Optimal slip ratio determination method, device, controller, vehicle and readable storage medium

Abstract

The application discloses a kind of optimal slip rate determination method, device, controller, vehicle and readable storage medium, wherein the method comprises: obtaining the road adhesion coefficient of vehicle driving road surface and the operating parameter of vehicle;Operating parameter includes vehicle speed and acceleration;According to the road adhesion coefficient and the operating parameter of vehicle, the optimal slip rate is determined.The technical scheme disclosed in the application determines the optimal slip rate according to the obtained road adhesion coefficient and the vehicle speed and acceleration of vehicle, to realize the optimal slip rate according to vehicle condition and road condition Determination, to improve the accuracy of optimal slip rate determination, to reduce tire wear when vehicle operation control is carried out based on the determined optimal slip rate, prolong the service life of tire, and improve the braking effect of vehicle, and guarantee the safety of whole vehicle operation.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a method, apparatus, controller, vehicle, and readable storage medium for determining the optimal slip ratio. Background Technology

[0002] When a tire applies traction or braking force, relative motion occurs between the tire and the ground. The slip ratio is the proportion of slippage during wheel movement. To improve the efficiency of vehicle drive and braking systems and reduce tire wear, an optimal slip ratio can be determined, and the vehicle can be controlled based on this optimal slip ratio.

[0003] Currently, the calculation of the optimal slip ratio is based on machine vision to identify the road surface type, and then the optimal slip ratio is determined according to the identified road surface type. This method cannot accurately determine the optimal slip ratio, which will increase tire wear, affect the vehicle's braking performance, and reduce the safety of vehicle operation.

[0004] In conclusion, improving the accuracy of determining the optimal slip ratio is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of the above problems, this application provides a method, apparatus, controller, vehicle and readable storage medium for determining the optimal slip ratio, so as to improve the accuracy of determining the optimal slip ratio.

[0006] In a first aspect, this application provides a method for determining the optimal slip ratio, comprising: obtaining the road surface adhesion coefficient of the road surface on which the vehicle travels and the operating parameters of the vehicle; the operating parameters including vehicle speed and acceleration; and determining the optimal slip ratio based on the road surface adhesion coefficient and the operating parameters of the vehicle.

[0007] The technical solution disclosed in this application obtains the road surface adhesion coefficient and the vehicle's operating parameters, including the vehicle's speed and acceleration. Then, based on the obtained road surface adhesion coefficient, vehicle speed, and acceleration, the optimal slip ratio is determined. This improves the accuracy of determining the optimal slip ratio by considering both vehicle and road conditions. Consequently, when controlling vehicle operation based on the determined optimal slip ratio, tire wear can be reduced, tire lifespan extended, vehicle braking performance improved, and overall vehicle safety ensured.

[0008] In some embodiments, the method further includes: acquiring target parameters; the target parameters include at least one of meteorological parameters, road condition information, and the driver's emotional state; and correcting the optimal slip ratio based on the target parameters.

[0009] The above process enables adaptive adjustment and correction of the optimal slip ratio determined based on the road surface adhesion coefficient and vehicle operating parameters by utilizing at least one of the following: meteorological parameters, road condition information, and driver's emotional state. This further improves the accuracy of determining the optimal slip ratio.

[0010] In some embodiments, when the target parameter includes any one of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameter, the method further includes: obtaining the optimal slip ratio range corresponding to the target parameter; determining whether the optimal slip ratio is within the optimal slip ratio range; if not, performing the step of correcting the optimal slip ratio according to the target parameter.

[0011] By correcting the optimal slip ratio only when it is not within the range of the optimal slip ratio corresponding to the target parameter, it is possible to ensure that the corrected optimal slip ratio is within the range of the optimal slip ratio corresponding to the target parameter, thereby improving the accuracy of the determination of the optimal slip ratio and avoiding the corrected optimal slip ratio being too small.

