Vehicle control method and device, equipment, storage medium and product

Abstract

The invention discloses a vehicle control method and device, equipment, a storage medium and a product. The vehicle control method comprises the steps that gear parameters and request torque of a vehicle are obtained; according to the gear parameters and the request torque, the running state of the vehicle is determined to be a driving state or a recovery state; under the condition that the vehicle slips, a target rotating speed is determined according to the driving state of the vehicle; and controlling the rotation speed of a driving motor in the vehicle based on the target rotation speed. According to the method, under the condition that the vehicle slips, the rotating speed of the driving motor can be controlled according to the running state (such as the driving state / recycling state) of the vehicle, and therefore it can be ensured that when the vehicle slips in different running states, the rotating speed of the driving motor can be effectively controlled so that the vehicle can be separated from the slipping state.

Description

Technical Field

[0001] This application relates to the technical field of new energy vehicles, and particularly to a vehicle control method, device, equipment, storage medium and product. Background Art

[0002] When a vehicle is driving on a low-adhesion road surface, due to insufficient friction with the road surface, the vehicle is prone to skidding. Vehicle skidding not only reduces the vehicle's maneuverability and stability, but also may cause many risks such as vehicle out of control and deviation from the road. Therefore, how to effectively prevent vehicle skidding is an urgent problem to be solved at present. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle control method, device, equipment, storage medium and product to solve the problem of the lack of effective vehicle anti-skid strategies in the prior art.

[0004] To achieve the above purpose, the technical solutions adopted in this application are as follows: In the first aspect, an embodiment of this application provides a vehicle control method, which includes: obtaining the gear parameter and requested torque of the vehicle; determining the driving state of the vehicle as a driving state or a recovery state according to the gear parameter and the requested torque; when the vehicle skids, determining the target speed according to the driving state of the vehicle; and controlling the speed of the drive motor in the vehicle based on the target speed.

[0005] According to the above technical means, when the vehicle skids, the speed of the drive motor can be controlled according to the driving state of the vehicle (such as driving state / recovery state). In this way, it can be ensured that when the vehicle skids in different driving states, the speed of the drive motor can be effectively controlled to make the vehicle get out of the skidding state.

[0006] Further, determining the target speed according to the driving state of the vehicle includes: when the driving state of the vehicle is a driving state, determining the target speed based on the maximum allowable speed of the drive motor and a first threshold; when the driving state of the vehicle is a recovery state, determining the target speed based on the minimum allowable speed of the drive motor and a second threshold.

[0007] According to the above technical means, the methods for determining the target speed for the driving state and the recovery state are respectively clarified. In this way, it is beneficial to determine the suitable target speed for different driving states of the vehicle, so that when the vehicle skids in different driving states, the speed of the drive motor can be effectively controlled.

[0008] Further, when the driving state of the vehicle is the driving state, determining the target speed based on the maximum allowable speed of the driving motor and the first threshold includes: when the driving state of the vehicle is the driving state and the gear parameter is the forward gear, determining the target speed as: the difference between the maximum allowable speed of the driving motor and the first threshold; when the driving state of the vehicle is the driving state and the gear parameter is the reverse gear, determining the target speed as: the sum of the opposite of the maximum allowable speed of the driving motor and the first threshold; wherein, the maximum allowable speed of the driving motor and the first threshold are greater than 0.

[0009] According to the above technical means, for a vehicle in the driving state, when determining the target speed, the gear parameter of the vehicle also needs to be considered. In this way, for a vehicle in the driving state, it is beneficial to determine the target speed adapted to different gears respectively, so that when the vehicle slips in different gears, the speed of the driving motor can be effectively controlled.

[0010] Further, when the driving state of the vehicle is the recovery state, determining the target speed based on the minimum allowable speed of the driving motor and the second threshold includes: when the driving state of the vehicle is the recovery state and the gear parameter is the forward gear, determining the target speed as: the sum of the minimum allowable speed of the driving motor and the second threshold; when the driving state of the vehicle is the recovery state and the gear parameter is the reverse gear, determining the target speed as: the difference between the opposite of the minimum allowable speed of the driving motor and the second threshold; wherein, the minimum allowable speed of the driving motor and the second threshold are greater than 0.

[0011] According to the above technical means, for a vehicle in the recovery state, when determining the target speed, the gear parameter of the vehicle also needs to be considered. In this way, for a vehicle in the recovery state, it is beneficial to determine the target speed adapted to different gears respectively, so that when the vehicle slips in different gears, the speed of the driving motor can be effectively controlled.

[0012] Further, the vehicle control method further includes: when the driving state of the vehicle is the driving state, if the duration for which the driving motor continuously satisfies the first condition reaches the first duration, stop controlling the speed of the driving motor based on the target speed; when the driving state of the vehicle is the recovery state, if the duration for which the driving motor continuously satisfies the second condition reaches the second duration, stop controlling the speed of the driving motor based on the target speed; wherein, the first condition includes: the absolute value of the speed of the driving motor is less than the maximum allowable speed of the driving motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the driving motor is less than the third threshold; the second condition includes: the absolute value of the speed of the driving motor is greater than the minimum allowable speed of the driving motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the driving motor is less than the fourth threshold.

[0013] According to the above technical means, for vehicles in different driving states, it is possible to determine whether to stop controlling the speed of the drive motor based on the target speed according to different judgment conditions. In this way, it can be adapted to different application scenarios. In addition, in the first condition and the second condition, it is possible to judge whether the vehicle has left the skidding road surface through the torque relationship, and it is also possible to judge whether the vehicle has truly exited the skidding state through the speed of the drive motor. In this way, it is possible to avoid the situation where the vehicle abnormally exits the anti-skid control in the skidding state, and improve the stability of the anti-skid control.

[0014] Further, according to the gear parameter and the requested torque, determining the driving state of the vehicle as the driving state or the recovery state includes: when the gear parameter is the forward gear and the requested torque is greater than 0, or when the gear parameter is the reverse gear and the requested torque is less than 0, determining the driving state of the vehicle as the driving state; when the gear parameter is the forward gear and the requested torque is less than 0, or when the gear parameter is the reverse gear and the requested torque is greater than 0, determining the driving state of the vehicle as the recovery state.

[0015] According to the above technical means, the driving state of the vehicle (such as the driving state / recovery state) can be determined according to the gear parameter and the requested torque of the vehicle, so as to subsequently control the speed of the drive motor pertinently according to the driving state of the vehicle, so as to ensure that when the vehicle skids in different driving states, the speed of the drive motor can be effectively controlled to make the vehicle get out of the skidding state.

[0016] Further, the vehicle control method further includes: when the driving state of the vehicle is the driving state, if the absolute value of the speed of the drive motor is greater than the maximum allowable speed of the drive motor, it is determined that the vehicle is skidding; when the driving state of the vehicle is the recovery state, if the absolute value of the speed of the drive motor is less than the minimum allowable speed of the drive motor, it is determined that the vehicle is skidding.

[0017] According to the above technical means, when judging whether the vehicle is skidding, the driving state of the vehicle (such as the driving state / recovery state) can be combined, so that it can be adapted to the skidding judgment of vehicles in different scenarios.

[0018] Further, the vehicle includes a first drive motor and a second drive motor coaxially arranged, and the vehicle control method further includes: obtaining the output torque of the first drive motor and the torque of the second drive motor; when the output torque of the first drive motor is greater than the output torque of the second drive motor, if the output torque of the first drive motor is greater than the first torque, adjusting the output torque of the first drive motor to within the first torque, where the first torque is the sum of the output torque of the second drive motor and a fifth threshold; when the output torque of the second drive motor is greater than the output torque of the first drive motor, if the output torque of the second drive motor is greater than the second torque, adjusting the output torque of the second drive motor to within the second torque, where the second torque is the sum of the output torque of the first drive motor and a fifth threshold.

[0019] According to the above technical means, the difference between the output torque of the first drive motor and the output torque of the second drive motor can be limited within the fifth threshold, thereby avoiding vehicle yaw caused by too large a difference in the output torques of the two coaxially arranged drive motors.

[0020] In a second aspect, an embodiment of the present application provides a vehicle control device, which includes: a first acquisition unit for acquiring the gear parameter and the requested torque of the vehicle; a first determination unit for determining, according to the gear parameter and the requested torque, that the driving state of the vehicle is a driving state or a recovery state; a second determination unit for determining a target speed according to the driving state of the vehicle when the vehicle slips; and a control unit for controlling the speed of the drive motor in the vehicle based on the target speed.

[0021] In a third aspect, an embodiment of the present application provides a vehicle control device, which includes a memory and a processor; wherein, the memory is used for storing computer-executable instructions; the processor is connected to the memory and is used for implementing the method as described in the first aspect by executing the computer-executable instructions.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and the computer program, when executed by at least one processor, implements the method as described in the first aspect.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product including a computer program or instructions, and when the computer program or instructions are executed by a processor, the method as described in the first aspect is implemented.

[0024] Advantageous effects of the present application: When the vehicle slips, the speed of the drive motor can be controlled according to the driving state of the vehicle (such as the driving state / recovery state). In this way, it can be ensured that when the vehicle slips in different driving states, the speed of the drive motor can be effectively controlled to enable the vehicle to get out of the slipping state.

