Driving anti-skid control method and device for commercial vehicle with double electric drive axles

Abstract

The invention discloses a driving anti-skid control method and device for a double-electric-drive-axle commercial vehicle, relates to the technical field of new energy vehicles, and can solve the problems that in the prior art, when the double-electric-drive-axle commercial vehicle passes through a low-attachment road surface, mechanical braking and motor driving need to be coordinated in the control process, the control difficulty is large, many cooperative parts are needed, and the cost is high. And calibration is complex. According to the specific technical scheme, firstly, the wheel speed difference and / or the slip rate of each drive axle of a target vehicle are / is obtained; judging whether the target vehicle slips or not according to the wheel speed difference and / or the slip rate; if yes, driving of the drive axle is controlled for anti-skid treatment. According to the method, an independent driving anti-skid control module is not needed, the development cost is saved, the development period is shortened, the trafficability, stability and safety of the low-attached road surface of the vehicle are improved, the vehicle slip frequency is reduced, the service life of tires is prolonged, the after-sales maintenance cost of the vehicle is saved, the vehicle calibration complexity of the method is low, and the method is suitable for popularization and application. And the method has relatively high transportability.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a driving anti-skid control method and device for a dual-electric drive axle commercial vehicle. Background Art

[0002] When a vehicle starts driving on a low-adhesion road, it often slips at the start due to insufficient road adhesion. Normally, the driver can improve the vehicle's passability on low-adhesion roads by turning on the vehicle's inter-axle differential lock and inter-wheel differential lock. However, due to the difference in mechanical structure between dual electric drive axle models and traditional central drive models, dual electric drive axle models only have inter-wheel differential locks but no inter-axle differential locks. Therefore, when passing through low-adhesion roads, the passability of dual electric drive axle models is slightly insufficient compared to traditional central drive models.

[0003] In the existing technology, in order to improve the low-adhesion road passability of dual-electric drive axle models, most car companies have developed drive anti-skid control technology. For drive anti-skid control technology, some car companies have borrowed the control scheme of traditional fuel vehicles, that is, a scheme that combines driving force and braking force. When the vehicle is identified to be slipping, braking force is applied to the drive wheel to reduce the wheel speed. At the same time, after the drive wheel speed is reduced, the drive motor is controlled to apply driving force to the drive wheel to improve the vehicle's power. Since this scheme refers to the control scheme of traditional fuel vehicles, its control process requires the coordinated work of mechanical braking and motor drive, which has the problems of high control difficulty, the need for coordinated components, and complex calibration. Summary of the invention

[0004] The embodiment of the present invention provides a driving anti-skid control method and device for a dual electric drive axle commercial vehicle, which can solve the problem in the prior art that the control process of a dual electric drive axle vehicle passing through a low-adhesion road requires the coordinated work of mechanical braking and motor driving, which is difficult to control, requires many coordinated parts, and has complex calibration. The technical solution is as follows:

[0005] According to a first aspect of an embodiment of the present invention, a driving anti-skid control method for a dual electric drive axle commercial vehicle is provided, the method comprising:

[0006] Obtaining a wheel speed difference and / or a slip rate of each drive axle of the target vehicle, wherein the wheel speed difference is a difference between a driving wheel speed and a driven wheel speed of each drive axle of the target vehicle;

[0007] determining whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate;

[0008] If, when the wheel speed difference of only one drive axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the drive of the slipping drive axle is controlled to perform anti-skid processing; when the wheel speed differences of all drive axles in the target vehicle exceed the wheel speed difference slip threshold, and / or the slip rates exceed the slip rate slip threshold, the drives of each drive axle are controlled to perform anti-skid processing.

