A method, apparatus, device and readable storage medium for controlling vehicle synchronous slip

Abstract

The application relates to the field of controlling vehicle slip, and particularly provides a method, device and equipment for controlling vehicle synchronous slip and a readable storage medium, the method comprising the following steps: when a driver starts a vehicle slip mode, controlling a front wheel or a rear wheel to perform an eight-shaped deflection of a preset angle according to a preset fixed-wheel steering instruction, wherein the fixed-wheel steering instruction comprises a fixed front-wheel steering instruction or a fixed rear-wheel steering instruction, and the eight-shaped deflection comprises an outer eight-shaped deflection or an inner eight-shaped deflection; driving a wheel needing to slip to slip until the wheel needing to slip rotates at a constant speed, and then controlling a rotating speed of the vehicle, wherein the wheel needing to slip is selected according to the fixed-wheel steering instruction; and detecting a vehicle resistance moment in real time, and when the vehicle resistance moment is greater than a yaw moment threshold value, controlling a driven wheel of the vehicle to actively slip. Through the method, the user driving experience in the process of controlling vehicle synchronous slip can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of controlling vehicle slip, in particular, to a method, device, equipment and readable storage medium for controlling vehicle synchronous slip. BACKGROUND

[0002] At present, the existing technology of the fixed-point turning scheme is to lock any wheel, and the wheel coaxial with the wheel is used as a driven wheel, and the wheels on the other side of the axle are rotated in opposite directions, so as to realize the fixed-point turning around the wheel.

[0003] However, this method will cause tire wear, especially in high adhesion road. Taking the counterclockwise fixed-point turning of the left front wheel as an example, the right front wheel is a driven wheel, and the wheels on the rear axle are rotated in opposite directions, so that the vehicle turns around the left front wheel. In this process, the two wheels on the rear axle will not only cause tire wear due to the friction generated by resisting the resistance torque, but also may cause unevenness or front and rear shaking due to the forward or backward resultant force caused by the inconsistent torque on the left and right sides caused by the inconsistent adhesion of the road surface and the inconsistent torque required to maintain the same speed of the two wheels on the rear axle due to the large jump of the road surface adhesion coefficient.

[0004] Therefore, how to improve the user driving experience in the process of controlling vehicle synchronous slip is a technical problem to be solved. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a method for controlling vehicle synchronous slip, which can improve the user driving experience in the process of controlling vehicle synchronous slip.

[0006] In a first aspect, the embodiments of the present application provide a method for controlling vehicle synchronous slip, comprising: when a driver opens a vehicle slip mode, controlling a front wheel or a rear wheel to perform an eight-shaped deflection of a preset angle according to a preset fixed-wheel turning instruction, wherein the fixed-wheel turning instruction comprises a fixed-front-wheel turning instruction or a fixed-rear-wheel turning instruction, and the eight-shaped deflection comprises an outer eight-shaped deflection or an inner eight-shaped deflection; driving a slip wheel to slip until the slip wheel rotates at a constant speed, and then controlling the rotation speed of the vehicle, wherein the slip wheel is selected according to the fixed-wheel turning instruction; and detecting the vehicle resistance torque in real time, and controlling a driven wheel of the vehicle to actively slip when the vehicle resistance torque is greater than a yaw torque threshold.

[0007] In the above embodiments, the control of the wheel rotation by the fixed-wheel turning instruction can enable each wheel to independently turn, thereby reducing tire wear. The control of the low-speed slip of the wheel and the driving control of the driven wheel can avoid the vehicle bouncing caused by the increase of the resistance torque in special road conditions, thereby improving the user driving experience in the process of controlling vehicle synchronous slip.

[0008] In some embodiments, the preset angle of the eight-shaped deflection of the front wheel or the rear wheel is controlled according to the preset fixed-wheel steering instruction, including: when the fixed-wheel steering instruction is a fixed front wheel instruction, controlling the rear wheel to perform an outer eight-shaped deflection by a preset angle; when the fixed-wheel steering instruction is a fixed front wheel instruction, controlling the front wheel to perform an inner eight-shaped deflection by a preset angle.

[0009] In the above embodiments, the present application can control the selection of the fixed front wheel or the fixed rear wheel according to different steering instructions, and then control the rear wheel or the front wheel to perform an outer eight-shaped or inner eight-shaped deflection to realize independent steering of each wheel, thereby reducing the wear of the tires during vehicle slip.

