Vehicle anti-slip control method, device, equipment and medium

Abstract

The present disclosure relates to a vehicle anti-slip control method, device, equipment and medium, wherein the method comprises: when the vehicle meets the preset anti-slip control condition, obtaining the acceleration request value of the vehicle, the slope value where the vehicle is located and the current vehicle mass; determining the candidate torque value according to the acceleration request value, the slope value and the current vehicle mass; correcting the candidate torque value according to the vehicle driving data of the vehicle to obtain the target torque value; and performing conversion processing on the target torque value to determine the wheel cylinder pressure for pressure maintaining control. According to the technical solution of the present disclosure, the safety, smoothness and comfort of vehicle driving are improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, and particularly relates to a vehicle anti-slip control method, device, equipment and medium. BACKGROUND

[0002] The vehicle may slip on a slope during driving on a slope, and the slope slip phenomenon not only affects driving stability, but also causes safety hazards.

[0003] The adaptive cruise system is an auxiliary driving function of a vehicle, which can automatically maintain a safe distance from the vehicle in front and accelerate or decelerate when necessary.

[0004] In the related art, the automatic parking and slope starting assistance functions solve the slope slip phenomenon to some extent. When the vehicle enters the adaptive cruise process, the automatic parking and slope starting assistance functions are exited, and a constant parking pressure control is used to slip at this time. The vehicle driving situation is complex and changeable, and this method is difficult to mark the pressure parameters that meet various situations. The safety, smoothness and comfort of vehicle driving need to be improved. SUMMARY

[0005] To solve the above technical problems, the present disclosure provides a vehicle anti-slip control method, device, equipment and medium.

[0006] In a first aspect, the embodiments of the present disclosure provide a vehicle anti-slip control method, comprising:

[0007] When the vehicle meets a preset anti-slip control condition, an acceleration request value of the vehicle, a slope value where the vehicle is located and a current vehicle mass are obtained;

[0008] According to the acceleration request value, the slope value and the current vehicle mass, a candidate torque value is determined;

[0009] According to the vehicle driving data of the vehicle, the candidate torque value is corrected to obtain a target torque value;

[0010] The target torque value is converted and processed to determine a wheel cylinder pressure for pressure control.

[0011] In a second aspect, the embodiments of the present disclosure provide a vehicle anti-slip control device, comprising:

[0012] The acquisition module is configured to, when a vehicle meets a preset anti-slip control condition, acquire an acceleration request value of the vehicle, a slope value where the vehicle is located and a current vehicle mass;

[0013] The determination module is configured to determine a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass;

[0014] a correction module, configured to correct the candidate torque value according to vehicle driving data of the vehicle to obtain a target torque value;

[0015] a control module, configured to convert the target torque value to determine a wheel cylinder pressure for pressure maintaining control.

[0016] In a third aspect, an electronic device is provided, including: a processor; a memory for storing executable instructions of the processor; and the processor is configured to read the executable instructions from the memory and execute the instructions to implement the vehicle anti-slip control method of the first aspect.

[0017] In a fourth aspect, a computer readable storage medium is provided, the storage medium stores a computer program, and the computer program is executed by a processor to implement the vehicle anti-slip control method of the first aspect.

[0018] The technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art: when the vehicle meets the preset anti-slip control condition, the candidate torque value is determined according to the acceleration request value of the vehicle, the slope value where the vehicle is located, and the current vehicle mass, and then the target torque value is obtained by correcting the candidate torque value according to the vehicle driving data of the vehicle. The target torque value is converted and processed to determine the wheel cylinder pressure for pressure maintaining control. Thus, by determining the candidate torque value according to the slope value where the vehicle is located and the current vehicle mass, the problem of slip on a large slope caused by setting a conservative constant parking pressure maintaining parameter is solved. The driving safety is improved, and the candidate torque value is corrected according to the vehicle driving data to calculate the real-time updated braking torque, which is slowly increased or decreased, so that the driving is smoother, and the driving smoothness and comfort are improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure together with the specification.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced here. Obviously, for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0021] Figure 1 A flowchart of a vehicle anti-slip control method provided by the embodiments of the present disclosure;

[0022] Figure 2 A schematic diagram of force on a vehicle provided by the embodiments of the present disclosure;

[0023] Figure 3 A schematic diagram of outputting a braking torque provided by an embodiment of the present disclosure;

[0024] Figure 4 A flowchart of another vehicle anti-slip control method provided by an embodiment of the present disclosure;

[0025] Figure 5 A schematic diagram of an anti-slip intervention process provided by an embodiment of the present disclosure;

[0026] Figure 6 A schematic diagram of a vehicle anti-slip control device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to enable a more clear understanding of the above-mentioned purposes, features and advantages of the present disclosure, the schemes of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0028] In the following description, a lot of specific details are set forth in order to facilitate a thorough understanding of the present disclosure, but the present disclosure can also be implemented in other different manners from those described herein; obviously, the embodiments described in the specification are only some embodiments of the present disclosure, rather than all the embodiments.

