Vehicle driving adaptive control method, device, equipment and medium

Abstract

The application provides a vehicle driving self-adaptive control method, device, equipment and medium, wherein the method comprises the following steps: determining the current driving state of the vehicle, the driving state comprising a stable driving state and a slipping state; determining the current theoretical maximum output torque of the vehicle in the stable driving state according to the output data of the driving motor on the vehicle and the limit value of the adhesion provided by the current road surface; determining the difference between the current theoretical maximum output torque and the current output torque in the output data; if the driving state is the slipping state and the difference is greater than a preset value, reducing the current output torque of the driving motor and increasing the suspension damping until the driving state is switched from the slipping state to the stable driving state; if the driving state is the slipping state and the difference is less than or equal to the preset value, increasing the brake pressure of the brake pedal until the driving state is switched from the slipping state to the stable driving state. The scheme can effectively improve the driving stability and safety of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automobile control, and particularly relates to a vehicle driving adaptive control method, device, equipment and medium. BACKGROUND

[0002] During the driving of a vehicle, the vehicle often slips due to reasons such as a wet road surface, tire wear, and insufficient power. When the vehicle slips, the friction between the wheels and the ground is small, which makes the driving of the vehicle difficult to control, the driving stability and safety of the vehicle are poor, and the vehicle is prone to lose control, increasing the risk of collision with other vehicles or obstacles, and in severe cases, endangering the personal safety of the driver and passengers in the vehicle. SUMMARY

[0003] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a vehicle driving adaptive control method, device, equipment and medium to improve the stability and safety of vehicle driving.

[0004] The vehicle driving adaptive control method provided by the present application comprises:

[0005] determining the current driving state of the vehicle, the driving state comprising a stable driving state and a slipping state;

[0006] determining the current theoretical maximum output torque of the vehicle in the stable driving state according to the output data of the driving motor on the vehicle and the limit value of the adhesion provided by the current road surface;

[0007] determining the difference between the current theoretical maximum output torque and the current output torque in the output data;

[0008] if the driving state is the slipping state and the difference is greater than a preset value, reducing the current output torque of the driving motor and increasing the suspension damping until the driving state switches from the slipping state to the stable driving state;

[0009] if the driving state is the slipping state and the difference is less than or equal to the preset value, increasing the brake pressure of the brake pedal until the driving state switches from the slipping state to the stable driving state.

[0010] In an embodiment of the present application, determining the current driving state of the vehicle comprises:

[0011] determining the slip ratio and the slip rate of the wheels according to the driving parameters of the vehicle, the driving parameters comprising the angular velocity of the wheels, the vehicle speed and the wheel radius;

[0012] When the slip ratio and the slip rate are greater than first standard values respectively, the driving state is switched to a slipping state, and when the slip ratio and the slip rate are less than second standard values respectively, the driving state is switched to a stable driving state, the first standard values being greater than the second standard values.

[0013] In an embodiment of the present application, the current theoretical maximum output torque of the vehicle in the stable driving state is determined according to the output data of the driving motor on the vehicle and the adhesion limit value provided by the current road surface, comprising:

[0014] The adhesion limit value is determined according to the adhesion coefficient of the current road surface and the normal load of the ground acting on the wheel;

[0015] The current driving force of the wheel is determined according to the current output torque and the wheel radius;

[0016] The driving force limit value is determined based on the current driving force and the adhesion limit value, the driving force limit value being less than the adhesion limit value;

[0017] The current theoretical maximum output torque is determined according to the adhesion limit value and the wheel radius.

[0018] In an embodiment of the present application, if the driving state is the slipping state, the method further comprises:

[0019] The slipping wheel and the non-slip wheel on the vehicle are determined;

[0020] The suspension height of the slipping wheel is reduced and the suspension height of the non-slip wheel is increased based on the vehicle speed.

[0021] In an embodiment of the present application, the height of the slipping wheel is increased and the height of the non-slip wheel is reduced based on the vehicle speed, comprising:

[0022] If the vehicle speed is greater than a preset speed, the suspension height of the non-slip wheel is increased to a medium height;

[0023] If the vehicle speed is less than the preset speed, the suspension height of the non-slip wheel is increased to a high height;

[0024] The suspension height is evenly divided into three regions of a low height, a medium height and a high height from a minimum stroke to a maximum stroke.

