Wheel slip identification method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a wheel slip identification method and device, electronic equipment and a storage medium. The method comprises the steps that target time information is determined based on feedback information of a wheel speed sensor; determining the acceleration of a wheel according to the target time information; and determining whether the wheel slips or not according to the acceleration. By using the method, the slipping condition can be quickly identified when the wheel slips, so that the time delay is reduced, and the driving anti-slip system can be activated as soon as possible at the early stage of slipping.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a wheel slip identification method, device, electronic equipment and storage medium. Background Art

[0002] Transportation plays an important role in people's daily travel, but sometimes the wheels may slip due to weather factors or some emergency situations. For example, sometimes the ground is slippery due to wet or rainy weather, causing the friction between the tire and the ground to exceed the critical value and become sliding friction, and the wheels are spinning due to insufficient adhesion, causing skidding. Sometimes sudden braking locks the wheels, or sudden acceleration causes the wheels to spin, causing the tires to lose adhesion and slip.

[0003] However, the current recognition of wheel slippage requires simultaneous reference to multiple wheel speed information, or a comprehensive judgment based on wheel speed combined with vehicle speed, slip rate, motor torque, motor speed and other information, which requires a large number of vehicle state quantities. At the same time, the algorithm used in the process of solving multiple state quantities introduces delays, and multiple redundant judgment conditions are often difficult to meet at the same time, resulting in a delay in the identification of the slippage time point.

[0004] Therefore, there is an urgent need for a method for identifying wheel slippage, which can quickly identify the slippage when the wheel slips, thereby reducing the time delay so as to activate the drive anti-skid system as soon as possible in the early stage of slippage. Summary of the invention

[0005] In order to solve the above problems, the embodiments of the present invention provide a wheel slip identification method, device, electronic device and storage medium, which can calculate the wheel acceleration through the feedback information of the wheel speed sensor, and quickly identify the vehicle slipping situation when the wheel slips through the wheel acceleration, thereby meeting the user's vehicle use needs.

[0006] In a first aspect, an embodiment of the present invention provides a wheel slip identification method, comprising:

[0007] Determining target time information based on feedback information from wheel speed sensors;

[0008] determining the acceleration of the wheel according to the target time information;

[0009] Determine whether the wheels are slipping based on the acceleration.

[0010] In a second aspect, an embodiment of the present invention provides a wheel slip identification device, comprising:

[0011] A first processing module, configured to determine target time information based on feedback information from a wheel speed sensor;

[0012] A second processing module, used for determining the acceleration of the wheel according to the target time information;

[0013] The third processing module is used to determine whether the wheel is slipping according to the acceleration.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0015] A processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the electronic device executes the method as described in the first aspect.

[0016] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method as described in the first aspect.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer is operable to cause the computer to execute the method described in the first aspect.

[0018] Implementing the embodiments of the present application has the following beneficial effects:

[0019] In the implementation of the present application, the target time information is first determined based on the feedback information of the wheel speed sensor, then the acceleration of the wheel is determined according to the target time information, and finally, whether the wheel is slipping is determined according to the acceleration. Thus, whether the wheel is slipping can be determined by the feedback information, avoiding the delay caused by the algorithm for filtering the feedback signal, and being able to quickly identify wheel slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments of the present invention or the background technology will be described below.

[0021] Figure 1 A schematic diagram of a process flow of a wheel slip identification method provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of a feedback information transmission process provided in an embodiment of the present application;

[0023] Figure 3 A flowchart of a method for determining target time information provided in an embodiment of the present application;

[0024] Figure 4 A flowchart of a method for determining initial state information provided in an embodiment of the present application;

[0025] Figure 5 A flowchart of a method for determining target time information in a non-stationary state provided by an embodiment of the present application;

[0026] Figure 6 A schematic diagram of updating wheel speed sensor information during a transition from a stationary state to a non-stationary state provided by an embodiment of the present application;

[0027] Figure 7 A functional module composition block diagram of a wheel slip identification device provided in an embodiment of the present application;

[0028] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, but optionally includes steps or modules that are not listed, or optionally includes other steps or modules inherent to these processes, methods, products or devices.

[0031] Reference to "embodiments" herein means that a particular feature, result, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] The embodiments of the present invention are described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0033] See also Figure 1 , Figure 1 A schematic flow chart of a wheel slip identification method provided in an embodiment of the present application. The method of this embodiment includes but is not limited to the following steps:

[0034] Step S101: Determine target time information based on feedback information from a wheel speed sensor.

