Vehicle control method, device and equipment and medium

Abstract

The embodiment of the invention provides a vehicle control method and device, equipment and a medium, and the method comprises the steps that under the condition that the total driving torque is a positive value, a target wheel corresponding to the negative driving torque is determined; determining the current slip rate of the target wheel and a wheel slip rate control parameter corresponding to the current state of the vehicle; determining a first driving torque according to the current working condition of the vehicle, the current slip rate, the wheel slip rate control parameter and the negative driving torque; and according to the first driving torque, a distributed driving motor of the vehicle is controlled. Compared with the prior art, according to the method provided by the embodiment of the invention, under the condition that the total driving torque of the shaft is a positive value, anti-lock control can be carried out on the wheel on the side with the negative driving torque, so that the minimum driving force of a TVC execution motor can be a large negative number, the yawing torque value of the TVC has a wide allowable range, and the anti-lock control can be carried out on the wheel on the side with the negative driving torque. And the distributed driving motor can be fully exerted to realize stability control of the vehicle.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field, and in particular to a vehicle control method, device, equipment, and medium. Background Art

[0002] When a wheel is braked or under negative torque control, the vehicle's translational speed may be greater than the translational speed of a certain wheel. At this time, the wheel will slip. When the slip rate reaches a certain level, it will suddenly lock and turn into pure sliding. The wheel's ABS (Anti-lock Braking System) control algorithm is designed to solve this problem.

[0003] Wheel ABS control software is already mature for non-distributed drive vehicles. However, for vehicles with distributed drive motors, where left and right wheel torques are independently controlled (e.g., when TVC (Torque Vectoring Control) is enabled), a wheel may be in reverse drive (motor braking) even when the total drive torque of the entire axle is in a driving state. Currently, commercial ABS software cannot handle wheel locking scenarios where the total axle drive force is positive but the drive force on one wheel is negative, significantly limiting TVC performance. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle control method, apparatus, device, and medium, aiming to maximize the TVC performance of a distributed drive vehicle.

[0005] An embodiment of the present application provides a vehicle control method, characterized in that the method includes:

[0006] When the total driving torque is positive, determine the target wheel corresponding to the negative driving torque;

[0007] Determining a current slip rate of the target wheel and a corresponding wheel slip rate control parameter under a current state of the vehicle;

[0008] determining a first driving torque according to a current operating condition of the vehicle, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque;

[0009] A distributed drive motor of the vehicle is controlled according to the first drive torque.

[0010] Optionally, the wheel slip rate control parameter includes a slip rate threshold and a slip rate limit, and the slip rate threshold is less than the slip rate limit; and determining the first driving torque based on the current operating condition of the vehicle, the current slip rate, the wheel slip rate control parameter, and the negative driving torque includes:

[0011] determining a magnitude relationship between the current slip ratio, the slip ratio threshold, and the slip ratio limit;

[0012] The first driving torque is determined according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque.

[0013] Optionally, the vehicle is equipped with a vector torque control function, the current operating condition is a non-braking operating condition, and the determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes:

[0014] When the current slip ratio is less than the slip ratio threshold, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0015] Optionally, the current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes:

[0016] When the current slip ratio is greater than the slip ratio threshold value and less than the slip ratio limit value, and if the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at a previous moment, determining a first driving torque according to a difference between the negative driving torque corresponding to the current slip ratio and the negative driving torque of the target wheel at a previous moment, the negative driving torque of the target wheel at a previous moment, the slip ratio threshold value, the slip ratio limit value, and a preset calibration coefficient;

[0017] When the current slip ratio is greater than the slip ratio threshold value and less than the slip ratio limit value, if the absolute value of the negative driving torque corresponding to the current slip ratio is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0018] Optionally, the current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes:

[0019] When the current slip ratio is greater than the slip ratio limit value and the slip ratio of the target wheel at a previous moment is less than the slip ratio limit value, if the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at a previous moment, the negative driving torque of the target wheel at a previous moment is used as the first driving torque;

[0020] When the current slip rate is greater than the slip rate limit value and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0021] Optionally, the current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes:

[0022] When the current slip ratio is greater than the slip ratio limit value and the slip ratio of the target wheel at a previous moment is greater than the slip ratio limit value, the first driving torque is determined according to the negative driving torque corresponding to the current slip ratio and the negative driving torque corresponding to the target wheel at a previous moment.