[0025] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, rather than limiting the technical solution of this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings herein are incorporated into and constitute a part of this specification. These drawings illustrate embodiments consistent with this application and, together with the specification, are used to explain the technical solution of this application.

[0027] Figure 1 Schematic flowchart of a vehicle control method provided by an embodiment of this application Figure 1 ; Figure 2 Schematic diagram of a vehicle control system provided by an embodiment of this application; Figure 3 Schematic flowchart of a vehicle control method provided by an embodiment of this application Figure 2 ; Figure 4 Schematic flowchart of a method for identifying a vehicle skidding state and calculating a target rotation speed provided by an embodiment of this application; Figure 5 Schematic diagram of torque linkage between two coaxial drive motors provided by an embodiment of this application; Figure 6 Schematic flowchart of the anti-skid control exit process corresponding to the forward gear provided by an embodiment of this application; Figure 7 Schematic flowchart of the anti-skid control exit process corresponding to the reverse gear provided by an embodiment of this application; Figure 8 Schematic diagram of the composition structure of a vehicle control device provided by an embodiment of this application; Figure 9 Schematic diagram of a hardware entity of a vehicle control device in an embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to understand the features and technical content of the embodiments of this application in more detail, the implementation of the embodiments of this application will be described in detail below with reference to the drawings. The attached drawings are for reference and illustration only and are not used to limit the embodiments of this application.

[0029] Unless otherwise defined, all technical and scientific terms used in the embodiments of this application have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the embodiments of this application are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0030] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict. It should also be noted that the terms "first / second / third" involved in the embodiments of the present application are only used to distinguish similar objects and do not represent a specific order for the objects. Understandably, "first / second / third" can be interchanged in a specific order or sequence when allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0031] It should be understood that the term "and / or" in the embodiments of the present application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the front and rear associated objects.

[0032] When a vehicle is driving on a low-adhesion road surface, due to insufficient friction with the road surface, the vehicle is prone to skidding. Vehicle skidding not only reduces the controllability and stability of the vehicle, but also may cause many risks such as vehicle out of control and deviation from the road. Therefore, how to effectively prevent vehicle skidding is an urgent problem to be solved at present.

[0033] In view of this, the embodiments of the present application provide a vehicle control method, device, equipment, storage medium and product. In this method, the driving state of the vehicle can be determined as a driving state or a recovery state according to the gear parameter and the requested torque of the vehicle. Furthermore, when the vehicle skids, the target speed can be determined according to the driving state of the vehicle, and the speed of the driving motor in the vehicle can be controlled based on the target speed.

[0034] According to the method of the embodiments of the present application, when the vehicle skids, the speed of the driving motor can be controlled according to the driving state of the vehicle (such as driving state / recovery state). In this way, it can be ensured that when the vehicle skids in different driving states, the speed of the driving motor can be effectively controlled to enable the vehicle to get out of the skidding state.

[0035] It should be noted that in some scenarios, the "driving motor" in the embodiments of the present application can also be simply referred to as "motor".

[0036] The following will describe each embodiment of the present application in detail with reference to the accompanying drawings.

[0037] The embodiments of the present application provide a vehicle control method, as Figure 1 shown, the method may include: S101, obtain the gear parameter and the requested torque of the vehicle.

[0038] In some embodiments, the gear position parameter and the requested torque of the vehicle can be provided by a vehicle controller in the vehicle.

[0039] Among them, the gear position parameter can be a forward gear or a reverse gear. When the gear position parameter is a forward gear, it indicates that the current gear of the vehicle is a forward gear; when the gear position parameter is a reverse gear, it indicates that the current gear of the vehicle is a reverse gear.

[0040] It should be noted that the "reverse gear" in the embodiments of the present application can also be referred to as (or replaced by) "backward gear".

[0041] S102. Determine whether the driving state of the vehicle is a driving state or a recuperation state according to the gear position parameter and the requested torque.

[0042] In this step, the driving state of the vehicle can be determined according to the gear position parameter and the requested torque obtained in S101. Among them, the driving state of the vehicle can be a driving state or a recuperation state.

[0043] In some embodiments, determining that the driving state of the vehicle is a driving state or a recuperation state according to the gear position parameter and the requested torque may include: when the gear position parameter is a forward gear and the requested torque is greater than 0, or when the gear position parameter is a reverse gear and the requested torque is less than 0, determining that the driving state of the vehicle is a driving state; when the gear position parameter is a forward gear and the requested torque is less than 0, or when the gear position parameter is a reverse gear and the requested torque is greater than 0, determining that the driving state of the vehicle is a recuperation state.

[0044] For example, when the gear position parameter is a forward gear and the requested torque is greater than 0, it can be determined that the driving state of the vehicle is a driving state. That is to say, if the gear position parameter of the vehicle is a forward gear and the requested torque is positive, it can be determined that the driving state of the vehicle is a driving state.

[0045] Another example, when the gear position parameter is a reverse gear and the requested torque is less than 0, it can be determined that the driving state of the vehicle is a driving state. That is to say, if the gear position parameter of the vehicle is a reverse gear and the requested torque is negative, it can be determined that the driving state of the vehicle is a driving state.

[0046] Another example, when the gear position parameter is a forward gear and the requested torque is less than 0, it can be determined that the driving state of the vehicle is a recuperation state. That is to say, if the gear position parameter of the vehicle is a forward gear and the requested torque is negative, it can be determined that the driving state of the vehicle is a recuperation state.

[0047] Another example, when the gear position parameter is a reverse gear and the requested torque is greater than 0, it can be determined that the driving state of the vehicle is a recuperation state. That is to say, if the gear position parameter of the vehicle is a reverse gear and the requested torque is positive, it can be determined that the driving state of the vehicle is a recuperation state.

[0048] Through the above technical means, the driving state of the vehicle (such as driving state / regenerative state) can be determined according to the gear parameter and the requested torque of the vehicle, so as to subsequently control the speed of the drive motor pertinently according to the driving state of the vehicle, thereby ensuring that when the vehicle slips in different driving states, the speed of the drive motor can be effectively controlled to make the vehicle get out of the slipping state.

[0049] S103. When the vehicle slips, determine the target speed according to the driving state of the vehicle.

[0050] In some embodiments, it is possible to determine whether the vehicle slips. If the vehicle slips, the target speed can be determined according to the driving state of the vehicle, and then the speed of the drive motor in the vehicle can be controlled based on the target speed.

[0051] In some scenarios, the vehicle slipping can also be understood as the wheels of the vehicle slipping. In addition, since the speed of the drive motor determines the speed of the wheels, controlling the speed of the drive motor can also be understood as controlling the speed of the wheels.

[0052] In some embodiments, the method may further include: when the driving state of the vehicle is the driving state, if the absolute value of the speed of the drive motor is greater than the maximum allowable speed of the drive motor, it is determined that the vehicle slips; when the driving state of the vehicle is the regenerative state, if the absolute value of the speed of the drive motor is less than the minimum allowable speed of the drive motor, it is determined that the vehicle slips.

[0053] Wherein, the speed of the drive motor is the actual speed of the drive motor. Exemplarily, the speed of the drive motor can be obtained by analyzing the resolver signal of the drive motor.

[0054] In some scenarios, the maximum allowable speed of the drive motor refers to the maximum speed of the drive motor allowed under the condition of conforming to the current normal driving state of the vehicle. For example, the maximum allowable speed of the drive motor is V max , then, the absolute value of the speed of the drive motor should not exceed V max , if it exceeds V max , it means that the speed of the drive motor does not conform to the current normal driving state of the vehicle.

[0055] Exemplarily, the maximum allowable speed of the drive motor can be provided by the vehicle's vehicle control unit, and the maximum allowable speed of the drive motor is a positive value.

[0056] In some scenarios, the minimum allowable speed of the drive motor refers to the minimum speed of the drive motor that is allowed when the vehicle is in a normal driving state. For example, the minimum allowable speed of the drive motor is V min , then, the absolute value of the speed of the drive motor should not be lower than V min , if it is lower than V min , it indicates that the speed of the drive motor does not conform to the current normal driving state of the vehicle.

[0057] Exemplarily, the minimum allowable speed of the drive motor can be provided by the vehicle's vehicle controller, and the minimum allowable speed of the drive motor is a positive value.

[0058] In one implementation, when the vehicle's driving state is the driving state, if the absolute value of the speed of the drive motor is greater than the maximum allowable speed of the drive motor, it can be determined that the vehicle is slipping. That is, if |the speed of the drive motor| > the maximum allowable speed of the drive motor, it can be determined that the vehicle is slipping. Here, "|the speed of the drive motor|" represents the absolute value of the speed of the drive motor.

[0059] As an example, when the vehicle's gear parameter is in the forward gear and the vehicle's driving state is the driving state, if the speed of the drive motor is greater than the maximum allowable speed of the drive motor, it can be determined that the vehicle is slipping. Here, both the speed of the drive motor and the maximum allowable speed of the drive motor are positive values. At this time, it can be considered that the vehicle is in a driving slip state.

[0060] Another example, when the vehicle's gear parameter is in the reverse gear and the vehicle's driving state is the driving state, if the speed of the drive motor is less than (- the maximum allowable speed of the drive motor), it can be determined that the vehicle is slipping. Here, the speed of the drive motor is negative, the maximum allowable speed of the drive motor is positive, and "- the maximum allowable speed of the drive motor" represents the opposite of the maximum allowable speed of the drive motor. At this time, it can be considered that the vehicle is in a driving slip state.