[0009] The dual electric drive axle commercial vehicle driving anti-skid control method provided by the embodiment of the present invention first obtains the wheel speed difference and / or slip rate of each driving axle of the target vehicle, the wheel speed difference being the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel of each driving axle of the target vehicle; then, according to the wheel speed difference and / or slip rate, it is judged whether the target vehicle is slipping; if so, when the wheel speed difference of only one driving axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the driving of the slipping driving axle is controlled to perform anti-skid processing; when the wheel speed difference of all driving axles in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the driving of each driving axle is controlled to perform anti-skid processing. The present invention actively identifies and judges the vehicle driving wheel slip situation based on the slip rate and / or wheel speed difference of the dual electric drive axle driving wheel, makes full use of the characteristics of the motor's fast response and the ability to output positive and negative torque, and realizes the vehicle's driving anti-skid control through torque transfer and slip rate control methods. The present invention does not require a separate drive anti-skid control module, thus saving development costs, shortening the development cycle, improving the vehicle's passability, stability and safety on low-adhesion roads, reducing the frequency of vehicle skidding, increasing the service life of tires, and saving vehicle after-sales maintenance costs. In addition, the vehicle calibration method of the present invention has low vehicle calibration complexity and strong portability.

[0010] As a further solution of the present invention: judging whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate specifically includes:

[0011] When the wheel speed difference of at least one driving axle in the target vehicle exceeds a wheel speed difference slip threshold, and / or the slip rate exceeds a slip rate slip threshold, the target vehicle is in a slipping condition.

[0012] The method of the present invention can simply and quickly determine whether the vehicle is in a slipping condition by calculating the wheel speed difference and / or slip rate of each drive axle of the vehicle.

[0013] As a further solution of the present invention: the control of the driving of the slipping drive axle to perform anti-skid treatment specifically includes:

[0014] Obtaining an actual slip rate of the wheel of the slipping drive axle;

[0015] calculating a torque transfer coefficient according to the actual slip ratio;

[0016] transferring the torque of the slipping drive axle to the non-slipping drive axle according to the torque transfer coefficient;

[0017] The torque transfer coefficient is calculated by a first formula, which includes:

[0018] (1)

[0019] Wherein, k is the torque transfer coefficient; S is the actual slip rate of the wheels of the slipping drive axle.

[0020] The method of the present invention transfers the torque of a slipping drive axle to a non-slipping drive axle through a torque transfer coefficient, and can quickly control a vehicle with a slipping single drive axle. The method is simple and easy to operate.

[0021] As a further solution of the present invention: the method further comprises:

[0022] The wheel speed difference and slip rate of the slipping drive axle are monitored, and when the wheel speed difference of the slipping drive axle is less than or equal to a wheel speed difference exit threshold, and the slip rate is less than or equal to a slip rate exit threshold, the target vehicle is controlled to exit the anti-skid process.

[0023] The method of the present invention can quickly enter the normal driving mode when the slipping drive axle meets the exit condition by monitoring the wheel speed difference and the slip rate of the slipping drive axle.

[0024] As a further solution of the present invention: the control of the driving of each drive axle to perform anti-skid treatment specifically includes:

[0025] Obtaining an actual slip rate of each of the drive axle wheels;

[0026] Acquire the current motor output torque of each of the drive axles as the initial torque;

[0027] Calculating a control torque according to the actual slip rate of the wheel, the initial torque, and the loading step length;

[0028] Controlling the output torque of each drive axle according to the control torque;

[0029] Wherein, the control torque is calculated by a second formula, and the second formula includes:

[0030] (2)

[0031] Among them, Tq ASR To control the torque; Tq Step is the torque loading step length, and Tq Step5 <0<Tq Step4 <Tq Step3 <Tq Step2<Tq Step1 ; S is the actual slip rate of the drive axle wheels.

[0032] The method of the present invention finely controls the torque loading step lengths in different slip rate sections, can ensure that the vehicle driving wheels always operate within a reasonable slip rate range, and improve the vehicle's passability on low-adhesion roads.

[0033] As a further solution of the present invention: the method further comprises:

[0034] The wheel speed difference and slip rate of each drive axle of the target vehicle are monitored, and when each of the wheel speed differences is less than or equal to the wheel speed difference exit threshold and the slip rates are less than or equal to the slip rate exit threshold, the target vehicle is controlled to exit the anti-skid treatment.

[0035] The method of the present invention can quickly enter the normal driving mode when each driving axle of the vehicle meets the exit condition by monitoring the wheel speed difference and slip rate of each driving axle.

