Distributed drive control method, device, equipment and storage medium

Abstract

An embodiment of the present application relates to a distributed drive control method, device, equipment and storage medium. The method includes: determining the expected motion parameters of the vehicle; determining a sliding mode surface of sliding mode control based on the vehicle motion parameters and the expected motion parameters; determining a control function of sliding mode control based on the sliding mode surface, and performing drive control on the vehicle based on the control function; determining the slip parameters during the driving process of the vehicle, and updating the sliding mode surface based on the slip parameters to re-control the vehicle. By adopting this method, it is possible to better avoid the situation of vehicle instability caused by wheel slip, improve the safety of the vehicle, and enable the vehicle to have better anti-slip control.

Description

Technical Field

[0001] The present application relates to the technical field of sliding mode control, and particularly to a distributed drive control method, device, equipment and storage medium. Background Art

[0002] Due to the advantage that the four-wheel motors of distributed drive can be individually controlled, the current discussion popularity is gradually increasing. For vehicles with distributed drive, traditional control methods have problems such as low control accuracy and low accuracy. Therefore, it is proposed to use sliding mode variable structure control (sliding mode control) to control vehicles with distributed drive.

[0003] However, during the driving process of vehicles with distributed drive, the vehicle is prone to wheel spin, which affects the vehicle stability. Using the methods in the prior art to solve this problem has limited effects. Summary of the Invention

[0004] Embodiments of the present application provide a distributed drive control method, device, equipment and storage medium, which can better avoid the situation of vehicle instability caused by wheel spin, improve the safety of the vehicle, and enable the vehicle to have better anti-slip control.

[0005] In a first aspect, the present application provides a distributed drive control method, including:

[0006] Determine the desired motion parameters of the vehicle;

[0007] Select a sliding mode surface of sliding mode control based on the vehicle motion parameters and the desired motion parameters;

[0008] Determine a control function of sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function;

[0009] Determine the wheel spin parameters during the driving process of the vehicle, and update the sliding mode surface based on the wheel spin parameters to re-control the vehicle.

[0010] In a second aspect, embodiments of the present application provide a distributed drive control device, including:

[0011] A determination module, configured to determine the desired motion parameters of the vehicle;

[0012] A sliding mode surface determination module, configured to determine a sliding mode surface of sliding mode control based on the vehicle motion parameters and the desired motion parameters;

[0013] A control module, configured to determine a control function of sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function;

[0014] An update module, configured to determine a slip parameter during the driving process of the vehicle, and update the sliding mode surface based on the slip parameter to re-control the vehicle.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0016] A memory, configured to store a computer program;

[0017] A processor, configured to execute the computer program stored in the memory, and when the computer program is executed, implement the method provided by the embodiment of the present application.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method provided by the embodiment of the present application is implemented.

[0019] The above technical solutions provided by the embodiments of the present application have the following advantages compared with the prior art:

[0020] The technical solution provided by the embodiment of the present application determines the sliding mode surface through the vehicle motion parameters and the desired motion parameters, determines the control function through the sliding mode surface, drives and controls the vehicle through the control function, and updates the sliding mode surface through the slip parameter during the driving process of the vehicle to re-control the vehicle. That is, through the update of the sliding mode surface by the slip parameter, the situation of vehicle instability caused by vehicle slip can be better avoided, the safety of the vehicle can be improved, and the vehicle can have better anti-slip control. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0023] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a proportional limitation.

[0024] Figure 1 It is a distributed drive control flow chart provided by an embodiment of the present application;

[0025] Figure 2A distributed drive control flowchart provided by an embodiment of the present application;

[0026] Figure 3 A distributed drive control flowchart provided by an embodiment of the present application;

[0027] Figure 4 It is a corresponding relationship diagram of the reduction situation of the expected slip ratio, slip ratio deviation, and number of wheel spin times;

[0028] Figure 5 It is a corresponding relationship diagram of the increase situation of the weight coefficient of slip ratio deviation, the reduction situation of the expected slip ratio, the number of wheel spin times, and slip ratio deviation;

[0029] Figure 6 It is a corresponding relationship diagram of the increase situation of the weight coefficient of slip ratio deviation, slip ratio deviation, and number of wheel spin times;

[0030] Figure 7 A distributed drive control flowchart provided by an embodiment of the present application;

[0031] Figure 8 A distributed drive control flowchart provided by an embodiment of the present application;

[0032] Figure 9 A structural block diagram of a distributed drive control device provided by an embodiment of the present application;

[0033] Figure 10 A schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Apparently, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0036] To solve the technical problem that in the prior art, during the driving process of a distributed-drive vehicle, the vehicle is prone to wheel spin, which affects its stability, the present application provides a distributed-drive control method, device, equipment, and storage medium, which can better avoid vehicle instability, improve vehicle safety, and enable the vehicle to have better anti-slip control.

[0037] Figure 1 FIG. 4 is a flowchart of a distributed-drive control method provided by an embodiment of the present application. The method can be executed by a distributed-drive control device, and the device can be configured in an electronic device such as an on-vehicle device.

[0038] Step 101: Determine the desired motion parameters of the vehicle.

[0039] In this embodiment, the desired motion parameters may include one or more of the desired slip ratio, desired lateral velocity, desired longitudinal velocity, desired yaw rate, and other desired motion parameters. Among them, the desired motion parameters can be obtained by empirical values or can also be calibrated according to the correlation curve.

[0040] In this embodiment, the vehicle can have multiple highlight functions, including differential rotation function, in-situ turning function, and crab mode function, etc. The vehicle can adopt different desired motion parameters or the same desired motion parameters under different functions.

[0041] Step 102: Determine the sliding mode surface of the sliding mode control system based on the vehicle motion parameters and the desired motion parameters.

[0042] In this embodiment, in order to minimize wheel spin of the vehicle and effectively avoid wheel spin, vehicle motion parameters and desired motion parameters that are strongly related to wheel spin are considered as factors for selecting the sliding mode surface. The sliding mode surface is selected through the vehicle motion parameters and the desired motion parameters, so that the vehicle motion parameters reach the desired motion parameters, the system is in a stable state, and the vehicle motion state reaches the desired goal. Among them, the vehicle motion parameters can be one or more of the vehicle slip ratio, vehicle lateral velocity, vehicle longitudinal velocity, vehicle yaw rate, and other vehicle motion parameters. Among them, the vehicle motion parameters can be understood as the actual motion parameters of the vehicle, corresponding to the desired motion parameters.

[0043] Step 103: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0044] Specifically, the control function of the sliding mode control can be determined by the sliding surface, the three-degree-of-freedom model of the vehicle, and the reaching law function of the sliding mode control, and the vehicle is driven and controlled by the control function. The reaching law function can be an exponential reaching law function, or a constant speed reaching law function, or a general reaching law function. In order to reduce the disturbance of the sliding mode control system, an exponential reaching law function can be used.