[0010] In some embodiments, when the fixed-wheel steering instruction is a fixed front wheel instruction, the wheel to be slipped is driven to slip until the wheel to be slipped rotates at a constant speed, and then the vehicle rotation speed is controlled, including: driving the fixed front wheel to slip at a constant speed; adjusting the torque or wheel speed of the fixed front wheel according to a preset rule to control the vehicle rotation speed.

[0011] In the above embodiments, the present application drives the steering slip of other wheels by driving the fixed front wheel to realize independent steering control of each wheel, thereby reducing tire wear.

[0012] In some embodiments, when the fixed-wheel steering instruction is a fixed front wheel instruction, the wheel to be slipped is driven to slip until the wheel to be slipped rotates at a constant speed, and then the vehicle rotation speed is controlled, including: driving the fixed rear wheel to slip at a constant speed; adjusting the torque or wheel speed of the fixed rear wheel according to a preset rule to control the vehicle rotation speed.

[0013] In the above embodiments, the present application drives the steering slip of other wheels by driving the fixed rear wheel to realize independent steering control of each wheel, thereby reducing tire wear.

[0014] In some embodiments, the vehicle resistance moment is detected in real time, and when the vehicle resistance moment is greater than a yaw moment threshold, the driven wheel of the vehicle is controlled to actively slip, including: detecting the resistance moment of a preset wheel of the vehicle in real time, and when the vehicle resistance moment is greater than a yaw moment threshold, the driven wheel of the vehicle is controlled to actively slip, wherein when the fixed wheel is a fixed front wheel, the other front wheel is a driven wheel, and when the fixed wheel is a fixed rear wheel, the other rear wheel is a driven wheel.

[0015] In the above embodiments, the present application detects the resistance moment of the vehicle wheel in real time, and when the wheel resistance moment is large enough, the driven wheel can be controlled to be driven to realize the continuous slip of the vehicle wheel.

[0016] In some embodiments, the vehicle resistance torque is detected in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, the driven wheel of the vehicle is controlled to actively slip, including: detecting the vehicle resistance torque in real time when the road adhesion changes during wheel slip, and when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle controller controls the power system to deliver power to the driven wheel to control the driven wheel to actively slip.

[0017] In the above embodiments, under special road conditions, the vehicle resistance torque is greater than the yaw moment threshold, and the driven wheel is controlled to actively slip to achieve smooth vehicle slip, reduce vehicle bumping, and achieve smooth vehicle slip.

[0018] In some embodiments, the preset steering instruction, the preset angle, and the yaw moment threshold are set according to requirements.

[0019] In the above embodiments, the steering instruction, the preset angle, and the yaw moment threshold can be set according to actual requirements to provide conditions for vehicle slip and improve user experience.

[0020] In a second aspect, the embodiments of the present application provide a device for controlling vehicle synchronous slip, including:

[0021] A first control module is configured to control the front wheel or the rear wheel to perform an eight-shaped deflection of a preset angle according to a preset steering instruction when the driver turns on the vehicle slip mode, wherein the steering instruction includes a front wheel steering instruction or a rear wheel steering instruction, and the eight-shaped deflection includes an outer eight-shaped deflection or an inner eight-shaped deflection.

[0022] A driving module is configured to drive the wheel to be slipped to slip until the wheel to be slipped rotates at a constant speed, and then control the rotation speed of the vehicle, wherein the wheel to be slipped is selected according to the steering instruction.

[0023] A second control module is configured to detect the vehicle resistance torque in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, control the driven wheel of the vehicle to actively slip.

[0024] Optionally, the first control module is specifically configured to:

[0025] When the steering instruction is the front wheel steering instruction, the rear wheel is controlled to perform an outer eight-shaped deflection of the preset angle.

[0026] When the steering instruction is the front wheel steering instruction, the front wheel is controlled to perform an inner eight-shaped deflection of the preset angle.

[0027] Optionally, when the steering instruction is the front wheel steering instruction, the first control module is specifically configured to:

[0028] Drive the front wheel to slip at a constant speed.

[0029] Adjust the front wheel torque or wheel speed according to a preset rule to control the rotation speed of the vehicle.

[0030] Optionally, when the fixed wheel steering instruction is a fixed front wheel instruction, the first control module is specifically configured to:

[0031] Drive the fixed rear wheel to slide at a constant speed;

[0032] Adjust the rear wheel torque or wheel speed according to a preset rule to control the rotation speed of the vehicle.

