Slip rate correction method and system
Through the combination of dynamic learning and driving torque correction values, the problem of vehicle slip rate calculation deviation is solved, and the accuracy and adaptability of slip control are achieved.
Patent Information
- Application Number
- CN202411023679.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-29
- Publication Date
- 2024-12-20
AI Technical Summary
The prior art has deviations in the calculation of slip rate during vehicle driving, which affects the accuracy of slip control, mainly due to the failure to dynamically correct the tire diameter and load distribution changes.
The slip rate correction value is obtained through dynamic learning, combined with the bias correction value determined by the driving torque, the original slip rate is corrected, and the slip rate is dynamically updated to adapt to changes during the vehicle's driving process.
Dynamic correction of slip rate deviation is achieved, the accuracy of slip rate control is ensured, the tire diameter and load changes are adapted to the accuracy of slip rate calculation is improved.
Smart Images
Figure CN119160198A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of vehicles, and in particular to a slip rate correction method, a slip rate correction system, an electronic device, a storage medium, a computer program product and a vehicle. Background Art
[0002] Slip ratio is also called sliding rate. When the tire exerts traction or braking force, relative movement occurs between the tire and the ground. Slip ratio is the proportion of sliding components in wheel movement.
[0003] The prior art generally calculates the slip rate by wheel speed. However, during the driving process of the vehicle, the slip rate may deviate. For example, over time, the tires of the non-driving wheels and driving wheels will wear to different degrees, resulting in differences in tire radius, i.e., the problem of different tire diameters. Different tire diameters will lead to deviations in the calculation results of the slip rate, and also lead to deviations in the calculation of the vehicle driving state.
[0004] Therefore, the slip ratio of the prior art may deviate during vehicle driving, affecting the accuracy of slip control. Summary of the invention
[0005] Based on this, it is necessary to provide a slip rate correction method, a slip rate correction system, an electronic device, a storage medium, a computer program product and a vehicle to address the technical problem that the prior art fails to dynamically correct the slip rate.
[0006] The present invention provides a slip rate correction method, comprising:
[0007] Get the original slip rate;
[0008] Acquiring a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to an original slip ratio and a bias correction value determined based on a driving torque;
[0009] The original slip ratio is corrected by the slip ratio correction value to obtain a final slip ratio.
[0010] Further, the obtaining of the slip ratio correction value obtained through dynamic learning includes:
[0011] After each sampling period, determine whether the learning trigger condition is met;
[0012] When the learning trigger condition is met, the slip ratio correction value is updated.
[0013] Furthermore, when the learning trigger condition is met, updating the slip ratio correction value includes:
[0014] At each sampling moment, an original slip ratio and a bias correction value at each sampling moment are obtained, and a slip bias learning value is calculated according to the original slip ratio and the bias correction value;
[0015] When a learning trigger condition is met, the slip ratio correction value is updated to the slip bias learning value.
[0016] Further, at each sampling moment, obtaining the original slip ratio and the bias correction value at each sampling moment, and calculating the slip bias learning value according to the original slip ratio and the bias correction value, includes:
[0017] At each sampling moment, obtaining an original slip ratio and a bias correction value at each sampling moment, and calculating a sum of the original slip ratio and the bias correction value at each sampling moment;
[0018] After each sampling time, an average value of the sum of the original slip ratio and the bias correction value at all sampling moments within the sampling time is calculated as a slip bias learning value;
[0019] Further, the obtaining of the bias correction value at each sampling moment includes:
[0020] Obtain the driving torque at each sampling moment;
[0021] An offset correction value corresponding to the driving torque at a sampling moment is obtained.
[0022] Furthermore, the learning trigger conditions include: satisfying a vehicle speed condition, satisfying a torque condition, satisfying a slip condition, satisfying a vehicle state condition, satisfying a braking condition, satisfying a gear condition, satisfying a maintenance mode condition, and satisfying a communication condition.