[0023] Optionally, the current operating condition is a braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes:

[0024] When the current slip ratio is greater than the slip ratio threshold, the first driving torque is 0;

[0025] When the current slip ratio is less than the slip ratio threshold, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0026] An embodiment of the present application further provides a vehicle control device, characterized in that the device includes:

[0027] a wheel determination module, configured to determine a target wheel corresponding to a negative driving torque when the total driving torque is positive;

[0028] a parameter determination module, configured to determine a current slip rate of the target wheel and a corresponding wheel slip rate control parameter under a current state of the vehicle;

[0029] a torque determination module, configured to determine a first driving torque according to a current operating condition of the vehicle, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque;

[0030] A control module is used to control the distributed drive motor of the vehicle according to the first driving torque.

[0031] The present application also provides an electronic device including a processor and a memory, wherein

[0032] Memory for storing computer programs;

[0033] The processor is used to execute the program stored in the memory to implement the method described above.

[0034] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0035] The embodiments of the present application can determine the target wheel corresponding to the negative driving torque when the total driving torque is positive; determine the current slip ratio of the target wheel and the corresponding wheel slip ratio control parameter under the current vehicle state; determine a first driving torque based on the vehicle's current operating condition, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque; and control the vehicle's distributed drive motor based on the first driving torque. Compared to related technologies, the method provided in the embodiments of the present application ensures that anti-lock control is performed on the wheel on the side with the negative driving torque when the total driving torque of the axle is positive. This allows the minimum driving force of the TVC actuator motor to be a large negative number, resulting in a wide allowable range of TVC yaw torque values, fully utilizing the distributed drive motor to achieve vehicle stability control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0037] Figure 2 Schematic diagram of the relationship between KmueF and μ provided in one embodiment of the present application;

[0038] Figure 3 is a schematic diagram of a vehicle control method provided by an embodiment of the present application;

[0039] Figure 4 It is a structural diagram of a vehicle control device provided in one embodiment of the present application.

[0040] Figure 5 This is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects solved by this application more clearly understood, this application is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0042] Distributed drive motors can mean that each drive wheel (or a subset of wheels) of the vehicle is directly driven by an independent motor, rather than through the traditional layout of a central motor, drive shaft, and differential. The torque vectoring function can independently control the torque output of each drive wheel.

[0043] A vehicle control method provided by an embodiment of the present application includes: determining a target wheel corresponding to a negative driving torque when the total driving torque is positive; determining the current slip rate of the target wheel and the corresponding wheel slip rate control parameter under the current state of the vehicle; determining a first driving torque based on the current working condition of the vehicle, as well as the current slip rate, the wheel slip rate control parameter and the negative driving torque; and controlling the distributed drive motor based on the first driving torque. In practical applications, the control method provided by an embodiment of the present application can be activated when the total driving torque of the vehicle's shaft is positive; specifically, when the total driving torque is positive, the target wheel corresponding to the negative driving torque determined by the vector torque control function can be first determined. The total driving torque of the shaft refers to the sum of all resistance torques required to overcome to rotate the shaft. When it is a positive value, the distributed drive motor of the vehicle is in a driving state.

[0044] In addition, the current slip rate of the target wheel and the corresponding wheel slip rate control parameters under the current state of the vehicle can also be determined; wherein, the current slip rate can be the slip rate of the target wheel, and the slip rate can be determined based on the vehicle speed and the wheel speed of the target wheel; the wheel slip rate control parameters can be set in advance for different vehicle states; when executing the control method mentioned in the embodiment of the present application, the wheel slip rate control parameters corresponding to the current state of the vehicle can be determined from the correspondence between the preset wheel slip rate control parameters and the vehicle state.