[0029] Figure 1 A flowchart of a vehicle anti-slip control method provided by an embodiment of the present disclosure, the method provided by the embodiment of the present disclosure can be executed by a vehicle anti-slip control device, the device can be implemented by software and / or hardware, and can be integrated on any electronic device with computing capability.

[0030] As shown in Figure 1 The vehicle anti-slip control method provided by the embodiment of the present disclosure can include:

[0031] In step 101, when the vehicle meets a preset anti-slip control condition, an acceleration request value of the vehicle, a slope value where the vehicle is located and a current vehicle mass are obtained.

[0032] The method of the embodiment of the present disclosure is applied to anti-slip control of a vehicle in an ACC (adaptive cruise control) mode during a slope driving process.

[0033] In this embodiment, during vehicle operation, it is determined whether the vehicle meets the anti-rollover control conditions. If the anti-rollover control conditions are met, anti-rollover control is implemented. During anti-rollover control, the vehicle's acceleration request value, the slope value at which the vehicle is located, and the current vehicle mass are obtained. The slope value and the current vehicle mass can be obtained using relevant methods, and the acceleration request value can be obtained based on ADAS (Advanced Driving Assistance System).

[0034] Step 102: Determine the candidate torque value based on the acceleration request value, the slope value, and the current vehicle mass.

[0035] In this embodiment, the longitudinal force of the vehicle is calculated based on the acceleration request value, the slope value, and the current vehicle mass. This longitudinal force is used to prevent the vehicle from slipping on the slope. Then, a candidate torque value is calculated based on the longitudinal force and the known length value.

[0036] As an example, let's take an uphill slope as an example, such as Figure 2 As shown, when going uphill, to prevent rolling backward, the vehicle's longitudinal speed should be greater than or equal to zero. (The longitudinal speed is as follows...) Figure 2 The longitudinal force is calculated along the upward X direction of the slope. Based on the slope value, current vehicle mass, and requested acceleration value, the longitudinal force required to prevent the car from rolling backward can be calculated. When the driving force is less than the force required to resist the vehicle's downward movement, the braking force is increased to prevent the longitudinal velocity from becoming negative. In this example, the formula for calculating the longitudinal force can be as follows: 2F x1 +2F x2 -mgsinϕ=ma, where a is the requested acceleration value, m is the current vehicle mass, ϕ is the gradient value, and F... x For longitudinal forces, including 2F x1 +2F x2 After calculating 2F x1 +2F x2 Then, the ADAS can allocate power to each wheel according to the corresponding strategy.

[0037] Step 103: Correct the candidate torque value based on the vehicle's driving data to obtain the target torque value.

[0038] In this embodiment, after determining the candidate torque value, the candidate torque value is corrected according to the current vehicle driving data during the control process to generate the target torque value. Optionally, the correction can be implemented by a control algorithm or by a calibration correspondence to accurately calculate the braking torque that needs to be compensated, thereby improving the vehicle's driving smoothness and comfort.

[0039] The vehicle driving data includes vehicle speed and vehicle acceleration, and is obtained from a CAN (Controller Area Network) bus.

[0040] In one embodiment of the present disclosure, the vehicle driving data includes vehicle speed, and the candidate torque value is corrected according to the vehicle driving data of the vehicle to obtain a target torque value, including: obtaining a correction value corresponding to the vehicle speed, and correcting the candidate torque value according to the correction value to obtain the target torque value. In this embodiment, the anti-slip control of the vehicle is divided into two scenes of starting and following stop.

[0041] When the vehicle meets the starting anti-slip condition, a first correction value corresponding to the vehicle speed is obtained, and the candidate torque value is corrected according to the first correction value to obtain the target torque value. The greater the vehicle speed, the smaller the target torque value, that is, as the vehicle speed gradually increases, the target torque value gradually decreases.