[0023] Further:
[0024] The vehicle speed condition is: the current vehicle speed is within a preset vehicle speed range;
[0025] The torque condition is: the current execution torque is within the preset torque range;
[0026] The slip condition is: the original slip rate is within a preset slip rate range;
[0027] The vehicle state condition is: the vehicle state is a start state;
[0028] The braking condition is: the vehicle is in a non-braking state;
[0029] The gear position condition is: the vehicle is in the forward gear;
[0030] The maintenance mode condition is: the vehicle is in a non-maintenance mode;
[0031] The communication condition is that the slip control associated communication network is normal.
[0032] The present invention provides a slip rate correction system, comprising:
[0033] A slip rate acquisition module, used for acquiring an original slip rate;
[0034] A learning module, used for acquiring a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to an original slip ratio and a bias correction value determined based on a driving torque;
[0035] The correction module is used to correct the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
[0036] The present invention provides an electronic device, comprising:
[0037] at least one processor; and,
[0038] a memory communicatively connected to at least one of the processors; wherein,
[0039] The memory stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors to enable the at least one of the processors to perform the slip ratio correction method as described above.
[0040] The present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all steps of the slip ratio correction method as described above.
[0041] The present invention provides a computer program product, comprising a computer program / instruction, which implements the slip rate correction method as described above when executed by a processor.
[0042] The present invention provides a vehicle, comprising the slip ratio correction system as described above, or the electronic device as described above.
[0043] The present invention obtains a slip ratio correction value through dynamic learning, and corrects the original slip ratio based on the slip ratio correction value to obtain a final slip ratio. Since the slip ratio correction value is obtained through dynamic learning, the deviation of the slip ratio caused by various factors during driving, such as tire pressure, front and rear load distribution, and tire differences (tire replacement), can be corrected through the dynamically learned slip ratio correction value. At the same time, the front and rear loads will change with the change of torque during the acceleration and deceleration process of the vehicle, thereby causing the change of the different diameters. The correction is performed through the bias correction value determined based on the driving torque, thereby obtaining an accurate slip ratio and ensuring the accuracy of slip control. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] Figure 1 This is a working flow chart of a slip rate correction method according to an embodiment of the present invention;
[0045] Figure 2 This is a working flow chart of a slip rate correction method according to another embodiment of the present invention;
[0046] Figure 3 A flowchart of a slip ratio different diameter correction method according to the best embodiment of the present invention;
[0047] Figure 4 This is a diagram showing the effect of the different-diameter correction function of the best embodiment of the present invention;
[0048] Figure 5 A schematic diagram of a slip rate correction system according to an embodiment of the present invention;
[0049] Figure 6 The figure is a schematic diagram of the hardware structure of an electronic device of the present invention. DETAILED DESCRIPTION
[0050] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The same components are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.
[0051] like Figure 1 The figure shows a working flow chart of a slip rate correction method according to an embodiment of the present invention, comprising:
[0052] Step S101, obtaining the original slip ratio;
[0053] Step S102, obtaining a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to an original slip ratio and a bias correction value determined based on a driving torque;
[0054] Step S103: correcting the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
[0055] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as controllers of vehicles.
[0056] First, step S101 is executed to obtain the original slip ratio.
[0057] Specifically, the original slip ratio is obtained by using an existing slip ratio calculation method, wherein the original slip ratio may be filtered for a smooth change of the slip ratio.
[0058] In some embodiments, the current slip rate of the vehicle is obtained, the current slip rate is filtered, and the filtered slip rate is used as the original slip rate. The slip rate filtering is implemented by using an existing slip rate filtering method.
[0059] Then, step S102 is executed to obtain a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to the original slip ratio and a bias correction value determined based on the driving torque.
[0060] Specifically, before and after the vehicle accelerates and decelerates, the load will change with the change of torque, which will cause the tire contact area to change, and finally cause the change of the diameter difference. Therefore, the offset correction value is used to make corrections, and the slip ratio correction value is obtained by combining the original slip ratio. Therefore, the slip ratio correction value is the diameter difference correction amount for correcting the tire diameter difference.