[0035] Specifically, in the embodiment of the present application, the feedback information of the wheel speed sensor may be pulse information or wheel speed information.

[0036] Further, see Figure 2 , Figure 2 A schematic diagram of a feedback information transmission process provided in an embodiment of the present application.

[0037] Specifically, the teeth on the wheel gear ring 201 will generate corresponding pulse signals on the wheel speed sensor 202 during the rotation of the wheel. The controller 1 203 is connected to the wheel speed sensor 202 to directly obtain the pulse information of the wheel speed sensor 202. The controller 1 203 can calculate the wheel speed value according to the pulse time interval and share the wheel speed value with other controllers through the communication bus 205. The controller 2 204 cannot directly obtain the pulse information of the wheel speed sensor 202, but can obtain the wheel speed value through the communication bus 205.

[0038] Optionally, when the feedback information of the wheel speed sensor 202 is obtained by the controller 1 203, the pulse information of the wheel speed sensor 202 is obtained. Figure 3 , Figure 3 A flowchart of a method for determining target time information provided in an embodiment of the present application is provided. The method of this embodiment includes but is not limited to the following steps:

[0039] Step S301: Determine the initial state information of the wheel.

[0040] The initial state information includes a stationary state and a non-stationary state.

[0041] Specifically, see Figure 4 , Figure 4 A flowchart of a method for determining initial state information provided in an embodiment of the present application is provided. The method of this embodiment includes but is not limited to the following steps:

[0042] Step S401: Determine the maximum pulse loss time according to the wheel parameters and the minimum wheel speed.

[0043] Specifically, the minimum wheel speed is a fixed value, which is generally the minimum wheel speed value that the controller can calculate according to the pulse time interval, for example, the minimum wheel speed is 0.1m / s, 0.15m / s, 0.2m / s, etc. The wheel parameters include at least one of the wheel rolling distance between adjacent teeth of the wheel gear ring, the number of teeth of the wheel gear ring, and the rolling radius of the wheel. The wheel rolling distance between adjacent teeth of the wheel gear ring can be expressed by formula ①:

[0044] D=2πR / N…………①

[0045] Wherein, D is the wheel rolling distance between adjacent teeth of the wheel gear ring, N is the number of teeth of the wheel gear ring, and R is the rolling radius of the wheel.

[0046] Furthermore, the maximum pulse loss time can be expressed by formula ②:

[0047]

[0048] Among them, T lim is the maximum pulse loss time, D is the wheel rolling distance between adjacent teeth of the wheel ring gear, v min is the minimum wheel speed.

[0049] Step S402: when the pulse loss time is greater than the maximum pulse loss time, it is determined that the initial state information is a static state.

[0050] Specifically, the timing starts from the moment the wheel speed sensor captures the rising edge of each pulse, and the time obtained by timing is the pulse loss time of each pulse. If the pulse loss time is greater than the maximum pulse loss time, the initial state information is determined to be a stationary state.

[0051] Step S403: when the pulse loss time is less than or equal to the maximum pulse loss time, it is determined that the initial state information is a non-stationary state.

[0052] Specifically, timing starts from the moment the wheel speed sensor captures the rising edge of each pulse, and the time obtained by timing is the pulse loss time of each pulse. If the pulse loss time is less than or equal to the maximum pulse loss time, the initial state information is determined to be a non-stationary state.

[0053] Step S302: when the initial state information is a static state, obtaining first time interval information between a first pulse and a reference pulse in the pulse information.

[0054] The reference pulse is the first pulse captured by the wheel speed sensor in a stationary state, and the first pulse is the first pulse after the reference pulse.

[0055] Specifically, when the initial state information is a stationary state, if the wheel speed sensor captures a rising edge of a pulse, the pulse corresponding to the rising edge is used as a reference pulse. The first pulse is the first pulse captured by the wheel speed sensor within the maximum pulse loss time of the reference pulse. The first time interval information is the time interval between the rising edge of the reference pulse and the rising edge of the first pulse.

[0056] Step S303: taking the first time interval information as the target time information.

[0057] Specifically, when the initial state information is a static state, the target time information is a time interval between a rising edge of the reference pulse and a rising edge of the first pulse.

[0058] The above introduces the specific steps of a method for determining target time information provided by an embodiment of the present application when the initial state information is a static state.