[0045] Next, the first driving torque can be determined based on the current working condition of the vehicle, as well as the current slip rate, wheel slip rate control parameters and negative driving torque, and the distributed drive motor can be controlled based on the first driving torque. The relevant technology cannot cope with the wheel locking scenario where "the total driving torque of the shaft is positive but the driving torque of a certain wheel is negative". Therefore, when the TVC function of the vehicle is turned on, it is necessary to limit the minimum driving force of the TVC execution motor to be greater than 0, which greatly limits the performance of TVC. The method provided in the embodiment of the present application can ensure that when the total driving torque of the shaft is positive, anti-lock control is performed on the wheel on the side with the negative driving torque, which makes the minimum driving force of the TVC execution motor can be a large negative number. Therefore, the yaw torque value of TVC has a wide allowable range, which can give full play to the distributed drive motor to realize the pre-stability control of the vehicle.

[0046] This application embodiment provides a vehicle control method, please refer to Figure 1 , including the following steps:

[0047] S10: When the total driving torque is positive, determining a target wheel corresponding to a negative driving torque;

[0048] In practical applications, the control method provided in the embodiment of the present application can be activated when the total driving torque of the vehicle's axle is positive; specifically, when the total driving torque is positive, the target wheel corresponding to the negative driving torque determined by the vector torque control function can be first determined.

[0049] S20: Determine the current slip rate of the target wheel and the corresponding wheel slip rate control parameter under the current state of the vehicle;

[0050] In addition, the current slip rate of the target wheel and the corresponding wheel slip rate control parameters under the current state of the vehicle can also be determined; wherein, the current slip rate can be the slip rate of the target wheel, and the slip rate can be determined based on the vehicle speed and the wheel speed of the target wheel; the wheel slip rate control parameters can be set in advance for different vehicle states; when executing the control method mentioned in the embodiment of the present application, the wheel slip rate control parameters corresponding to the current state of the vehicle can be determined from the correspondence between the preset wheel slip rate control parameters and the vehicle state.

[0051] For example, the average speed of the vehicle and the average speed of the target wheel may be determined first; then, the current slip ratio of the target wheel may be calculated:

[0052] slip=V x_ / V x ;

[0053] In the above formula, V x_ Refers to the translational velocity of the target wheel, and Vx refers to the average speed of the vehicle.

[0054] For example, for the wheels on the same drive shaft, the slip ratio of the wheel with a larger slip ratio may be used as the current slip ratio of the target wheel.

[0055] S30: determining a first driving torque according to a current operating condition of the vehicle, a current slip ratio, a wheel slip ratio control parameter, and a negative driving torque;

[0056] In an embodiment of the present application, the current operating condition of the vehicle can also be determined; illustratively, the current operating condition can include a braking condition and a non-braking condition; after determining the current operating condition of the vehicle, the current slip rate, the wheel slip rate control parameter, and the negative driving torque, the first driving torque can be calculated based on the current operating condition of the vehicle, the current slip rate, the wheel slip rate control parameter and the negative driving torque.

[0057] S40: Controlling the distributed drive motor of the vehicle according to the first drive torque.

[0058] After the first driving torque is determined, the distributed drive motor of the vehicle may be controlled according to the first driving torque to control the shaft corresponding to the target wheel.

[0059] In some embodiments of the present application, the wheel slip rate control parameters may include a slip rate threshold and a slip rate limit; wherein the slip rate threshold is less than the slip rate limit. On this basis, S30 may include:

[0060] S301: Determine the magnitude relationship between the current slip rate, the slip rate threshold, and the slip rate limit;

[0061] After determining the current slip rate, the relationship between the current slip rate and the slip rate threshold and the slip rate limit may be determined first, that is, the relationship between the current slip rate and the slip rate threshold and the relationship between the current slip rate and the slip rate limit may be determined.