[0061] Among them, when the learning condition is triggered, the vehicle must be in a non-slip state (slip rate = 0), so the slip rate calculated by the actual vehicle at this time should be the correction value (error value). For example, when the vehicle is running at a constant speed of 5kph without braking, the slip rate must be 0, but due to the different diameters of the vehicle tires or changes in load distribution, the actual calculated original slip rate must not be equal to 0, so the actual calculated original slip rate at this time is the correction value, that is, original slip rate - original slip rate (correction value) = 0.
[0062] The slip ratio correction value is learned dynamically, that is, during the driving process of the vehicle, it is continuously learned to obtain a dynamically changing slip ratio correction value, thereby adapting to the dynamic changes of the vehicle during driving, such as changes in the vehicle tires during driving.
[0063] Finally, step S103 is executed to correct the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
[0064] In some embodiments, the correcting the original slip ratio by using the slip ratio correction value to obtain a final slip ratio includes: subtracting the slip ratio correction value from the original slip ratio to obtain a final slip ratio.
[0065] In some embodiments, the correcting the original slip ratio by using the slip ratio correction value to obtain a final slip ratio includes:
[0066] Subtract the slip rate correction value from the original slip rate to obtain the initial corrected slip rate;
[0067] If the initial corrected slip ratio satisfies both the slip ratio slope limit and the slip ratio extreme value limit, the initial corrected slip ratio is used as the final slip ratio.
[0068] Specifically, the slip rate slope of the initial corrected slip rate is calculated. If the slip rate slope is less than the maximum slope threshold and greater than the minimum slope threshold, the initial corrected slip rate satisfies the slip rate slope restriction. When the slip rate slope of the initial corrected slip rate is greater than the maximum slope threshold, the final slip rate is calculated based on the maximum slope threshold, the slip rate of the previous calculation cycle, and the cycle duration. When the slip rate slope of the initial corrected slip rate is less than the minimum slope threshold, the final slip rate is calculated based on the minimum slope threshold, the slip rate of the previous calculation cycle, and the cycle duration.
[0069] If the initial corrected slip ratio is less than the minimum slip ratio and greater than the maximum slip ratio, the initial corrected slip ratio satisfies the slip ratio extreme value limit; otherwise, if the initial corrected slip ratio is greater than the maximum slip ratio threshold, the maximum slip ratio threshold is used as the final slip ratio; if the initial corrected slip ratio is less than the minimum slip ratio threshold, the minimum slip ratio threshold is used as the final slip ratio.
[0070] The slip rate slope limit can prevent drivability problems caused by sudden changes in slip rate. The slip rate extreme value limit can limit the slip rate to a confidence range.
[0071] The present invention obtains a slip ratio correction value through dynamic learning, and corrects the original slip ratio based on the slip ratio correction value to obtain a final slip ratio. Since the slip ratio correction value is obtained through dynamic learning, the deviation of the slip ratio during driving can be corrected through the slip ratio correction value obtained through dynamic learning. Since the slip ratio correction value is calculated based on the original slip ratio and the bias correction value determined based on the driving torque, the torque change caused by the different diameters of the tires is corrected through the bias correction value, thereby obtaining an accurate slip ratio and ensuring the accuracy of slip control.
[0072] like Figure 2 The figure shows a working flow chart of a slip rate correction method in another embodiment of the present invention, comprising:
[0073] Step S201, obtaining the original slip ratio.
[0074] Step S202: After each sampling period, determine whether a learning trigger condition is met.
[0075] Step S203: when the learning trigger condition is met, updating the slip ratio correction value, wherein the slip ratio correction value is calculated according to the original slip ratio and the offset correction value determined based on the driving torque.
[0076] Step S204: correcting the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
[0077] Specifically, firstly, step S201 is executed to obtain the original slip ratio. The original slip ratio may also be filtered to obtain a filtered slip ratio.