[0025] In an embodiment of the present application, the calculation formula of the slip ratio λ is:

[0026] λ = ωR (1-v×100%),

[0027] Wherein, ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0028] In an embodiment of the present application, the formula for calculating the slip rate is:

[0029] S = [(v - ωR) / v] x 100%,

[0030] wherein ω is the angular velocity of the wheel, v is the vehicle speed, and R is the wheel radius.

[0031] The vehicle driving self-adaptive control device provided by the present application comprises:

[0032] a vehicle state determination module, configured to determine the current driving state of the vehicle, wherein the driving state comprises a stable driving state and a slipping state;

[0033] a maximum torque determination module, configured to determine the current theoretical maximum output torque of the vehicle in the stable driving state according to the output data of the driving motor on the vehicle and the adhesion limit value provided by the current road surface;

[0034] a processing module, configured to determine the difference between the current theoretical maximum output torque and the current output torque in the output data;

[0035] an execution module, configured to, if the driving state is the slipping state and the difference is greater than a preset value, reduce the current output torque of the driving motor and increase the suspension damping until the driving state switches from the slipping state to the stable driving state; and if the driving state is the slipping state and the difference is less than or equal to the preset value, increase the brake pressure of the brake pedal until the driving state switches from the slipping state to the stable driving state.

[0036] The electronic device provided by the present application comprises:

[0037] one or more processors;

[0038] a storage device, configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the electronic device to implement the vehicle driving self-adaptive control method.

[0039] The computer readable storage medium provided by the present application has a computer program stored thereon, wherein the computer program, when executed by the processor of the computer, causes the computer to execute the vehicle driving self-adaptive control method.

[0040] The beneficial effects of the present application: in the present application, if the vehicle is in a slipping state, the current output torque of the driving motor is adjusted in real time according to the driving state, and since the current output torque and the suspension damping need to be adjusted correspondingly to increase the vehicle stability, the adjustment of the suspension damping will be constrained by the current output torque of the driving motor. The current output torque of the driving motor is constrained by the current maximum output torque, and when the difference between the current theoretical maximum output torque and the current output torque is less than or equal to a preset value, the required braking torque is generated by increasing the brake pressure of the brake pedal, the vehicle speed is reduced, the vehicle slipping condition is improved, and the vehicle driving stability is increased.

[0041] The present scheme monitors the driving state of the vehicle in real time, so as to adjust the driving motor, the suspension and the brake pedal in real time, thereby adjusting the driving state of the vehicle, increasing the driving stability, safety and comfort of the vehicle, and reducing the possibility of vehicle slipping.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0043] The drawings incorporated into the specification and forming part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. It is obvious that the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings from these drawings without creative labor. In the drawings:

[0044] Figure 1 is a schematic diagram of an implementation environment of vehicle driving adaptive control according to an exemplary embodiment of the present application.

[0045] Figure 2 is a flowchart of a vehicle driving adaptive control method according to an exemplary embodiment of the present application.

[0046] Figure 3 is a flowchart of driving state determination according to an exemplary embodiment of the present application.

[0047] Figure 4 is a flowchart of current theoretical maximum output torque determination according to an exemplary embodiment of the present application.

[0048] Figure 5 is a flowchart of suspension height adjustment of slipping wheels and non-slip vehicles according to an exemplary embodiment of the present application.

[0049] Figure 6 is another flowchart of suspension height adjustment of slipping wheels and non-slip vehicles according to an exemplary embodiment of the present application.

[0050] Figure 7 is a block diagram of a vehicle travel adaptive control device according to an example embodiment of the present application. DETAILED DESCRIPTION

[0051] Embodiments of the present application will be described below with reference to the accompanying drawings and preferred embodiments in detail, and those skilled in the art can easily understand other advantages and functions of the present application from the contents disclosed in the present specification. The present application can be implemented or applied in other different specific embodiments, and each detail in the present specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and are not intended to limit the scope of protection of the present application.

[0052] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present application, and only the components related to the present application are shown in the drawings, not the number, shape and size of the components when actually implemented. The shape, number and ratio of each component when actually implemented can be arbitrarily changed, and the layout pattern of the components can be more complex.

