to drive, so that the slip ratio of the vehicle is adjusted to a stable slip ratio range. Compared with the prior art, it is necessary to obtain the vehicle speed through ESP to obtain the current slip ratio, so that a target torque request instruction can be generated according to the current slip ratio, and then the target torque request instruction is transmitted to the drive motor control unit. The drive motor control unit requests the instruction and then controls the vehicle according to the received target torque. The target request torque needs to consume a lot of time during the transmission process, resulting in poor slip ratio suppression effect. The present application directly obtains the slip ratio in the drive motor control unit, and can directly generate the target torque according to the slip ratio to control the vehicle, thereby eliminating the time consumed by the target torque request instruction during the transmission process, and the suppression response to the slip state is faster, thereby better suppressing the slip ratio, so that the vehicle can adjust the slip ratio to a stable slip ratio range faster, jump out of the slip state, and bring a better experience to the user.

[0037] Figure 3 A flow chart of a second embodiment of a torque control method based on slip ratio provided by the present application is shown, and the method is executed by a vehicle. Figure 3 As shown, the step of obtaining the current slip rate of the vehicle to determine the driving state of the vehicle further includes the following steps:

[0038] Step S210: obtaining the current slip rate of the vehicle according to the theoretical vehicle speed and the actual vehicle speed; wherein the theoretical vehicle speed is obtained according to the tire radius and the collected resolver motor speed;

[0039] Specifically, the current slip ratio λ can be obtained by using the following calculation formula:

[0040]

[0041] Among them,

[0042] V ω Indicates theoretical vehicle speed;

[0043] V represents the actual vehicle speed;

[0044] Specifically, the theoretical vehicle speed V ω The specific calculation can be obtained through the following formula:

[0045] V ω =ωr

[0046] in,

[0047] ω represents the rotation speed of the resolver motor;

[0048] r represents the tire radius.

[0049] Step S220: If the current slip rate is greater than or equal to a first preset slip rate threshold, it is determined that the driving state of the vehicle is a slip state.

[0050] In this embodiment, the ESP in the prior art has signal detection devices such as wheel speed sensors and acceleration inertial sensors, which can directly obtain relevant information about the theoretical speed and actual speed of the vehicle. As a control unit, the drive motor control unit does not have the above sensors, but the drive motor control unit has a rotary detection function. In order to improve the response speed of the slip state, this embodiment can directly collect the rotary motor speed through the drive motor control unit, and calculate the theoretical vehicle speed according to the rotary motor speed and tire radius; compared with the prior art, ESP needs to obtain the slip rate through the wheel speed sensor, road surface state and wheel state. This embodiment is more efficient in directly obtaining the slip rate through the motor drive unit, and the generated target torque response is faster. If the current slip rate is greater than or equal to the first preset slip rate threshold, it means that the tire of the vehicle will slip, and the driving state of the vehicle is determined to be a slip state.

[0051] Figure 4 FIG. 1 shows a force diagram of a tire of a vehicle provided in an embodiment of the present application. Please refer to FIG. Figure 4 As shown, when the vehicle is driving, the forces include the vehicle driving force F d and driving resistance F dr .

[0052] Before obtaining the current slip rate of the vehicle according to the theoretical vehicle speed and the actual vehicle speed, the method further includes:

[0053] The driving acceleration of the vehicle is obtained based on the current vehicle driving force, the current driving resistance and the vehicle mass; and the actual vehicle speed of the vehicle is obtained by integrating the driving acceleration.

[0054] The vehicle driving force is obtained according to the current torque and the tire radius.

[0055] The rolling resistance is determined according to the vehicle mass, gravity acceleration, current slope and adhesion coefficient.

[0056] The slope resistance is determined according to the vehicle mass, the acceleration of gravity and the current slope.

[0057] Specifically, the vehicle's driving acceleration a can be calculated using the following formula:

[0058]

[0059] in,

[0060] F d Indicates the current driving force of the vehicle;

[0061] F dr Indicates the current driving resistance;

[0062] m represents the vehicle mass.