[0062] S302: Determine a first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque.

[0063] After determining the relationship between the current slip rate, the slip rate threshold, and the slip rate limit, a first driving torque for controlling the vehicle can be determined based on this relationship, the vehicle's current operating condition, and the negative driving torque. The vehicle's distributed drive motor is then controlled based on this first driving torque. The method provided in this embodiment of the application ensures that, when the total driving torque of an axle is positive, anti-lock control is performed on the wheel on the side with the negative driving torque. This allows the minimum driving force of the TVC actuator motor to be a large negative number, resulting in a wide allowable range for the TVC yaw moment value, fully utilizing the distributed drive motor to implement vehicle pre-stability control.

[0064] For example, the initial values of the two slip rate control parameters S_thr_Clb and S_limit_Clb can be set first, and then multiplied by the coefficient KmueF (the slip rate that the tire can provide maximum adhesion at various adhesion coefficients, divided by the multiple when the adhesion coefficient is 0.35 (the "maximum tire force" slip rate reaches its maximum when the tire has a general adhesion coefficient of 0.35)) to obtain the slip rate threshold S_thr and slip rate limit S_limit:

[0065] S_thr=S_thr_Clb*KmueF

[0066] S_limit=S_limit_Clb*KmueF

[0067] KmueF is a coefficient that changes with μ; for example, the relationship between KmueF and μ can be referred to Table 1, and the data in Table 1 corresponds to Figure 2 :

[0068] Table 1:

[0069] μ 0 0.2 0.35 0.52 0.8 1.06 KmueF 0.2 0.4 1 0.6 0.63 0.77

[0070] In some embodiments of the present application, when the current operating condition is a non-braking operating condition, S302 may include:

[0071] S3021: When the current slip ratio is less than the slip ratio threshold, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0072] In some feasible embodiments, if the current slip rate is less than the slip rate threshold, it can be considered that the current slip degree of the wheel is low; at this time, the negative driving torque currently determined by the vector torque control function can be directly used as the first driving torque to control the vehicle, that is, the negative driving torque currently determined by the vector torque control function is not restricted, but is directly used to control the vehicle, so as to give full play to the distributed drive motor to achieve vehicle stability control.

[0073] In some embodiments of the present application, when the current operating condition is a non-braking operating condition, S302 may also include:

[0074] S3022: When the current slip ratio is greater than the slip ratio threshold value and less than the slip ratio limit value, and if the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at a previous moment, determining a first driving torque based on the difference between the negative driving torque corresponding to the current slip ratio and the negative driving torque of the target wheel at a previous moment, the negative driving torque of the target wheel at a previous moment, the slip ratio threshold value, the slip ratio limit value, and a preset calibration coefficient;

[0075] In some feasible embodiments, under non-braking conditions, when the current slip rate is greater than the slip rate threshold and less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is greater than the absolute value of the negative driving torque of the target wheel at the previous moment, then the difference between the negative driving torque corresponding to the current slip rate and the negative driving torque of the target wheel at the previous moment can be calculated first.

[0076] Then, the first driving torque is determined based on the difference and the negative driving torque of the target wheel at the previous moment, the slip rate threshold, the slip rate limit value, and a preset calibration coefficient. Exemplarily, the first driving torque can be calculated based on the following formula:

[0077] Mz=Mz_z-1+ΔMz*(1-(slip-S_thr) / (S_limit-S_thr))*K_Clb;

[0078] Where Mz is the first driving torque, Mz_z-1 is the negative driving torque of the target wheel at the previous moment, ΔMz is the difference, slip is the current slip ratio, S_thr is the slip ratio threshold, S_limit is the slip ratio limit, and K_Clb is the calibration coefficient. The calibration coefficient is user-defined and can be set as needed. For example, the closer the current slip ratio is to the slip ratio limit, the smaller Mz is.