[0033] Optionally, the second control module is specifically configured to:

[0034] Real-time detection of the vehicle resistance torque, when the vehicle resistance torque is greater than the yaw moment threshold, the driven wheel of the vehicle is controlled to actively slide, wherein, when it is a fixed front wheel, the other front wheel is the driven wheel, and when it is a fixed rear wheel, the other rear wheel is the driven wheel.

[0035] Optionally, the second control module is specifically configured to:

[0036] When the road adhesion changes during the wheel sliding process, the vehicle resistance torque is detected in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, the power system is controlled by the vehicle controller to deliver power to the driven wheel to control the driven wheel to actively slide.

[0037] Optionally, the preset fixed wheel steering instruction, the preset angle and the yaw moment threshold are set according to requirements.

[0038] In a third aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, the memory stores computer readable instructions, when the computer readable instructions are executed by the processor, the steps in the method provided in the first aspect are executed.

[0039] In a fourth aspect, an embodiment of the present application provides a readable storage medium, which stores a computer program, when the computer program is executed by a processor, the steps in the method provided in the first aspect are executed.

[0040] Other features and advantages of the present application will be described in the following description, and some of them will become apparent from the description, or will be understood by those skilled in the art through implementation of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0042] Figure 1 A flow chart of a method for controlling vehicle synchronous slip provided in an embodiment of the present application;

[0043] Figure 2 A vehicle slip four-wheel steering schematic diagram provided in an embodiment of the present application;

[0044] Figure 3 A synchronous slip power output strategy curve schematic diagram provided in an embodiment of the present application;

[0045] Figure 4 A driven wheel control schematic diagram for overcoming resistance torque increase strategy provided in an embodiment of the present application;

[0046] Figure 5 A flow chart of an implementation method for controlling vehicle synchronous slip provided in an embodiment of the present application;

[0047] Figure 6 A schematic block diagram of a device for controlling vehicle synchronous slip provided in an embodiment of the present application;

[0048] Figure 7 A structural schematic block diagram of a device for controlling vehicle synchronous slip provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0050] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second”, etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0051] The application is applied to the scene of vehicle slip control, specifically the scene of fixed-point parking or other fixed-point slip, solves the tire wear caused by vehicle fixed-wheel steering on the basis of four-wheel distributed drive and four-wheel independent steering, and proposes a synchronous slip control method to solve the unevenness problem caused by rotation on different adhesion road surfaces, demonstrates and proposes a method to solve the problem of synchronous increase in yaw moment caused by the increase in resistance moment due to snow or mud accumulation during rotation, and improves the driving experience.

[0052] At present, the existing technology of fixed-point steering scheme is to lock any wheel, use the wheel coaxial with the wheel as a driven wheel, and make the wheels on the other side of the axle rotate in opposite directions to realize fixed-point steering around the wheel. However, this method will cause tire wear, especially more serious wear on high adhesion road surfaces. Taking the example of fixed-point counterclockwise steering of the left front wheel, the right front wheel is a driven wheel, and the wheels on the rear axle rotate in opposite directions, so that the vehicle performs fixed-point steering around the left front wheel. In this process, the two wheels on the rear axle will not only cause tire wear due to the friction force generated by resisting the resistance moment, but also may cause unevenness or forward and backward shaking due to the forward or backward resultant force caused by the inconsistent torque required to maintain the same speed of the two wheels on the rear axle due to the inconsistent adhesion of the road surface.

[0053] Therefore, when the driver starts the vehicle slip mode, the application controls the front wheel or the rear wheel to perform a preset angle of eight-shaped deflection according to a preset fixed-wheel steering instruction, wherein the fixed-wheel steering instruction includes a fixed-front-wheel steering instruction or a fixed-rear-wheel steering instruction, and the eight-shaped deflection includes an outer eight-shaped deflection or an inner eight-shaped deflection; drives the wheel that needs to slip to slip until the wheel that needs to slip rotates at a constant speed, and then controls the rotation speed of the vehicle, wherein the wheel that needs to slip is selected according to the fixed-wheel steering instruction; and detects the vehicle resistance moment in real time, and controls the driven wheel of the vehicle to actively slip when the vehicle resistance moment is greater than a yaw moment threshold. Controlling the wheel rotation according to the fixed-wheel steering instruction can enable each wheel to independently steer and reduce tire wear. Controlling the low-speed slip of the wheel and the drive control of the driven wheel can avoid the vehicle bouncing caused by the increase in resistance moment under special road conditions, and improve the user driving experience in the process of controlling the synchronous slip of the vehicle.