[0045] Among them, the three-degree-of-freedom model of the vehicle can be the following formula:

[0046] (1)

[0047] In the above formula (1), , , and They are the driving forces of the four wheels; , , and They are the lateral forces of the four wheels; is the friction resistance, is the air resistance, is the slope resistance, is the acceleration resistance; is the steering resistance; r is the wheel radius; Represents the force on the vehicle in the horizontal direction, Represents the force on the vehicle in the vertical direction;

[0048] is the longitudinal acceleration of the vehicle; is the longitudinal acceleration of the vehicle; is the mass of the vehicle; is the distance from the front axle to the center of mass, is the distance from the rear axle to the center of mass, is the front wheel turning angle, is the distance between the left and right wheels; is the yaw moment; is the moment of inertia; is the vehicle yaw rate.

[0049] Among them, the exponential reaching law function can be:

[0050] (2)

[0051] In the above formula (2), is the gain factor, For the approach law, is the exponential approach term, and S represents the sliding surface.

[0052] Specifically, the first derivative of the sliding mode surface can be obtained to get the dynamic equation of the sliding mode controller. Based on the dynamic equation of the sliding mode controller, the three-degree-of-freedom model in the above formula (1), and the reaching law function, the control function of the sliding mode controller can be obtained, which is the control function of the sliding mode control. Among them, the control function can be the control function of the vehicle torque. The vehicle torque is output through the control function and distributed to the motors corresponding to the four wheels according to the preset distribution ratio to drive the wheels to move, thereby controlling the vehicle to drive under normal conditions and effectively avoiding the slip phenomenon.

[0053] Step 104: Determine the slip parameters during the driving process of the vehicle and update the sliding mode surface based on the slip parameters to re-control the vehicle.

[0054] During the driving control of the vehicle by the sliding mode surface, the vehicle may slip because the set value of the desired motion parameter in the sliding mode surface is too high, or other parameters in the sliding mode surface are not set reasonably. Therefore, determining the slip parameters during the driving process of the vehicle and updating the sliding mode surface through the slip parameters can better avoid the vehicle slipping. Among them, the slip parameters can include the number of slips, the slip duration, etc. The sliding mode surface can be adjusted according to the number of slips, or according to the number of slips and the slip duration, so that the sliding mode surface is more suitable for the vehicle and effectively avoids the vehicle slipping.

[0055] The technical solution provided by the embodiment of the present application selects the sliding mode surface through the vehicle motion parameters and the desired motion parameters, determines the control function through the sliding mode surface, controls the vehicle through the control function, and updates the sliding mode surface through the slip parameters during the driving process of the vehicle to re-control the vehicle, that is, adjusts the sliding mode surface through the slip parameters to re-control the vehicle, which can better avoid the vehicle instability caused by vehicle slipping, improve the safety of the vehicle, and enable the vehicle to have better anti-slip control.

[0056] Based on the above embodiment, in an optional implementation manner, optionally, determining the desired motion parameters of the vehicle includes: determining the desired slip ratio of the vehicle and the target desired motion parameters. Correspondingly, based on the vehicle motion parameters and the desired motion parameters, selecting the sliding mode surface of the sliding mode control includes: selecting the sliding mode surface of the sliding mode control based on the vehicle slip ratio, the desired slip ratio, the target vehicle motion parameters, and the target desired motion parameters.

[0057] Among them, the expected slip ratio is used to define the standard for the wheels to basically not slip. Among them, the realization of the expected slip ratio can be: obtaining the curve of the vehicle slip ratio and the road surface adhesion coefficient through the equation established between the vehicle slip ratio and the road surface adhesion coefficient, and calibrating and taking values near the vertex of the curve to obtain the expected slip ratio. Among them, the equation established between the vehicle slip ratio and the road surface adhesion coefficient can adopt the existing equations in the prior art. For example, on a dry cement road surface, the equation established between the vehicle slip ratio and the road surface adhesion coefficient can be ; and on a dry asphalt road surface, the equation established between the vehicle slip ratio and the road surface adhesion coefficient can be . Among them, is the road surface adhesion coefficient; is the vehicle slip ratio. Among them, the vehicle slip ratio is the proportion of the sliding component in the wheel movement; the braking process of the vehicle from pure rolling to locked-wheel skidding is a gradual process, experiencing three stages: pure rolling, rolling and sliding, and pure sliding. In order to evaluate the proportion of the wheel slip component, the slip ratio (vehicle slip ratio) is commonly used to represent it.

[0058] Among them, the vehicle slip ratio can be understood as the actual slip ratio of the vehicle. The vehicle slip ratio = ; is the speed of the vehicle; is the wheel speed of the vehicle. Among them, the target vehicle motion parameters can be other vehicle motion parameters, for example, the vehicle lateral speed, the vehicle longitudinal speed, the vehicle yaw rate, etc. Correspondingly, the target expected motion parameters can include the expected lateral speed, the expected longitudinal speed, the expected yaw rate, etc.

[0059] Thus, by selecting the sliding mode surface of the sliding mode control system through the vehicle slip ratio, the expected slip ratio, the target vehicle motion parameters, and the target expected motion parameters, the vehicle slip ratio can reach the expected slip ratio, and the situation of vehicle wheel spin can be effectively avoided.

[0060] Figure 2 is a flowchart of a distributed drive control method provided by an embodiment of the present application. In this embodiment, the selection of the sliding mode surface is limited, as shown in Figure 2 , and the method includes the following steps:

[0061] Step 201: Determine the expected slip ratio of the vehicle and the target expected motion parameters.

[0062] In the embodiments of the present application, due to the independent driving of the four motors in distributed drive, many bright spot functions have emerged. At the same time, the implementation logic of the basic functions is also different from that of traditional vehicles. The expected slip ratios of different functions are different. If the unified target slip ratio of traditional vehicles is adopted to control distributed vehicles, many bright spot functions cannot be realized. Therefore, different expected slip ratios can be determined for different functions.

[0063] In the case of distributed drive, the bright spot functions of the vehicle can include differential rotation function, in-situ turning function, and crab mode function. Among them, for the differential rotation function, in the case of turning left, the expected slip ratio of the inner wheel , , where , , , are the expected slip ratios of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel respectively, is the preset expected slip ratio, represents the slip ratio change amount and can be determined by calibration. The performance parameters for evaluating the differential rotation function mainly include steering sensitivity ( , where is the steering wheel angle), the time to reach the expected yaw angular velocity , lateral acceleration , longitudinal acceleration , etc.

[0064] For the in-situ turning function, in the case of in-situ turning, the four wheels are in a slip state, and the expected slip ratio is defined as 30%. Among them, this expected slip ratio can be an empirical value. The performance parameters for evaluating the in-situ turning function are the vehicle centroid displacement s and the slip ratios of the four wheels. For the crab mode function, among them, the crab mode is realized by controlling the front wheel steering plus the rear wheel slip, and the expected slip ratio is: , . The performance parameters for evaluating the crab mode are the vehicle slip ratio and the crab speed. Thus, the vehicle adopts different expected slip ratios under different functions, and the expected slip ratio corresponding to the current function can be determined according to the current function of the vehicle.