[0036] As a further solution of the present invention: before obtaining the wheel speed difference and / or slip rate of each drive axle of the target vehicle, the method further includes:

[0037] Detecting whether the status of each component of the target vehicle is normal;

[0038] If yes, receiving the key signal to control the high voltage power-on of the target vehicle;

[0039] Determining whether the target vehicle is in a driving state;

[0040] If so, the wheel speed difference and / or slip rate of each drive axle of the target vehicle is obtained.

[0041] According to a second aspect of an embodiment of the present invention, a driving anti-skid control device for a commercial vehicle with a dual electric drive axle is provided, comprising:

[0042] An acquisition module, used for acquiring a wheel speed difference and / or a slip rate of each drive axle of the target vehicle, wherein the wheel speed difference is a difference between a driving wheel speed and a driven wheel speed of each drive axle of the target vehicle;

[0043] A judgment module, used for judging whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate;

[0044] a processing module, configured to control the driving of the slipping driving axle to perform anti-skid processing when the result of the judging module is yes and the wheel speed difference of only one driving axle in the target vehicle exceeds the wheel speed difference slip threshold and / or the slip rate exceeds the slip rate slip threshold;

[0045] The processing module is further configured to control the driving of each drive axle to perform anti-skid processing when the result of the judgment module is yes and the wheel speed differences of all drive axles in the target vehicle exceed a wheel speed difference slip threshold, and / or the slip rates exceed a slip rate slip threshold.

[0046] The dual-electric drive axle commercial vehicle drive anti-skid control device provided by an embodiment of the present invention comprises an acquisition module, a judgment module and a processing module; the acquisition module acquires the wheel speed difference and / or slip rate of each drive axle of the target vehicle, the wheel speed difference being the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel of each drive axle of the target vehicle; the judgment module judges whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate; the processing module controls the drive of the slipping drive axle to perform anti-skid processing when the result of the judgment module is yes and the wheel speed difference of only one drive axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold; the processing module also controls the drive of each drive axle to perform anti-skid processing when the result of the judgment module is yes and the wheel speed difference of all drive axles in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold. The present invention actively identifies and judges the vehicle drive wheel slip based on the slip rate and / or wheel speed difference of the dual electric drive axle drive wheels, fully utilizes the characteristics of the motor's fast response and ability to output positive and negative torque, and realizes the vehicle's drive anti-skid control through torque transfer and slip rate control. The present invention does not require a separate drive anti-skid control module, saves development costs, shortens the development cycle, improves the vehicle's passability, stability and safety on low-adhesion roads, reduces the frequency of vehicle slippage, increases the service life of tires, saves vehicle after-sales maintenance costs, and the vehicle calibration complexity of the method of the present invention is low, and has strong portability.

[0047] As a further solution of the present invention: the processing module includes an acquisition unit, a calculation unit and a transfer unit;

[0048] The acquisition unit is used to acquire the actual slip rate of the wheel of the slipping drive axle;

[0049] The calculation unit is used to calculate the torque transfer coefficient according to the actual slip rate;

[0050] The transfer unit is used to transfer the torque of the slipping drive axle to the non-slipping drive axle according to the torque transfer coefficient.

[0051] The device of the present invention transfers the torque of a slipping drive axle to a non-slipping drive axle through a torque transfer coefficient, and can quickly control a vehicle with a slipping single drive axle.

[0052] As a further solution of the present invention: the acquisition unit is further used to acquire the actual slip rate of each wheel of the driving axle, and acquire the current motor output torque of each driving axle as the initial torque;

[0053] The calculation unit is further used to calculate the control torque according to the actual slip rate of the wheel, the initial torque, and the loading step length;

[0054] The processing module further includes: a control unit, configured to control the output torque of each drive axle according to the control torque.

[0055] The device of the present invention finely controls the torque loading step lengths in different slip rate sections, which can ensure that the vehicle driving wheels always operate within a reasonable slip rate range, thereby improving the vehicle's passability on low-adhesion roads.