[0063] The actual vehicle speed v can be calculated using the following formula:

[0064]

[0065] Specifically, the current driving resistance includes wind resistance, rolling resistance and slope resistance. The current driving resistance F dr The specific calculation can be obtained using the following formula:

[0066] F dr =F1+F2+F3

[0067] in,

[0068] F1 represents the windward resistance;

[0069] F2 represents rolling resistance;

[0070] F3 represents the slope resistance.

[0071] The method of obtaining the driving acceleration of the vehicle based on the current vehicle driving force, the current driving resistance and the vehicle mass further includes:

[0072] The headwind resistance is obtained according to the frontal area, drag coefficient and actual vehicle speed;

[0073] Specifically, the headwind resistance F1 can be calculated using the following formula:

[0074]

[0075] Among them, C d represents the windward area;

[0076] 21.15 is the drag coefficient.

[0077] The driving acceleration of the vehicle is obtained according to the current vehicle driving force, the windward area, the drag coefficient, the windward resistance, the rolling resistance, the ramp resistance and the vehicle mass.

[0078] Specifically, the driving acceleration a can be calculated using the following formula:

[0079]

[0080] Vehicle driving force F d The specific calculation formula can be used as follows:

[0081]

[0082] in,

[0083] T represents the current torque;

[0084] r represents the tire radius.

[0085] The rolling resistance can be calculated using the following formula:

[0086] F2=μmgcosα

[0087] Wherein, μ represents the adhesion coefficient;

[0088] m represents the vehicle mass;

[0089] g represents gravitational acceleration;

[0090] α represents the slope.

[0091] It should be noted that during the torque compensation process, an initial value of the adhesion coefficient μ and an initial value of the current torque T are given to calculate the actual vehicle speed. Since the adhesion coefficient μ is different under different road conditions and cannot be directly measured, the relationship between the output torque and the adhesion coefficient can be obtained through the relationship between the driving force and the driving resistance, so that the adhesion coefficient can be changed by compensating the current torque, so that the slip rate can be adjusted to the stable range.

[0092] The slope resistance F3 can be calculated using the following formula:

[0093] F3=mgsinα

[0094] Thus, we can obtain

[0095]

[0096] Thus, we can obtain

[0097]

[0098] Thus, we can obtain

[0099]

[0100] Thus, the actual speed V can be obtained.

[0101] Finally, the current slip rate can be obtained based on the actual theoretical speed and the actual speed.

[0102] Right now,

[0103]

[0104] It should be noted that all the parameters in the above calculation process, including vehicle mass, frontal area, drag coefficient, tire radius, gravitational acceleration and slope, can be directly obtained by the drive motor control unit without the need for ESP to collect them through sensors.

[0105] In another embodiment of the present application, after controlling the vehicle to travel according to the target torque, the method further includes:

[0106] If it is obtained that the current slip rate is less than a second preset slip rate threshold, the current torque compensation is exited, and the target torque is maintained to control the vehicle; wherein the second preset slip rate threshold is less than the first preset slip rate threshold, and the difference between the first preset slip rate threshold and the second preset slip rate threshold is greater than a preset slip rate difference, and the second preset slip rate threshold is within the stable slip rate range.

[0107] In this embodiment, if the current slip rate is less than the second preset slip rate threshold, and the second preset slip rate threshold is within the stable slip rate range, it means that the target torque can control the vehicle to jump out of the slipping state. By setting the second preset slip rate to be less than the first preset slip rate threshold, and when the difference between the first preset slip rate threshold and the second preset slip rate threshold is the preset slip rate threshold, the vehicle can be prevented from repeatedly entering and exiting the slip rate suppression state.

[0108] It should be noted that the first preset slip rate threshold value can be set to 30%, and the second preset slip rate threshold value can be set to 20%. When the drive motor control unit receives the ESC (Electronic Stability Controller, vehicle body electronic stability control system) hydraulic signal, it means that the TCS (Traction Control System, traction control system) needs to intervene and take over. At this time, the drive motor control unit will exit the torque compensation adjustment control of the slip rate and respond to the torque request issued by the TCS.