[0061] In one implementation, when the vehicle's driving state is the recovery state, if the absolute value of the speed of the drive motor is less than the minimum allowable speed of the drive motor, it can be determined that the vehicle is slipping. That is, if |the speed of the drive motor| < the minimum allowable speed of the drive motor, it can be determined that the vehicle is slipping. Here, "|the speed of the drive motor|" represents the absolute value of the speed of the drive motor.

[0062] As an example, when the vehicle's gear parameter is in the forward gear and the vehicle's driving state is the recovery state, if the speed of the drive motor is less than the minimum allowable speed of the drive motor, it can be determined that the vehicle is slipping. Here, both the speed of the drive motor and the minimum allowable speed of the drive motor are positive values. At this time, it can be considered that the vehicle is in a recovery slip state.

[0063] In another example, when the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is in the recovery state, if the rotational speed of the drive motor is greater than (- the minimum allowable rotational speed of the drive motor), it can be determined that the vehicle is skidding. Here, the rotational speed of the drive motor is negative, the minimum allowable rotational speed of the drive motor is positive, and "- the minimum allowable rotational speed of the drive motor" represents the opposite of the minimum allowable rotational speed of the drive motor. At this time, the vehicle can be considered to be in a recovery skidding state.

[0064] Through the above technical means, when determining whether the vehicle is skidding, the driving state of the vehicle (such as the driving state / recovery state) can be combined. In this way, it can be adapted to the determination of vehicle skidding in different scenarios.

[0065] In some embodiments, determining the target rotational speed according to the driving state of the vehicle may include: when the driving state of the vehicle is the driving state, determining the target rotational speed based on the maximum allowable rotational speed of the drive motor and the first threshold; when the driving state of the vehicle is the recovery state, determining the target rotational speed based on the minimum allowable rotational speed of the drive motor and the second threshold.

[0066] In some embodiments, the first threshold and the second threshold can be calibrated / set according to the actual vehicle debugging. Exemplarily, the first threshold and the second threshold can be positive values. Among them, the first threshold and the second threshold can be equal or unequal.

[0067] Through the above technical means, the methods for determining the target rotational speed for the driving state and the recovery state are respectively clarified. In this way, it is beneficial to respectively determine the target rotational speed adapted to different driving states of the vehicle, so that when the vehicle skids in different driving states, the rotational speed of the drive motor can be effectively controlled.

[0068] In some embodiments, when the driving state of the vehicle is the driving state, determining the target rotational speed based on the maximum allowable rotational speed of the drive motor and the first threshold may include: when the driving state of the vehicle is the driving state and the gear parameter is in the forward gear, determining the target rotational speed as: the difference between the maximum allowable rotational speed of the drive motor and the first threshold; when the driving state of the vehicle is the driving state and the gear parameter is in the reverse gear, determining the target rotational speed as: the sum of the opposite of the maximum allowable rotational speed of the drive motor and the first threshold; where the maximum allowable rotational speed of the drive motor and the first threshold are greater than 0.

[0069] For example, when the driving state of the vehicle is the driving state and the gear parameter is in the forward gear, the target rotational speed can be determined as: the difference between the maximum allowable rotational speed of the drive motor and the first threshold. That is, the target rotational speed = the maximum allowable rotational speed of the drive motor - the first threshold.

[0070] In another example, when the driving state of the vehicle is the driving state and the gear parameter is the reverse gear, the target speed can be determined as the sum of the opposite of the maximum allowable speed of the driving motor and the first threshold. That is, the target speed = (- the maximum allowable speed of the driving motor) + the first threshold.

[0071] By the above technical means, for a vehicle in the driving state, when determining the target speed, the gear parameter of the vehicle also needs to be considered. In this way, for a vehicle in the driving state, it is beneficial to determine the target speed adapted to different gears respectively, so that when the vehicle slips in different gears, the speed of the driving motor can be effectively controlled.

[0072] In some embodiments, when the driving state of the vehicle is the recovery state, determining the target speed based on the minimum allowable speed of the driving motor and the second threshold may include: when the driving state of the vehicle is the recovery state and the gear parameter is the forward gear, determining the target speed as the sum of the minimum allowable speed of the driving motor and the second threshold; when the driving state of the vehicle is the recovery state and the gear parameter is the reverse gear, determining the target speed as the difference between the opposite of the minimum allowable speed of the driving motor and the second threshold; wherein, the minimum allowable speed of the driving motor and the second threshold are greater than 0.

[0073] One example, when the driving state of the vehicle is the recovery state and the gear parameter is the forward gear, the target speed can be determined as the sum of the minimum allowable speed of the driving motor and the second threshold. That is, the target speed = the minimum allowable speed of the driving motor + the second threshold.

[0074] Another example, when the driving state of the vehicle is the recovery state and the gear parameter is the reverse gear, the target speed can be determined as the difference between the opposite of the minimum allowable speed of the driving motor and the second threshold. That is, the target speed = (- the minimum allowable speed of the driving motor) - the second threshold.

[0075] By the above technical means, for a vehicle in the recovery state, when determining the target speed, the gear parameter of the vehicle also needs to be considered. In this way, for a vehicle in the recovery state, it is beneficial to determine the target speed adapted to different gears respectively, so that when the vehicle slips in different gears, the speed of the driving motor can be effectively controlled.

[0076] In some embodiments, the first threshold and the second threshold can be determined based on the following steps: Step a1: In the test stage, control the speed of the driving motor based on the set speed to obtain the control error.

[0077] Step a2: Determine the first threshold and the second threshold as the control error.

[0078] For example, the set rotational speed is V target , and the obtained control error is V error (V error is a positive value). Then, it can be shown that when controlling the rotational speed of the drive motor based on V target , the rotational speed of the drive motor will fluctuate within the range of [V target - V error , V target + V error .

[0079] Therefore, the first threshold can be set to V error . In this way, during the process of controlling the rotational speed of the drive motor based on the target rotational speed, even if the rotational speed of the drive motor fluctuates, the absolute value of the rotational speed of the drive motor will not exceed the maximum allowable rotational speed of the drive motor. Similarly, the second threshold can be set to V error . In this way, during the process of controlling the rotational speed of the drive motor based on the target rotational speed, even if the rotational speed of the drive motor fluctuates, the absolute value of the rotational speed of the drive motor will not be lower than the minimum allowable rotational speed of the drive motor.

[0080] S104, control the rotational speed of the drive motor in the vehicle based on the target rotational speed.

[0081] After determining the target rotational speed, the rotational speed of the drive motor in the vehicle can be controlled based on the target rotational speed. For example, the rotational speed of the drive motor can be controlled to the target rotational speed.

[0082] As an implementation method, in order to control the rotational speed of the drive motor to the target rotational speed, the current corresponding to the target rotational speed of the drive motor can be determined according to the correspondence between the rotational speed and the current of the drive motor. Furthermore, this current can be output to the drive motor so that the drive motor operates based on this current. In this way, the rotational speed of the drive motor can gradually approach the target rotational speed.

[0083] For example, when the rotational speed of the drive motor is the target rotational speed, the corresponding current is I1. Then, the current I1 can be output to the drive motor so that the drive motor operates based on I1. When the drive motor operates based on I1, the rotational speed of the drive motor will gradually approach the target rotational speed.

[0084] It can be understood that when the output torque of the drive motor is changed, the rotational speed of the drive motor will also change accordingly. For example, when the direction of the output torque of the drive motor is consistent with the rotational direction of the drive motor, the output torque of the drive motor and the rotational speed of the drive motor are positively correlated; when the direction of the output torque of the drive motor is inconsistent with the rotational direction of the drive motor, the output torque of the drive motor and the rotational speed of the drive motor are negatively correlated. Therefore, the rotational speed of the drive motor can also be controlled to a target rotational speed by controlling the output torque of the drive motor.

[0085] For example, if the target rotational speed is V1 and the current rotational speed of the drive motor is V2, then the target torque T can be calculated. target When the output torque of the drive motor is T target , the rotational speed of the drive motor can gradually tend to V1 from V2. In this case, the current I corresponding to T can be output to the drive motor target so that the drive motor operates based on I. target target

[0086] In some embodiments, during the process of controlling the rotational speed of the drive motor based on the target rotational speed, it should be ensured that the absolute value of the requested torque is greater than the absolute value of the output torque of the drive motor, that is, |requested torque| > |output torque of the drive motor|. Here, "|requested torque|" represents the absolute value of the requested torque, and "|output torque of the drive motor|" represents the absolute value of the output torque of the drive motor.

[0087] In some embodiments, during the process of controlling the rotational speed of the drive motor based on the target rotational speed, it should also be ensured that the requested torque and the output torque of the drive motor have the same sign. For example, both the requested torque and the output torque of the drive motor can be positive or both negative.

[0088] In some embodiments, the method may further include: when the driving state of the vehicle is the driving state, if the duration for which the drive motor continuously satisfies the first condition reaches the first duration, then stop controlling the rotational speed of the drive motor based on the target rotational speed; when the driving state of the vehicle is the recovery state, if the duration for which the drive motor continuously satisfies the second condition reaches the second duration, then stop controlling the rotational speed of the drive motor based on the target rotational speed.