[0042] As an example, taking calibration as an example, the first correction value corresponding to different vehicle speeds can be calibrated in advance, for example, the aforementioned known length value is L, the candidate torque value is 1000L, and as the vehicle speed gradually increases, the target torque value corrected according to the first correction value is 1200L, 800L, 400L in turn, thereby improving the vehicle driving smoothness and comfort when the vehicle starts to prevent slope slip.

[0043] When the vehicle meets the following stop anti-slip condition, a second correction value corresponding to the vehicle speed is obtained, and the candidate torque value is corrected according to the second correction value to obtain the target torque value; when the vehicle speed is greater than a preset vehicle speed threshold, the greater the vehicle speed, the smaller the target torque value; when the vehicle speed is less than or equal to the preset vehicle speed threshold, the greater the vehicle speed, the greater the target torque value. That is, as the vehicle speed gradually increases, the target torque value first increases and then decreases.

[0044] As an example, taking calibration as an example, the second correction value corresponding to different vehicle speeds can be calibrated in advance, for example, the vehicle speed range [0, 5] is calibrated respectively, and the preset vehicle speed threshold is 3, wherein T i is the target torque value when the vehicle speed is i, in the vehicle speed range of (0, 5], T3 is the maximum, T3>T5>T1, and further, for the special case of vehicle speed 0, T0>T3>T5>T1. Thus, the vehicle driving smoothness and comfort are improved when the vehicle follows the front vehicle to prevent slope slip.

[0045] In one embodiment of the present disclosure, the vehicle running data includes vehicle acceleration, and the target torque value is corrected from the candidate torque value according to the vehicle running data of the vehicle, including: obtaining a correction value corresponding to the vehicle acceleration, and correcting the candidate torque value according to the correction value to obtain the target torque value. In this embodiment, the anti-slip control of the vehicle is divided into two scenes of starting and following stop.

[0046] In one embodiment of the present disclosure, the vehicle running data includes vehicle acceleration, and the target torque value is corrected from the candidate torque value according to the vehicle running data of the vehicle, including: obtaining a correction value corresponding to the vehicle acceleration, and correcting the candidate torque value according to the correction value to obtain the target torque value. In this embodiment, the anti-slip control of the vehicle is divided into two scenes of starting and following stop.

[0047] As an example, the third correction value corresponding to different vehicle acceleration can be pre-calibrated, and the third correction value is used to satisfy the first target torque value being less than the second target torque value, for example, the acceleration threshold is 3, the third correction value Y1 corresponding to the vehicle acceleration less than or equal to 3, and the third correction value Y2 corresponding to the vehicle acceleration greater than 3, for a certain torque value T, the third correction value corresponding to the vehicle acceleration of 1 is T', and the third correction value corresponding to the vehicle acceleration of 5 is T'', and T'' is less than T'. The above certain torque value can be the candidate torque value, or the target torque value corrected based on the vehicle speed, which is not limited here. The following stop scene can be set as needed, which will not be described here. Thus, the vehicle improves the driving smoothness and comfort during anti-slip control.

[0048] Referring to Figure 3 , Figure 3 A schematic diagram of the anti-slip control algorithm outputting the brake torque is shown, in which Ax is the requested acceleration, the current vehicle mass is determined by the vehicle state estimation, and the brake torque is output by the control algorithm.

[0049] In step 104, the target torque value is converted and processed to determine the wheel cylinder pressure for pressure maintaining control.

[0050] In this embodiment, the target torque value is sent to the brake system for conversion and processing to generate the wheel cylinder pressure corresponding to the target torque value, so as to perform pressure maintaining control according to the wheel cylinder pressure and realize the anti-slip control of the vehicle. The real-time updated brake torque is calculated through the foregoing steps, and the driving smoothness and comfort during the anti-slip control of the vehicle are improved.

[0051] According to the technical scheme of the embodiment of the present disclosure, when the vehicle meets the preset anti-slip control condition, the candidate torque value is determined according to the acceleration request value of the vehicle, the slope value where the vehicle is located and the current vehicle mass, then the candidate torque value is corrected according to the vehicle driving data of the vehicle to obtain the target torque value, the target torque value is converted and processed, the wheel cylinder pressure is determined to perform pressure maintaining control, thereby the candidate torque value is determined according to the slope value where the vehicle is located and the current vehicle mass, and the problem that the constant parking pressure maintaining parameter set conservatively causes the vehicle to slip on a large slope is solved. The driving safety is improved, and the candidate torque value is corrected according to the vehicle driving data of the vehicle, the real-time updated braking torque is calculated, the braking torque is increased or decreased slowly, the driving is smoother, and the driving smoothness and comfort are improved.