[0079] S3023: When the current slip rate is greater than the slip rate threshold and less than the slip rate limit, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0080] In other feasible embodiments, under non-braking conditions, when the current slip rate is greater than the slip rate threshold and less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, then the negative driving torque currently determined by the vector torque control function can be directly used as the first driving torque, that is, the negative driving torque currently determined by the vector torque control function is not restricted, but is directly used to control the vehicle, so as to give full play to the distributed drive motor to achieve vehicle stability control.

[0081] After determining the first driving torque, the vehicle's distributed drive motor can be controlled based on the first driving torque to control the axle corresponding to the target wheel. In this embodiment of the present application, when the vehicle is in a non-braking state, the slip ratio limit allowed for the TVC function is set higher to maximize TVC's ability to improve vehicle handling performance.

[0082] In some embodiments of the present application, when the current operating condition is a non-braking operating condition, S302 may also include:

[0083] S3024: When the current slip ratio is greater than the slip ratio limit value and the slip ratio of the target wheel at the previous moment is less than the slip ratio limit value, if the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque of the target wheel at the previous moment is used as the first driving torque;

[0084] In some feasible embodiments, under non-braking conditions, when the slip rate of the target wheel is greater than the slip rate limit value for the first time, that is, the current slip rate is greater than the slip rate limit value, and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, the absolute value of the negative driving torque corresponding to the current slip rate and the relationship between the absolute value of the negative driving torque of the target wheel at the previous moment can be further determined.

[0085] If the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque of the target wheel at the previous moment can be used as the first driving torque, and the vehicle can be controlled based on the first driving torque.

[0086] S3025: When the current slip rate is greater than the slip rate limit value and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0087] In other feasible embodiments, under non-braking conditions, when the slip rate of the target wheel is greater than the slip rate limit value for the first time, that is, the current slip rate is greater than the slip rate limit value, and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function can be used as the first driving torque, that is, the negative driving torque currently determined by the vector torque control function is not restricted, but is directly used to control the vehicle, so as to give full play to the distributed drive motor to realize the pre-stability control of the vehicle.

[0088] After determining the first driving torque, the vehicle's distributed drive motor can be controlled based on the first driving torque to control the axle corresponding to the target wheel. In this embodiment of the present application, when the vehicle is in a non-braking state, the slip ratio limit allowed for the TVC function is set higher to maximize TVC's ability to improve vehicle handling performance.

[0089] In some embodiments of the present application, when the current operating condition is a non-braking operating condition, S302 may also include:

[0090] S3026: When the current slip ratio is greater than the slip ratio limit value and the slip ratio of the target wheel at the previous moment is greater than the slip ratio limit value, determine the first driving torque based on the negative driving torque corresponding to the current slip ratio and the negative driving torque corresponding to the target wheel at the previous moment.

[0091] In some feasible embodiments, under non-braking conditions, when the current slip rate of the target wheel is greater than the slip rate limit value, and the slip rate of the target wheel at the previous moment is greater than the slip rate limit value, the first driving torque can be calculated based on the negative driving torque corresponding to the current slip rate and the negative driving torque corresponding to the target wheel at the previous moment, and the vehicle can be controlled based on the first driving torque.

[0092] For example, the first driving torque can be calculated by the following formula:

[0093] Mz=Mz_z-1-sign(Mz_z-1)*|△Mz|;

[0094] Where Mz is the first driving torque, Mz_z-1 is the negative driving torque of the target wheel at the previous moment, ΔMz is the difference between the negative driving torque corresponding to the current slip rate and the negative driving torque of the target wheel at the previous moment, and sign is SignFunction, which is the sign function.

[0095] After determining the first driving torque, the vehicle's distributed drive motor can be controlled based on the first driving torque to control the axle corresponding to the target wheel. In this embodiment of the present application, when the vehicle is in a non-braking state, the slip ratio limit allowed for the TVC function is set higher to maximize TVC's ability to improve vehicle handling performance.