[0065] Step 202: Perform a weighted combination of the slip ratio deviation between the vehicle slip ratio and the expected slip ratio, and the motion parameter deviation between the target vehicle motion parameter and the target expected motion parameter to obtain the sliding mode surface of the sliding mode control.

[0066] Specifically, the slip rate deviation and the motion parameter deviation can be linearly weighted and combined to obtain the sliding mode surface of the sliding mode control, or the slip rate deviation and the motion parameter deviation can be weighted and combined in an exponential form; or the slip rate deviation and the motion parameter deviation can be weighted and combined in an integral form to meet the desired slip rate, the desired lateral velocity, and the desired longitudinal velocity, so as to stabilize the system, reduce the system jitter, and effectively avoid the vehicle from spinning. To simplify the calculation, the slip rate deviation and the motion parameter deviation can be linearly weighted and combined to obtain the sliding mode surface of the sliding mode control.

[0067] Step 203: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0068] Among them, the introduction of step 203 can refer to the introduction of the above embodiments.

[0069] Step 204: Determine the spin parameters during the driving process of the vehicle, and update the sliding mode surface based on the spin parameters to re-control the vehicle.

[0070] In this embodiment, specifically, determine the spin parameters during the driving process of the vehicle, and update the weight coefficient of the slip rate deviation or the desired slip rate in the sliding mode surface based on the spin parameters.

[0071] In this embodiment, when the vehicle spins during the driving process, the spin is strongly correlated with the slip rate. The possible reasons are that the desired slip rate is set too high, or the weight coefficient of the slip rate deviation is unreasonable. If the desired slip rate is set too high, so that the vehicle slip rate reaches an excessively high desired slip rate, spinning is likely to occur; if the weight coefficient of the slip rate deviation is set too low, the vehicle is not likely to reach the desired slip rate quickly, and spinning is likely to occur. Therefore, if the vehicle spins during the driving process, the weight coefficient of the slip rate deviation or the desired slip rate in the sliding mode surface can be updated. Specifically, the weight coefficient of the slip rate deviation or the desired slip rate can be updated according to the spin parameters. Among them, the spin parameters can include the number of spins, the spin duration, etc.

[0072] Thus, by weighting and combining the slip rate deviation between the vehicle slip rate and the desired slip rate, and the motion parameter deviation between the target vehicle motion parameters and the target desired motion parameters, the sliding mode surface of the sliding mode control is obtained, which can effectively avoid the vehicle from spinning. By adjusting the sliding mode surface through the spin parameters, the vehicle spinning situation can be better avoided, making the vehicle control more stable.

[0073] Figure 3It is a flowchart of a distributed drive control method provided by an embodiment of the present application. In this embodiment, optionally, updating the sliding mode surface based on the slip parameter includes: adjusting at least the desired slip ratio or the weight coefficient of the slip ratio deviation in the sliding mode surface according to the number of slip occurrences during the vehicle driving process.

[0074] As Figure 3 shown, the method includes the following steps:

[0075] Step 301: Determine the desired slip ratio of the vehicle and the target desired motion parameters.

[0076] Step 302: Perform weighted combination on the slip ratio deviation between the vehicle slip ratio and the desired slip ratio, and the motion parameter deviation between the target vehicle motion parameters and the target desired motion parameters to obtain the sliding mode surface of the sliding mode control system.

[0077] Step 303: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0078] Step 304: Adjust at least the desired slip ratio or the weight coefficient of the slip ratio deviation in the sliding mode surface according to the number of slip occurrences during the vehicle driving process.

[0079] In this embodiment, the number of slip occurrences during the vehicle driving process can be counted by a counting device. Among them, the determination of vehicle slip can be made by the motion state of the wheels. The normal state is that the wheels are in pure rolling; if the phenomenon of rolling and slipping or pure slipping occurs, it is determined that slip occurs. Thus, the number of slip occurrences can be counted by judging the motion state of the wheels.

[0080] In the embodiment of the present application, during the vehicle driving process, if the number of slip occurrences is large, that is, greater than the preset number threshold, it indicates that the set desired slip ratio is relatively high or the weight coefficient of the slip ratio deviation is relatively small, and the control weight of the vehicle slip ratio accounts for a relatively small proportion. The reason is that: during the control process, the sliding mode controller based on the sliding mode surface is used to control the vehicle slip ratio to reach the desired slip ratio. If the set desired slip ratio is too high, the vehicle is prone to slip, resulting in a large number of slip occurrences; or if the weight coefficient of the slip ratio deviation is small, the speed at which the vehicle slip ratio reaches the desired slip ratio is slow, causing the vehicle slip ratio to not reach the desired slip ratio for a long time. Therefore, it is also prone to slip, resulting in a large number of slip occurrences. Therefore, if the number of slip occurrences during the vehicle driving process is greater than the preset number threshold, the desired slip ratio can be reduced or the weight coefficient of the slip ratio deviation in the sliding mode surface can be increased. Among them, the preset number threshold can be an empirical value. Among them, if the number of slip occurrences is less than or equal to the preset number threshold, the desired slip ratio and the weight coefficient of the slip ratio deviation can remain unchanged.

[0081] Thus, by adjusting the weight coefficient of the desired slip ratio or the slip ratio deviation according to the number of wheel spin occurrences during the vehicle driving process, compared with the prior art where the sliding mode surface is not updated, the vehicle can be better prevented from spinning, enabling better anti-slip control of the vehicle.

[0082] In an embodiment of the present application, optionally, the vehicle motion parameters include a vehicle slip ratio, a vehicle lateral speed, and a vehicle longitudinal speed, and the desired motion parameters at least include a desired slip ratio, a desired lateral speed, and a desired longitudinal speed;

[0083] Correspondingly, determining the sliding mode surface of the sliding mode control based on the vehicle motion parameters and the desired motion parameters includes: performing weighted combination on the slip ratio deviation between the vehicle slip ratio and the desired slip ratio, the lateral speed deviation between the vehicle lateral speed and the desired lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the desired longitudinal speed to determine the sliding mode surface.

[0084] The method provided by the embodiment of the present application includes the following steps:

[0085] Step 401: Determine the desired slip ratio, the desired lateral speed, and the desired longitudinal speed of the vehicle.

[0086] Step 402: Perform weighted combination on the slip ratio deviation between the vehicle slip ratio and the desired slip ratio, the lateral speed deviation between the vehicle lateral speed and the desired lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the desired longitudinal speed to determine the sliding mode surface of the sliding mode control.