[0052] Based on the above embodiment, the current vehicle mass of the vehicle is described below.

[0053] In an embodiment of the present disclosure, the longitudinal driving force of each wheel is determined according to the tire longitudinal moment and the tire radius on each wheel of the vehicle, then the corrected longitudinal acceleration is obtained through vehicle state estimation, the longitudinal driving force and the longitudinal acceleration are fitted based on the least square method, and the current vehicle mass of the vehicle is obtained.

[0054] In the embodiment, since the load of passengers and objects on the vehicle is variable, in order to more accurately calculate the braking force and driving force to be controlled, the current vehicle mass of the vehicle needs to be accurately calculated, and the current vehicle mass can be accurately calculated through the signals in the CAN. Alternatively, the instantaneous tire longitudinal moment is calculated through the driving moment and the brake moment acting on each wheel, the driving force of each wheel is obtained by dividing the tire longitudinal moment by the tire radius, then the corrected longitudinal acceleration is derived in the vehicle state estimation module, and the final vehicle mass and rolling resistance are fitted according to the obtained longitudinal driving force and longitudinal acceleration by using batch processing and least square method algorithm.

[0055] As an example, the tire longitudinal moment can be calculated by using the following formula: τ = (F drive -F brake )*r, and the current vehicle mass can be determined by using the following balance equation: F total -m*g-C rr *m*g*sign(v) = m*a c , wherein C rr is the rolling resistance coefficient, a c is the corrected longitudinal acceleration, m is the vehicle mass, r is the tire radius, τ is the tire longitudinal moment, F total , F drive , and F brake) is determined. It should be noted that the above calculation formula is only an example, and air resistance and the like can also be combined for calculation, which is not specifically limited here.

[0056] Therefore, by accurately calculating the current vehicle mass, and then determining the target torque value based on the current vehicle mass for pressure maintenance control, the accuracy and safety of the vehicle anti-slip control are further improved.

[0057] Based on the above embodiments, Figure 4 Another flowchart of a vehicle anti-slip control method provided by the embodiments of the present disclosure is shown in FIG. 6. In this method, the vehicle meets the preset anti-slip control condition, which includes: Figure 4

[0058] In step 401, the predicted speed of the vehicle at a specified time is determined according to the front vehicle data of the front vehicle and the vehicle driving data of the vehicle.

[0059] In this embodiment, the front vehicle data of the front vehicle can be obtained through the visual sensor and / or radar sensor of the vehicle, and the front vehicle data includes the front vehicle distance, the front vehicle speed, the front vehicle acceleration, the front vehicle state, etc. The vehicle driving data of the vehicle can be obtained through the CAN of the vehicle, and the vehicle driving data includes the longitudinal speed, the longitudinal acceleration, the inclination angle, etc. The longitudinal description can refer to the foregoing embodiments, and the inclination angle can be used to determine the slope.

[0060] Among them, the speed of the ego vehicle in a certain time in the future can be predicted according to the vehicle driving data and the front vehicle data of the vehicle, and a specific vehicle speed prediction method can be realized by using a corresponding technology.

[0061] As an example, the ego vehicle speed in a certain time can be predicted according to the speed and acceleration of the ego vehicle in combination with the front vehicle data, and then the time of the occurrence of the slip on the slope can be predicted according to the predicted ego vehicle speed. In this example, in order to more accurately determine whether the anti-slip control needs to be performed, the predicted speed of the vehicle is obtained through a simulation tool, and whether the anti-slip control is performed is determined according to the predicted speed of the vehicle.

[0062] In step 402, if it is determined according to the predicted speed that the vehicle will slip at the specified time, and the interval between the current time and the specified time is less than or equal to the preset interval, it is determined that the vehicle meets the anti-slip control condition.

[0063] In this embodiment, if it is determined according to the predicted speed that the vehicle will not slip at the specified time, and / or the interval between the current time and the specified time is greater than the preset interval, it is determined that the vehicle does not meet the anti-slip control condition.