[0109] Figure 5 1 shows an automatic control diagram of torque self-regulation provided by the present application. Figure 5 As shown, from the upper route: the theoretical speed V can be calculated by the current torque T and the rotary motor speed ω ω ; From the lower route: According to the current torque T and tire radius, the current vehicle driving force F can be obtained d , according to the current vehicle driving force F d and the current driving resistance F dr The actual vehicle speed V can be calculated; according to the theoretical vehicle speed V ω The current slip rate λ can be calculated from the actual vehicle speed V. The current adhesion coefficient μ can be obtained through the slip rate adhesion coefficient relationship diagram according to the current slip rate λ, so that the compensation torque N can be obtained according to the current adhesion coefficient μ. The current torque T is compensated by the compensation torque N to obtain the target torque T+N. The vehicle is controlled according to the target torque T+N to adjust the current slip rate λ of the vehicle to the stable area. The theoretical vehicle speed V is calculated again according to the target torque T+N. ω and the actual vehicle speed V, and obtain the adjusted slip ratio to determine whether the adjusted slip ratio is adjusted to within the stable region, thereby forming a closed-loop control of the current slip ratio adjustment.

[0110] Figure 6 Schematic diagram of the structure of an embodiment of a torque control device based on slip ratio provided by the present application. Figure 6 As shown, the device 400 includes: an acquisition module 410 , a compensation module 420 and a control module 430 .

[0111] An acquisition module 410 is used to acquire a current slip rate of the vehicle to determine a driving state of the vehicle;

[0112] a compensation module 420, configured to perform torque compensation on a current torque according to an adhesion coefficient corresponding to the current slip ratio to output a target torque if the driving state is characterized as a slip state;

[0113] The control module 430 is used to control the vehicle to travel according to the target torque; wherein, when the vehicle travels according to the target torque, the current slip rate of the vehicle is within a stable slip rate range.

[0114] It should be noted that the slip-based torque control device provided in the above embodiment and the slip-based torque control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here.

[0115] Figure 7 A schematic diagram of the structure of an embodiment of an electronic device provided by the present application is shown, which shows a schematic diagram of the structure of a computer system suitable for implementing the electronic device of the embodiment of the present application. The specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0116] See also Figure 7 As shown, the electronic device includes: a controller; a memory for storing one or more programs, and when the one or more programs are executed by the controller, the above-mentioned torque control method based on slip ratio is executed.

[0117] Please continue reading Figure 7 As shown, the computer system 400 of the electronic device includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method in the above embodiment. In RAM 403, various programs and data required for system operation are also stored. CPU 401, ROM 402 and RAM 403 are connected to each other through bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0118] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0119] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 409, and / or installed from a removable medium 411. When the computer program is executed by a central processing unit (CPU) 401, various functions defined in the system of the present application are executed.

[0120] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the slip-rate-based torque control method described above when the computer program is executed by a processor. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0121] Another aspect of the present application also provides a computer program product or a computer program, which includes at least one executable instruction, and when the executable instruction is run on a slip-based torque control device / electronic device, the slip-based torque control device / electronic device executes the slip-based torque control method as described above.

[0122] The executable instructions may be specifically used to enable the slip-based torque control device / apparatus to perform the following operations:

[0123] Acquiring a current slip rate of the vehicle to determine a driving state of the vehicle;

[0124] If the driving state is characterized as a slip state, torque compensation is performed on the current torque according to the adhesion coefficient corresponding to the current slip ratio to output a target torque;

[0125] The vehicle is controlled to travel according to the target torque; wherein, during the vehicle traveling according to the target torque, a current slip rate of the vehicle is within a stable slip rate range.

[0126] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium can include a data signal propagated in a baseband or as a part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0127] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0128] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0129] According to one aspect of an embodiment of the present application, a computer system is also provided, including a central processing unit (CPU), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM), such as executing the method in the above embodiment. In RAM, various programs and data required for system operation are also stored. CPU, ROM and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0130] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., are installed on the drive as needed so that the computer program read therefrom is installed into the storage part as needed.