[0096] In some embodiments of the present application, when the current working condition is a braking working condition, S302 may also include:

[0097] S3027: When the current slip ratio is greater than the slip ratio threshold, set the first driving torque to 0;

[0098] In some feasible embodiments, during braking, as braking stabilizes the vehicle, the slip rate control limit utilized by the TVC function is reduced to maximize the available adhesion range for braking. Specifically, if the current slip rate is greater than a slip rate threshold, the first driving torque can be set to zero, and the vehicle is then controlled with zero first driving torque.

[0099] S3028: When the current slip ratio is less than the slip ratio threshold, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0100] In other feasible embodiments, under braking conditions, when the current slip rate is less than the slip rate threshold, the negative driving torque currently determined by the vector torque control function can be used as the first driving torque, and after determining the first driving torque, the vehicle's distributed drive motor can be controlled according to the first driving torque to control the axis corresponding to the target wheel.

[0101] For example, Figure 3 , shows a flowchart of vehicle control steps according to an embodiment of the present application (Mz_limit is the maximum driving torque; Mz_thr is the driving torque threshold; Mz_limit>Mz_thr):

[0102] First, the slip ratio of each wheel can be determined based on the wheel speed and the vehicle speed; and, based on the wheel utilization adhesion μ and the initial values S_thr_Clb and S_limit_Clb, a preset table is looked up to determine the slip ratio threshold S_thr and the slip ratio limit value S_limit that vary with μ.

[0103] For two wheels on the same drive axle, the higher slip ratio value is taken as the current slip ratio. Then, the current vehicle condition is determined, and different strategies are adopted based on the current vehicle condition to determine the first driving torque.

[0104] Specifically, in non-braking conditions:

[0105] ① When the current slip ratio slip < the slip ratio threshold S_thr, the negative driving torque currently determined by the vector torque control function is used as the first driving torque, that is, △Mz changes normally; △Mz = Mz - Mz_z-1; slip_z-1 is the slip ratio of the target wheel at the previous moment.

[0106] ② When S_thr < slip < S_limit, Mz is calculated as follows:

[0107] If abs(Mz) > abs(Mz_z-1), then Mz = Mz_z-1 + △Mz * (1 - (slip - S_thr) / (S_limit - S_thr)) * K_Clb;

[0108] If abs(Mz) < abs(Mz_z-1), the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0109] In the stage of S_thr < slip < S_limit, △Mz increases slowly.

[0110] ③ When slip > S_limit, slip_z-1 < S_limit and the absolute value of Mz increases: Mz remains the first driving torque at the previous moment.

[0111] ④ When slip > S_limit, slip_z-1 < S_limit and the absolute value of Mz decreases: the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

[0112] ⑤ When slip > S_limit and slip_z-1 > S_limit: Mz = Mz_z-1 - sign(Mz_z-1) * |△Mz|.

[0113] In the stage of S_limit < slip, △Mz decreases.

[0114] In braking conditions:

[0115] ①When slip < S_thr, the negative driving torque currently determined by the vector torque control function is used as the first driving torque, and △Mz changes normally;

[0116] ②When slip > S_thr, the first driving torque = 0, and △Mz returns.

[0117] The embodiment of the present application also provides a control device 40 for a vehicle. Please refer to Figure 4 , including:

[0118] A wheel determination module 410, configured to determine a target wheel corresponding to the negative driving torque when the total driving torque is positive;

[0119] A parameter determination module 420, configured to determine the current slip ratio of the target wheel and the wheel slip ratio control parameter corresponding to the current state of the vehicle;

[0120] A torque determination module 430, configured to determine the first driving torque according to the current working condition of the vehicle, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque;

[0121] A control module 440, configured to control the distributed drive motors of the vehicle according to the first driving torque.