[0059] Further, see Figure 5 When the initial state information is a non-stationary state, a method for determining target time information provided by an embodiment of the present application includes but is not limited to the following steps:

[0060] Step S501: when the initial state information is a non-stationary state, obtaining second time interval information between the second pulse and the third pulse in the pulse information, and third time interval information between the third pulse and the fourth pulse.

[0061] The second pulse, the third pulse and the fourth pulse are three consecutive pulses.

[0062] Optionally, the third pulse is the first pulse captured by the wheel speed sensor in a non-stationary state.

[0063] Specifically, when the initial state information is a non-stationary state, if the wheel speed sensor captures a rising edge of a pulse, the pulse corresponding to the rising edge is used as the third pulse, and accordingly, the second pulse is the previous pulse of the third pulse, and the fourth pulse is the first pulse captured by the wheel speed sensor within the maximum pulse loss time of the third pulse. The second time interval information is the time interval between the rising edge of the third pulse and the rising edge of the second pulse. The third time interval information is the time interval between the rising edge of the third pulse and the rising edge of the fourth pulse.

[0064] Step S502: taking the second time interval information and the third time interval information as target time information.

[0065] Specifically, when the initial state information is a non-stationary state, the target time information is a time interval between a rising edge of the third pulse and a rising edge of the second pulse, and a time interval between a rising edge of the third pulse and a rising edge of the fourth pulse.

[0066] Optionally, when the feedback information of the wheel speed sensor is obtained through the second controller, the feedback information obtained through the communication bus is wheel speed information, and the wheel speed information includes the wheel speed value.

[0067] Further, in step S101, the embodiment of the present application may determine target time information based on wheel speed information.

[0068] Specifically, when the feedback information of the wheel speed sensor is obtained by the controller 2, the target time information is determined according to the obtained wheel speed information and wheel parameters. Referring to step S303 and step S502, the target time information is the time interval between adjacent pulses.

[0069] Specifically, the wheel parameters include the number of teeth of the wheel gear ring and the rolling radius of the wheel. The wheel rolling distance corresponding to adjacent teeth of the wheel gear ring can be expressed by formula ①.

[0070] Furthermore, when the wheel speed value is updated, the pulse time interval is calculated based on the updated wheel speed value and the wheel rolling distance between adjacent wheels, and the pulse time interval is used as the target time information. The pulse time interval can be expressed by formula ③:

[0071]

[0072] Among them, Δ i is the pulse time interval corresponding to the i-th wheel speed value, D is the wheel rolling distance between adjacent teeth of the wheel gear ring, v i is the i-th wheel speed value obtained when switching from a stationary state to a non-stationary state.

[0073] Optionally, when the initial state information is a stationary state, the first time interval information is calculated by using the acquired first wheel speed value, and the first time interval information is used as the target time information.

[0074] Optionally, when the initial state information is a non-stationary state, the second time interval information and the third time interval information are calculated by obtaining two consecutive wheel speed values, and the second time interval information and the third time interval information are used as the target time information.

[0075] Step S102: Determine the acceleration of the wheel according to the target time information.

[0076] Specifically, in a possible embodiment, before step S102, an acceleration determination method corresponding to the initial state information is determined according to the initial state information.

[0077] Specifically, when the initial state information is a stationary state, a first acceleration determination method is used, and when the initial state information is a non-stationary state, a second acceleration determination method is used.

[0078] Further, in step S102, the target time information and wheel parameters are processed according to the acceleration determination method to obtain the acceleration.

[0079] Specifically, the wheel parameters include the number of teeth of the wheel gear ring and the rolling radius of the wheel. The wheel rolling distance corresponding to adjacent teeth of the wheel gear ring can be expressed by formula ①.

[0080] Specifically, when the initial state information is a stationary state, the first acceleration determination method is adopted, and the first acceleration determination method can be expressed by formula ④:

[0081]

[0082] Wherein, a1 is the first wheel acceleration calculated by the first acceleration determination method, D is the wheel rolling distance corresponding to adjacent teeth of the wheel ring gear, and Δ1 is the first time interval information.

[0083] Specifically, when the initial state information is a non-stationary state, the second acceleration determination method is adopted, and the second acceleration determination method can be expressed by formula ⑤:

[0084]

[0085] Among them, a i is the second wheel acceleration calculated by the second acceleration determination method, D is the wheel rolling distance between adjacent teeth of the wheel gear ring, Δ i is the third time interval information, Δ i-1 It is the second time interval information.