[0131] The above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. A person skilled in the art can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application shall be based on the scope of protection required by the claims.

Claims

1. A torque control method based on slip ratio, characterized in that: Applied to a drive motor control unit, the method comprises: Acquiring a current slip rate of the vehicle to determine a driving state of the vehicle; If the driving state is characterized as a slip state, torque compensation is performed on the current torque according to the adhesion coefficient corresponding to the current slip ratio to output a target torque; The vehicle is controlled to travel according to the target torque; wherein, during the vehicle traveling according to the target torque, a current slip rate of the vehicle is within a stable slip rate range.

2. The slip ratio-based torque control method according to claim 1, characterized in that: The obtaining of the current slip rate of the vehicle to determine the driving state of the vehicle further includes: Obtaining a current slip rate of the vehicle according to a theoretical vehicle speed and an actual vehicle speed; wherein the theoretical vehicle speed is obtained according to a tire radius and a collected rotation speed of a resolver motor; If the current slip ratio is greater than or equal to a first preset slip ratio threshold, it is determined that the driving state of the vehicle is a slip state.

3. The torque control method based on slip ratio according to claim 2, characterized in that: Before obtaining the current slip rate of the vehicle according to the theoretical vehicle speed and the actual vehicle speed, the method further includes: Obtaining the driving acceleration of the vehicle based on the current vehicle driving force, the current driving resistance and the vehicle mass; The actual vehicle speed of the vehicle is obtained by integrating the driving acceleration.

4. The torque control method based on slip ratio according to claim 3, characterized in that: The current driving resistance includes wind resistance, rolling resistance and slope resistance; The method of obtaining the driving acceleration of the vehicle based on the current vehicle driving force, the current driving resistance and the vehicle mass further includes: The headwind resistance is obtained according to the frontal area, drag coefficient and actual vehicle speed; The driving acceleration of the vehicle is obtained according to the current vehicle driving force, the windward area, the drag coefficient, the windward resistance, the rolling resistance, the ramp resistance and the vehicle mass.

5. The torque control method based on slip ratio according to claim 4, characterized in that: The method further comprises: The vehicle driving force is obtained according to the current torque and the tire radius.

6. The slip ratio-based torque control method according to claim 4, characterized in that: The method further comprises: Determining the rolling resistance according to the vehicle mass, gravity acceleration, current slope and adhesion coefficient; And / or, the slope resistance is determined according to the vehicle mass, gravity acceleration and current slope.

7. The torque control method based on slip ratio according to claim 2, characterized in that: After controlling the vehicle to travel according to the target torque, the method further includes: If it is obtained that the current slip rate is less than a second preset slip rate threshold, the current torque compensation is exited, and the target torque is maintained to control the vehicle; wherein the second preset slip rate threshold is less than the first preset slip rate threshold, and the difference between the first preset slip rate threshold and the second preset slip rate threshold is greater than a preset slip rate difference, and the second preset slip rate threshold is within the stable slip rate range.

8. A torque control device based on slip ratio, characterized in that: The device comprises: An acquisition module, used for acquiring a current slip rate of a vehicle to determine a driving state of the vehicle; a compensation module, configured to perform torque compensation on a current torque according to an adhesion coefficient corresponding to the current slip ratio to output a target torque if the driving state is characterized as a slip state; A control module is used to control the vehicle to travel according to the target torque; wherein, when the vehicle travels according to the target torque, the current slip rate of the vehicle is within a stable slip rate range.

9. An electronic device, characterized in that: include: Controller; A memory for storing one or more programs, which, when executed by the controller, enables the controller to implement the torque control method based on slip ratio as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, which includes at least one executable instruction. When the executable instruction is executed on the slip-based torque control device / electronic device, the slip-based torque control device / electronic device performs the operation of the slip-based torque control method as described in any one of claims 1 to 7.

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