[0122] In some embodiments of the present application, the wheel slip ratio control parameter includes a slip ratio threshold and a slip ratio limit value, and the slip ratio threshold is less than the slip ratio limit value; the torque determination module 430 is configured to determine the magnitude relationship between the current slip ratio and the slip ratio threshold and the slip ratio limit value; and determine the first driving torque according to the magnitude relationship, the current working condition of the vehicle, and the negative driving torque.

[0123] In some embodiments of the present application, the current working condition is a non-braking working condition, and the torque determination module 430 is configured to use the negative driving torque currently determined by the vector torque control function as the first driving torque when the current slip ratio is less than the slip ratio threshold.

[0124] In some embodiments of the present application, the current operating condition is a non-braking operating condition, and the torque determination module 430 is used to determine the first driving torque based on the difference between the negative driving torque corresponding to the current slip ratio and the negative driving torque of the target wheel at the previous moment, as well as the negative driving torque of the target wheel at the previous moment, the slip ratio threshold, the slip ratio limit value, and a preset calibration coefficient when the current slip ratio is greater than the slip ratio threshold and less than the slip ratio limit value, and if the absolute value of the negative driving torque corresponding to the current slip ratio is less than the absolute value of the negative driving torque of the target wheel at the previous moment, then use the negative driving torque currently determined by the vector torque control function as the first driving torque.

[0125] In some embodiments of the present application, the current operating condition is a non-braking operating condition, and the torque determination module 430 is used to, when the current slip rate is greater than the slip rate limit value and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is greater than the absolute value of the negative driving torque of the target wheel at the previous moment, then use the negative driving torque of the target wheel at the previous moment as the first driving torque; when the current slip rate is greater than the slip rate limit value and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, then use the negative driving torque currently determined by the vector torque control function as the first driving torque.

[0126] In some embodiments of the present application, the current operating condition is a non-braking operating condition, and the torque determination module 430 is used to determine the first driving torque based on the negative driving torque corresponding to the current slip rate and the negative driving torque corresponding to the target wheel at the previous moment when the current slip rate is greater than the slip rate limit value and the slip rate of the target wheel at the previous moment is greater than the slip rate limit value.

[0127] In some embodiments of the present application, the current operating condition is a braking condition, and the torque determination module 430 is used to set the first driving torque to 0 when the current slip rate is greater than the slip rate threshold; and to use the negative driving torque currently determined by the vector torque control function as the first driving torque when the current slip rate is less than the slip rate threshold.

[0128] The embodiments of the present application can determine the target wheel corresponding to the negative driving torque when the total driving torque is positive; determine the current slip ratio of the target wheel and the corresponding wheel slip ratio control parameter under the current vehicle state; determine a first driving torque based on the vehicle's current operating condition, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque; and control the vehicle's distributed drive motor based on the first driving torque. Compared to related technologies, the method provided in the embodiments of the present application ensures that anti-lock control is performed on the wheel on the side with the negative driving torque when the total driving torque of the axle is positive. This allows the minimum driving force of the TVC actuator motor to be a large negative number, resulting in a wide allowable range of TVC yaw torque values, fully utilizing the distributed drive motor to achieve vehicle stability control.

[0129] The present application also provides an electronic device 50, please refer to Figure 5 , including a processor 510 and a memory 520, wherein the memory 510 is used to store computer programs; the processor 520 is used to execute the programs stored in the memory 510 to implement the method introduced in any embodiment of the present application.

[0130] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method introduced in any embodiment of the present application is implemented.

[0131] In this application, a plurality refers to two or more.

[0132] In this application, unless otherwise expressly defined, the terms "mounted," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. A person of ordinary skill in the art will understand the specific meanings of these terms in this application.

[0133] The terms "first," "second," "third," "fourth," etc. (if any) in this application are used to distinguish similar objects and are not necessarily used to describe a particular sequential order.

[0134] The term "and / or" in this application simply describes an association between related objects, indicating that three possible relationships exist. 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 application generally indicates that the related objects are in an "or" relationship.