[0086] Step S103: Determine whether the wheel is slipping according to the acceleration.

[0087] Specifically, when the acceleration is greater than an acceleration threshold, it is confirmed that the wheel is slipping.

[0088] Further, after confirming that the wheel is slipping, the control activates the vehicle's driving anti-skid system to perform anti-skid control on the vehicle.

[0089] Specifically, the acceleration threshold is pre-set, for example, the acceleration threshold is 3m / s 2 , 5m / s 2 、10m / s 2 ,etc.

[0090] Specifically, when the first wheel acceleration or the second wheel acceleration is greater than the acceleration threshold, the wheel is in a slip confirmation state, and at this time, it is confirmed that the wheel is slipping.

[0091] Furthermore, the skid confirmation status is used to indicate the drive anti-skid system. If the drive anti-skid system is currently in an inactive state, it should be switched to an active state and the wheel speed should be quickly controlled. If the drive anti-skid system is currently already in an active state, the wheel speed should be continuously controlled.

[0092] Specifically, when the acceleration is less than or equal to the acceleration threshold, if the drive anti-skid system is not activated, confirm that the wheels are not slipping and maintain the state of the drive anti-skid system. If the drive anti-skid system is activated, keep the drive anti-skid system in an activated state to perform anti-skid control on the vehicle.

[0093] In one possible embodiment, see Figure 6 , Figure 6 A schematic diagram of updating wheel speed sensor information during a transition from a stationary state to a non-stationary state provided in an embodiment of the present application.

[0094] Specifically, at time t', the wheel starts to rotate. At time t0, the wheel has rotated a certain distance compared to time t', and the wheel speed sensor captures the initial pulse. The time interval between the rising edge of the initial pulse and time t' is Δ0. Since the wheel speed sensor only captures the initial pulse, Δ0 cannot be calculated and the wheel speed information cannot be updated. At time t1, the wheel rotates a distance D, and the wheel speed sensor captures pulse 1. The time interval between the rising edge of pulse 1 and the rising edge of the initial pulse is Δ1. The wheel speed sensor updates the wheel speed information for the first time based on D and Δ1. At time t2, the wheel rotates a distance D, and the wheel speed sensor captures pulse 2. The time interval between the rising edge of pulse 2 and the rising edge of pulse 1 is Δ2. The wheel speed sensor updates the wheel speed information for the second time based on D and Δ2.

[0095] Furthermore, at time t1, the wheel acceleration is calculated by formula ① and formula ④, where a1 is the wheel acceleration corresponding to the first update of the wheel speed information, in units of m / s 2 , Δ1 is the time interval between the first pulse and the initial pulse of the wheel speed sensor, in seconds, is the wheel speed information of the latest frame, D is the wheel rolling distance corresponding to the adjacent teeth of the wheel gear ring, in meters, N is the number of teeth of the wheel gear ring, and R is the rolling radius of the wheel, in meters.

[0096] Furthermore, at the time of wheel speed information update at or after time t2, the wheel acceleration is calculated by formula ⑤, where a i is the wheel acceleration corresponding to the i-th update of wheel speed information, in m / s 2 , Δ i is the time interval between the i-th pulse and the i-1-th pulse of the wheel speed sensor, in seconds, and is the wheel speed information of the latest frame. i-1 It is the time interval between the i-1th pulse and the i-2th pulse of the wheel speed sensor, in seconds, and is the wheel speed information of the previous frame.

[0097] If the wheel acceleration is greater than the preset wheel acceleration value, such as 10m / s 2 , then it is determined that the wheel is in a slip confirmation state.

[0098] For controller 1 that is connected to the wheel speed sensor and can directly obtain wheel speed sensor pulse information, the wheel acceleration can be calculated based on the pulse time interval to determine slip. For controller 2 that cannot directly obtain wheel speed sensor pulse information but can obtain wheel speed value through the communication bus, the wheel speed signal can be calculated according to formula ③ to calculate the pulse time interval Δ i , and then calculate the wheel acceleration according to the pulse time interval to determine the slip, where v i is the wheel speed value corresponding to the i-th wheel speed update. In particular, when i=1, v i The wheel speed is the first time the wheel speed signal is updated and is non-zero.

[0099] Exemplarily, the wheel speed values ​​v0, v1 and v2 can be obtained according to controller 2, and then based on formula ③, Δ1 is calculated by the wheel speed value v1 and D, and Δ2 is calculated by the wheel speed value v2 and D.