[0089] In some embodiments, the first duration and the second duration can be pre-calibrated / set values. The first duration and the second duration can be equal or unequal.

[0090] In some embodiments, the first condition may include: the absolute value of the rotational speed of the drive motor is less than the maximum allowable rotational speed of the drive motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than a third threshold. In other words, the first condition may include the following condition 11 and / or condition 12.

[0091] Condition 11: The absolute value of the rotational speed of the drive motor is less than the maximum allowable rotational speed of the drive motor. That is, |rotational speed of the drive motor| < maximum allowable rotational speed of the drive motor.

[0092] For example, when the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is the driving state, condition 11 can be described as: rotational speed of the drive motor < maximum allowable rotational speed of the drive motor. Wherein, both the rotational speed of the drive motor and the maximum allowable rotational speed of the drive motor are positive values.

[0093] Again, for example, when the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is the driving state, condition 11 can be described as: rotational speed of the drive motor > (- maximum allowable rotational speed of the drive motor). Wherein, the rotational speed of the drive motor is a negative value and the maximum allowable rotational speed of the drive motor is a positive value.

[0094] Condition 12: The difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than a third threshold. That is, |requested torque| - |output torque of the drive motor| < third threshold. In this embodiment, it is assumed that |requested torque| > |output torque of the drive motor|, and the requested torque and the output torque of the drive motor have the same sign.

[0095] For example, when the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is the driving state, condition 12 can be described as: requested torque - output torque of the drive motor < third threshold. Wherein, both the requested torque and the output torque of the drive motor are positive values.

[0096] Again, for example, when the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is the driving state, condition 12 can be described as: output torque of the drive motor - requested torque < third threshold. Wherein, both the requested torque and the output torque of the drive motor are negative values.

[0097] For a vehicle in the driving state, if the duration of continuously satisfying condition 11 and / or condition 12 reaches a first duration, it can be considered that the vehicle has got out of the slipping state. At this time, the control of the rotational speed of the drive motor based on the target rotational speed can be stopped, or in other words, the anti-skid control of the vehicle can be exited.

[0098] In some embodiments, the second condition may include: the absolute value of the rotational speed of the drive motor is greater than the minimum allowable rotational speed of the drive motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than a fourth threshold. In other words, the second condition may include the following condition 21 and / or condition 22.

[0099] Condition 21: The absolute value of the rotational speed of the drive motor is greater than the minimum allowable rotational speed of the drive motor. That is, |rotational speed of the drive motor| > minimum allowable rotational speed of the drive motor.

[0100] For example, when the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is in the recuperation state, condition 21 can be described as: rotational speed of the drive motor > minimum allowable rotational speed of the drive motor. Wherein, both the rotational speed of the drive motor and the minimum allowable rotational speed of the drive motor are positive values.

[0101] For another example, when the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is in the recuperation state, condition 21 can be described as: rotational speed of the drive motor < (- minimum allowable rotational speed of the drive motor). Wherein, the rotational speed of the drive motor is a negative value and the minimum allowable rotational speed of the drive motor is a positive value.

[0102] Condition 22: The difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than a fourth threshold. That is, |requested torque| - |output torque of the drive motor| < fourth threshold. In this embodiment, it is assumed that |requested torque| > |output torque of the drive motor|, and the requested torque and the output torque of the drive motor have the same sign.

[0103] For example, when the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is in the recuperation state, condition 22 can be described as: output torque of the drive motor - requested torque < fourth threshold. Wherein, both the requested torque and the output torque of the drive motor are negative values.

[0104] For another example, when the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is in the recuperation state, condition 22 can be described as: requested torque - output torque of the drive motor < fourth threshold. Wherein, both the requested torque and the output torque of the drive motor are positive values.

[0105] For a vehicle in the recuperation state, if the duration of continuously satisfying condition 21 and / or condition 22 reaches a second duration, it can be considered that the vehicle has disengaged from the slipping state. At this time, the control of the rotational speed of the drive motor based on the target rotational speed can be stopped, or in other words, the anti-skid control of the vehicle can be exited.

[0106] In some embodiments, the third threshold and the fourth threshold can be pre-calibrated / set values. Exemplarily, the third threshold and the fourth threshold can be positive values. Among them, the third threshold and the fourth threshold can be equal or unequal.

[0107] In some embodiments, the third threshold and the fourth threshold may be determined based on the following steps: Step b1: In the test phase, when the vehicle is on a high - adhesion road surface, adjust the output torque of the drive motor so that the rotational speed of the drive motor reaches the target rotational speed. Assume that when the output torque of the drive motor is adjusted to T target the rotational speed of the drive motor can reach the target rotational speed.

[0108] Step b2: Calculate the difference between the absolute value of the requested torque and the absolute value of T target and use this difference as the third threshold and the fourth threshold.

[0109] In this way, during the process of controlling the rotational speed of the drive motor based on the target rotational speed, if the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than the third threshold / fourth threshold, it can be indicated that the vehicle has traveled onto a high - adhesion road surface.

[0110] Through the above - mentioned technical means, for vehicles in different driving states, it is possible to determine whether to stop controlling the rotational speed of the drive motor based on the target rotational speed according to different judgment conditions. In this way, it can be adapted to different application scenarios. In addition, in the first condition and the second condition, it is possible to judge whether the vehicle has left the skidding road surface through the torque relationship (for example, if condition 12 or condition 22 is satisfied, it can be considered that the vehicle has left the skidding road surface), and it is also possible to judge whether the vehicle has truly escaped from the skidding state through the rotational speed of the drive motor. In this way, the situation where the vehicle abnormally exits the anti - skid control in the skidding state can be avoided, and the stability of the anti - skid control is improved.

[0111] In some embodiments, the vehicle may include a first drive motor and a second drive motor coaxially. The method may further include: obtaining the output torque of the first drive motor and the torque of the second drive motor; when the output torque of the first drive motor is greater than the output torque of the second drive motor, if the output torque of the first drive motor is greater than the first torque, adjust the output torque of the first drive motor to within the first torque, where the first torque is the sum of the output torque of the second drive motor and the fifth threshold; when the output torque of the second drive motor is greater than the output torque of the first drive motor, if the output torque of the second drive motor is greater than the second torque, adjust the output torque of the second drive motor to within the second torque, where the second torque is the sum of the output torque of the first drive motor and the fifth threshold.

[0112] For example, assume that the output torque of the first drive motor is T1 and the output torque of the second drive motor is T2. Then, there are the following situations 1 and 2.

[0113] Case 1: T1 > T2. In this case, the first torque = T2 + the fifth threshold. That is, if T1 > T2 + the fifth threshold, then T1 can be adjusted so that the adjusted T1 ≤ T2 + the fifth threshold.

[0114] Case 2: T2 > T1. In this case, the second torque = T1 + the fifth threshold. That is, if T2 > T1 + the fifth threshold, then T2 can be adjusted so that the adjusted T2 ≤ T1 + the fifth threshold.

[0115] It can be understood that during the process of controlling the speeds of the first drive motor and the second drive motor based on the target speed, the output torques of the first drive motor and the second drive motor may differ greatly, resulting in vehicle yaw. Through the above technical means, the difference between the output torque of the first drive motor and the output torque of the second drive motor can be limited within the fifth threshold, thereby avoiding vehicle yaw caused by too large a difference in the output torques of the two coaxial drive motors.

[0116] In some embodiments, the fifth threshold can be determined based on the following steps: Step c1: During the test phase, gradually increase the difference in the output torques of the two coaxial drive motors until the vehicle yaws. Assume this difference is T error when the vehicle yaws.

[0117] Step c2: Determine the fifth threshold as T error .

[0118] According to step c1, if the difference in the output torques of the two coaxial drive motors reaches T error , then it will cause the vehicle to yaw. Then, in order to avoid vehicle yaw, the difference in the output torques of the two coaxial drive motors can be limited within T error . Therefore, the fifth threshold can be determined as T error .

[0119] In some embodiments, this method can be applied to the motor controller in a vehicle. In this case, the solutions in S101 to S104 above can be executed by the motor controller.

[0120] As described above in combination with Figure 1 This application embodiment provides a vehicle control method. To facilitate understanding of the embodiments of this application, the vehicle control method provided by the embodiments of this application will be elaborated in detail below in combination with specific application scenarios.

[0121] An embodiment of the present application provides an anti-slip strategy based on the vehicle controller sending the upper and lower limits of the driving motor speed, and the motor controller completes operations such as slip state recognition, control mode switching, and exit logic judgment. Through this strategy, the response speed of anti-slip control can be increased, the exit strategy of anti-slip control can be optimized, and the coverage of anti-slip control for vehicle application scenarios and different power configuration models can be increased.

[0122] Exemplarily, the technical solution of the embodiment of the present application may include the following steps 1 to 3.

[0123] Step 1: The motor controller obtains the following parameters sent by the vehicle controller: the maximum allowable speed of the driving motor (abbreviated as the maximum speed of the driving motor), the minimum allowable speed of the driving motor (abbreviated as the minimum speed of the driving motor), the gear parameter of the vehicle (abbreviated as the gear parameter), and the requested torque of the vehicle controller (abbreviated as the requested torque). After receiving the above parameters, the motor controller can determine whether the vehicle is in the driving state or the recovery state by identifying the positive and negative of the gear parameter and the requested torque.