[0053] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the well-known structures and devices are shown in the form of block diagrams rather than in the form of details to avoid making the embodiments of the present application difficult to understand.

[0054] Figure 1 is a block diagram of an implementation environment for performing vehicle travel adaptive control in a navigation process according to an example embodiment of the present application. As shown in Figure 1As shown, including resolver sensor 120, drive motor 110, controller 150, brake pedal 130 and active suspension 140 (or electromagnetic suspension), etc., resolver sensor 120 is installed on the rotating shaft of drive motor 110, which is used to detect the rotation angle and speed of drive motor 110 in real time, and the use of resolver sensor 120 increases the accuracy of detection data. The controller 150 receives the signal of the resolver sensor 120, and obtains the output data of the drive motor 110 through algorithm processing, wherein the output data includes the current output torque and the rotation speed, etc. The controller 150 uses the signal of the resolver sensor 120, combines the driving parameters such as the speed of the vehicle, accurately identifies the current road adhesion through the algorithm model, and adjusts the torque output of the drive motor 110 according to the adhesion of the current road, to realize the torque adaptive control. At the same time, the controller 150 also cooperates with the brake pedal 130, the active suspension 140 and / or the linear motor to adjust the brake pressure, the suspension stiffness and damping and the output of the active suspension 140 with linear motor according to the adhesion of the road, so as to maintain the driving stability and safety of the vehicle.

[0055] As shown in the example embodiment, the vehicle driving adaptive control method at least includes steps S210 to S250, which are described in detail as follows: Figure 2

[0056] Step S210, determine the current driving state of the vehicle, the driving state includes stable driving state and slipping state.

[0057] In this embodiment, the driving state of the vehicle is considered in order to control the driving stability and safety of the vehicle according to the driving state subsequently.

[0058] Step S220, according to the output data of the drive motor on the vehicle and the adhesion limit value that the current road can provide, determine the current theoretical maximum output torque of the vehicle in the stable driving state.

[0059] It should be noted that the greater the driving force of the drive motor, the greater the output torque of the drive motor, and the two are proportional. When the driving force of the drive motor is greater than the adhesion limit value, the vehicle is easy to slip, so the current theoretical maximum output torque can be deduced through the limit value of the driving force.

[0060] For example, K=MxR, where K is the current output torque of the drive motor, M is the driving force of the drive motor, and R is the wheel radius.

[0061] For example, the output data of the drive motor includes current output torque, rotation angle and rotation speed, etc.

[0062] Step S230, determine the difference between the current theoretical maximum output torque and the current output torque in the output data.​

[0063] It is worth noting that when the driving force of the driving motor is greater than the adhesion limit value, the vehicle is prone to slip, and since the driving force is proportional to the output torque, when the current output torque is greater than the current theoretical maximum output torque, the vehicle is also prone to slip, so it is necessary to determine the difference between the current theoretical maximum output torque and the current output torque.

[0064] In step S240, if the driving state is a slip state and the difference is greater than the preset value, the current output torque of the driving motor is reduced and the suspension damping is increased until the driving state switches from the slip state to the stable driving state; if the driving state is a slip state and the difference is less than or equal to the preset value, the brake pressure of the brake pedal is increased until the driving state switches from the slip state to the stable driving state.

[0065] It should be noted that when the wheels are slipping, if the current output torque of the driving motor is still very large, the wheels may further slip due to excessive driving force, causing the vehicle to lose control. Reducing the current output torque of the driving motor can reduce the driving force on the wheels, helping the wheels to regain adhesion with the ground, thereby reducing the degree of slip and improving the handling stability of the vehicle. When the wheels are slipping, the driving direction of the vehicle may deviate from the driver's expectation. Reducing the current output torque of the driving motor can reduce the driving torque of the wheels, making the vehicle more likely to travel according to the driver's intention and maintaining the stability of the driving direction of the vehicle.