[0056] As a further solution of the present invention: the device further comprises: a detection module and a control module;

[0057] The detection module is used to detect whether the status of each component of the target vehicle is normal;

[0058] The control module is used to receive a key signal to control the high voltage power-on of the target vehicle when the detection result of the detection module is normal;

[0059] The judging module is further used to judge whether the target vehicle is in a driving state.

[0060] According to a third aspect of an embodiment of the present invention, a dual-electric drive axle commercial vehicle driving anti-skid control device is provided, the dual-electric drive axle commercial vehicle driving anti-skid control device comprising a processor and a memory, the memory storing at least one computer instruction, the instruction being loaded and executed by the processor to implement the steps executed in any one of the dual-electric drive axle commercial vehicle driving anti-skid control methods described above.

[0061] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein at least one computer instruction is stored in the storage medium, and the instruction is loaded and executed by a processor to implement the steps performed in any of the above-mentioned methods for controlling the anti-skid driving of a commercial vehicle with a dual electric drive axle.

[0062] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0064] Figure 1 is a flow chart of a driving anti-skid control method for a dual electric drive axle commercial vehicle provided by an embodiment of the present invention;

[0065] Figure 2 is a flow chart of a driving anti-skid control method for a dual electric drive axle commercial vehicle provided by an embodiment of the present invention;

[0066] Figure 3 is a curve diagram of the relationship between the slip rate and the torque transfer coefficient in a driving anti-skid control method for a dual electric drive axle commercial vehicle provided by an embodiment of the present invention;

[0067] Figure 4 It is a structural diagram of a driving anti-skid control device for a dual electric drive axle commercial vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0068] Here, exemplary embodiments will be described in detail, and examples thereof 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 embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0069] The embodiment of the present invention provides a driving anti-skid control method for a dual electric drive axle commercial vehicle, such as Figure 1 As shown, the dual electric drive axle commercial vehicle driving anti-skid control method includes the following steps:

[0070] Step 101: obtaining the wheel speed difference and / or slip rate of each drive axle of the target vehicle, where the wheel speed difference is the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel of each drive axle of the target vehicle;

[0071] In this embodiment, the wheel speed difference of each drive axle of the target vehicle may be obtained, or the slip rate of each drive axle of the target vehicle may be obtained. In addition, the wheel speed difference and the slip rate of each drive axle of the target vehicle may be obtained simultaneously.

[0072] Specifically, the wheel speed difference of each drive axle of the target vehicle is calculated by the following formula:

[0073]

[0074] in, ; for Wheel speed; .

[0075] In addition, the slip rate of each drive axle of the target vehicle is calculated by the following formula:

[0076]

[0077] in, ; for Wheel speed; .

[0078] In one embodiment, before obtaining the wheel speed difference and / or slip rate of each drive axle of the target vehicle, the method further includes:

[0079] Check whether the status of each component of the target vehicle is normal;

[0080] If yes, receiving the key signal controls the target vehicle to be powered on with high voltage;

[0081] Determine whether the target vehicle is in a driving state;

[0082] If so, the wheel speed difference and / or slip ratio of each drive axle of the target vehicle is obtained.

[0083] like Figure 2 As shown in the figure, in actual use, the drive anti-skid function only works when the vehicle is in driving state. Therefore, the vehicle control unit (VCU) detects that the status of each component of the vehicle is normal, and receives the key signal to control the high voltage power supply of the vehicle. According to the driver's gear operation, the vehicle is controlled to enter the driving state. Then it is determined whether the vehicle is in the driving state, which is generally the state where the accelerator pedal is pressed.

[0084] Step 102: judging whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate;

[0085] In one embodiment, judging whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate specifically includes:

[0086] When the wheel speed difference of at least one driving axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the target vehicle is in a slipping condition.

[0087] Specifically, the vehicle skidding judgment conditions are:

[0088]

[0089] in, is the wheel speed difference of drive axle i; is the wheel speed difference slip threshold; is the slip rate of drive axle i; is the slip rate slip threshold.

[0090] When the vehicle skidding judgment conditions are met, it is considered that the vehicle is skidding.