[0087] In an embodiment of the present application, in order to minimize vehicle skidding and effectively avoid skidding, the vehicle slip ratio and the desired slip ratio are considered as factors for selecting the sliding mode surface. Considering that the vehicle speed is strongly correlated with the slip ratio and the vehicle speed can be synthesized from the vehicle longitudinal speed and the vehicle lateral speed, the vehicle lateral speed, the desired lateral speed, the vehicle longitudinal speed, and the desired longitudinal speed are thus considered as factors for selecting the sliding mode surface. In addition, during the vehicle steering process, it is necessary to control the vehicle lateral speed and longitudinal speed according to the driver's intention, and it is also necessary to control the vehicle centroid displacement. For example, in the case of a U-turn, to ensure safety, the centroid displacement should be within a certain threshold range as much as possible, and this centroid displacement can be indirectly controlled by controlling the vehicle speed. Therefore, the vehicle lateral speed, the desired lateral speed, the vehicle longitudinal speed, and the desired longitudinal speed are considered as factors for selecting the sliding mode surface.

[0088] Among them, when the vehicle slip ratio reaches the desired slip ratio, the vehicle lateral speed reaches the desired lateral speed, and the vehicle longitudinal speed reaches the desired longitudinal speed, the system is in a stable state, and the vehicle motion state reaches the desired goal. Therefore, the sliding mode surface can be selected by the vehicle slip ratio, the desired slip ratio, the vehicle lateral speed, the desired lateral speed, the vehicle longitudinal speed, and the desired longitudinal speed.

[0089] In the embodiment of the present application, the lateral speed deviation can be the difference between the vehicle lateral speed and the desired lateral speed, where the vehicle lateral speed can be understood as the actual lateral speed of the vehicle. Among them, (3), is the vehicle lateral speed.

[0090] Among them, the realization of the desired lateral speed can be: the desired lateral acceleration can be obtained through the desired yaw rate. Among them, the desired yaw rate can be obtained through the following formula:

[0091] (4); Among them, ;

[0092] Among them, is the desired yaw rate; is the steering wheel angle, L is the vehicle wheelbase, K is the vehicle stability coefficient, i is the wheel angle ratio, m is the vehicle mass, and are the distances from the center of mass to the front axle and the rear axle respectively, and are the stiffnesses of the front axle and the rear axle respectively; is the peak road adhesion coefficient; g is the acceleration due to gravity. The desired yaw rate can be obtained through the above formula (4). After obtaining the desired yaw rate, the desired lateral acceleration can be obtained through the formula ; and then the desired lateral speed can be obtained through the formula ; Among them, is the desired lateral speed; is the vehicle lateral speed at time t1. Or the desired lateral speed can be obtained according to experience.

[0093] In the embodiment of the present application, the longitudinal speed deviation can be the difference between the vehicle longitudinal speed and the desired longitudinal speed, where the vehicle longitudinal speed can be understood as the actual longitudinal speed of the vehicle. Among them, (5), is the vehicle longitudinal speed.

[0094] Among them, the realization of the desired longitudinal speed can be: through ;

[0095] Among them, is the desired longitudinal speed; is the vehicle longitudinal speed at time t1; is the desired longitudinal acceleration; wherein, the desired longitudinal acceleration can be obtained by looking up a table according to the accelerator pedal throttle opening and the current vehicle speed (obtained through calibration). Or the desired longitudinal speed can be determined according to experience.

[0096] Specifically, the slip ratio deviation, the lateral speed deviation, and the longitudinal speed deviation can be linearly weighted and combined to obtain the sliding mode surface of the sliding mode control system, or they can also be weighted and combined in an exponential form; or they can also be weighted and combined in an integral form to meet the desired slip ratio, the desired lateral speed, and the desired longitudinal speed, make the system stable, reduce system jitter, and effectively avoid vehicle skidding.

[0097] In an alternative embodiment, the sliding mode surface of the sliding mode control system can be determined based on the following formula:

[0098] (6)

[0099] In the above formula (6), = ; is the vehicle slip ratio, is the desired slip ratio; is the slip ratio deviation, is the weight coefficient of the slip ratio deviation; wherein, is the vehicle lateral speed, is the desired lateral speed, is the lateral speed deviation, is the weight coefficient of the lateral speed deviation; wherein, is the vehicle longitudinal speed, is the desired longitudinal speed, is the longitudinal speed deviation, is the weight coefficient of the longitudinal speed deviation. Among them, each weight coefficient can be determined based on the control effect of the experiment, or can be determined based on the current target working condition. The sliding mode surface in the above formula (6) is established by linearly weighting and combining the slip ratio deviation, the lateral speed deviation, and the longitudinal speed deviation. By this way of establishing the sliding mode surface, the operation can be simplified and the response speed can be improved during the calculation of the control function.

[0100] Step 403: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0101] Step 404: Determine the slip parameter during the vehicle driving process, and update the sliding mode surface based on the slip parameter to re-control the vehicle.

[0102] Among them, the introduction of step 404 can refer to the above embodiments.

[0103] In the embodiments of the present application, optionally, step 404 can be defined. The method provided by the embodiments of the present application includes:

[0104] Step 501: Determine the desired slip ratio, desired lateral speed, and desired longitudinal speed of the vehicle.

[0105] Step 502: Perform weighted combination on the slip ratio deviation between the vehicle slip ratio and the desired slip ratio, the lateral speed deviation between the vehicle lateral speed and the desired lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the desired longitudinal speed to determine the sliding mode surface of the sliding mode control.

[0106] Step 503: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0107] Step 504: Determine the number of slip times during the vehicle driving process, and adjust at least the weight coefficient of the desired slip ratio or the slip ratio deviation in the sliding mode surface according to the number of slip times during the vehicle driving process.

[0108] Among them, the introduction of steps 501-504 can refer to the above embodiments.

[0109] In the embodiments of the present application, optionally, step 504 can be optimized. The method includes:

[0110] Step 601: Determine the desired slip ratio, desired lateral speed, and desired longitudinal speed of the vehicle.

[0111] Step 602: Perform weighted combination on the slip ratio deviation between the vehicle slip ratio and the desired slip ratio, the lateral speed deviation between the vehicle lateral speed and the desired lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the desired longitudinal speed to determine the sliding mode surface of the sliding mode control.

[0112] Step 603: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0113] Step 604: Determine the number of wheel spin occurrences during the vehicle driving process. When the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the preset threshold deviation, determine the reduction ratio or reduction amount of the desired slip rate according to the preset number interval corresponding to the number of wheel spin occurrences, so as to adjust the desired slip rate in the sliding mode surface; where different working conditions correspond to different preset threshold deviations.

[0114] In this embodiment, the experience of the value of the preset coefficient threshold can be as follows: During the process of controlling the vehicle by the sliding mode controller based on the sliding mode surface, continuously adjust the weight coefficient of the slip rate deviation, and record the critical weight coefficient when the vehicle changes from non-wheel spin to wheel spin. Then the critical weight coefficient is the preset coefficient threshold. When the weight coefficient of the slip rate deviation is greater than this preset coefficient threshold, it indicates that the increase in the weight coefficient of the slip rate deviation can no longer avoid the vehicle wheel spin situation, and it is very likely that the wheel spin is caused by a relatively high set value of the desired slip rate. Therefore, it is necessary to reduce the desired slip rate in the sliding mode surface so that the vehicle slip rate reaches a relatively small desired slip rate to better avoid the vehicle wheel spin situation.