[0078] Then, every time the sampling time is warned, step S202 is executed to determine whether the learning trigger condition is met. The sampling time can be N seconds, where N is a positive integer.
[0079] Then, when the learning trigger condition is met, step S203 is executed to update the slip ratio correction value.
[0080] Specifically, when the learning trigger condition is not met, the slip ratio correction value is not updated, and the slip ratio correction value obtained in the last update is still used.
[0081] In one embodiment, when the learning trigger condition is met, updating the slip ratio correction value includes:
[0082] At each sampling moment, an original slip ratio and a bias correction value at each sampling moment are obtained, and a slip bias learning value is calculated according to the original slip ratio and the bias correction value;
[0083] When a learning trigger condition is met, the slip ratio correction value is updated to the slip bias learning value.
[0084] Specifically, multiple sampling moments are set, for example, every second is a sampling moment, then the original slip ratio and the bias correction value of each sampling moment are obtained at each sampling moment, and then the slip bias learning value is calculated according to the original slip ratio and the bias correction value.
[0085] The calculated slip bias learning value is not immediately updated to the slip bias learning value, but the slip ratio correction value is updated to the slip bias learning value only when the learning trigger condition is met. Since the learning trigger condition is that the vehicle is in a relatively stable state for slip ratio calculation, the learning of the slip ratio correction value is started only when the learning trigger condition is met, and the slip ratio correction value is updated to the slip bias learning value.
[0086] In one embodiment, the method of obtaining the original slip rate and the bias correction value at each sampling moment, and calculating the slip bias learning value according to the original slip rate and the bias correction value, comprises:
[0087] At each sampling moment, obtaining an original slip ratio and a bias correction value at each sampling moment, and calculating a sum of the original slip ratio and the bias correction value at each sampling moment;
[0088] After each sampling time, an average value of the sum of the original slip ratio and the bias correction value at all sampling moments within the sampling time is calculated as a slip bias learning value;
[0089] Specifically, at each sampling moment, the sum of the original slip rate and the bias correction value at each sampling moment is calculated, and each sampling period includes multiple sampling moments, thereby including the sum of multiple original slip rates and bias correction values. The average value of the sum of multiple original slip rates and bias correction values is calculated as the slip bias learning value.
[0090] This embodiment eliminates noise by averaging. At the same time, since the sampling time for averaging the sum of multiple original slip rates and offset correction values is consistent with the sampling time for triggering whether the learning trigger condition is met, the rhythm is kept consistent.
[0091] In one embodiment, obtaining the bias correction value at each sampling moment includes:
[0092] Obtain the driving torque at each sampling moment;
[0093] An offset correction value corresponding to the driving torque at a sampling moment is obtained.
[0094] Specifically, by pre-calibration, the offset correction value corresponding to each driving torque is determined, and the corresponding relationship between the torque and the offset correction value is obtained, which can be saved in a list. Then, for each sampling moment, the driving torque of the vehicle at the sampling moment is obtained, and then the corresponding relationship between the torque and the offset correction value is searched, for example, by looking up a table, to obtain the offset correction value corresponding to the driving torque at the sampling moment.
[0095] Since the change in torque causes the load transfer of the whole vehicle, resulting in the change in the tire contact area, the present embodiment makes corrections through the offset correction value. At the same time, in order to broaden the torque conditions in the learning trigger conditions, the learning values are input for correction more frequently and the torque conditions are relaxed. It is necessary to make corrections to different torques within the preset torque range of the torque conditions and determine the offset correction values corresponding to the different torques. Generally speaking, acceleration and deceleration will also cause load transfer, and then cause different diameters. Therefore, when the driving force is not 0, the slip rate is generally not 0 and needs to be corrected.