[0100] In summary, by implementing the embodiment of the present invention, the target time information is first determined based on the feedback information of the wheel speed sensor, then the acceleration of the wheel is determined according to the target time information, and finally, whether the wheel is slipping is determined according to the acceleration. Whether the wheel is slipping can be determined only by using a single wheel speed information, and the wheel speed information can be the pulse time interval obtained from the wheel speed sensor by the controller directly connected to the wheel speed sensor, or the wheel speed value obtained from the communication bus by the controller not directly connected to the wheel speed sensor. The identification method can be flexibly arranged in the above two controllers. The present invention calculates the wheel acceleration based on the wheel speed pulse signal time interval in the wheel speed information, which is essentially to use the uniform acceleration model to calculate the wheel acceleration in real time for the rotation process between adjacent teeth of the wheel gear ring, and has good real-time performance, avoiding the delay caused by the algorithm for filtering the wheel speed signal. The present invention can calculate the reliable wheel acceleration in real time when the speed information is updated for the first time after the wheel starts to rotate, and the wheel acceleration is updated at each time point of the wheel speed information update thereafter, and there is no delay in the wheel acceleration update. For the working condition of wheel slipping when the vehicle starts in situ, the wheel slipping can be identified at the time point of the first update of the speed information after the wheel starts to rotate.

[0101] The method of the embodiment of the present invention is described in detail above, and the device of the embodiment of the present invention is provided below.

[0102] See also Figure 7 , Figure 7 This is a functional module block diagram of a wheel slip identification device provided in an embodiment of the present application. The wheel slip identification device 900 includes a first processing module 901, a second processing module 902 and a third processing module 903, wherein:

[0103] A first processing module 901 is used to determine target time information based on feedback information from a wheel speed sensor;

[0104] A second processing module 902 is used to determine the acceleration of the wheel according to the target time information;

[0105] The third processing module 903 is used to determine whether the wheel is slipping according to the acceleration.

[0106] In some possible embodiments, when the feedback information is pulse information, in determining the target time information based on the feedback information of the wheel speed sensor, the first processing module 901 is specifically configured to:

[0107] Determine the initial state information of the wheel;

[0108] When the initial state information is a stationary state, obtaining first time interval information between a first pulse and a reference pulse in the pulse information, wherein the reference pulse is the first pulse captured by the wheel speed sensor in the stationary state, and the first pulse is the first pulse after the reference pulse;

[0109] The first time interval information is used as the target time information.

[0110] In some possible embodiments, in determining the target time information based on the feedback information of the wheel speed sensor, the first processing module 901 is further configured to:

[0111] When the initial state information is a non-stationary state, obtaining second time interval information between the second pulse and the third pulse, and third time interval information between the third pulse and the fourth pulse in the pulse information, wherein the second pulse, the third pulse and the fourth pulse are three consecutive pulses;

[0112] The second time interval information and the third time interval information are used as target time information.

[0113] In some possible embodiments, before determining the acceleration of the wheel according to the target time information, the second processing module 902 is further configured to:

[0114] An acceleration determination method corresponding to the initial state information is determined according to the initial state information.

[0115] In some possible embodiments, in determining the acceleration of the wheel according to the target time information, the second processing module 902 is specifically configured to:

[0116] The target time information and wheel parameters are processed according to the acceleration determination method to obtain the acceleration.

[0117] In some possible embodiments, in determining the initial state information of the wheel, the first processing module 901 is specifically configured to:

[0118] Determine the maximum pulse loss time based on wheel parameters and minimum wheel speed;

[0119] When the pulse loss time is greater than the maximum pulse loss time, the initial state information is judged to be a static state;

[0120] When the pulse loss time is less than or equal to the maximum pulse loss time, it is determined that the initial state information is a non-stationary state.

[0121] In some possible embodiments, when the feedback information is wheel speed information, in determining the target time information based on the feedback information of the wheel speed sensor, the first processing module 901 is specifically configured to:

[0122] The target time information is determined based on the wheel speed information and wheel parameters.

[0123] In some possible embodiments, in determining whether the wheel is slipping according to the acceleration, the third processing module 903 is specifically configured to:

[0124] When the acceleration is greater than the acceleration threshold, wheel slip is confirmed.