[0115] In this embodiment, the preset coefficient threshold can be 0.5, or other empirical values. During the vehicle driving control process, the slip rate deviation between the vehicle slip rate and the desired slip rate needs to be controlled within a certain range (the range corresponding to the normal driving state is 0.2, and the range corresponding to the vehicle highlight function is 0.1). Therefore, the slip rate deviation can also be restricted. Therefore, when the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the preset threshold deviation, determine the reduction ratio or reduction amount of the desired slip rate according to the preset number interval corresponding to the number of wheel spin occurrences.

[0116] Specifically, when the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the first preset deviation threshold, if the number of wheel spin occurrences is greater than the first preset number threshold and less than or equal to the second preset number threshold, the reduction ratio of the desired slip rate is the first reduction ratio or the reduction amount of the desired slip rate is the first reduction amount; if the number of wheel spin occurrences is greater than the second preset number threshold, the reduction ratio of the desired slip rate is the second reduction ratio or the reduction amount of the desired slip rate is the second reduction amount. Among them, the second reduction ratio is greater than the first reduction ratio, and the second reduction amount is greater than the first reduction amount; the second preset number threshold is greater than the first preset number threshold. The corresponding relationship between the reduction situation of the desired slip rate, the slip rate deviation, and the number of wheel spin occurrences can be referred to Figure 4Among them, the first preset number threshold is k1, and the second preset number threshold is k2; under normal driving conditions, the first preset deviation threshold can be 0.2, the first reduction ratio can be 2%, and the second reduction ratio can be 3%. Under the conditions of the highlight function, the first preset deviation threshold can be 0.1, the first reduction ratio can be 3%, and the second reduction ratio can be 5%.

[0117] Specifically, when the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the second preset deviation threshold, if the number of wheel spin times is greater than the third preset number threshold and less than or equal to the fourth preset number threshold, the expected slip rate reduction ratio is the third reduction ratio or the reduction amount of the expected slip rate is the third reduction amount; if the number of wheel spin times is greater than the fourth preset number threshold, the expected slip rate reduction ratio is the fourth reduction ratio or the reduction amount of the expected slip rate is the fourth reduction amount. Among them, the fourth reduction ratio is greater than the third reduction ratio, and the fourth reduction amount is greater than the third reduction amount; the fourth preset number threshold is greater than the third preset number threshold. For example, as Figure 4 shown, the third preset number threshold is k3, and the second preset number threshold is k4; under normal driving conditions, the second preset deviation threshold can be 0.4, the third reduction ratio can be 5%, and the fourth reduction ratio can be 6%. Under the conditions of the highlight function, the second preset deviation threshold can be 0.3, the third reduction ratio can be 6%, and the fourth reduction ratio can be 7%. Among them, Figure 4 k1 < k2 ≈ k3 < k4, or k1 < k2 < k3 < k4.

[0118] Therefore, when the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the preset threshold deviation, according to the preset number interval corresponding to the number of wheel spin times, the reduction ratio or reduction amount of the expected slip rate is determined to adjust the expected slip rate in the sliding mode surface. The implementation is simple, which can better prevent the vehicle from wheel spin and make the vehicle have better anti-skid control.

[0119] In the embodiments of the present application, optionally, step 504 can be optimized, and the method includes:

[0120] Step 801: Determine the expected slip rate, expected lateral speed, and expected longitudinal speed of the vehicle.

[0121] Step 802: Perform weighted combination on the slip rate deviation between the vehicle slip rate and the expected slip rate, the lateral speed deviation between the vehicle lateral speed and the expected lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the expected longitudinal speed to determine the sliding mode surface of the sliding mode control.

[0122] Step 803: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0123] Step 804: Determine the number of wheel spins during the driving process of the vehicle. When the difference between the weight coefficient of the slip ratio deviation and the preset coefficient threshold is within a preset range, and the slip ratio deviation is greater than the preset threshold deviation, determine the reduction ratio or reduction amount of the desired slip ratio according to the preset number interval corresponding to the number of wheel spins, or determine the increase ratio or increase amount of the weight coefficient of the slip ratio deviation, so as to adjust the desired slip ratio or the weight coefficient of the slip ratio deviation in the sliding mode surface.

[0124] In the embodiment of the present application, the preset range can be a relatively small range. That is to say, the weight coefficient of the slip ratio deviation is near the preset coefficient threshold. In this case, if the number of wheel spins is large, the weight coefficient of the slip ratio deviation can be increased or the desired slip ratio can be decreased.

[0125] Specifically, when the difference between the weight coefficient of the slip ratio deviation and the preset coefficient threshold is within the preset range, and the slip ratio deviation is greater than the first preset threshold deviation, if the number of wheel spins is greater than the first preset number threshold and less than or equal to the second preset number threshold, determine that the reduction ratio of the desired slip ratio is the fifth reduction ratio or the reduction amount of the desired slip ratio is the fifth reduction amount, or determine that the increase ratio of the weight coefficient of the slip ratio deviation is the first increase ratio or the increase amount is the first increase amount; if the number of wheel spins is greater than the second preset number threshold, determine that the reduction ratio of the desired slip ratio is the sixth reduction ratio or the reduction amount of the desired slip ratio is the sixth reduction amount, or determine that the increase ratio of the weight coefficient of the slip ratio deviation is the second increase ratio or the increase amount is the second increase amount. Among them, the sixth reduction ratio is greater than the fifth reduction ratio or the sixth reduction amount is greater than the fifth reduction amount; the second preset number threshold is greater than the first preset number threshold, and the second increase ratio is greater than the first increase ratio or the second increase amount is greater than the first increase amount. The corresponding relationship between the increase of the weight coefficient of the slip ratio deviation, the decrease of the desired slip ratio, the number of wheel spins, and the slip ratio deviation can be referred to Figure 5 . Among them, the first preset number threshold is k1, and the second preset number threshold is k2; under normal driving conditions, the first preset deviation threshold can be 0.2, the fifth reduction ratio can be 2% or the first increase amount can be 0.05; the sixth reduction ratio can be 3% or the second increase amount can be 0.1. Under the working conditions of the highlight function, the first preset deviation threshold can be 0.1, the fifth reduction ratio can be 3% or the first increase amount can be 0.05, and the sixth reduction ratio can be 5% or the second increase amount can be 0.1.