[0096] In one embodiment, the learning trigger conditions include: satisfying a vehicle speed condition, satisfying a torque condition, satisfying a slip condition, satisfying a vehicle state condition, satisfying a braking condition, satisfying a gear condition, satisfying a maintenance mode condition, and satisfying a communication condition.
[0097] Specifically, when the vehicle is in a state where the slip ratio calculation is relatively stable, the learning of the slip ratio correction value is started.
[0098] Specifically, when the vehicle speed condition, torque condition, slip condition, vehicle state condition, braking condition, gear condition, maintenance mode condition, and communication condition are all met, it is determined that the learning trigger condition is met and the slip ratio correction is updated.
[0099] In one embodiment:
[0100] The vehicle speed condition is: the current vehicle speed is within a preset vehicle speed range;
[0101] The torque condition is: the current execution torque is within the preset torque range;
[0102] The slip condition is: the original slip rate is within a preset slip rate range;
[0103] The vehicle state condition is: the vehicle state is a start state;
[0104] The braking condition is: the vehicle is in a non-braking state;
[0105] The gear position condition is: the vehicle is in the forward gear;
[0106] The maintenance mode condition is: the vehicle is in a non-maintenance mode;
[0107] The communication condition is that the slip control associated communication network is normal.
[0108] Specifically, the following conditions are necessary and sufficient conditions for ensuring the stability of slip ratio calculation.
[0109] 1. Vehicle speed condition: When the vehicle speed is in the range [V1, V2], the slip rate algorithm is most reliable. Slip rate = (driving wheel speed - driven wheel speed) / driven wheel speed. Therefore, when the vehicle speed is too low, such as below V1, the slip rate is inaccurate because the denominator of the driven wheel is too small. When the vehicle speed is too high, such as above V2, the slip rate is more likely to fluctuate violently according to changes in road conditions, and is not suitable as a learning state. Therefore, the preset vehicle speed range is used as the learning trigger condition.
[0110] 2. Torque conditions: Select the torque range with relatively small slip probability and relatively low degree as the torque range. Taking energy recovery slip control as an example, the torque is triggered in the range of [N1, N2]. N1 is the driving torque that overcomes the vehicle resistance and maintains a constant speed within the normal driving speed range. > N1 means the vehicle is in an accelerating state, and < N2 means the vehicle has a low probability of slipping and a low degree. The larger the upper limit value, the wider the learning range, but the slip rate bias obtained through learning is relatively inaccurate, and performance calibration is required for the actual vehicle. The current execution torque is the current execution torque of the drive motor, including the execution torque of the driving (acceleration) process and the energy recovery process.
[0111] 3. Slip condition: When the slip rate is in a large fluctuation state, in order to ensure the accuracy of the slip rate learning value, correction is prohibited. Therefore, learning can only be triggered when the slip rate change rate is within the range of [A, B].
[0112] 4. Vehicle status: Learning can be triggered only when the vehicle is in the start (READY) status to exclude conditions such as towing a vehicle with power on.
[0113] 5. Braking conditions: Learning can only be triggered when the vehicle is in a non-braking state. Since the learning compensation of the slip rate is calculated based on the condition that the brake is not involved, the unexpected slip caused by the braking process must be excluded.
[0114] 6. Gear position condition: Learning can be triggered only when the vehicle is in the forward gear (D). Non-D gears, such as R gear, are not within the scope of learning calibration and therefore learning is prohibited.
[0115] 7. Non-maintenance mode: Learning can only be triggered when the vehicle is in non-maintenance mode. When in maintenance mode, slip control will be disabled and the learning value algorithm will be inaccurate.
[0116] 8. Non-CAN failure: Learning can be triggered only when the non-slip control related communication network fails, such as the non-slip control related Controller Area Network (CAN) failure state. When the slip control related CAN signal fails, such as wheel speed, the slip ratio algorithm fails, so it is necessary to limit learning at this time.
[0117] This embodiment provides necessary and sufficient conditions to ensure the stability of slip ratio calculation.