[0124] In one implementation, when the gear parameter is the forward gear and the requested torque is greater than 0, or when the gear parameter is the reverse gear and the requested torque is less than 0, it can be determined that the vehicle is in the driving state. At this time, if the motor controller identifies that |the actual speed of the driving motor| is greater than the maximum speed of the driving motor, it can be considered that the vehicle is in the driving slip state. Here, "|the actual speed of the driving motor|" represents the absolute value of the actual speed of the driving motor.

[0125] In one implementation, when the gear parameter is the forward gear and the requested torque is less than 0, or when the gear parameter is the reverse gear and the requested torque is greater than 0, it can be determined that the vehicle is in the recovery state. At this time, if the motor controller identifies that |the actual speed of the driving motor| is less than the minimum speed of the driving motor, it can be considered that the vehicle is in the recovery slip state.

[0126] Step 2: When the motor controller identifies that the vehicle is in the slip state (such as the driving slip state / the recovery slip state), it can actively switch the control mode to the speed control mode and perform speed control with the target speed (a calibratable value related to the maximum / minimum speed of the driving motor). Among them, the speed control mode can also be called the anti-slip control mode.

[0127] According to the method of this embodiment, both the slip recognition logic and the control mode switching logic can be integrated into the motor controller. It can be understood that if the slip recognition logic and the control mode switching logic are implemented in different units respectively, it is necessary to perform back-and-forth information interaction between different units. Through the method of this embodiment, the back-and-forth information interaction between the motor controller and other units can be avoided, thereby improving the recognition speed of the slip state, shortening the response time of the anti-slip control, and significantly improving the anti-slip performance. At the same time, the above design can recognize the slip in the drive / regeneration state in different gears, improving the coverage of the anti-slip control in the application scenario.

[0128] Exemplarily, after the control mode is switched to the speed control mode, it will continue to work in the speed control mode before the anti-slip control exit condition (that is, the exit condition of the speed control mode) is satisfied. In the speed control mode, the torque output by the motor controller will not be greater than the requested torque of the vehicle controller. If the vehicle is in the regeneration slip state, the torque output by the motor controller should also have the same sign as the requested torque of the vehicle controller, and there should be no zero-crossing situation.

[0129] Step 3: Exit the speed control mode when the anti-slip control exit condition is satisfied.

[0130] In one implementation, the anti-slip control exit condition corresponding to the drive slip state may include: |actual speed of the drive motor| is less than the maximum speed of the drive motor, and the difference between |requested torque| and |output torque of the drive motor| is within a certain range (a calibrated value, which can be calibrated according to the actual vehicle debugging). Here, "|requested torque|" represents the absolute value of the requested torque; "|output torque of the drive motor|" represents the absolute value of the output torque of the drive motor.

[0131] In one implementation, the anti-slip control exit condition corresponding to the regeneration slip state may include: |actual speed of the drive motor| is greater than the minimum speed of the drive motor, and the difference between |requested torque| and |output torque of the drive motor| is within a certain range (a calibrated value, calibrated according to the actual vehicle debugging).

[0132] In some embodiments, when the motor controller determines that the anti-slip control exit condition is satisfied, to prevent state bounce, the speed control mode can be exited after a certain confirmation time (a calibrated value, which can be calibrated according to the actual vehicle debugging). In some embodiments, if the anti-slip control exit condition is not satisfied for a long time (a calibrated value, which can be calibrated according to the actual vehicle debugging), the speed control mode will be forcibly exited to meet the driver's driving intention.

[0133] After exiting the speed control mode, the motor controller can internally switch the control mode to the torque control mode, and can transition the output torque of the drive motor from the speed control torque of the last cycle to the requested torque of the vehicle controller at a certain slope. Thus, the anti-skid control is completed. Among them, the speed control torque of the last cycle can also be understood as: the output torque of the drive motor within the last control cycle of the speed control mode.

[0134] According to the method of this embodiment, the anti-skid control exit condition not only judges the relationship between the actual speed of the drive motor and the maximum / minimum speed of the drive motor, but also judges the relationship between the output torque of the drive motor and the requested torque. In this way, it can be judged whether the vehicle has left the skidding road surface from the torque relationship, and it can also be judged whether the vehicle has truly exited the skidding state from the relationship between the actual speed of the drive motor and the maximum / minimum speed of the drive motor. In this way, the situation of abnormally exiting the anti-skid control under the skidding state can be avoided, and the stability of the anti-skid control is improved.

[0135] Furthermore, considering the actual application situation of distributed electric drives on the vehicle, the embodiment of the present application provides a special strategy for distributed electric drives. Exemplarily, when the wheels associated with two drive motors on the same axis of the distributed electric drive skid simultaneously, both of the two motors on the same axis may be in the anti-skid control process. At this time, if the output torques of the two drive motors on the same axis differ too much, it will cause the vehicle to yaw. To avoid this problem, the difference in the output torques of the two drive motors on the same axis can be limited. For example: when the two drive motors on the same axis are both in the anti-skid control, the magnitudes of the output torques of the two drive motors can be compared. Furthermore, on the basis of the smaller torque, a limit torque (obtained by looking up the table according to the average speed of the two drive motors and can be calibrated) can be added as the output torque upper limit of the other drive motor, so as to limit the torque upper limit of the drive motor with a larger output torque. According to this scheme, it can effectively prevent the vehicle from yawing due to excessive torque difference when the two drive motors on the same axis of the distributed electric drive are both in the anti-skid control.

[0136] According to the method of this embodiment, the torque linkage strategy for distributed electric drive models is added, which fully ensures the stable operation of the vehicle and improves the reliability of the anti-skid control.

[0137] The solution of the embodiment of the present application will be described in detail below.

[0138] The embodiment of the present application provides a vehicle control system, which can be applied to the vehicle environment. As Figure 2 shown, the vehicle control system 200 may include: a motor controller 11, a drive motor 12, a vehicle controller 13, a slope sensor 14, an accelerator / brake pedal 15. Among them, the motor controller 11 may include an anti-skid control module 16.

[0139] Exemplarily, the motor controller 11 can be used to complete anti-skid control, including skid state judgment, target speed calculation, speed closed-loop regulation, anti-skid control exit, etc. The drive motor 12 can be used to complete anti-skid control torque output and motor speed signal feedback. The vehicle controller 13 can be used to calculate the maximum / minimum speed (both positive values) of the drive motor that conforms to the current normal driving state of the vehicle according to the slope sensor 14 and the accelerator / brake pedal 15, and send it to the motor controller 11 together with the gear parameter and requested torque of the vehicle.

[0140] An embodiment of the present application provides a vehicle control method, as Figure 3 shown, the method may include: S301, obtain the maximum / minimum speed of the drive motor, the requested torque, the gear parameter, the actual speed of the drive motor, and the output torque of the drive motor.

[0141] In this step, the motor controller 11 can obtain the maximum / minimum speed of the drive motor, the requested torque, and the gear parameter sent by the vehicle controller 13 through the vehicle network, and can obtain the resolver signal from the drive motor 12 and resolve it into a speed signal. At the same time, the motor controller 11 can estimate the output torque of the current drive motor through its own algorithm. The purpose of this step is to prepare input parameters for anti-skid control.

[0142] S302, determine the driving state of the vehicle according to the requested torque and the gear parameter of the vehicle.

[0143] After receiving the relevant parameters, the motor controller 11 can judge the driving state of the vehicle to judge the skid state of the vehicle subsequently. The judgment process of the vehicle driving state is as Figure 4 shown, the steps are as follows: S401, judge whether the gear parameter is a forward gear or a reverse gear.

[0144] In this step, the motor controller 11 can judge whether the gear parameter sent by the vehicle controller 13 is a forward gear or a reverse gear. If the gear parameter is a forward gear, S402 is executed; if the gear parameter is a reverse gear, S405 is executed.

[0145] S402, judge the positive or negative of the requested torque.

[0146] If the gear parameter is a forward gear, the motor controller 11 can further judge whether the requested torque sent by the vehicle controller 13 is greater than 0 or less than 0. If the requested torque is greater than 0 (that is, the requested torque is positive), S403 is executed; if the requested torque is less than 0 (that is, the requested torque is negative), S404 is executed.

[0147] S403, determine that the driving state of the vehicle is a driving state.

[0148] If the requested torque > 0, the motor controller 11 can determine that the driving state of the vehicle is the driving state.

[0149] S404, determine that the driving state of the vehicle is the recuperation state.

[0150] If the requested torque < 0, the motor controller 11 can determine that the driving state of the vehicle is the recuperation state.

[0151] S405, judge the positive or negative of the requested torque.

[0152] If the gear parameter is the reverse gear, the motor controller 11 can further judge whether the requested torque sent by the vehicle controller 13 is greater than 0 or less than 0. If the requested torque is greater than 0 (that is, the requested torque is positive), then execute S406; if the requested torque is less than 0 (that is, the requested torque is negative), then execute S407; S406, determine that the driving state of the vehicle is the recuperation state.

[0153] If the requested torque > 0, the motor controller 11 can determine that the driving state of the vehicle is the recuperation state; S407, determine that the driving state of the vehicle is the driving state.

[0154] If the requested torque < 0, the motor controller 11 can determine that the driving state of the vehicle is the driving state.