[0126] Specifically, when the difference between the weight coefficient of the slip rate deviation and the preset coefficient threshold is within the preset range, and the slip rate deviation is greater than the second preset threshold deviation, if the number of wheel spin times is greater than the third preset number threshold and less than or equal to the fourth preset number threshold, determine that the expected reduction ratio of the slip rate is the seventh reduction ratio or the reduction amount of the expected slip rate is the seventh reduction amount, or determine that the increase ratio of the weight coefficient of the slip rate deviation is the third increase ratio or the increase amount is the third increase amount; if the number of wheel spin times is greater than the fourth preset number threshold, determine that the expected reduction ratio of the slip rate is the eighth reduction ratio or the reduction amount of the expected slip rate is the eighth reduction amount, or determine that the increase ratio of the weight coefficient of the slip rate deviation is the fourth increase ratio or the increase amount is the fourth increase amount. Among them, the eighth reduction ratio is greater than the seventh reduction ratio or the eighth reduction amount is greater than the seventh reduction amount; the fourth preset number threshold is greater than the third preset number threshold, the fourth increase ratio is greater than the third increase ratio or the fourth increase amount is greater than the third increase amount. As Figure 5 shown, the third preset number threshold is k3, and the fourth preset number threshold is k4; under normal driving conditions, the second preset deviation threshold can be 0.4, the seventh reduction ratio can be 5% or the third increase amount can be 0.15; the eighth reduction ratio can be 6% or the second increase amount can be 0.2. Under the conditions of the highlight function, the first preset deviation threshold can be 0.1, the seventh reduction ratio can be 6% or the third increase amount can be 0.15, the eighth reduction ratio can be 7% or the fourth increase amount can be 0.2.

[0127] Therefore, when the difference between the weight coefficient of the slip rate deviation and the preset coefficient threshold is within the preset range, and the slip rate deviation is greater than the preset threshold deviation, according to the preset number interval corresponding to the number of wheel spin times, determine the reduction ratio or reduction amount of the expected slip rate, or determine the increase ratio or increase amount of the weight coefficient of the slip rate deviation, so as to adjust the expected slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface, which can enable the vehicle to better avoid wheel spin and make the vehicle have better anti-slip control.

[0128] In the embodiments of the present application, optionally, step 504 can be optimized. The method provided by the embodiments of the present application includes:

[0129] Step 901: Determine the expected slip rate, expected lateral speed, and expected longitudinal speed of the vehicle.

[0130] Step 902: Perform weighted combination on the slip rate deviation between the vehicle slip rate and the expected slip rate, the lateral speed deviation between the vehicle lateral speed and the expected lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the expected longitudinal speed, and determine the sliding mode surface of the sliding mode control.

[0131] Step 903: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0132] Step 904: Determine the number of wheel spins during the driving process of the vehicle. When the weight coefficient of the slip rate deviation is less than the preset coefficient threshold and the slip rate deviation is greater than the preset threshold deviation, determine the increase ratio or increase amount of the weight coefficient of the slip rate deviation according to the preset number interval corresponding to the number of wheel spins, so as to adjust the weight coefficient of the slip rate deviation in the sliding mode surface.

[0133] In the embodiment of the present application, if the weight coefficient of the slip rate deviation is less than the preset coefficient threshold, it indicates that there is still room for increasing the weight coefficient of the slip rate deviation. If the number of wheel spins of the vehicle is relatively large, greater than the first preset number threshold, and the weight coefficient of the slip rate deviation is less than the preset coefficient threshold, at this time, there is still room for increasing the weight coefficient of the slip rate deviation. Therefore, the weight coefficient of the slip rate deviation can be increased until the preset coefficient threshold is reached. If it is greater than the preset coefficient threshold and the number of wheel spins is still relatively large, it can be adjusted according to the method shown in step 604.

[0134] Specifically, when the weight coefficient of the slip rate deviation is less than the preset coefficient threshold and the slip rate deviation is greater than the first preset threshold deviation, if the number of wheel spins is greater than the first preset number threshold and less than or equal to the second preset number threshold, determine that the increase ratio of the weight coefficient of the slip rate deviation is the fifth increase ratio or the increase amount is the fifth increase amount; if the number of wheel spins is greater than the second preset number threshold, determine that the increase ratio of the weight coefficient of the slip rate deviation is the sixth increase ratio or the increase amount is the sixth increase amount. Among them, the second preset number threshold is greater than the first preset number threshold, and the sixth increase ratio is greater than the fifth increase ratio or the sixth increase amount is greater than the fifth increase amount. The corresponding relationship among the increase situation of the weight coefficient of the slip rate deviation, the number of wheel spins, and the slip rate deviation can be referred to Figure 6 . Among them, the first preset number threshold is k1, and the second preset number threshold is k2; under normal driving conditions, the first preset deviation threshold can be 0.2, the fifth increase amount can be 0.05; the sixth increase amount can be 0.1. Under the working conditions of the highlight function, the first preset deviation threshold can be 0.1, the fifth increase amount can be 0.1, and the sixth increase amount can be 0.15.

[0135] Specifically, when the weight coefficient of the slip rate deviation is less than the preset coefficient threshold and the slip rate deviation is greater than the second preset threshold deviation, if the number of wheel spin times is greater than the third preset number threshold and less than or equal to the fourth preset number threshold, it is determined that the increase ratio of the weight coefficient of the slip rate deviation is the seventh increase ratio or the increase amount is the seventh increase amount; if the number of wheel spin times is greater than the fourth preset number threshold, it is determined that the increase ratio of the weight coefficient of the slip rate deviation is the eighth increase ratio or the increase amount is the eighth increase amount. Herein, the fourth preset number threshold is greater than the third preset number threshold, the eighth increase ratio is greater than the seventh increase ratio or the eighth increase amount is greater than the seventh increase amount. As Figure 6 shown, the third preset number threshold is k3, and the fourth preset number threshold is k4; under normal driving conditions, the second preset deviation threshold can be 0.4, the seventh increase amount can be 0.15; the eighth increase amount can be 0.2. Under the working conditions of the highlight function, the second preset deviation threshold can be 0.3, the seventh increase amount can be 0.2, and the eighth increase amount can be 0.25.

[0136] Thus, by determining the increase ratio or increase amount of the weight coefficient of the slip rate deviation according to the preset number interval corresponding to the number of wheel spin times when the weight coefficient of the slip rate deviation is less than the preset coefficient threshold and the slip rate deviation is greater than the preset threshold deviation, so as to adjust the weight coefficient of the slip rate deviation in the sliding mode surface, the vehicle can better avoid wheel spin and have better anti-slip control.

[0137] It should be noted that the situation where the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the first preset deviation threshold can also be understood as: the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold, and the slip rate deviation is greater than the first preset deviation threshold and the slip rate deviation is less than or equal to the second preset deviation threshold.

[0138] Based on the above embodiments, after driving the vehicle based on the control function, it may further include: if the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is less than the first preset deviation threshold, increasing the expected slip rate in the sliding mode surface, or if the difference between the weight coefficient of the slip rate deviation and the preset coefficient threshold is within the preset range and the slip rate deviation is less than the first preset deviation threshold, increasing the expected slip rate in the sliding mode surface. Specifically, during the vehicle driving process, if the slip rate deviation is less than the first preset deviation threshold, in this case, the expected slip rate is set relatively low, which is likely to cause insufficient power of the vehicle. Therefore, it is necessary to increase the expected slip rate to increase the vehicle slip rate and the power performance of the vehicle without causing wheel spin.