[0118] Finally, step S204 is executed to correct the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
[0119] Among them, the final slip ratio = original slip ratio - slip ratio correction value.
[0120] This embodiment avoids frequent triggering of the learning of the slip ratio correction value by timing and buffering the sampling time. At the same time, it is determined whether the vehicle meets the learning trigger condition to ensure that the slip ratio correction value is learned under the condition that the slip ratio calculation is relatively stable. The slip ratio correction value learned dynamically can correct the deviation of the slip ratio during driving, thereby obtaining an accurate slip ratio and ensuring the accuracy of slip control.
[0121] like Figure 3 The flowchart of a slip ratio different diameter correction method according to the best embodiment of the present invention is shown, comprising:
[0122] Step S301, obtaining the current slip rate every second, and filtering it to obtain the filtered slip rate as the original slip rate;
[0123] Step S302, obtaining the current execution torque every second, and determining an offset correction value corresponding to the driving torque according to the driving torque, that is, a bias correction value;
[0124] Step S303, calculate the sum of the original slip ratio plus the bias correction value, and average the sum of the original slip ratio plus the bias correction value for N seconds to obtain a slip bias learning value, that is, every N seconds, calculate the average value of the sum of N original slip ratios plus the bias correction value to obtain a slip bias learning value.
[0125] Step S304, when the timer counts for more than N seconds, it is determined whether learning is triggered. The conditions for triggering learning include: vehicle speed conditions, torque conditions, slip conditions, vehicle status, braking conditions, gear conditions, non-maintenance mode, and non-CAN failure are all met at the same time. If learning is triggered, the slip ratio correction value = slip bias learning value. If learning is not triggered, the slip ratio correction value = slip ratio correction value of the previous cycle.
[0126] Step S305, calculating the initial slip rate as the original slip rate minus the slip rate correction value;
[0127] Step S306, limiting the initial slip rate by a slip rate slope to prevent a sudden change in slip rate from causing drivability problems;
[0128] Step S307, performing slip rate limitation on the initial slip rate, limiting the slip rate within a safe range, and obtaining the slip rate after the different-diameter correction as the final slip rate.
[0129] like Figure 4 The figure shows the effect diagram of the different diameter correction function of the best embodiment of the present invention. Figure 4 As shown by the middle blue line 401, under the condition of no slip, the tire slip rate normally fluctuates around 0. The slip rate is: the slip rate under the condition of assuming that the front and rear tires have exactly the same rolling radius. Figure 4 As shown by the purple line 403, the dynamic difference in diameter will cause the slip rate to deviate to about 0.017. Figure 4 The deviation of the purple line diameter in the correction has been Figure 4 The middle green line 402 shows a normal state of fluctuation around 0. Figure 4 The slip intervention threshold is: the slip rate exceeds the current road adhesion, and the slip control intervention torque reduction threshold is required.
[0130] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.
[0131] Based on the same inventive concept, Figure 5 The system schematic diagram of a slip rate correction system of the present invention is shown, comprising:
[0132] The slip ratio acquisition module 501 is used to acquire the original slip ratio;
[0133] A learning module 502, configured to obtain a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to an original slip ratio and a bias correction value determined based on a driving torque;
[0134] The correction module 503 is used to correct the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
[0135] The present invention obtains a slip ratio correction value through dynamic learning, and corrects the original slip ratio based on the slip ratio correction value to obtain a final slip ratio. Since the slip ratio correction value is obtained through dynamic learning, the deviation of the slip ratio during driving can be corrected through the slip ratio correction value obtained through dynamic learning. Since the slip ratio correction value is calculated based on the original slip ratio and the bias correction value determined based on the driving torque, the torque change caused by the different diameters of the tires is corrected through the bias correction value, thereby obtaining an accurate slip ratio and ensuring the accuracy of slip control.
[0136] In one embodiment, the obtaining of the slip ratio correction value obtained by dynamic learning includes:
[0137] After each sampling period, determine whether the learning trigger condition is met;
[0138] When the learning trigger condition is met, the slip ratio correction value is updated.