[0125] In some possible embodiments, the third processing module 903 is specifically configured to:

[0126] After confirming that the wheels are slipping, the control activates the vehicle's drive anti-skid system to prevent the vehicle from slipping.

[0127] In some possible embodiments, in determining whether the wheel is slipping according to the acceleration, the third processing module 903 is specifically configured to:

[0128] When the acceleration is less than or equal to the acceleration threshold,

[0129] If the drive anti-skid system is not activated, make sure the wheels are not slipping and keep the drive anti-skid system in the state;

[0130] If the anti-skid system is activated, keep the anti-skid system activated to control the vehicle against skidding.

[0131] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 8 As shown, the electronic device 1000 includes a transceiver 1001, a processor 1002 and a memory 1003. They are connected via a bus 1004. The memory 1003 is used to store computer programs and data, and can transmit the data stored in the memory 1003 to the processor 1002. The electronic device can be the above-mentioned wheel slip identification device, and the processor 1002 can be the above-mentioned first processing module 901, the second processing module 902 and the third processing module 903.

[0132] The processor 1002 is used to read the computer program in the memory 1003 and perform the following operations:

[0133] Determining target time information based on feedback information from wheel speed sensors;

[0134] determining the acceleration of the wheel according to the target time information;

[0135] Determine whether the wheels are slipping based on the acceleration.

[0136] In some possible embodiments, when the feedback information is pulse information, in determining the target time information based on the feedback information of the wheel speed sensor, the processor 1002 is specifically configured to perform the following operations:

[0137] Determine the initial state information of the wheel;

[0138] When the initial state information is a stationary state, obtaining first time interval information between a first pulse and a reference pulse in the pulse information, wherein the reference pulse is the first pulse captured by the wheel speed sensor in the stationary state, and the first pulse is the first pulse after the reference pulse;

[0139] The first time interval information is used as the target time information.

[0140] In some possible embodiments, in determining the target time information based on the feedback information of the wheel speed sensor, the processor 1002 is further configured to perform the following operations:

[0141] When the initial state information is a non-stationary state, obtaining second time interval information between the second pulse and the third pulse, and third time interval information between the third pulse and the fourth pulse in the pulse information, wherein the second pulse, the third pulse and the fourth pulse are three consecutive pulses;

[0142] The second time interval information and the third time interval information are used as target time information.

[0143] In some possible embodiments, before determining the acceleration of the wheel according to the target time information, the processor 1002 is further configured to perform the following operations:

[0144] An acceleration determination method corresponding to the initial state information is determined according to the initial state information.

[0145] In some possible embodiments, in determining the acceleration of the wheel according to the target time information, the processor 1002 is specifically configured to perform the following operations:

[0146] The target time information and wheel parameters are processed according to the acceleration determination method to obtain the acceleration.

[0147] In some possible embodiments, in determining the initial state information of the wheel, the processor 1002 is specifically configured to perform the following operations:

[0148] Determine the maximum pulse loss time based on wheel parameters and minimum wheel speed;

[0149] When the pulse loss time is greater than the maximum pulse loss time, the initial state information is judged to be a static state;

[0150] When the pulse loss time is less than or equal to the maximum pulse loss time, it is determined that the initial state information is a non-stationary state.

[0151] In some possible embodiments, when the feedback information is wheel speed information, in determining the target time information based on the feedback information of the wheel speed sensor, the processor 1002 is specifically configured to perform the following operations:

[0152] The target time information is determined based on the wheel speed information and wheel parameters.

[0153] In some possible embodiments, in determining whether the wheel is slipping according to the acceleration, the processor 1002 is specifically configured to perform the following operations:

[0154] When the acceleration is greater than the acceleration threshold, wheel slip is confirmed.

[0155] In some possible embodiments, the processor 1002 is specifically configured to perform the following operations:

[0156] After confirming that the wheels are slipping, the control activates the vehicle's drive anti-skid system to prevent the vehicle from slipping.

[0157] In some possible embodiments, in determining whether the wheel is slipping according to the acceleration, the processor 1002 is specifically configured to perform the following operations:

[0158] When the acceleration is less than or equal to the acceleration threshold,

[0159] If the drive anti-skid system is not activated, make sure the wheels are not slipping and keep the drive anti-skid system in the state;

[0160] If the anti-skid system is activated, keep the anti-skid system activated to control the vehicle against skidding.

[0161] In some possible embodiments, the present application also provides a vehicle, which may include the wheel slip identification device described in any of the above embodiments or the electronic device described in any of the above embodiments, which will not be described again here.