[0139] Figure 7It is a flowchart of a distributed drive control method provided by an embodiment of the present application. On the basis of the above embodiment, it may further include determining a target working condition during vehicle driving, and adjusting the weight coefficient of the slip rate deviation, the weight coefficient of the lateral speed deviation, and the weight coefficient of the longitudinal speed deviation based on the target working condition. As Figure 7 shown, the method includes the following steps:

[0140] Step 1001: Determine the desired slip rate, desired lateral speed, and desired longitudinal speed of the vehicle.

[0141] Step 1002: Perform weighted combination on the slip rate deviation between the vehicle slip rate and the desired slip rate, the lateral speed deviation between the vehicle lateral speed and the desired lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the desired longitudinal speed to determine the sliding mode surface of the sliding mode control system.

[0142] Step 1003: Determine the target working condition during vehicle driving, and adjust the weight coefficient of the slip rate deviation, the weight coefficient of the lateral speed deviation, and the weight coefficient of the longitudinal speed deviation based on the target working condition.

[0143] In this embodiment, during the steering process of distributed drive, the state of the vehicle is affected by various working conditions. For example, it is affected by the driving working condition and the driver's demand. Therefore, it is necessary to distinguish different working conditions. The driving working condition can be reflected by the road surface adhesion coefficient information, slope information, etc., and the driver's demand is reflected by the steering wheel angle information, accelerator pedal information, brake pedal information, etc.

[0144] In an alternative embodiment, the target working condition during vehicle driving can be determined based on at least one of the road surface adhesion coefficient information, slope information, accelerator pedal information, brake pedal information, and steering wheel angle information.

[0145] In an alternative embodiment, the determining the target working condition during vehicle driving based on at least one of the road surface adhesion coefficient information, slope information, accelerator pedal information, brake pedal information, and steering wheel angle information includes: during vehicle driving, if any one of the following working conditions occurs, the occurring single working condition is used as the target working condition; if at least two of the following working conditions occur, the target working condition is used as a composite working condition:

[0146] The road surface adhesion coefficient or the change rate of the road surface adhesion coefficient changes;

[0147] The slope changes;

[0148] The accelerator pedal opening is a first preset opening or the change rate of the accelerator pedal changes;

[0149] The opening degree of the brake pedal is the second preset opening degree or the change rate of the brake pedal changes;

[0150] The steering wheel angle or the change rate of the steering wheel angle changes.

[0151] In this embodiment, a relationship table between preset working conditions and weight coefficients records a set of weight coefficients corresponding to each working condition. This set of weight coefficients includes the weight coefficient of the slip rate deviation, the weight coefficient of the lateral speed deviation, and the weight coefficient of the longitudinal speed deviation. Among them, the working conditions in the relationship table between working conditions and weight coefficients include single working conditions and composite working conditions. If it is determined that the current working condition during vehicle driving is the target working condition, by querying the relationship table between working conditions and weight coefficients, the weight coefficient of the slip rate deviation, the weight coefficient of the lateral speed deviation, and the weight coefficient of the longitudinal speed deviation corresponding to the target working condition can be found. Thus, by adjusting the weight coefficients based on the target working condition, the corresponding sliding mode surface can be obtained, and the vehicle can be controlled correspondingly for different working conditions, improving the control accuracy of the vehicle, making the vehicle control more stable, more adaptable to the environment, effectively avoiding the situation of wheel spin and instability of the vehicle, and can also better respond to the driver's intention and maintain the handling stability of the vehicle.

[0152] Step 1004: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0153] Step 1005: Determine the number of wheel spin times during vehicle driving, and at least adjust the desired slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface according to the number of wheel spin times during vehicle driving.

[0154] In this embodiment, the introduction of other steps can refer to the above embodiments and will not be repeated here.

[0155] Figure 8 It is a flowchart of a distributed drive control method provided by an embodiment of the present application. In this embodiment, on the basis of Figure 2 the updated sliding mode surface is defined. As shown in Figure 8 , the method includes the following steps:

[0156] Step 1101: Determine the desired slip rate of the vehicle and the target desired motion parameters.

[0157] Step 1102: Perform weighted combination on the slip rate deviation between the vehicle slip rate and the desired slip rate, and the motion parameter deviation between the target vehicle motion parameters and the target desired motion parameters to obtain the sliding mode surface of the sliding mode control system.

[0158] Step 1103: Determine the control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function.

[0159] Among them, the descriptions of steps 1101 - 1103 can refer to the above embodiments.

[0160] Step 1104: Determine the number of wheel spins and the duration of wheel spin during the vehicle driving process.

[0161] Step 1105: If the number of wheel spins is greater than the set number threshold and the duration of wheel spin is greater than the preset time threshold, reduce the desired slip ratio in the sliding mode surface or increase the weight coefficient of the slip ratio deviation in the sliding mode surface.

[0162] In this embodiment, the set number threshold can be less than the preset number threshold. When the vehicle has a certain number of wheel spins and a certain duration of wheel spin, these two parameters can be used to reduce the desired slip ratio in the sliding mode surface or increase the weight coefficient of the slip ratio deviation in the sliding mode surface. Specifically, when the number of wheel spins is greater than the set number threshold and the duration of wheel spin is greater than the preset time threshold, the longer the duration of wheel spin, the greater the reduction amount of the desired slip ratio or the greater the increase amount of the weight coefficient of the slip ratio deviation.

[0163] Thus, by adjusting the weight coefficient of the desired slip ratio or the slip ratio deviation according to the number of wheel spins and the duration of wheel spin, the implementation is simple, the calculation method is also simple, and it can also enable the vehicle to better avoid wheel spin and have better anti-slip control.

[0164] Figure 9 It is a structural block diagram of a distributed drive control device provided by an embodiment of the present application. As Figure 9 shown, the device includes:

[0165] A determination module 110, configured to determine the desired motion parameters of the vehicle;

[0166] A sliding mode surface determination module 120, configured to select a sliding mode surface for sliding mode control based on the vehicle motion parameters and the desired motion parameters;

[0167] A control module 130, configured to determine a control function of the sliding mode control based on the sliding mode surface, and perform drive control on the vehicle based on the control function;

[0168] An update module 140, configured to determine the wheel spin parameters during the vehicle driving process, and update the sliding mode surface based on the wheel spin parameters to re-control the vehicle.

[0169] In an alternative embodiment, the vehicle motion parameters include the vehicle slip ratio, the vehicle lateral speed, and the vehicle longitudinal speed, and the desired motion parameters at least include the desired slip ratio, the desired lateral speed, and the desired longitudinal speed;

[0170] The update module 140 is specifically configured to perform weighted combination on the slip rate deviation between the vehicle slip rate and the desired slip rate, the lateral speed deviation between the vehicle lateral speed and the desired lateral speed, and the longitudinal speed deviation between the vehicle longitudinal speed and the desired longitudinal speed, and determine the sliding mode surface.

[0171] In an alternative embodiment, it further includes an adjustment module, configured to determine the target operating condition during the vehicle driving process before determining the control function of the sliding mode control based on the sliding mode surface and performing drive control on the vehicle based on the control function, and adjust the weight coefficient of the slip rate deviation, the weight coefficient of the lateral speed deviation, and the weight coefficient of the longitudinal speed deviation based on the target operating condition.