[0139] In one embodiment, when the learning trigger condition is met, updating the slip ratio correction value includes:
[0140] At each sampling moment, an original slip ratio and a bias correction value at each sampling moment are obtained, and a slip bias learning value is calculated according to the original slip ratio and the bias correction value;
[0141] When a learning trigger condition is met, the slip ratio correction value is updated to the slip bias learning value.
[0142] In one embodiment, the method of obtaining the original slip rate and the bias correction value at each sampling moment, and calculating the slip bias learning value according to the original slip rate and the bias correction value, comprises:
[0143] At each sampling moment, obtaining an original slip ratio and a bias correction value at each sampling moment, and calculating a sum of the original slip ratio and the bias correction value at each sampling moment;
[0144] After each sampling time, an average value of the sum of the original slip ratio and the bias correction value at all sampling moments within the sampling time is calculated as a slip bias learning value;
[0145] In one embodiment, obtaining the bias correction value at each sampling moment includes:
[0146] Obtain the driving torque at each sampling moment;
[0147] An offset correction value corresponding to the driving torque at a sampling moment is obtained.
[0148] In one embodiment, the learning trigger conditions include: satisfying a vehicle speed condition, satisfying a torque condition, satisfying a slip condition, satisfying a vehicle state condition, satisfying a braking condition, satisfying a gear condition, satisfying a maintenance mode condition, and satisfying a communication condition.
[0149] In one embodiment:
[0150] The vehicle speed condition is: the current vehicle speed is within a preset vehicle speed range;
[0151] The torque condition is: the current execution torque is within the preset torque range;
[0152] The slip condition is: the original slip rate is within a preset slip rate range;
[0153] The vehicle state condition is: the vehicle state is a start state;
[0154] The braking condition is: the vehicle is in a non-braking state;
[0155] The gear position condition is: the vehicle is in the forward gear;
[0156] The maintenance mode condition is: the vehicle is in a non-maintenance mode;
[0157] The communication condition is that the slip control associated communication network is normal.
[0158] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.
[0159] like Figure 6 The figure shows a hardware structure diagram of an electronic device of the present invention, including:
[0160] at least one processor 601; and,
[0161] A memory 602 is communicatively connected to at least one of the processors 601; wherein,
[0162] The memory 602 stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors so that the at least one of the processors can perform the slip ratio correction method described above.
[0163] Figure 6 A processor 601 is taken as an example.
[0164] The electronic device may further include: an input device 603 and a display device 604 .
[0165] The processor 601, the memory 602, the input device 603 and the display device 604 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.
[0166] The memory 602 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the slip rate correction method in the embodiment of the present application, for example, Figure 1 , Figure 2 The processor 601 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 602, that is, the slip ratio correction method in the above embodiment is implemented.
[0167] The memory 602 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the slip rate correction method, etc. In addition, the memory 602 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 602 may optionally include a memory remotely arranged relative to the processor 601, and these remote memories may be connected to the device for executing the slip rate correction method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
[0168] The input device 603 can receive user clicks and generate signal inputs related to user settings and function control of the slip rate correction method. The display device 604 can include display devices such as a display screen.
[0169] The one or more modules are stored in the memory 602 , and when executed by the one or more processors 601 , the slip rate correction method in any of the above method embodiments is executed.
[0170] The present invention obtains a slip ratio correction value through dynamic learning, and corrects the original slip ratio based on the slip ratio correction value to obtain a final slip ratio. Since the slip ratio correction value is obtained through dynamic learning, the deviation of the slip ratio during driving can be corrected through the slip ratio correction value obtained through dynamic learning. Since the slip ratio correction value is calculated based on the original slip ratio and the bias correction value determined based on the driving torque, the torque change caused by the different diameters of the tires is corrected through the bias correction value, thereby obtaining an accurate slip ratio and ensuring the accuracy of slip control.