[0066] It is also worth noting that when the driving motor output torque is reduced, the power performance of the vehicle will be correspondingly weakened, which may cause the vehicle to be more easily affected by external factors (such as lateral wind, road unevenness) during driving, thereby causing changes in attitude such as roll, pitch, etc. Increasing the suspension damping can increase the stiffness of the suspension system, allowing the vehicle to maintain a more stable attitude when facing these external factors, reducing unnecessary shaking, thereby ensuring the driving stability and safety of the vehicle.

[0067] In this embodiment, if the vehicle is in a slip state, the current output torque of the driving motor is adjusted in real time according to the driving state, and since the current output torque and the suspension damping need to be adjusted correspondingly to increase the stability of the vehicle, the adjustment of the suspension damping will be constrained by the current output torque of the driving motor. The current output torque of the driving motor is constrained by the current maximum output torque, and when the difference between the current theoretical maximum output torque and the current output torque is less than or equal to the preset value, the brake pressure of the brake pedal is increased to generate the required braking torque, improve the slip condition of the vehicle, and increase the driving stability and safety of the vehicle.

[0068] As Figure 3As shown, in an exemplary embodiment, the process of determining the current driving state of a vehicle includes at least:

[0069] Step S310: Determine the wheel slip ratio and slip rate based on the vehicle's driving parameters, including wheel angular velocity, vehicle speed, and wheel radius.

[0070] For example, driving parameters include wheel angular velocity, vehicle speed, and wheel radius, and the vehicle is judged in real time whether it is slipping based on the driving parameters.

[0071] For example, the formula for calculating the slip ratio λ is:

[0072] λ=ωR(1-v×100%)

[0073] Where ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0074] For example, the formula for calculating slip ratio is:

[0075] S=[(v-ωR) / v]×100%,

[0076] Where ω is the wheel angular velocity, v is the vehicle speed, and R is the wheel radius.

[0077] Step S320: When the slip ratio and slip rate are both greater than the first standard value, the driving state is switched to the slipping state; when the slip ratio and slip rate are both less than the second standard value, the driving state is switched to the stable driving state. The first standard value is greater than the second standard value.

[0078] For example, the first standard values ​​for slip ratio and slip ratio can be set to the same value or to different values. The second standard values ​​for slip ratio and slip ratio can be set to the same value or to different values.

[0079] For example, when the slip ratio and the spin ratio are both greater than 15%, the driving state switches to a slipping state, and when the slip ratio and the spin ratio are both less than 6%, the driving state switches to a stable driving state.

[0080] like Figure 4 As shown, in an exemplary embodiment, determining the current theoretical maximum output torque for maintaining stable driving of the vehicle based on the output data of the drive motor on the vehicle and the current adhesion limit provided by the road surface includes:

[0081] Step S410: Determine the adhesion limit value based on the current road surface adhesion coefficient and the normal load exerted by the ground on the wheel.

[0082] Exemplarily, Fxmax = μFz, where Fxmax is the adhesion limit value, μ is the current road surface adhesion coefficient (adhesion coefficient = vehicle weight * current output torque), and Fz is the normal load exerted by the ground on the tire.

[0083] Step S420: Determine the current driving force of the wheel according to the current output torque and the wheel radius.

[0084] Exemplarily, the current driving force M can be calculated from the current output torque K and the wheel radius R, specifically M = K / R.

[0085] Step S430: Determine the driving force limit value based on the current driving force and the adhesion limit value; the driving force limit value is less than the adhesion limit value.

[0086] It should be noted that when the driving force is greater than the adhesion limit value, the vehicle is prone to skidding, so the driving force cannot be greater than the adhesion limit value.

[0087] Step S440: Determine the current theoretical maximum output torque according to the adhesion limit value and the wheel radius.

[0088] Exemplarily, if the adhesion limit value is denoted as W, the driving force M must be less than the adhesion limit value M, expressed as M < W. If the preset difference between the driving force M and the adhesion limit value W must be greater than N, then M + N < W. And since M = K / R, then K / R + N < W, from which the current theoretical maximum output torque of the drive motor can be deduced.

[0089] It should also be noted that the adhesion limit value of the vehicle has a correlation with the change of the vehicle's driving road surface, the change of the vehicle's weight distribution, and the vehicle speed. As the driving situation of the vehicle changes, the adhesion limit value will change accordingly. Therefore, the current theoretical maximum output torque is a dynamically changing value.