[0064] ​As an example, the vehicle obtains a predicted speed within a T2 time, and determines whether there is a hill start based on the predicted speed within the T2 time, and further determines an interval between a specified time and a current time when it is determined that there is a hill start at the specified time, and if the interval is less than or equal to a preset interval T1, it is determined that the vehicle meets the hill start prevention control condition and needs to perform the hill start prevention control at the current time. For example, T2 is 200 ms and T1 is 100 ms. Since there is a certain delay in the control of the braking force, especially in the case of rapid speed drop, therefore, by judging whether to perform the hill start prevention control through the predicted speed, and performing the hill start prevention control in advance when it is predicted that the vehicle will start to roll down the hill, the problem of delay of the hill start prevention control is solved, and the safety and comfort of the hill start prevention control are further improved.

[0065] As another example, the hill start prevention control condition can also be further determined in combination with the slope and the front vehicle acceleration, for example, when the slope is less than a preset slope and the front vehicle acceleration is less than a preset threshold, it is determined that the hill start prevention control condition is not met.

[0066] In this embodiment, when it is determined that the vehicle meets the hill start prevention control condition, it can be further determined that the vehicle meets the hill start prevention condition for starting or the hill start prevention condition for following. To distinguish between the starting scene and the following scene.

[0067] As an example, determining that the vehicle meets the hill start prevention control condition includes: obtaining a driving state of the front vehicle, the driving state including a starting state and a parking state. In the case that the driving state of the front vehicle is the starting state, it is determined that the vehicle meets the hill start prevention condition for starting, and in the case that the driving state of the front vehicle is the parking state, it is determined that the vehicle meets the hill start prevention condition for following. In this example, by judging the driving state of the front vehicle through the front vehicle data, it can be determined whether the vehicle will start or follow in the ACC mode, so as to determine whether to perform the hill start prevention control for starting or the hill start prevention control for following. In addition, the driving state of the front vehicle can be used to assist the prediction in the ACC mode, and optionally, the state of the parking can also be determined based on the inclination angle to determine whether the current vehicle is on an uphill or a downhill.

[0068] For example, with reference to Figure 5, the front vehicle data is acquired through a visual sensor / radar sensor, vehicle driving data is acquired through a CAN of the vehicle, vehicle speed prediction and arbitration judgment are performed through the front vehicle data and the vehicle driving data, so as to determine whether the vehicle activates the anti-slip control, activates the start anti-slip control or activates the follow-stop anti-slip control, thereby, based on the predicted data, it is determined whether to activate the anti-slip control, the influence caused by the lag of the anti-slip control is avoided, and the start anti-slip control and the follow-stop anti-slip control can be judged, and the processing logic suitable for the start / follow-stop scene is adopted, such as different torque value correction processing logic, so as to further improve the accuracy of the anti-slip control and improve the driving smoothness and comfort of the vehicle when the anti-slip control is performed.

[0069] Figure 6 A structural schematic diagram of an anti-slip control device of a vehicle provided by an embodiment of the present disclosure is shown in Figure 6 The anti-slip control device of the vehicle includes an acquisition module 61, a determination module 62, a correction module 63 and a control module 64.

[0070] The acquisition module 61 is configured to acquire an acceleration request value of the vehicle, a slope value where the vehicle is located and a current vehicle mass when the vehicle meets a preset anti-slip control condition.

[0071] The determination module 62 is configured to determine a candidate torque value according to the acceleration request value, the slope value and the current vehicle mass.

[0072] The correction module 63 is configured to correct the candidate torque value according to vehicle driving data of the vehicle to obtain a target torque value.

[0073] The control module 64 is configured to perform conversion processing on the target torque value to determine a wheel cylinder pressure for pressure maintaining control.

[0074] In an embodiment of the present disclosure, the vehicle driving data includes a vehicle speed, and the correction module 63 is specifically configured to:

[0075] When the vehicle meets a start anti-slip condition, a first correction value corresponding to the vehicle speed is acquired.

[0076] The candidate torque value is corrected according to the first correction value to obtain the target torque value; and the greater the vehicle speed, the smaller the target torque value.

[0077] In an embodiment of the present disclosure, the vehicle driving data includes a vehicle speed, and the correction module 63 is specifically configured to:

[0078] When the vehicle meets a follow-stop anti-slip condition, a second correction value corresponding to the vehicle speed is acquired.