[0054] In the embodiment of the application, the execution subject can be a control vehicle synchronous slip device in a control vehicle synchronous slip system. In actual application, the control vehicle synchronous slip device can be an electronic device such as a terminal device and a server, which is not limited here.

[0055] The control vehicle synchronous slip method of the embodiment of the application will be described in detail below. Figure 1

[0056] Please refer to Figure 1 , Figure 1 ​A flow chart of a method for controlling vehicle synchronous slip provided by an embodiment of the present application is shown in Figure 1 The method for controlling vehicle synchronous slip includes:

[0057] Step 110: When the driver starts the vehicle slip mode, control the front wheel or the rear wheel to perform a preset angle of eight-shaped deflection according to a preset fixed wheel steering instruction.

[0058] The fixed wheel steering instruction includes a fixed front wheel steering instruction or a fixed rear wheel steering instruction, and the eight-shaped deflection includes an outer eight-shaped deflection or an inner eight-shaped deflection. The fixed wheel steering instruction can be determined according to the selection or input of the driver. When it is a fixed front wheel steering instruction, one of the front wheels can be selected as a fixed front wheel, and the other front wheel can be set as a driven wheel. The preset angle can be set according to actual needs or selected by the driver according to the road conditions.

[0059] In some embodiments, controlling the front wheel or the rear wheel to perform a preset angle of eight-shaped deflection according to a preset fixed wheel steering instruction includes: when the fixed wheel steering instruction is a fixed front wheel steering instruction, controlling the rear wheel to perform a preset angle of outer eight-shaped deflection; and when the fixed wheel steering instruction is a fixed front wheel steering instruction, controlling the front wheel to perform a preset angle of inner eight-shaped deflection.

[0060] In the above process, the present application can control the selection of the fixed front wheel or the fixed rear wheel according to different steering instructions, and then control the corresponding rear wheel or front wheel to perform outer eight-shaped or inner eight-shaped deflection to realize independent steering of each wheel and reduce the wear of the tires during vehicle slip.

[0061] Specifically, it can be described in detail by referring to Figure 2 the vehicle slip four-wheel steering schematic diagram.

[0062] Please refer to Figure 2 , Figure 2 A vehicle slip four-wheel steering schematic diagram provided by the present application includes:

[0063] When the fixed wheel steering instruction is a fixed front wheel steering instruction, the front wheel is a fixed wheel and a driven wheel, and the rear wheel is controlled to perform a preset angle of outer eight-shaped deflection; when the fixed wheel steering instruction is a fixed front wheel steering instruction, the rear wheel is a fixed wheel and a driven wheel, and the front wheel is controlled to perform a preset angle of inner eight-shaped deflection.

[0064] Step 120: Drive the slip wheel to slip until the slip wheel rotates at a constant speed, and then control the rotation speed of the vehicle.

[0065] The wheel to be driven to slip is selected according to the steering instruction of the fixed wheel, and can be the selected front fixed wheel or rear fixed wheel, or the front fixed wheel and the driven wheel, or the rear fixed wheel and the driven wheel, or all the wheels. The control of the rotation speed of the vehicle can be to increase the rotation speed of the wheel, and the specific increase speed can be set according to requirements or set by the driver according to the actual road conditions. The uniform rotation can be a low-speed slip state, and the specific speed can be set according to requirements.

[0066] In some embodiments of the present application, when the steering instruction of the fixed wheel is the front fixed wheel instruction, the wheel to be driven to slip is driven to slip until the wheel to be driven to slip rotates at a uniform speed, and then the rotation speed of the vehicle is controlled, including: driving the front fixed wheel to slip at a uniform speed; adjusting the torque or wheel speed of the front fixed wheel according to a preset rule to control the rotation speed of the vehicle.

[0067] In the above process of the present application, the steering slip of each wheel is realized by driving the front fixed wheel to drive the steering slip of the other wheels, so that independent steering control of each wheel is realized, and tire wear is reduced.

[0068] The preset rule includes specific values of the torque or wheel speed of the front fixed wheel, which can be set according to requirements.

[0069] In some embodiments of the present application, when the steering instruction of the fixed wheel is the front fixed wheel instruction, the wheel to be driven to slip is driven to slip until the wheel to be driven to slip rotates at a uniform speed, and then the rotation speed of the vehicle is controlled, including: driving the rear fixed wheel to slip at a uniform speed; adjusting the torque or wheel speed of the rear fixed wheel according to a preset rule to control the rotation speed of the vehicle.