[0090] Such as Figure 5 As shown, in an exemplary embodiment, if the driving state is a skidding state, the method further includes:

[0091] Step S510: Determine the skidding wheels and non-skidding wheels on the vehicle.

[0092] Exemplarily, calculate the slip ratio and the spin ratio of each wheel respectively to determine whether the corresponding vehicle is skidding.

[0093] Step S520: Based on the vehicle speed, lower the suspension height of the skidding wheels and increase the suspension height of the non-skidding wheels.

[0094] In this embodiment, lower the suspension height of the skidding wheels and increase the suspension height of the non-skidding wheels to cause weight transfer and increase the driving stability of the vehicle.

[0095] For example, when the vehicle experiences severe bumps, the suspension rises, increasing suspension damping. Simultaneously, when the current output torque decreases, the suspension rises, increasing the vehicle's balance and comfort.

[0096] like Figure 6 As shown, in one exemplary embodiment, increasing the height of the slipping wheel and decreasing the height of the non-slipping wheel based on vehicle speed includes:

[0097] In step S610, if the vehicle speed is greater than the preset speed, the suspension height of the non-slipping wheel is increased to a medium height.

[0098] For example, at speeds greater than 60 km / h, the suspension height of the non-slipping wheels is increased to a medium height.

[0099] In step S620, if the vehicle speed is less than the preset speed, the suspension height of the wheels that are not slipping is increased to the high level. The suspension height is evenly divided into three levels: low, medium, and high, from minimum travel to maximum travel.

[0100] For example, if the vehicle speed is less than or equal to 60 km / h, the suspension height of a non-slipping vehicle is increased to a higher level.

[0101] In this embodiment, the suspension travel is divided into three levels from low to high: low, medium, and high. The suspension height is adjusted by taking into account factors such as vehicle speed to ensure the vehicle's driving stability and balance.

[0102] It should be understood that the sequence number of each step in the above embodiments does not imply 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 embodiments of the present invention.

[0103] Figure 7 This is a block diagram illustrating a vehicle driving adaptive control device according to an exemplary embodiment of this application. This device can be applied to… Figure 1 The implementation environment shown is not limited to this embodiment. This device can also be applied to other exemplary implementation environments.

[0104] like Figure 7 As shown, this exemplary vehicle driving adaptive control device includes:

[0105] The vehicle status determination module 710 is used to determine the current driving status of the vehicle, which includes stable driving status and slipping status.

[0106] The maximum torque determination module 720 is configured to determine a current theoretical maximum output torque of the vehicle in a stable driving state according to output data of the driving motor on the vehicle and a limit value of adhesion provided by a current road surface;

[0107] The processing module 730 is configured to determine a difference between the current theoretical maximum output torque and a current output torque in the output data.

[0108] The execution module 740 is configured to, if the driving state is a slipping state and the difference is greater than a preset value, decrease the current output torque of the driving motor and increase suspension damping until the driving state is switched from the slipping state to the stable driving state; or if the driving state is the slipping state and the difference is less than or equal to the preset value, increase brake pressure of a brake pedal until the driving state is switched from the slipping state to the stable driving state.

[0109] In the exemplary vehicle driving adaptive control device, the driving state of the vehicle is monitored in real time, so that the driving motor, the suspension and the brake pedal are adjusted in real time, thereby adjusting the driving state of the vehicle, increasing the driving stability, safety and comfort of the vehicle, and reducing the possibility of vehicle slipping.

[0110] It should be noted that the vehicle driving adaptive control device provided in the above embodiments and the vehicle driving adaptive control method provided in the above embodiments belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiments, which will not be described here. The vehicle driving adaptive control device provided in the above embodiments can be divided into different functional modules according to the needs in actual application, i.e., the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, and this is not limited herein.

[0111] Embodiments of the present application also provide an electronic device, comprising: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the vehicle driving adaptive control method provided in each of the above embodiments.

[0112] Another aspect of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor of a computer, causes the computer to perform the vehicle driving adaptive control method as described above. The computer-readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately and not be assembled into the electronic device.

[0113] Another aspect of the present application also provides a computer program product or computer program, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle driving adaptive control method provided in each of the above embodiments.