[0172] In an alternative embodiment, the updating the sliding mode surface based on the slip parameters includes:

[0173] Adjust at least the desired slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface according to the number of wheel spins during the vehicle driving process.

[0174] In an alternative embodiment, the adjusting at least the desired slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface according to the number of wheel spins during the vehicle driving process includes:

[0175] When the weight coefficient of the slip rate deviation is greater than the preset coefficient threshold and the slip rate deviation is greater than the preset threshold deviation, determine the reduction ratio or reduction amount of the desired slip rate according to the preset number interval corresponding to the number of wheel spins, so as to adjust the desired slip rate in the sliding mode surface; where different functions correspond to different preset threshold deviations.

[0176] In an alternative embodiment, the adjusting at least the desired slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface according to the number of wheel spins during the vehicle driving process includes:

[0177] When the difference between the weight coefficient of the slip rate deviation and the preset coefficient threshold is within the preset range and the slip rate deviation is greater than the preset threshold deviation, determine the reduction ratio or reduction amount of the desired slip rate, or determine the increase ratio or increase amount of the weight coefficient of the slip rate deviation, so as to adjust the desired slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface.

[0178] In an alternative embodiment, the adjusting at least the desired slip rate or the weight coefficient of the slip rate deviation in the sliding mode surface according to the number of wheel spins during the vehicle driving process includes:

[0179] When the weight coefficient of the slip rate deviation is less than a preset coefficient threshold and the slip rate deviation is greater than a preset threshold deviation, according to the preset number interval corresponding to the number of wheel spin times, determine the increase ratio or increase amount of the weight coefficient of the slip rate deviation for adjusting the weight coefficient of the slip rate deviation in the sliding mode surface.

[0180] As Figure 10 shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114. Among them, the processor 111, the communication interface 112, and the memory 113 complete mutual communication through the communication bus 114.

[0181] The memory 113 is used to store a computer program.

[0182] In an embodiment of the present application, when the processor 111 executes the program stored on the memory 113, it implements a distributed drive control method provided by any one of the foregoing method embodiments, including:

[0183] Determine the desired motion parameters of the vehicle.

[0184] Based on the vehicle motion parameters and the desired motion parameters, select a sliding mode surface for sliding mode control.

[0185] Based on the sliding mode surface, determine the control function of the sliding mode control, and perform drive control on the vehicle based on the control function.

[0186] Determine the wheel spin parameters during the driving process of the vehicle, and update the sliding mode surface based on the wheel spin parameters to re-control the vehicle.

[0187] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of a distributed drive method provided by any one of the foregoing method embodiments.

[0188] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the relevant technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0190] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or their combinations. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of performance is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0191] The above description is only the specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A distributed drive control method, characterized in that: include: determining desired motion parameters of the vehicle; Determining a sliding mode surface of sliding mode control based on the vehicle motion parameters and the desired motion parameters; Determining a control function of sliding mode control based on the sliding mode surface, and performing drive control on the vehicle based on the control function; A slip parameter during driving of the vehicle is determined, and a weight coefficient of a desired slip ratio or a slip ratio deviation in the sliding mode surface is updated based on the slip parameter, so as to re-control the vehicle based on the updated sliding mode surface.

2. The method according to claim 1, characterized in that: The vehicle motion parameters include a vehicle slip ratio, a vehicle lateral speed, and a vehicle longitudinal speed, and the desired motion parameters include a desired slip ratio, a desired lateral speed, and a desired longitudinal speed; The determining of the sliding mode surface of the sliding mode control based on the vehicle motion parameter and the expected motion parameter comprises: The slip mode surface is determined by weightedly combining a slip ratio deviation between the vehicle slip ratio and the expected slip ratio, a lateral speed deviation between the vehicle lateral speed and the expected lateral speed, and a longitudinal speed deviation between the vehicle longitudinal speed and the expected longitudinal speed.

3. The method according to claim 2, characterized in that Before determining a control function of sliding mode control based on the sliding mode surface and driving and controlling the vehicle based on the control function, the method further includes: A target operating condition during the driving of the vehicle is determined, and a weight coefficient of the slip ratio deviation, a weight coefficient of the lateral speed deviation, and a weight coefficient of the longitudinal speed deviation are adjusted based on the target operating condition.

4. The method according to claim 2, characterized in that: The updating of the weight coefficient of the expected slip rate or slip rate deviation in the sliding surface based on the slip parameter includes: A weighting coefficient of the expected slip ratio or the slip ratio deviation in the sliding mode surface is adjusted according to at least the number of slips during vehicle driving.

5. The method according to claim 4, characterized in that The adjusting the weight coefficient of the expected slip rate or the slip rate deviation in the sliding mode surface at least according to the number of slips during the vehicle driving process includes: When the weight coefficient of the slip rate deviation is greater than a preset coefficient threshold and the slip rate deviation is greater than a preset threshold deviation, the reduction ratio or reduction amount of the expected slip rate is determined according to the preset number interval corresponding to the number of slips to adjust the expected slip rate in the sliding surface; different operating conditions correspond to different preset threshold deviations.

6. The method according to claim 4, characterized in that The adjusting the weight coefficient of the expected slip rate or the slip rate deviation in the sliding mode surface at least according to the number of slips during the vehicle driving process includes: When the difference between the weight coefficient of the slip rate deviation and the preset coefficient threshold is within a preset range, and the slip rate deviation is greater than the preset threshold deviation, the reduction ratio or reduction amount of the expected slip rate is determined according to the preset number interval corresponding to the number of slips, or the increase ratio or increase amount of the weight coefficient of the slip rate deviation is determined, so as to adjust the expected slip rate or the weight coefficient of the slip rate deviation in the sliding surface.

7. The method according to claim 4, characterized in that The adjusting the weight coefficient of the expected slip rate or the slip rate deviation in the sliding mode surface at least according to the number of slips during the vehicle driving process includes: When the weight coefficient of the slip rate deviation is less than a preset coefficient threshold and the slip rate deviation is greater than a preset threshold deviation, the increase ratio or increase amount of the weight coefficient of the slip rate deviation is determined according to the preset number interval corresponding to the number of slips to adjust the weight coefficient of the slip rate deviation in the sliding surface.

8. A distributed drive control device, characterized in that: The method for implementing any one of claims 1 to 7 above comprises: A determination module, for determining the desired motion parameters of the vehicle; A sliding surface determination module, used for determining a sliding surface of sliding mode control based on vehicle motion parameters and the expected motion parameters; A control module, configured to determine a control function of sliding mode control based on the sliding mode surface, and to perform driving control on the vehicle based on the control function; An updating module is used to determine a slip parameter during driving of the vehicle, and update a weight coefficient of a desired slip ratio or a slip ratio deviation in the sliding surface based on the slip parameter, so as to re-control the vehicle based on the updated sliding surface.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to execute a computer program stored in the memory, and when the computer program is executed, implement the method described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

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