[0070] In the above process of the present application, the steering slip of each wheel is realized by driving the rear fixed wheel to drive the steering slip of the other wheels, so that independent steering control of each wheel is realized, and tire wear is reduced.

[0071] The preset rule also includes specific values of the torque or wheel speed of the rear fixed wheel, which can be set according to requirements.

[0072] Specifically, the driving of the wheel to be driven to slip until the wheel to be driven to slip rotates at a uniform speed and then the control of the rotation speed of the vehicle can be described in detail by using the synchronous slip power output strategy curve shown in the figure. Figure 3

[0073] Please refer to Figure 3 , Figure 3 for a schematic diagram of a synchronous slip power output strategy curve provided by the present application, including:

[0074] ​For the vehicle in the uneven road surface, when the driving wheel is in the process of starting or stopping, the road adhesion will change with the wheel (such as snow and sand) jump too large, which may cause the wheel to slide in the dynamic and static friction boundary, and the vehicle starting and stopping is not smooth. Further, with the change of realization, the vehicle wheel is in the low speed slip state, which can be realized by segmented power driving. When the synchronous slip torque and speed reach the set value, the front or rear wheel torque or speed is adjusted according to the preset rule, and the vehicle rotation speed control is carried out after the target torque or speed is reached.

[0075] Step 130: real-time detection of vehicle resistance torque, when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle driven wheel is controlled to be actively slipped.

[0076] Among them, the vehicle resistance torque can be the resistance torque of the driving wheel, or the resistance torque of all wheels, and the yaw moment threshold can be set according to the demand.

[0077] In some embodiments of the present application, the vehicle resistance torque is detected in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle driven wheel is controlled to be actively slipped, including: real-time detection of the resistance torque of the preset vehicle wheel, and when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle driven wheel is controlled to be actively slipped, wherein when the front wheel is fixed, the other front wheel is the driven wheel, and when the rear wheel is fixed, the other rear wheel is the driven wheel.

[0078] In the above process, the vehicle wheel resistance torque is detected in real time, and when the wheel resistance torque is large enough, the driven wheel can be controlled to be driven to realize the continuous slip of the vehicle wheel.

[0079] Among them, the real-time detection of the resistance torque of the preset vehicle wheel can be monitored by monitoring the yaw angular velocity and the yaw angle during the wheel steering process. The yaw angular velocity or the yaw angle changes in real time during the normal rotation process. Due to the increase of the resistance torque, the yaw angle change amplitude is greatly reduced under the original driving power, and it continues for a period of time to avoid the influence of sensor fluctuation, so it can be considered that the resistance torque exceeds the driving torque limit value, and the vehicle stops rotating. At this time, the increase of the resistance torque is identified. It can be realized by Figure 4 The resistance torque increase strategy driven wheel control schematic diagram shown in the figure is described in detail.

[0080] Please refer to Figure 4 , Figure 4 A resistance torque increase strategy driven wheel control schematic diagram is provided for the present application, which comprises:

[0081] When the vehicle control unit (VCU) identifies that the resistance torque increases, and considering the maximum driving capability of the driving system and temperature conditions, the fixed wheel can be controlled to change the originally driven wheel into a driving wheel to provide a yaw moment to offset the resistance torque, and the new driving power system outputs power to increase the driving torque instead of increasing the torque on the original driving system to avoid the original driving system from being unable to output power due to insufficient capability or rapid temperature rise. Meanwhile, the driven wheel mode can effectively reduce energy consumption and save energy under normal conditions.

[0082] In some embodiments of the present application, the vehicle resistance torque is detected in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle driven wheel is controlled to actively slip. The process includes: when the road adhesion changes during wheel slip, the vehicle resistance torque is detected in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle controller controls the power system to deliver power to the driven wheel to control the driven wheel to actively slip.

[0083] In the above process, the present application can control the driven wheel to actively slip when the vehicle resistance torque is greater than the yaw moment threshold to achieve smoothness of vehicle slip, reduce vehicle bumping, and achieve smooth vehicle slip under special road conditions.

[0084] In some embodiments of the present application, the preset fixed wheel steering instruction, the preset angle, and the yaw moment threshold are set according to requirements.

[0085] In the above process, the present application can set the fixed wheel steering instruction, the preset angle, and the yaw moment threshold according to actual requirements to provide conditions for vehicle slip and improve user experience.