[0162] It should be understood that the wheel slip identification device of the present application may be a vehicle-mounted terminal, wherein the vehicle-mounted terminal may be a domain controller of the vehicle, and so on.

[0163] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program is executed by a processor to implement part or all of the steps of any one of the wheel slip identification implementation methods recorded in the above method embodiments.

[0164] An embodiment of the present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps of any one of the wheel slip identification implementation methods recorded in the above method embodiments.

[0165] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0166] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0167] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the modules, which is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or module can be electrical or other forms.

[0168] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0169] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software program modules.

[0170] If the integrated module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0171] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0172] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A wheel slip identification method, characterized in that: include: Determining target time information based on feedback information from wheel speed sensors; determining the acceleration of the wheel according to the target time information; Whether the wheel is slipping is determined based on the acceleration.

2. The method according to claim 1, characterized in that When the feedback information is pulse information, determining the target time information based on the feedback information of the wheel speed sensor includes: Determining initial state information of the wheel, wherein the initial state information includes a stationary state; When the initial state information is the stationary state, obtaining first time interval information between a first pulse and a reference pulse in the pulse information, wherein the reference pulse is the first pulse captured by the wheel speed sensor in the stationary state, and the first pulse is the first pulse after the reference pulse; The first time interval information is used as the target time information.

3. The method according to claim 2, characterized in that The initial state information also includes a non-stationary state; the target time information is determined based on the feedback information of the wheel speed sensor, and further includes: When the initial state information is the non-stationary state, obtaining second time interval information between the second pulse and the third pulse, and third time interval information between the third pulse and the fourth pulse in the pulse information, wherein the second pulse, the third pulse and the fourth pulse are three consecutive pulses; The second time interval information and the third time interval information are used as the target time information.

4. The method according to claim 2 or 3, characterized in that Before determining the acceleration of the wheel according to the target time information, the method further includes: An acceleration determination method corresponding to the initial state information is determined according to the initial state information.

5. The method according to claim 4, characterized in that Determining the acceleration of the wheel according to the target time information includes: The target time information and wheel parameters are processed according to the acceleration determination method to obtain the acceleration.

6. The method according to claim 5, characterized in that The wheel parameters include: At least one of the wheel rolling distance between adjacent teeth of the wheel gear ring, the number of teeth of the wheel gear ring and the rolling radius of the wheel.

7. The method according to claim 5 or 6, characterized in that The determining the initial state information of the wheel comprises: determining a maximum pulse loss time according to the wheel parameters and the minimum wheel speed; When the pulse loss time is greater than the maximum pulse loss time, determining that the initial state information is a static state; When the pulse loss time is less than or equal to the maximum pulse loss time, it is determined that the initial state information is a non-stationary state.

8. The method according to claim 1, characterized in that When the feedback information is wheel speed information, determining the target time information based on the feedback information of the wheel speed sensor includes: The target time information is determined according to the wheel speed information and wheel parameters.

9. The method according to any one of claims 1 to 8, characterized in that The step of determining whether the wheel is slipping according to the acceleration comprises: When the acceleration is greater than an acceleration threshold, it is determined that the wheel is slipping.

10. The method according to claim 9, characterized in that After confirming that the wheel is slipping, the control activates the driving anti-skid system of the vehicle to perform anti-skid control on the vehicle.

11. The method according to claim 10, characterized in that The determining whether the wheel is slipping according to the acceleration further comprises: When the acceleration is less than or equal to the acceleration threshold, If the drive anti-skid system is not activated, confirming that the wheel is not slipping, and maintaining the state of the drive anti-skid system; If the driving anti-skid system is activated, the driving anti-skid system is kept in an activated state to perform anti-skid control on the vehicle.

12. A wheel slip identification device, characterized in that: The device comprises: A first processing module, configured to determine target time information based on feedback information from a wheel speed sensor; A second processing module, used to determine the acceleration of the wheel according to the target time information; The third processing module is used to determine whether the wheel is slipping according to the acceleration.

13. An electronic device, characterized in that: include: A memory and a processor, the processor being connected to the memory, the memory being used to store a computer program, and the processor being used to execute the computer program stored in the memory, so that the electronic device executes the method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 11.

15. A vehicle, characterized in that: The vehicle comprises the apparatus according to claim 12 or the electronic device according to claim 13.

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