[0155] S303, determine the vehicle skidding state according to the maximum / minimum speed of the drive motor and the actual speed of the drive motor, and calculate the target speed required for the speed control mode.

[0156] After the motor controller 11 determines the driving state of the vehicle, it can judge whether the vehicle is in a skidding state according to the maximum / minimum speed of the drive motor sent by the vehicle controller 13 and the actual speed of the drive motor parsed by itself, and calculate the target speed required for the speed control mode. The specific process is as Figure 4 shown, the steps are as follows: S408, if the actual speed of the drive motor is greater than the maximum speed of the drive motor, determine that the vehicle is in a skidding state.

[0157] When the gear parameter of the vehicle is the forward gear and the driving state of the vehicle is the driving state, if the actual speed of the drive motor is greater than the maximum speed of the drive motor, the motor controller 11 can determine that the vehicle is in a skidding state (driving skidding state).

[0158] S409, calculate the target speed according to the maximum speed of the drive motor and the first threshold.

[0159] When the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is the driving state, the motor controller 11 can calculate the target speed according to the maximum speed of the driving motor and the first threshold. As an example, the target speed = the maximum speed of the driving motor - the first threshold. Wherein, the first threshold can be a calibrated positive value.

[0160] S410, if the actual speed of the driving motor is less than the minimum speed of the driving motor, it is determined that the vehicle is in a skidding state.

[0161] When the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is the recuperation state, if the actual speed of the driving motor is less than the minimum speed of the driving motor, the motor controller 11 can determine that the vehicle is in a skidding state (recuperation skidding state).

[0162] S411, calculate the target speed according to the minimum speed of the driving motor and the second threshold.

[0163] When the gear parameter of the vehicle is in the forward gear and the driving state of the vehicle is the recuperation state, the motor controller 11 can calculate the target speed according to the minimum speed of the driving motor and the second threshold. As an example, the target speed = the minimum speed of the driving motor + the second threshold. Wherein, the second threshold can be a calibrated positive value.

[0164] S412, if the actual speed of the driving motor is greater than (- the minimum speed of the driving motor), it is determined that the vehicle is in a skidding state.

[0165] When the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is the recuperation state, if the actual speed of the driving motor is greater than (- the minimum speed of the driving motor), the motor controller 11 can determine that the vehicle is in a skidding state (recuperation skidding state).

[0166] S413, calculate the target speed according to the minimum speed of the driving motor and the second threshold.

[0167] When the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is the recuperation state, the motor controller 11 can calculate the target speed according to the minimum speed of the driving motor and the second threshold. As an example, the target speed = (- the minimum speed of the driving motor) - the second threshold. Wherein, the second threshold can be a calibrated positive value.

[0168] S414, if the actual speed of the driving motor is less than (- the maximum speed of the driving motor), it is determined that the vehicle is in a skidding state.

[0169] When the gear parameter of the vehicle is in the reverse gear and the driving state of the vehicle is the driving state, if the actual speed of the driving motor is less than (- the maximum speed of the driving motor), the motor controller 11 can determine that the vehicle is in a skidding state (driving skidding state).

[0170] S415. Calculate the target speed based on the maximum speed of the drive motor and the first threshold.

[0171] When the gear parameter of the vehicle is in reverse and the driving state of the vehicle is in the driving state, the motor controller 11 can calculate the target speed according to the maximum speed of the drive motor and the first threshold. As an example, the target speed = (- maximum speed of the drive motor) + the first threshold. Wherein, the first threshold can be a calibrated positive value.

[0172] S304. When the vehicle is in a skidding state, switch to the speed control mode for anti-skid control.

[0173] When the motor controller 11 recognizes that the vehicle is in a skidding state and receives the maximum / minimum speed of the drive motor, the motor controller 11 can switch from the torque controller mode (controlled according to the requested torque sent by the vehicle controller 13) to the speed control mode for anti-skid control.

[0174] In the speed control mode, the motor controller 11 can perform closed-loop control on the speed of the drive motor according to the calculated target speed above, so that the vehicle gets out of the skidding state. It should be noted that the mode switch of the motor controller 11 can be completed within 1 ms, and when the vehicle skids, the change speed of the drive motor speed is very fast. The currently measured data can reach 250 rpm / 10 ms. In response to this situation, the motor controller 11 can adopt a calculation period of 100 us to analyze the drive motor speed and collect the change of the drive motor speed at all times. At the same time, when the motor controller 11 performs anti-skid control, it can perform closed-loop regulation of the speed with a 1 ms period. Therefore, the solution of the embodiment of the present application can achieve the advantages of fast recognition, timely response, and accurate control.

[0175] S305. Determine whether the electric drive type of the vehicle is a distributed electric drive.

[0176] When the motor controller 11 performs anti-skid control, it can determine the electric drive type of the vehicle.

[0177] Exemplarily, if the motor controller 11 recognizes the parameter "0x0", it can determine that the electric drive type of the vehicle is a centralized electric drive; if the motor controller 11 recognizes the parameter "0x1", it can determine that the electric drive type of the vehicle is a distributed electric drive.

[0178] Further, if the electric drive type of the vehicle is a centralized electric drive, S307 can be executed; if the electric drive type of the vehicle is a distributed electric drive, S306 can be executed.

[0179] S306. Execute the linkage between the output torques of two coaxial drive motors.

[0180] If the electric drive type of the vehicle is a distributed electric drive, the motor controller 11 can monitor whether the wheels associated with the two drive motors on the same axis are both slipping, and anti-slip control needs to be performed. If so, to avoid too large a difference in the output torques of the two drive motors on the same axis, resulting in a yaw phenomenon of the vehicle, the linkage between the output torques of the two drive motors on the same axis can be executed. The linkage scheme is as Figure 5 shown, and the steps are as follows: S501, perform anti-slip control on the two drive motors on the same axis.

[0181] In this step, the motor controller 11 can identify whether the wheels associated with the two drive motors on the same axis are both in a slipping state. If it is identified that the wheels associated with the two drive motors on the same axis are both in a slipping state, anti-slip control can be performed simultaneously on the two drive motors on the same axis.

[0182] S502, monitor the output torques of the two drive motors on the same axis in real time, and compare the magnitudes of the two output torques.

[0183] After the anti-slip control is triggered for both drive motors on the same axis (denoted as M1 and M2 respectively), the motor controller 11 can monitor the output torques T1 and T2 of the two drive motors M1 and M2 on the same axis in real time, and compare the magnitudes of T1 and T2.

[0184] S503, limit the output torque of the drive motor with the larger output torque.

[0185] Exemplarily, if the output torque T1 of the drive motor M1 is smaller, the motor controller 11 can limit the upper limit of the output torque of the drive motor M2 to [T1 + the fifth threshold (calibrated value)]; if the output torque T2 of the drive motor M2 is smaller, the motor controller 11 can limit the upper limit of the output torque of the drive motor M1 to [T2 + the fifth threshold (calibrated value)]. When one drive motor exits the anti-slip control, the linkage strategy can also exit simultaneously.

[0186] S307, exit the speed control mode when the anti-slip control exit condition is met.

[0187] After the control mode of the motor controller 11 is switched to the speed control mode, the motor controller 11 can monitor the magnitude relationship between the maximum / minimum speed of the drive motor, the actual speed of the drive motor, the requested torque, and the output torque of the drive motor in real time, so as to quickly exit the anti-slip control after the vehicle gets out of the slipping state.

[0188] Exemplarily, the anti-slip control exit process corresponding to the forward gear is as Figure 6 shown, and the steps are as follows: S601, perform anti-slip control when the gear parameter of the vehicle is in the forward gear.

[0189] When the gear parameter of the vehicle is in the forward gear, if the motor controller 11 recognizes that the vehicle is in a skidding state, the control mode can be switched to the speed control mode to perform anti-skid control.

[0190] S602, monitor the actual speed of the drive motor, the maximum / minimum speed of the drive motor, the output torque of the drive motor, and the requested torque.

[0191] After the control mode of the motor controller 11 is switched to the speed control mode, the motor controller 11 can monitor the actual speed of the drive motor, the maximum / minimum speed of the drive motor, the output torque of the drive motor, and the requested torque in real time.

[0192] S603, determine whether the duration of the anti-skid control exceeds a preset duration.

[0193] In this step, the motor controller 11 can determine whether the duration of this anti-skid control (that is, the duration of this entry into the speed control mode) exceeds the preset duration. Among them, the preset duration can be a calibrated value.

[0194] If the duration of this anti-skid control exceeds the preset duration, execute S607; if the duration of this anti-skid control does not exceed the preset duration, execute S604.

[0195] S604, determine whether the driving state of the vehicle is a driving state or a recovery state.

[0196] In this step, the motor controller 11 can determine whether the driving state of the vehicle is a driving state or a recovery state. If the driving state of the vehicle is a driving state, execute S605; if the driving state of the vehicle is a recovery state, execute S606.

[0197] S605, determine whether the anti-skid control exit condition corresponding to the driving state is satisfied.

[0198] If the driving state of the vehicle is a driving state, the motor controller 11 can determine whether the anti-skid control exit condition corresponding to the driving state is satisfied. If the anti-skid control exit condition corresponding to the driving state is satisfied, execute S607; if the anti-skid control exit condition corresponding to the driving state is not satisfied, return to S602.