[0079] The candidate torque value is corrected according to the second correction value to obtain a target torque value; when the vehicle speed is greater than a preset vehicle speed threshold, the greater the vehicle speed, the smaller the target torque value; and when the vehicle speed is less than or equal to the preset vehicle speed threshold, the greater the vehicle speed, the greater the target torque value.

[0080] In one embodiment of the present disclosure, the vehicle running data includes vehicle acceleration, and the correction module 63 is specifically configured to:

[0081] obtain a third correction value corresponding to the vehicle acceleration;

[0082] correct the candidate torque value according to the third correction value to obtain a target torque value; wherein, for a first target torque value when the vehicle acceleration is greater than a preset acceleration threshold, and a second target torque value when the vehicle acceleration is less than or equal to the preset acceleration threshold, the first target torque value is smaller than the second target torque value.

[0083] In one embodiment of the present disclosure, the device further includes:

[0084] The judgment module is configured to predict and determine a predicted speed of the vehicle at a specified time according to the preceding vehicle data of the preceding vehicle and the vehicle running data of the vehicle.

[0085] If it is determined that the vehicle will roll down a slope at the specified time according to the predicted speed, and the interval between the current time and the specified time is less than or equal to a preset interval, it is determined that the vehicle meets the anti-roll-down-slope control condition.

[0086] In one embodiment of the present disclosure, the judgment module is specifically configured to:

[0087] obtain a running state of the preceding vehicle; the running state includes a starting state and a parking state;

[0088] if the running state of the preceding vehicle is the starting state, it is determined that the vehicle meets the starting anti-roll-down-slope condition;

[0089] if the running state of the preceding vehicle is the parking state, it is determined that the vehicle meets the parking anti-roll-down-slope condition.

[0090] In one embodiment of the present disclosure, the obtaining module 61 is specifically configured to:

[0091] determine a longitudinal driving force of each wheel of the vehicle according to a tire longitudinal moment and a tire radius of each wheel of the vehicle;

[0092] obtain a corrected longitudinal acceleration through vehicle state estimation;

[0093] perform fitting processing on the longitudinal driving force and the longitudinal acceleration based on a least square method to obtain a current vehicle mass of the vehicle.

[0094] The anti-slip control device of the vehicle provided in the embodiments of the present disclosure can execute any anti-slip control method of the vehicle provided in the embodiments of the present disclosure, and has the function modules and beneficial effects corresponding to the execution method. The contents not described in detail in the device embodiments of the present disclosure can be referred to the description in any method embodiments of the present disclosure.

[0095] The embodiments of the present disclosure also provide an electronic device including one or more processors and a memory. The processor can be a central processing unit (CPU) or other forms of processing units having data processing and / or instruction execution capabilities, and can control other components in the electronic device to perform desired functions. The memory can include one or more computer program products, which can include various forms of computer readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM), cache, and / or the like. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, and / or the like. One or more computer program instructions can be stored on the computer readable storage medium, and the processor can run the program instructions to implement the method of the embodiments of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, and the like can also be stored in the computer readable storage medium.

[0096] In one example, the electronic device can further include an input device and an output device, which are interconnected through a bus system and / or other forms of connection mechanism. In addition, the input device can include, for example, a keyboard, a mouse, and the like. The output device can output various information to the outside, including the determined distance information, direction information, and the like. The output device can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like. In addition, the electronic device can include any other appropriate components such as a bus, an input / output interface, and the like, according to specific application cases.

[0097] In addition to the above method and device, the embodiments of the present disclosure can also be a computer program product including computer program instructions, which, when run by a processor, cause the processor to execute any method provided by the embodiments of the present disclosure.

[0098] A computer program product can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. The embodiments of the present disclosure can be implemented by computer software executable by a computer or processor, such as the processor 102 of the computer system 100, as discussed with reference to FIG. 1. The computer software can be written in any suitable computer language such as Java, C, or the like. The software can be stored on a computer readable medium, such as the computer readable medium 104 of the computer system 100, as discussed with reference to FIG. 1, or distributed over network coupled computer systems so as to be stored on a storage device coupled to the computer system.

[0099] Furthermore, embodiments of the present disclosure can also be a computer readable storage medium, having stored thereon computer program instructions which, when executed by a processor, cause the processor to carry out any of the methods described herein.