[0091] Step 103: If it is determined that the target vehicle is slipping, and the wheel speed difference of only one drive axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the drive of the slipping drive axle is controlled to perform anti-skid processing; when the wheel speed differences of all drive axles in the target vehicle exceed the wheel speed difference slip threshold, and / or the slip rates exceed the slip rate slip threshold, the drives of each drive axle are controlled to perform anti-skid processing.

[0092] In actual use, since dual electric drive axle vehicles have two drive axles, the embodiments of the present application usually divide the vehicle into single drive axle slip and dual drive axle slip when the vehicle slips, and handle the two conditions through two different processing methods.

[0093] In one embodiment, controlling the driving of the slipping drive axle to perform anti-skid processing specifically includes:

[0094] Obtaining the actual slip rate of the wheels of the slipping drive axle;

[0095] Calculate the torque transfer coefficient based on the actual slip ratio;

[0096] Transferring the torque of the slipping drive axle to the non-slipping drive axle according to the torque transfer coefficient;

[0097] The torque transfer coefficient is calculated by the following formula:

[0098]

[0099] Wherein, k is the torque transfer coefficient; S is the actual slip rate of the wheels of the slipping drive axle.

[0100] In actual use, when the single drive axle slips, the VCU first activates the single drive axle anti-slip control function and transfers the slipping drive axle torque to the non-slipping drive axle according to the coefficient. Figure 3 The diagram is divided into four sections.

[0101] In one embodiment, the method further includes:

[0102] The wheel speed difference and slip rate of the slipping drive axle are monitored, and when the wheel speed difference of the slipping drive axle is less than or equal to the wheel speed difference exit threshold, and the slip rate is less than or equal to the slip rate exit threshold, the target vehicle is controlled to exit the anti-skid processing.

[0103] In this embodiment, when the torque of the slipping drive axle is transferred to the non-slipping drive axle according to the coefficient, the wheel speed difference and slip rate of the slipping drive axle are also monitored at the same time. When the exit slip judgment condition is met, it is considered that the single drive axle slip condition is released, and the vehicle exits the drive anti-skid control and enters the normal driving mode. Specifically, when drive axle 1 is a slipping drive axle, the exit slip judgment condition includes:

[0104]

[0105] in, is the wheel speed difference of drive axle 1; is the wheel speed difference exit threshold; is the slip rate of drive axle 1; is the slip rate exit threshold.

[0106] When drive axle 2 is a slipping drive axle, the exit slip judgment conditions include:

[0107]

[0108] in, is the wheel speed difference of drive axle 2; is the wheel speed difference exit threshold; is the slip rate of drive axle 2; is the slip rate exit threshold.

[0109] In one embodiment, controlling the driving of each drive axle to perform anti-skid processing specifically includes:

[0110] Obtain the actual slip rate of each drive axle wheel;

[0111] Obtain the current motor output torque of each drive axle as the initial torque;

[0112] The control torque is calculated according to the actual slip rate of the wheel, the initial torque, and the loading step length;

[0113] Controlling the output torque of each drive axle according to the control torque;

[0114] The control torque is calculated by the following formula:

[0115]

[0116] Among them, Tq ASR To control the torque; T Step is the torque loading step length, and Tq Step5 <0<Tq Step4 <Tq Step3 <Tq Step2 <Tq Step1 ; S is the actual slip rate of the drive axle wheels.

[0117] In actual use, when the VCU detects that both electric drive axles are slipping, the control activates the dual-axle drive anti-skid control function, and obtains the current motor output torque of the dual electric drive axles as the initial torque of the corresponding drive axle drive anti-skid control module; the VCU controls the drive anti-skid torque of each electric drive axle to perform segmented control in different slip rate ranges according to different torque loading steps;

[0118] The present invention finely controls the torque loading step lengths in different slip rate sections, can ensure that the vehicle driving wheels always operate within a reasonable slip rate range, and improve the vehicle's passability on low-adhesion roads.

[0119] In one embodiment, the method further includes:

[0120] The wheel speed difference and slip rate of each drive axle of the target vehicle are monitored, and when each wheel speed difference is less than or equal to a wheel speed difference exit threshold, and the slip rate is less than or equal to a slip rate exit threshold, the target vehicle is controlled to exit the anti-skid process.