[0135] Unless otherwise specified, all steps of the present application may be performed sequentially or randomly. For example, a statement that the method includes steps A and B indicates that the method may include steps A and B performed sequentially, or steps B and A performed sequentially. For example, a statement that the method may also include step C indicates that step C may be added to the method in any order, for example, the method may include steps A, B, and C, or steps A, C, and B, or steps C, A, and B, etc.

[0136] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: The method comprises: When the total driving torque is positive, determine the target wheel corresponding to the negative driving torque; Determining a current slip rate of the target wheel and a corresponding wheel slip rate control parameter under a current state of the vehicle; determining a first driving torque according to a current operating condition of the vehicle, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque; A distributed drive motor of the vehicle is controlled according to the first drive torque.

2. The method according to claim 1, characterized in that The wheel slip rate control parameter includes a slip rate threshold and a slip rate limit value, wherein the slip rate threshold value is less than the slip rate limit value; and determining the first driving torque based on the current operating condition of the vehicle, the current slip rate, the wheel slip rate control parameter, and the negative driving torque, including: determining a magnitude relationship between the current slip ratio, the slip ratio threshold, and the slip ratio limit; The first driving torque is determined according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque.

3. The method according to claim 2, characterized in that The vehicle is equipped with a vector torque control function, the current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes: When the current slip ratio is less than the slip ratio threshold, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

4. The method according to claim 2, characterized in that The current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes: When the current slip ratio is greater than the slip ratio threshold value and less than the slip ratio limit value, and if the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at a previous moment, determining a first driving torque according to a difference between the negative driving torque corresponding to the current slip ratio and the negative driving torque of the target wheel at a previous moment, the negative driving torque of the target wheel at a previous moment, the slip ratio threshold value, the slip ratio limit value, and a preset calibration coefficient; When the current slip ratio is greater than the slip ratio threshold value and less than the slip ratio limit value, if the absolute value of the negative driving torque corresponding to the current slip ratio is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

5. The method according to claim 2, characterized in that The current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes: When the current slip ratio is greater than the slip ratio limit value and the slip ratio of the target wheel at a previous moment is less than the slip ratio limit value, if the absolute value of the negative driving torque corresponding to the current slip ratio is greater than the absolute value of the negative driving torque of the target wheel at a previous moment, the negative driving torque of the target wheel at a previous moment is used as the first driving torque; When the current slip rate is greater than the slip rate limit value and the slip rate of the target wheel at the previous moment is less than the slip rate limit value, if the absolute value of the negative driving torque corresponding to the current slip rate is less than the absolute value of the negative driving torque of the target wheel at the previous moment, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

6. The method according to claim 2, characterized in that The current operating condition is a non-braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes: When the current slip ratio is greater than the slip ratio limit value and the slip ratio of the target wheel at a previous moment is greater than the slip ratio limit value, the first driving torque is determined according to the negative driving torque corresponding to the current slip ratio and the negative driving torque corresponding to the target wheel at a previous moment.

7. The method according to claim 2, characterized in that The current operating condition is a braking operating condition, and determining the first driving torque according to the magnitude relationship, the current operating condition of the vehicle, and the negative driving torque includes: When the current slip ratio is greater than the slip ratio threshold, the first driving torque is 0; When the current slip ratio is less than the slip ratio threshold, the negative driving torque currently determined by the vector torque control function is used as the first driving torque.

8. A vehicle control device, characterized in that: The device comprises: a wheel determination module, configured to determine a target wheel corresponding to a negative driving torque when the total driving torque is positive; a parameter determination module, configured to determine a current slip rate of the target wheel and a corresponding wheel slip rate control parameter under a current state of the vehicle; a torque determination module, configured to determine a first driving torque according to a current operating condition of the vehicle, the current slip ratio, the wheel slip ratio control parameter, and the negative driving torque; A control module is used to control the distributed drive motor of the vehicle according to the first driving torque.

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

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 a processor, the method according to any one of claims 1 to 7 is implemented.

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