[0199] Exemplarily, when the gear parameter of the vehicle is in the forward gear, the anti-skid control exit condition corresponding to the driving state is: both condition a1 and condition a2 are satisfied, and the duration reaches the first duration (calibrated value).

[0200] Among them, condition a1 is: the actual speed of the drive motor < the maximum speed of the drive motor; condition a2 is: the requested torque - the third threshold (calibrated value) < the output torque of the drive motor.

[0201] S606, determine whether the anti-skid control exit condition corresponding to the recovery state is satisfied.

[0202] If the driving state of the vehicle is the recovery state, the motor controller 11 can determine whether the anti-skid control exit condition corresponding to the recovery state is satisfied. If the anti-skid control exit condition corresponding to the recovery state is satisfied, execute S607; if the anti-skid control exit condition corresponding to the recovery state is not satisfied, return to S602.

[0203] Exemplarily, when the gear parameter of the vehicle is the forward gear, the anti-skid control exit condition corresponding to the recovery state is: both condition b1 and condition b2 are satisfied, and the continuous duration reaches the second duration (calibrated value).

[0204] Among them, condition b1 is: the actual speed of the drive motor > the minimum speed of the drive motor; condition b2 is: the requested torque + the fourth threshold (calibrated value) > the output torque of the drive motor.

[0205] S607, switch the control mode from the speed control mode to the torque control mode.

[0206] In this step, the motor controller 11 can switch the control mode from the speed control mode to the torque control mode, and can transition the output torque of the drive motor from the speed control torque of the last cycle to the requested torque of the vehicle controller at a certain slope. Among them, the speed control torque of the last cycle can also be understood as: the output torque of the drive motor in the last control cycle of the speed control mode.

[0207] Exemplarily, the anti-skid control exit process corresponding to the reverse gear is as Figure 7 shown, and the steps are as follows: S701, perform anti-skid control when the gear parameter of the vehicle is the reverse gear.

[0208] When the gear parameter of the vehicle is the reverse gear, if the motor controller 11 recognizes that the vehicle is in a skidding state, it can switch the control mode to the speed control mode to perform anti-skid control.

[0209] S702, monitor the actual speed of the drive motor, the maximum / minimum speed of the drive motor, the output torque of the drive motor, and the requested torque.

[0210] After the control mode of the motor controller 11 is switched to the speed control mode, the motor controller 11 can monitor the actual speed of the drive motor, the maximum / minimum speed of the drive motor, the output torque of the drive motor, and the requested torque in real time.

[0211] S703, determine whether the continuous duration of the anti-skid control exceeds the preset duration.

[0212] In this step, the motor controller 11 can determine whether the duration of the current anti-skid control (i.e., the duration of the current entry into the speed control mode) exceeds a preset duration. Herein, the preset duration can be a calibrated value.

[0213] If the duration of the current anti-skid control exceeds the preset duration, then execute S707; if the duration of the current anti-skid control does not exceed the preset duration, then execute S704.

[0214] S704, determine whether the driving state of the vehicle is a driving state or a recuperation state.

[0215] In this step, the motor controller 11 can determine whether the driving state of the vehicle is a driving state or a recuperation state. If the driving state of the vehicle is a driving state, then execute S705; if the driving state of the vehicle is a recuperation state, then execute S706.

[0216] S705, determine whether the anti-skid control exit condition corresponding to the driving state is satisfied.

[0217] If the driving state of the vehicle is a driving state, then the motor controller 11 can determine whether the anti-skid control exit condition corresponding to the driving state is satisfied. If the anti-skid control exit condition corresponding to the driving state is satisfied, then execute S707; if the anti-skid control exit condition corresponding to the driving state is not satisfied, then return to S702.

[0218] Exemplarily, when the gear parameter of the vehicle is in the reverse gear, the anti-skid control exit condition corresponding to the driving state is: both condition c1 and condition c2 are satisfied, and the duration reaches a first duration (calibrated value).

[0219] Wherein, condition c1 is: the actual speed of the driving motor > (- the maximum speed of the driving motor); condition c2 is: the requested torque + the third threshold (calibrated value) > the output torque of the driving motor.

[0220] S706, determine whether the anti-skid control exit condition corresponding to the recuperation state is satisfied.

[0221] If the driving state of the vehicle is a recuperation state, then the motor controller 11 can determine whether the anti-skid control exit condition corresponding to the recuperation state is satisfied. If the anti-skid control exit condition corresponding to the recuperation state is satisfied, then execute S707; if the anti-skid control exit condition corresponding to the recuperation state is not satisfied, then return to S702.

[0222] Exemplarily, when the gear parameter of the vehicle is in the reverse gear, the anti-skid control exit condition corresponding to the recuperation state is: both condition d1 and condition d2 are satisfied, and the duration reaches a second duration (calibrated value).

[0223] Among them, condition d1 is: the actual speed of the drive motor < (- the minimum speed of the drive motor); condition d2 is: the requested torque - the fourth threshold (calibrated value) < the output torque of the drive motor.

[0224] S707, switch the control mode from the speed control mode to the torque control mode.

[0225] In this step, the motor controller 11 can switch the control mode from the speed control mode to the torque control mode, and can transition the output torque of the drive motor from the speed control torque of the last cycle to the requested torque of the vehicle controller at a certain slope. Among them, the speed control torque of the last cycle can also be understood as: the output torque of the drive motor within the last control cycle of the speed control mode.

[0226] Thus, the motor controller 11 has completed an effective vehicle anti-skid control.

[0227] The embodiment of the present application provides a vehicle control device, as Figure 8 shown, the vehicle control device 800 may include: A first acquisition unit 810, configured to acquire the gear parameter and the requested torque of the vehicle; A first determination unit 820, configured to determine the driving state of the vehicle as a driving state or a recovery state according to the gear parameter and the requested torque; A second determination unit 830, configured to determine the target speed according to the driving state of the vehicle when the vehicle slips; A control unit 840, configured to control the speed of the drive motor in the vehicle based on the target speed.

[0228] In some embodiments, the second determination unit 830 includes: A first determination subunit, configured to determine the target speed based on the maximum allowable speed of the drive motor and the first threshold when the driving state of the vehicle is a driving state; A second determination subunit, configured to determine the target speed based on the minimum allowable speed of the drive motor and the second threshold when the driving state of the vehicle is a recovery state.

[0229] In some embodiments, the first determination subunit is specifically configured to: When the driving state of the vehicle is a driving state and the gear parameter is a forward gear, determine the target speed as: the difference between the maximum allowable speed of the drive motor and the first threshold; When the driving state of the vehicle is a driving state and the gear parameter is a reverse gear, determine the target speed as: the sum of the opposite of the maximum allowable speed of the drive motor and the first threshold; Among them, the maximum allowable speed of the drive motor and the first threshold are greater than 0.

[0230] In some embodiments, the second determination subunit is specifically configured to: When the driving state of the vehicle is the recovery state and the gear parameter is the forward gear, determine the target speed as the sum of the minimum allowable speed of the drive motor and the second threshold; When the driving state of the vehicle is the recovery state and the gear parameter is the reverse gear, determine the target speed as the difference between the opposite of the minimum allowable speed of the drive motor and the second threshold; Wherein, the minimum allowable speed of the drive motor and the second threshold are greater than 0.

[0231] In some embodiments, the control unit 840 is further configured to: When the driving state of the vehicle is the driving state, if the duration for which the drive motor continuously satisfies the first condition reaches the first duration, stop controlling the speed of the drive motor based on the target speed; When the driving state of the vehicle is the recovery state, if the duration for which the drive motor continuously satisfies the second condition reaches the second duration, stop controlling the speed of the drive motor based on the target speed; Wherein, the first condition includes: the absolute value of the speed of the drive motor is less than the maximum allowable speed of the drive motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than the third threshold; The second condition includes: the absolute value of the speed of the drive motor is greater than the minimum allowable speed of the drive motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than the fourth threshold.

[0232] In some embodiments, the first determination unit 820 is specifically configured to: When the gear parameter is the forward gear and the requested torque is greater than 0, or when the gear parameter is the reverse gear and the requested torque is less than 0, determine that the driving state of the vehicle is the driving state; When the gear parameter is the forward gear and the requested torque is less than 0, or when the gear parameter is the reverse gear and the requested torque is greater than 0, determine that the driving state of the vehicle is the recovery state.

[0233] In some embodiments, the vehicle control device 800 further includes a third determination unit, and the third determination unit is configured to: When the driving state of the vehicle is the driving state, if the absolute value of the speed of the drive motor is greater than the maximum allowable speed of the drive motor, determine that the vehicle is slipping; When the driving state of the vehicle is the recovery state, if the absolute value of the speed of the drive motor is less than the minimum allowable speed of the drive motor, determine that the vehicle is slipping.

[0234] In some embodiments, the vehicle includes a coaxial first drive motor and a second drive motor, and the vehicle control device 800 further includes: A second acquisition unit, configured to acquire the output torque of the first drive motor and the torque of the second drive motor; A first adjustment unit, configured to, when the output torque of the first drive motor is greater than the output torque of the second drive motor, if the output torque of the first drive motor is greater than the first torque, adjust the output torque of the first drive motor to within the first torque, where the first torque is the sum of the output torque of the second drive motor and a fifth threshold; A second adjustment unit, configured to, when the output torque of the second drive motor is greater than the output torque of the first drive motor, if the output torque of the second drive motor is greater than the second torque, adjust the output torque of the second drive motor to within the second torque, where the second torque is the sum of the output torque of the first drive motor and a fifth threshold.