[0100] A computer readable storage medium can be any combination of one or more computer readable media. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0101] It should be noted that, in the present document, the terms such as "first" and "second" and the like are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. Moreover, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements in the list, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by an indefinite article "a" or "an" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0102] The foregoing is merely illustrative of the various implementations of the present disclosure and the general principles thereof. Numerous modifications can be made to these illustrations, and equivalents can be substituted therefor, without departing from the scope of the present disclosure. The specific embodiments commensurate with the specific application are intended to be illustrative only and not limiting of the scope of the application as set forth in the following claims.

Claims

1. A method for preventing vehicle rollback, characterized in that, include: When the vehicle meets the preset anti-slip control conditions, the acceleration request value of the vehicle, the slope value of the vehicle, and the current vehicle mass are obtained. Based on the acceleration request value, the slope value, and the current vehicle mass, a candidate torque value is determined; The candidate torque value is corrected based on the vehicle's driving data to obtain the target torque value; The target torque value is converted to determine the wheel cylinder pressure for pressure holding control.

2. The method as described in claim 1, characterized in that, The vehicle driving data includes vehicle speed. The step of correcting the candidate torque value based on the vehicle driving data to obtain the target torque value includes: When the vehicle meets the conditions for preventing rollback during start-up, a first correction value corresponding to the vehicle speed is obtained. The candidate torque value is corrected based on the first correction value to obtain the target torque value; wherein, the higher the vehicle speed, the smaller the target torque value.

3. The method as described in claim 1, characterized in that, The vehicle driving data includes vehicle speed. The step of correcting the candidate torque value based on the vehicle driving data to obtain the target torque value includes: When the vehicle meets the conditions for following and stopping to prevent slippage, a second correction value corresponding to the vehicle speed is obtained; The candidate torque value is corrected according to the second correction value to obtain the target torque value; wherein, when the vehicle speed is greater than a preset vehicle speed threshold, the higher the vehicle speed, the smaller the target torque value; when the vehicle speed is less than or equal to the preset vehicle speed threshold, the higher the vehicle speed, the larger the target torque value.

4. The method as described in claim 1, characterized in that, The vehicle driving data includes vehicle acceleration. The step of correcting the candidate torque value based on the vehicle driving data to obtain the target torque value includes: Obtain the third correction value corresponding to the vehicle acceleration; The candidate torque value is corrected according to the third correction value to obtain the target torque value; wherein, for the first target torque value when the vehicle acceleration is greater than the preset acceleration threshold and the second target torque value when the vehicle acceleration is less than or equal to the preset acceleration threshold, the first target torque value is less than the second target torque value.

5. The method as described in claim 1, characterized in that, The vehicle meets preset anti-slip control conditions, including: Based on the data of the vehicle ahead and the vehicle's driving data, a prediction is made to determine the predicted speed of the vehicle at a specified time. If, based on the predicted speed, it is determined that the vehicle is slipping at the specified time, and the interval between the current time and the specified time is less than or equal to a preset interval, then the vehicle meets the anti-slippage control conditions.

6. The method as described in claim 5, characterized in that, Determining that the vehicle meets the anti-slippage control conditions includes: Obtain the driving status of the vehicle in front; the driving status includes starting status and stopping status; If the preceding vehicle is in the starting state, it is determined that the vehicle meets the conditions for preventing rollback during starting. If the preceding vehicle is in a stopped state, then the vehicle is determined to meet the following and stopping conditions to prevent rollback.

7. The method as described in claim 1, characterized in that, Obtaining the current vehicle mass includes: The longitudinal driving force of each wheel is determined based on the longitudinal moment of the tires and the tire radius of each wheel of the vehicle. The corrected longitudinal acceleration is obtained through vehicle state estimation; The longitudinal driving force and the longitudinal acceleration are fitted using the least squares method to obtain the current vehicle mass.

8. A vehicle anti-rollover control device, characterized in that, include: The acquisition module is used to acquire the vehicle's acceleration request value, the slope value of the vehicle, and the current vehicle mass when the vehicle meets the preset anti-slip control conditions. The determination module is used to determine a candidate torque value based on the acceleration request value, the slope value, and the current vehicle mass; The correction module is used to correct the candidate torque value based on the vehicle's driving data to obtain the target torque value. The control module is used to convert the target torque value and determine the wheel cylinder pressure for pressure holding control.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to read the executable instructions from the memory and execute the instructions to implement the anti-slip control method for the vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the anti-slippage control method for the vehicle as described in any one of claims 1-7.

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