[0171] An embodiment of the present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the computer instructions are used to execute all steps of the slip ratio correction method as described above.
[0172] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.
[0173] An embodiment of the present invention provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, the slip ratio correction method as described above is implemented.
[0174] An embodiment of the present invention provides a vehicle, including the slip rate correction system as described above, or the electronic device as described above. It is understandable that the vehicle may also include: a processor, a memory, and a computer program. The computer program is stored in the memory and is configured to be executed by the processor to implement the slip rate correction method provided in the embodiment of the present disclosure. The processor and the memory are already in Figure 6 The parts described in the illustrated embodiment are not repeated here.
[0175] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.
Claims
1. A slip rate correction method, characterized in that: include: Get the original slip rate; Acquiring a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to an original slip ratio and a bias correction value determined based on a driving torque; The original slip ratio is corrected by the slip ratio correction value to obtain a final slip ratio.
2. The slip ratio correction method according to claim 1, characterized in that: The obtaining of the slip ratio correction value obtained through dynamic learning includes: After each sampling period, determine whether the learning trigger condition is met; When the learning trigger condition is met, the slip ratio correction value is updated.
3. The slip ratio correction method according to claim 2, characterized in that: When the learning trigger condition is met, updating the slip ratio correction value includes: At each sampling moment, an original slip ratio and a bias correction value at each sampling moment are obtained, and a slip bias learning value is calculated according to the original slip ratio and the bias correction value; When a learning trigger condition is met, the slip ratio correction value is updated to the slip bias learning value.
4. The slip ratio correction method according to claim 3, characterized in that: The method of obtaining the original slip rate and the bias correction value at each sampling moment, and calculating the slip bias learning value according to the original slip rate and the bias correction value, includes: At each sampling moment, obtaining an original slip ratio and a bias correction value at each sampling moment, and calculating a sum of the original slip ratio and the bias correction value at each sampling moment; Every time the sampling time period elapses, an average value of the sum of the original slip ratio and the bias correction value at all sampling moments within the sampling time period is calculated as a slip bias learning value.
5. The slip ratio correction method according to claim 3, characterized in that: The obtaining of the bias correction value at each sampling moment includes: Obtain the driving torque at each sampling moment; An offset correction value corresponding to the driving torque at a sampling moment is obtained.
6. The slip ratio correction method according to claim 2, characterized in that: The learning trigger conditions include: satisfying a vehicle speed condition, satisfying a torque condition, satisfying a slip condition, satisfying a vehicle state condition, satisfying a braking condition, satisfying a gear condition, satisfying a maintenance mode condition, and satisfying a communication condition.
7. The slip ratio correction method according to claim 6, characterized in that: The vehicle speed condition is: the current vehicle speed is within a preset vehicle speed range; The torque condition is: the current execution torque is within the preset torque range; The slip condition is: the original slip rate is within a preset slip rate range; The vehicle state condition is: the vehicle state is a start state; The braking condition is: the vehicle is in a non-braking state; The gear position condition is: the vehicle is in the forward gear; The maintenance mode condition is: the vehicle is in a non-maintenance mode; The communication condition is that the slip control associated communication network is normal.
8. A slip rate correction system, characterized in that: include: A slip rate acquisition module, used for acquiring an original slip rate; A learning module, used for acquiring a slip ratio correction value obtained through dynamic learning, wherein the slip ratio correction value is calculated according to an original slip ratio and a bias correction value determined based on a driving torque; The correction module is used to correct the original slip ratio by using the slip ratio correction value to obtain a final slip ratio.
9. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors to enable the at least one of the processors to perform the slip ratio correction method according to any one of claims 1 to 7.
10. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the slip ratio correction method according to any one of claims 1 to 7.
11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the slip ratio correction method according to any one of claims 1 to 7 is implemented.
12. A vehicle, characterized in that: It comprises the slip ratio correction system as claimed in claim 8 or the electronic device as claimed in claim 9.