[0086] In the above Figure 1 In the process shown above, when the driver turns on the vehicle slip mode, the front wheel or the rear wheel is controlled to deflect by a preset angle according to the preset fixed wheel steering instruction, wherein the fixed wheel steering instruction includes a fixed front wheel steering instruction or a fixed rear wheel steering instruction, and the eight-shaped deflection includes an outer eight-shaped deflection or an inner eight-shaped deflection; the wheel that needs to slip is controlled to slip until the wheel that needs to slip rotates at a constant speed, and then the vehicle rotation speed is controlled, wherein the wheel that needs to slip is selected according to the fixed wheel steering instruction; the vehicle resistance torque is detected in real time, and when the vehicle resistance torque is greater than the yaw moment threshold, the vehicle driven wheel is controlled to actively slip. Controlling the wheel to rotate by the fixed wheel steering instruction can make each wheel be able to independently steer and reduce tire wear. Controlling the wheel to slip at low speed and the driven wheel to be driven can avoid vehicle bumping caused by increased resistance torque under special road conditions, and achieve the effect of improving user driving experience in the process of controlling vehicle synchronous slip.

[0087] The following will be described in detail Figure 5 The implementation method for controlling vehicle synchronous slip according to the embodiments of the present application is described in detail.

[0088] Please refer to Figure 5 , Figure 5 A flow chart of an embodiment of a method for controlling vehicle synchronous slip is provided in the present application, as shown in Figure 5 The method for controlling vehicle synchronous slip includes:

[0089] Step 510: Defining the wheel and the eight offset outside the wheel.

[0090] Specifically: when the vehicle is in a special road condition such as snow-covered road, the left front wheel is rotated counterclockwise, and the rear wheel is controlled to perform an eight-shaped deflection outside (the rear wheel is deflected inside) after the steering system receives the wheel steering instruction.

[0091] Step 520: Low-speed slip control.

[0092] Specifically: in order to avoid the delay of the wheel slip control and other factors, the wheel can be controlled to slip at a low speed for a period of time (calibrated according to the actual vehicle) before the target torque or wheel speed is changed to increase the rotation speed when the wheel is in a stable slip state. At this time, the yaw moment and the resistance moment are in a balanced state.

[0093] Step 530: Adjusting the driving torque of the driven wheel automatically.

[0094] Specifically: due to the side slip of the rotating wheel of the vehicle, the side snow continuously accumulates, which causes the resistance moment to continuously increase. At a certain moment, the resistance moment exceeds the maximum value of the current yaw moment, and the vehicle cannot continue to rotate. The VCU (vehicle controller) monitors the vehicle rotation state in real time according to the yaw angular velocity or the yaw angle change. At this time, the yaw angle is almost unchanged, and the driving torque is at a peak state for a period of time. It is considered that the resistance moment has increased to the limit value of the driving torque at this time. The driving system controls the driving of the right front wheel to provide more driving torque, so as to drive the vehicle to continue to rotate to the target position, and then remove the power according to a certain slope and control the vehicle to be stationary.

[0095] In addition, Figure 5 The specific method and steps shown in Figure 1 The method will not be described in detail here.

[0096] The foregoing describes a method for controlling vehicle synchronous slip, and the following describes a device for controlling vehicle synchronous slip in combination with Figures 1-5 Figures 6-7 The foregoing describes a method for controlling vehicle synchronous slip, and the following describes a device for controlling vehicle synchronous slip in combination with

[0097] Please refer to Figure 6 A schematic block diagram of a device 600 for controlling vehicle synchronous slip is provided in the present application. The device 600 can be a module, a program segment or code on an electronic device. The device 600 is described above Figure 1 ​The method embodiment corresponds to the device embodiment, which can be executed Figure 1 The device 600 can perform the steps involved in the method embodiment, and the specific functions of the device 600 can be referred to the description below. To avoid repetition, the detailed description is appropriately omitted here.

[0098] Optionally, the device 600 comprises:

[0099] The first control module 610 is configured to control the front wheel or the rear wheel to perform a preset angle of eight-shaped deflection according to a preset wheel setting steering instruction when the driver starts the vehicle slip mode, wherein the wheel setting steering instruction comprises a front wheel setting steering instruction or a rear wheel setting steering instruction, and the eight-shaped deflection comprises an outer eight-shaped deflection or an inner eight-shaped deflection.

[0100] The driving module 620 is configured to drive the vehicle slip wheel to slip until the vehicle slip wheel rotates at a constant speed, and then control the vehicle rotation speed.

[0101] The second control module 630 is configured to detect the vehicle resistance moment in real time, and control the driven wheel of the vehicle to actively slip when the vehicle resistance moment is greater than a yaw moment threshold.