[0121] In this embodiment, when anti-skid processing is performed, the wheel speed difference and slip rate of each drive axle are also monitored simultaneously. When the exit slip judgment condition is met, it is considered that the vehicle's drive axle slip condition is released, and the vehicle exits the drive anti-skid control and enters the normal driving mode. Specifically, the exit slip judgment condition includes:

[0122]

[0123] in, is the wheel speed difference of drive axle i; is the wheel speed difference exit threshold; is the slip rate of drive axle i; is the slip rate exit threshold.

[0124] The dual electric drive axle commercial vehicle driving anti-skid control method provided by the embodiment of the present invention first obtains the wheel speed difference and / or slip rate of each driving axle of the target vehicle, the wheel speed difference being the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel of each driving axle of the target vehicle; then, according to the wheel speed difference and / or slip rate, it is judged whether the target vehicle is slipping; if so, when the wheel speed difference of only one driving axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the driving of the slipping driving axle is controlled to perform anti-skid processing; when the wheel speed difference of all driving axles in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the driving of each driving axle is controlled to perform anti-skid processing. The present invention actively identifies and judges the vehicle driving wheel slip situation based on the slip rate and / or wheel speed difference of the dual electric drive axle driving wheel, makes full use of the characteristics of the motor's fast response and the ability to output positive and negative torque, and realizes the vehicle's driving anti-skid control through torque transfer and slip rate control methods. The present invention does not require a separate drive anti-skid control module, thus saving development costs, shortening the development cycle, improving the vehicle's passability, stability and safety on low-adhesion roads, reducing the frequency of vehicle skidding, increasing the service life of tires, and saving vehicle after-sales maintenance costs. In addition, the vehicle calibration method of the present invention has low vehicle calibration complexity and strong portability.

[0125] Based on the above Figure 1 The dual electric drive axle commercial vehicle drive anti-skid control method described in the corresponding embodiment is an embodiment of the device of the present invention, which can be used to execute the method embodiment of the present invention.

[0126] The embodiment of the present invention provides a driving anti-skid control device for a dual electric drive axle commercial vehicle, such as Figure 4 As shown, the device includes an acquisition module 201, a judgment module 202 and a processing module 203;

[0127] An acquisition module 201 is used to acquire a wheel speed difference and / or a slip rate of each drive axle of the target vehicle, where the wheel speed difference is a difference between a driving wheel speed and a driven wheel speed of each drive axle of the target vehicle;

[0128] A determination module 202, configured to determine whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate;

[0129] The processing module 203 is used to control the driving of the slipping driving axle to perform anti-skid processing when the result of the judging module 202 is yes and the wheel speed difference of only one driving axle in the target vehicle exceeds the wheel speed difference slip threshold and / or the slip rate exceeds the slip rate slip threshold;

[0130] The processing module 203 is also used to control the driving of each driving axle to perform anti-skid processing when the result of the judgment module 202 is yes and the wheel speed difference of all driving axles in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold.

[0131] The dual electric drive axle commercial vehicle drive anti-skid control device provided by the embodiment of the present invention comprises an acquisition module 201, a judgment module 202 and a processing module 203; the acquisition module 201 acquires the wheel speed difference and / or slip rate of each drive axle of the target vehicle, the wheel speed difference being the difference between the wheel speed of the driving wheel and the wheel speed of the driven wheel of each drive axle of the target vehicle; the judgment module 202 judges whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate; the processing module 203 controls the drive of the slipping drive axle to perform anti-skid processing when the result of the judgment module 201 is yes and the wheel speed difference of only one drive axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold; the processing module 203 also controls the drive of each drive axle to perform anti-skid processing when the result of the judgment module 202 is yes and the wheel speed difference of all drive axles in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold. The present invention actively identifies and judges the vehicle drive wheel slip based on the slip rate and / or wheel speed difference of the dual electric drive axle drive wheels, fully utilizes the characteristics of the motor's fast response and ability to output positive and negative torque, and realizes the vehicle's drive anti-skid control through torque transfer and slip rate control. The present invention does not require a separate drive anti-skid control module, saves development costs, shortens the development cycle, improves the vehicle's passability, stability and safety on low-adhesion roads, reduces the frequency of vehicle slippage, increases the service life of tires, saves vehicle after-sales maintenance costs, and the vehicle calibration complexity of the method of the present invention is low, and has strong portability.