[0114] The above embodiments only illustrate the principles and effects of the present application, but are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present application should be covered by the claims of the present application.

Claims

1. A vehicle adaptive cruise control method, characterized by, The method comprises: determining a current driving state of the vehicle, the driving state comprising a stable driving state and a slipping state; determining a current theoretical maximum output torque of the vehicle in the stable driving state according to output data of a driving motor on the vehicle and a limit value of adhesion provided by a current road surface; determining a difference between the current theoretical maximum output torque and a current output torque in the output data; if the driving state is the slipping state and the difference is greater than a preset value, reducing the current output torque of the driving motor and increasing suspension damping until the driving state switches from the slipping state to the stable driving state; if the driving state is the slipping state and the difference is less than or equal to the preset value, increasing brake pressure of a brake pedal until the driving state switches from the slipping state to the stable driving state.

2. The vehicle drive adaptive control method according to claim 1, characterized by, The method comprises: determining a current driving state of the vehicle, the driving state comprising a stable driving state and a slipping state; determining a slip ratio and a slip rate of a wheel according to driving parameters of the vehicle, the driving parameters comprising a wheel angular velocity, a vehicle speed and a wheel radius; 3. The vehicle drive adaptive control method according to claim 1, characterized by, when the slip ratio and the slip rate are greater than first standard values respectively, the driving state switches to the slipping state, and when the slip ratio and the slip rate are less than second standard values respectively, the driving state switches to the stable driving state, the first standard values being greater than the second standard values. The method comprises: determining a limit value of adhesion according to a current road surface adhesion coefficient and a normal load of the ground acting on the wheel; determining a current driving force of the wheel according to the current output torque and the wheel radius; determining a driving force limit value based on the current driving force and the limit value of adhesion, the driving force limit value being less than the limit value of adhesion; 4. The vehicle drive adaptive control method according to claim 2, characterized by determining the current theoretical maximum output torque according to the limit value of adhesion and the wheel radius. If the driving state is the slipping state, the method further comprises: determining a slipping wheel and a non-slip wheel on the vehicle; 5. The vehicle drive adaptive control method according to claim 4, characterized by based on the vehicle speed, reducing a suspension height of the slipping wheel and increasing a suspension height of the non-slip wheel. Based on the vehicle speed, increasing a height of the slipping wheel and reducing a height of the non-slip wheel, comprising: if the vehicle speed is greater than a preset speed, increasing the suspension height of the non-slip wheel to a medium height; if the vehicle speed is less than the preset speed, increasing the suspension height of the non-slip wheel to a high height; 6. The vehicle drive adaptive control method according to claim 2, characterized by the suspension height is evenly divided into three regions of a low height, a medium height and a high height from a minimum stroke to a maximum stroke. The calculation formula of the slip ratio λ is: λ = ωR (1-v×100%), 7. The vehicle drive adaptive control method according to claim 2, characterized by where ω is the wheel angular velocity, v is the vehicle speed and R is the wheel radius. The calculation formula of the slip rate is: S = [(v-ωR) / v]×100%, 8. A vehicle drive adaptive control device characterized by comprising: where ω is the wheel angular velocity, v is the vehicle speed and R is the wheel radius. The method comprises: a vehicle state determination module, configured to determine a current driving state of the vehicle, the driving state comprising a stable driving state and a slipping state; a maximum torque determination module configured to determine a current theoretical maximum output torque of the vehicle in a stable driving state according to output data of a drive motor on the vehicle and a limit value of adhesion provided by a current road surface; a processing module configured to determine a difference between the current theoretical maximum output torque and a current output torque in the output data; an execution module configured to, if the driving state is a slipping state and the difference is greater than a preset value, decrease the current output torque of the drive motor and increase suspension damping until the driving state switches from the slipping state to the stable driving state; if the driving state is the slipping state and the difference is less than or equal to the preset value, increase brake pressure of a brake pedal until the driving state switches from the slipping state to the stable driving state.

9. An apparatus, comprising: comprising: one or more processors and a memory, the memory having stored thereon a computer program that, when executed by the one or more processors, causes the device to perform the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, a computer program stored thereon that, when executed by one or more processors, causes a device to perform the method of any one of claims 1-7.

Images