[0102] Optionally, the first control module is specifically configured to:

[0103] When the wheel setting steering instruction is the front wheel setting steering instruction, the rear wheel is controlled to perform a preset angle of outer eight-shaped deflection; and when the wheel setting steering instruction is the front wheel setting steering instruction, the front wheel is controlled to perform a preset angle of inner eight-shaped deflection.

[0104] Optionally, when the wheel setting steering instruction is the front wheel setting steering instruction, the first control module is specifically configured to:

[0105] Drive the front wheel to slip at a constant speed; and control the vehicle rotation speed by adjusting the front wheel torque or the wheel speed according to a preset rule.

[0106] Optionally, when the wheel setting steering instruction is the front wheel setting steering instruction, the first control module is specifically configured to:

[0107] Drive the rear wheel to slip at a constant speed; and control the vehicle rotation speed by adjusting the rear wheel torque or the wheel speed according to a preset rule.

[0108] Optionally, the second control module is specifically configured to:

[0109] Detect the resistance moment of the preset wheel of the vehicle in real time, and control the driven wheel of the vehicle to actively slip when the vehicle resistance moment is greater than a yaw moment threshold, wherein when the preset wheel is the front wheel, the other front wheel is the driven wheel, and when the preset wheel is the rear wheel, the other rear wheel is the driven wheel.

[0110] Optionally, the second control module is specifically configured to:

[0111] When the road adhesion changes during the wheel slip, the vehicle resistance moment is detected in real time, and when the vehicle resistance moment is greater than the threshold of yaw moment, the power system is controlled by the vehicle controller to deliver power to the driven wheel, and the driven wheel is controlled to perform active slip.

[0112] Optionally, the preset wheel setting instruction, the preset angle and the threshold of yaw moment are set according to requirements.

[0113] Please refer to Figure 7 A structure schematic block diagram of a device for controlling vehicle synchronous slip provided in the embodiments of the present application, which can include a memory 710 and a processor 720. Optionally, the device can also include a communication interface 730 and a communication bus 740. The device corresponds to the above-mentioned Figure 1 method embodiments, and can execute Figure 1 the steps involved in the method embodiments. The specific functions of the device can be referred to the description in the following.

[0114] Specifically, the memory 710 is configured to store computer readable instructions.

[0115] The processor 720 is configured to process the readable instructions stored in the memory, and can execute each step in the Figure 1 method.

[0116] The communication interface 730 is configured to communicate with other node devices in signaling or data. For example, it is configured to communicate with a server or a terminal, or communicate with other device nodes, and the embodiments of the present application are not limited thereto.

[0117] The communication bus 740 is configured to realize the direct connection communication of the above-mentioned components.

[0118] In the embodiments of the present application, the communication interface 730 of the device is configured to communicate with other node devices in signaling or data. The memory 710 can be a high-speed RAM memory, or a non-volatile memory, for example, at least one disk memory. The memory 710 can also be at least one storage device located away from the aforementioned processor. The memory 710 stores computer readable instructions, and when the computer readable instructions are executed by the processor 720, the electronic device executes the above-mentioned Figure 1The processor 720 can be used on the device 600 and used to perform the functions in the present application. For example, the processor 720 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and the embodiments of the present application are not limited thereto.

[0119] The embodiments of the present application further provide a readable storage medium, when the computer program is executed by the processor, the method is executed as Figure 1 The processor 720 can be used on the device 600 and used to perform the functions in the present application. For example, the processor 720 described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and the embodiments of the present application are not limited thereto.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the device described above can refer to the corresponding process in the foregoing method, and will not be described in detail here.

[0121] In summary, the embodiments of the present application provide a method, device, equipment and readable storage medium for controlling vehicle synchronous slip, the method comprising: when the driver turns on the vehicle slip mode, controlling the front wheel or the rear wheel to perform a preset angle of eight-shaped deflection according to a preset fixed wheel steering instruction, wherein the fixed wheel steering instruction comprises a fixed front wheel steering instruction or a fixed rear wheel steering instruction, and the eight-shaped deflection comprises an outer eight-shaped deflection or an inner eight-shaped deflection; driving the vehicle wheel to slip until the vehicle wheel rotates at a constant speed, and then controlling the rotation speed of the vehicle, wherein the vehicle wheel is selected according to the fixed wheel steering instruction; and detecting the vehicle resistance moment in real time, and when the vehicle resistance moment is greater than a yaw moment threshold, controlling the vehicle driven wheel to actively slip. Through the method, the user driving experience in the process of controlling vehicle synchronous slip can be improved.