[0132] In one embodiment, the processing module 203 includes an acquisition unit, a calculation unit, and a transfer unit;

[0133] An acquisition unit, used for acquiring an actual slip rate of a wheel of a slipping drive axle;

[0134] A calculation unit, used for calculating a torque transfer coefficient according to an actual slip rate;

[0135] The transfer unit is used for transferring the torque of the slipping drive axle to the non-slipping drive axle according to the torque transfer coefficient.

[0136] In one embodiment, the acquisition unit is further used to acquire the actual slip rate of each driving axle wheel and acquire the current motor output torque of each driving axle as the initial torque;

[0137] The calculation unit is further used to calculate the control torque according to the actual slip rate of the wheel, the initial torque, and the loading step length;

[0138] The processing module 203 further includes: a control unit, configured to control the output torque of each drive axle according to the control torque.

[0139] In one embodiment, the device further comprises: a detection module and a control module;

[0140] A detection module is used to detect whether the status of each component of the target vehicle is normal;

[0141] A control module, used for receiving a key signal to control the target vehicle to be powered on at high voltage when the detection result of the detection module is normal;

[0142] The judgment module 202 is also used to judge whether the target vehicle is in a driving state.

[0143] Based on the above Figure 1 The dual electric drive axle commercial vehicle driving anti-skid control method described in the corresponding embodiment, another embodiment of the present invention also provides a dual electric drive axle commercial vehicle driving anti-skid control device, the dual electric drive axle commercial vehicle driving anti-skid control device includes a processor and a memory, the memory stores at least one computer instruction, the instruction is loaded and executed by the processor to implement the above Figure 1 The anti-skid control method for a dual electric drive axle commercial vehicle described in the corresponding embodiment.

[0144] Based on the above Figure 1 In accordance with the anti-skid control method for a dual electric drive axle commercial vehicle described in the corresponding embodiment, the embodiment of the present invention further provides a computer-readable storage medium. For example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device. The storage medium stores at least one computer instruction for executing the above Figure 1 The anti-skid control method for the dual electric drive axle commercial vehicle described in the corresponding embodiment will not be repeated here.

[0145] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the claims.

[0146] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A dual electric drive axle commercial vehicle drive anti-skid control method, applied to the vehicle controller, characterized in that: The method comprises: Obtaining a wheel speed difference and / or a slip rate of each drive axle of the target vehicle, wherein the wheel speed difference is a difference between a driving wheel speed and a driven wheel speed of each drive axle of the target vehicle; determining whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate; If, when the wheel speed difference of only one drive axle in the target vehicle exceeds the wheel speed difference slip threshold, and / or the slip rate exceeds the slip rate slip threshold, the drive of the slipping drive axle is controlled to perform anti-skid processing; when the wheel speed differences of all drive axles in the target vehicle exceed the wheel speed difference slip threshold, and / or the slip rates exceed the slip rate slip threshold, the drives of each drive axle are controlled to perform anti-skid processing.

2. The driving anti-skid control method for a dual electric drive axle commercial vehicle according to claim 1, characterized in that: The determining whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate specifically includes: When the wheel speed difference of at least one driving axle in the target vehicle exceeds a wheel speed difference slip threshold, and / or the slip rate exceeds a slip rate slip threshold, the target vehicle is in a slipping condition.

3. The driving anti-skid control method for a dual electric drive axle commercial vehicle according to claim 1, characterized in that: The control of the driving of the slipping drive axle to perform anti-skid processing specifically includes: Obtaining an actual slip rate of the wheel of the slipping drive axle; calculating a torque transfer coefficient according to the actual slip ratio; transferring the torque of the slipping drive axle to the non-slipping drive axle according to the torque transfer coefficient; The torque transfer coefficient is calculated by a first formula, which includes: （1） Wherein, k is the torque transfer coefficient; S is the actual slip rate of the wheels of the slipping drive axle.