[0235] The description of the above device embodiments is similar to the description of the above method embodiments and has similar beneficial effects to the method embodiments. In some embodiments, the functions or modules included in the device provided in the embodiments of the present application can be used to execute the methods described in the above method embodiments. For the technical details not disclosed in the device embodiments of the present application, please refer to the description of the method embodiments of the present application for understanding.

[0236] It should be noted that in the embodiments of the present application, if the above method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence or the part that contributes to the related art, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc that can store program codes. In this way, the embodiments of the present application are not limited to any specific hardware, software, or firmware, or any combination of hardware, software, and firmware.

[0237] The embodiments of the present application further provide a vehicle control device, including a memory and a processor. The memory stores a computer program that can run on the processor, and when the processor executes the program, it implements some or all of the steps in the above method.

[0238] An embodiment of the present application further provides a chip. The chip includes: a processor configured to call and run a computer program from a memory, such that a device installed with the chip executes some or all of the steps in the above method.

[0239] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements some or all of the steps in the above method. The computer-readable storage medium may be transient or non-transient.

[0240] An embodiment of the present application further provides a computer program including computer-readable code, where, when the computer-readable code runs on a device (such as a vehicle control device), a processor in the device executes some or all of the steps in the above method.

[0241] An embodiment of the present application further provides a computer program product. The computer program product includes a non-transient computer-readable storage medium storing a computer program, where, when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product may be specifically implemented by means of hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0242] It should be noted here that: the descriptions of the above embodiments tend to emphasize the differences between the embodiments, and their similarities or similarities can be referred to each other. The descriptions of the above device, chip, storage medium, computer program, and computer program product embodiments are similar to the descriptions of the above method embodiments and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the device, storage medium, computer program, and computer program product embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0243] An embodiment of the present application further provides a vehicle control device, such as Figure 9 As shown, the vehicle control device 900 includes a processor 910, and the processor 910 can call and run a computer program from a memory to implement the method in the embodiment of the present application.

[0244] In some embodiments, such as Figure 9As shown, the vehicle control device 900 may further include a memory 920. Among them, the processor 910 may call and run a computer program from the memory 920 to implement the method in the embodiments of the present application. Among them, the memory 920 may be a separate device independent of the processor 910, or may be integrated in the processor 910.

[0245] In some embodiments, as Figure 9 shown, the vehicle control device 900 may further include a transceiver 930. The processor 910 may control the transceiver 930 to communicate with other devices. Specifically, it may send information or data to other devices, or receive information or data sent by other devices. Among them, the transceiver 930 may include a transmitter and a receiver. The transceiver 930 may further include an antenna, and the number of antennas may be one or more.

[0246] It should be understood that the "one embodiment", "an embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the "in one embodiment", "in an embodiment" or "in some embodiments" that appear throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the magnitude of the serial numbers of the above steps / processes does not mean the order of execution. The order of execution of each step / process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application above are only for description and do not represent the advantages and disadvantages of the embodiments.

[0247] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0248] In several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units or modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces. The indirect coupling or communication connection of the devices or units can be electrical, mechanical, or other forms.

[0249] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units. They can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0250] In addition, each functional unit in the embodiments of this application can be all integrated in a processing unit, or each unit can be separately a unit, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a hardware plus software functional unit.

[0251] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, read-only memory (ROM), magnetic disks, or optical discs.

[0252] Alternatively, if the above integrated unit of this application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application essentially or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of this application. The foregoing storage medium includes various media that can store program codes, such as removable storage devices, ROM, magnetic disks, or optical discs.

[0253] As described above, it is only the implementation mode of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The vehicle control method includes: Obtaining the gear parameter and the requested torque of the vehicle; Determining whether the driving state of the vehicle is a driving state or a recuperation state according to the gear parameter and the requested torque; When the vehicle slips, determining a target speed according to the driving state of the vehicle; Controlling the speed of the drive motor in the vehicle based on the target speed; Wherein, the determining the target speed according to the driving state of the vehicle includes: When the driving state of the vehicle is a driving state, determining the target speed based on the maximum allowable speed of the drive motor and a first threshold; When the driving state of the vehicle is a recuperation state, determining the target speed based on the minimum allowable speed of the drive motor and a second threshold.

2. The vehicle control method according to claim 1, characterized in that, The determining the target speed based on the maximum allowable speed of the drive motor and a first threshold when the driving state of the vehicle is a driving state includes: When the driving state of the vehicle is a driving state and the gear parameter is a forward gear, determining the target speed as the difference between the maximum allowable speed of the drive motor and the first threshold; When the driving state of the vehicle is a driving state and the gear parameter is a reverse gear, determining the target speed as the sum of the opposite of the maximum allowable speed of the drive motor and the first threshold; Wherein, the maximum allowable speed of the drive motor and the first threshold are greater than 0.

3. The vehicle control method according to claim 1, wherein, The determining the target speed based on the minimum allowable speed of the drive motor and a second threshold when the driving state of the vehicle is a recuperation state includes: When the driving state of the vehicle is a recuperation state and the gear parameter is a forward gear, determining the target speed as the sum of the minimum allowable speed of the drive motor and the second threshold; When the driving state of the vehicle is a recuperation state and the gear parameter is a reverse gear, determining the target speed as the difference between the opposite of the minimum allowable speed of the drive motor and the second threshold; Wherein, the minimum allowable speed of the drive motor and the second threshold are greater than 0.

4. The vehicle control method according to any one of claims 1 to 3, characterized in that, The vehicle control method further includes: When the driving state of the vehicle is a driving state, if the duration for which the drive motor continuously satisfies a first condition reaches a first duration, stopping controlling the speed of the drive motor based on the target speed; When the driving state of the vehicle is a recuperation state, if the duration for which the drive motor continuously satisfies a second condition reaches a second duration, stopping controlling the speed of the drive motor based on the target speed; Wherein, the first condition includes: the absolute value of the speed of the drive motor is less than the maximum allowable speed of the drive motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than a third threshold; The second condition includes: the absolute value of the speed of the drive motor is greater than the minimum allowable speed of the drive motor, and / or, the difference between the absolute value of the requested torque and the absolute value of the output torque of the drive motor is less than a fourth threshold.

5. The vehicle control method according to any one of claims 1 to 3, characterized in that, Determining the driving state of the vehicle as a driving state or a recuperation state according to the gear parameter and the requested torque includes: When the gear parameter is a forward gear and the requested torque is greater than 0, or when the gear parameter is a reverse gear and the requested torque is less than 0, determining the driving state of the vehicle as a driving state; When the gear parameter is a forward gear and the requested torque is less than 0, or when the gear parameter is a reverse gear and the requested torque is greater than 0, determining the driving state of the vehicle as a recuperation state.

6. The vehicle control method according to any one of claims 1 to 3, characterized in that The vehicle control method further includes: When the driving state of the vehicle is a driving state, if the absolute value of the rotational speed of the driving motor is greater than the maximum allowable rotational speed of the driving motor, determining that the vehicle is skidding; When the driving state of the vehicle is a recuperation state, if the absolute value of the rotational speed of the driving motor is less than the minimum allowable rotational speed of the driving motor, determining that the vehicle is skidding.

7. The vehicle control method according to any one of claims 1 to 3, characterized in that, The vehicle includes a first driving motor and a second driving motor coaxially arranged, and the vehicle control method further includes: Obtaining the output torque of the first driving motor and the torque of the second driving motor; When the output torque of the first driving motor is greater than the output torque of the second driving motor, if the output torque of the first driving motor is greater than a first torque, adjusting the output torque of the first driving motor to within the first torque, where the first torque is the sum of the output torque of the second driving motor and a fifth threshold; When the output torque of the second driving motor is greater than the output torque of the first driving motor, if the output torque of the second driving motor is greater than a second torque, adjusting the output torque of the second driving motor to within the second torque, where the second torque is the sum of the output torque of the first driving motor and a fifth threshold.

8. A vehicle control device, characterized in that, The vehicle control device includes: A first obtaining unit for obtaining the gear parameter and the requested torque of the vehicle; A first determining unit for determining the driving state of the vehicle as a driving state or a recuperation state according to the gear parameter and the requested torque; A second determining unit for determining a target rotational speed according to the driving state of the vehicle when the vehicle is skidding; A control unit for controlling the rotational speed of the driving motor in the vehicle based on the target rotational speed; Wherein, the second determining unit includes: A first determining subunit for determining the target rotational speed based on the maximum allowable rotational speed of the driving motor and a first threshold when the driving state of the vehicle is a driving state; A second determining subunit for determining the target rotational speed based on the minimum allowable rotational speed of the driving motor and a second threshold when the driving state of the vehicle is a recuperation state.

9. A vehicle control device, characterized in that, The vehicle control device includes: A memory for storing computer-executable instructions; A processor connected to the memory for implementing the method according to any one of claims 1 to 7 by executing the computer-executable instructions.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by at least one processor, the method described in any one of claims 1 to 7 is implemented.

11. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

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