[0122] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other means. The apparatus embodiments described above are only illustrative, for example, the flowcharts and block diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order from that shown in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0123] In addition, the functional modules in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0124] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0125] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0126] The above merely provides an example of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0127] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one from another entity or action without necessarily requiring or implying any actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation 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 but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Claims

1. A method for controlling the synchronous slippage of vehicles, characterized in that, include: When the driver activates the vehicle's coasting mode, the driver controls the front or rear wheels to make an octagonal turn at a preset angle according to the preset fixed wheel steering command. The fixed wheel steering command includes a fixed front wheel steering command or a fixed rear wheel steering command, and the octagonal turn includes an outward octagonal turn or an inward octagonal turn. Drive the wheel that needs to slide to slide until the wheel that needs to slide rotates at a constant speed, then control the vehicle rotation speed, wherein the wheel that needs to slide is selected according to the fixed wheel steering command; The vehicle's resistance torque is detected in real time. When the vehicle's resistance torque is greater than the yaw moment threshold, the driven wheels of the vehicle are controlled to actively slip.

2. The method according to claim 1, characterized in that, The step of controlling the front or rear wheels to perform an octagonal yaw at a preset angle according to a preset fixed-wheel steering command includes: When the fixed wheel steering command is the fixed front wheel command, the rear wheel is controlled to make an outward yaw at the preset angle; When the fixed wheel steering command is the fixed front wheel command, the front wheel is controlled to make an inward yaw at the preset angle.

3. The method according to claim 2, characterized in that, When the fixed-wheel steering command is the fixed-front-wheel command, the drive wheel that needs to slide slides until the wheel that needs to slide rotates at a constant speed, and then the vehicle rotation speed is controlled, including: Drive the fixed front wheel to rotate at a constant speed; The vehicle's rotation speed is controlled by adjusting the fixed front wheel torque or wheel speed according to preset rules.

4. The method according to claim 2, characterized in that, When the fixed-wheel steering command is the fixed-front-wheel command, the drive wheel that needs to slide slides until the wheel that needs to slide rotates at a constant speed, and then the vehicle rotation speed is controlled, including: Drive the rear wheels to rotate at a constant speed; The vehicle's rotation speed is controlled by adjusting the torque or speed of the rear wheels according to preset rules.

5. The method according to any one of claims 1-4, characterized in that, The real-time detection of vehicle resistance torque, and when the vehicle resistance torque exceeds the yaw moment threshold, controlling the driven wheels of the vehicle to actively slip, includes: The vehicle detects the resistance torque of the preset wheels in real time. When the vehicle resistance torque is greater than the yaw torque threshold, the vehicle controls the driven wheels to actively slide. When one front wheel is fixed, the other front wheel is the driven wheel. When the other rear wheel is fixed, the other rear wheel is the driven wheel.

6. The method according to any one of claims 1-4, characterized in that, The real-time detection of vehicle resistance torque, and when the vehicle resistance torque exceeds the yaw moment threshold, controlling the driven wheels of the vehicle to actively slip, includes: When the road surface adhesion changes during wheel slippage, the vehicle resistance torque is detected in real time. When the vehicle resistance torque is greater than the yaw moment threshold, the vehicle controller controls the power system to deliver power to the driven wheel, thereby controlling the driven wheel to actively slip.

7. The method according to any one of claims 1-4, characterized in that, The preset fixed wheel steering command, the preset angle, and the yaw moment threshold are set according to requirements.

8. A device for controlling the synchronous slippage of a vehicle, characterized in that, include: The first control module is used to control the front wheels or the rear wheels to make an octagonal turn at a preset angle according to a preset fixed wheel steering command when the driver activates the vehicle's coasting mode. The fixed wheel steering command includes a fixed front wheel steering command or a fixed rear wheel steering command, and the octagonal turn includes an outward octagonal turn or an inward octagonal turn. A drive module is used to drive the wheel to slide until the wheel to slide rotates at a constant speed and then control the vehicle rotation speed, wherein the wheel to slide is selected according to the fixed wheel steering command; The second control module is used to detect the vehicle's resistance torque in real time. When the vehicle's resistance torque is greater than the yaw moment threshold, it controls the vehicle's driven wheels to actively slip.

9. An electronic device, characterized in that, include: A memory and a processor, the memory storing computer-readable instructions that, when executed by the processor, perform the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, include: A computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1-7.

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