4. The driving anti-skid control method for a dual electric drive axle commercial vehicle according to claim 3, characterized in that: The method further comprises: The wheel speed difference and slip rate of the slipping drive axle are monitored, and when the wheel speed difference of the slipping drive axle is less than or equal to a wheel speed difference exit threshold, and the slip rate is less than or equal to a slip rate exit threshold, the target vehicle is controlled to exit the anti-skid process.

5. The driving anti-skid control method for a dual electric drive axle commercial vehicle according to claim 4, characterized in that: The controlling of the driving of each driving axle to perform anti-skid processing specifically includes: Obtaining an actual slip rate of each of the drive axle wheels; Acquire the current motor output torque of each of the drive axles as the initial torque; Calculating a control torque according to the actual slip rate of the wheel, the initial torque, and the loading step length; Controlling the output torque of each drive axle according to the control torque; Wherein, the control torque is calculated by a second formula, and the second formula includes: （2） Among them, Tq ASR To control the torque; Tq Step is the torque loading step length, and Tq Step5 <0<Tq Step4 <Tq Step3 <Tq Step2 <Tq Step1 ; S is the actual slip rate of the drive axle wheels.

6. The driving anti-skid control method for a dual electric drive axle commercial vehicle according to claim 5, characterized in that: The method further comprises: The wheel speed difference and slip rate of each drive axle of the target vehicle are monitored, and when each of the wheel speed differences is less than or equal to the wheel speed difference exit threshold and the slip rates are less than or equal to the slip rate exit threshold, the target vehicle is controlled to exit the anti-skid treatment.

7. The driving anti-skid control method for a dual electric drive axle commercial vehicle according to claim 1, characterized in that: Before obtaining the wheel speed difference and / or slip rate of each drive axle of the target vehicle, the method further includes: Detecting whether the status of each component of the target vehicle is normal; If yes, receiving the key signal to control the high voltage power-on of the target vehicle; Determining whether the target vehicle is in a driving state; If so, the wheel speed difference and / or slip rate of each drive axle of the target vehicle is obtained.

8. A dual electric drive axle commercial vehicle drive anti-skid control device, characterized in that: include: An acquisition module, used for acquiring a wheel speed difference and / or a slip rate of each drive axle of the target vehicle, wherein the wheel speed difference is a difference between a driving wheel speed and a driven wheel speed of each drive axle of the target vehicle; A judgment module, used for judging whether the target vehicle is slipping according to the wheel speed difference and / or the slip rate; a processing module, configured to control the driving of the slipping driving axle to perform anti-skid processing when the result of the judging module is yes and the wheel speed difference of only one driving axle in the target vehicle exceeds the wheel speed difference slip threshold and / or the slip rate exceeds the slip rate slip threshold; The processing module is further configured to control the driving of each drive axle to perform anti-skid processing when the result of the judgment module is yes and the wheel speed differences of all drive axles in the target vehicle exceed a wheel speed difference slip threshold, and / or the slip rates exceed a slip rate slip threshold.

9. The driving anti-skid control device for a dual electric drive axle commercial vehicle according to claim 8, characterized in that: The processing module includes: an acquisition unit, a calculation unit and a transfer unit; The acquisition unit is used to acquire the actual slip rate of the wheel of the slipping drive axle; The calculation unit is used to calculate the torque transfer coefficient according to the actual slip rate; The transfer unit is used to transfer the torque of the slipping drive axle to the non-slipping drive axle according to the torque transfer coefficient.

10. The driving anti-skid control device for a commercial vehicle with dual electric drive axles according to claim 9, characterized in that: The acquisition unit is further used to acquire the actual slip rate of each wheel of the driving axle, and acquire the current motor output torque of each driving axle as the initial torque; The calculation unit is further used to calculate the control torque according to the actual slip rate of the wheel, the initial torque, and the loading step length; The processing module further includes: a control unit, configured to control the output torque of each drive axle according to the control torque.

Images