[0012] In some embodiments, when the target parameters include at least two of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameters, the method further includes: obtaining the optimal slip ratio range corresponding to each of the target parameters; and correcting the optimal slip ratio according to the target parameters, including: correcting the optimal slip ratio according to the target parameters whose optimal slip ratio is not within the corresponding optimal slip ratio range.

[0013] The reliability and accuracy of determining the optimal slip ratio are improved by correcting the optimal slip ratio based on target parameters whose optimal slip ratio is not within the corresponding optimal slip ratio range, while for target parameters whose optimal slip ratio is within the corresponding optimal slip ratio range, there is no need to correct the optimal slip ratio based on the corresponding target parameters.

[0014] In some embodiments, when the target parameters include at least two of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameters, the method further includes: obtaining the optimal slip ratio range corresponding to each target parameter and the priority of each target parameter; and correcting the optimal slip ratio according to the target parameters, including: determining the current target parameter in descending order of priority of each target parameter, and determining whether the optimal slip ratio is within the optimal slip ratio range corresponding to the current target parameter; if yes, determining the target parameter of the next priority level as the current target parameter, and returning to the step of determining whether the optimal slip ratio is within the optimal slip ratio range corresponding to the current target parameter; if no, correcting the optimal slip ratio according to the current target parameter, determining the target parameter of the next priority level as the current target parameter, and using the corrected optimal slip ratio to replace the optimal slip ratio, and returning to the step of determining whether the optimal slip ratio is within the optimal slip ratio range corresponding to the current target parameter.

[0015] By determining and correcting the optimal slip ratio based on the priority of the target parameters, the final optimal slip ratio can be kept within the range of the optimal slip ratios corresponding to each target parameter, thereby improving the accuracy of the optimal slip ratio determination.

[0016] In some embodiments, correcting the optimal slip ratio based on the target parameter includes: determining the slip ratio influence coefficient corresponding to the target parameter, and correcting the optimal slip ratio using the slip ratio influence coefficient corresponding to the target parameter.

[0017] By correcting the optimal slip ratio using the slip ratio influence coefficient based on the target parameter, the optimal slip ratio can be accurately determined, thus improving the accuracy of the optimal slip ratio determination.

[0018] In some embodiments, when the target parameter includes the driver's emotional state, obtaining the driver's emotional state includes: obtaining the driver's emotional state as identified by a facial recognition sensor.

[0019] Using facial recognition sensors to identify a driver's emotional state can improve the convenience and accuracy of obtaining that information.

[0020] In some embodiments, when the target parameter includes road condition information, acquiring the road condition information includes: acquiring the road condition information collected by road surface condition sensors and / or navigation systems.

[0021] By utilizing road condition sensors and / or navigation systems to obtain road condition information, the convenience and accuracy of determining road conditions can be improved.

[0022] Secondly, this application provides an optimal slip ratio determination device, comprising: a first acquisition module, configured to acquire the road surface adhesion coefficient of the road surface on which the vehicle travels and the operating parameters of the vehicle; the operating parameters including vehicle speed and acceleration; and a determination module, configured to determine the optimal slip ratio based on the road surface adhesion coefficient and the operating parameters of the vehicle.

[0023] Thirdly, this application provides a controller, comprising: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the optimal slip ratio determination method as described in any of the preceding claims.

[0024] Fourthly, this application provides a vehicle including the controller as described above.

[0025] Fifthly, this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the optimal slip ratio determination method as described in any of the preceding claims.

[0026] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0027] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0028] Figure 1 Here is a flowchart of the optimal slip ratio determination method according to some embodiments of this application;

[0029] Figure 2 This is a flowchart illustrating the determination of the optimal slip ratio and vehicle operation control based on the optimal slip ratio in some embodiments of this application;

[0030] Figure 3 This is a schematic diagram of the structure of the optimal slip ratio determination device according to some embodiments of this application;

[0031] Figure 4 This is a schematic diagram of the controller structure of some embodiments of this application. Detailed Implementation

[0032] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0034] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0035] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0036] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0037] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0038] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0039] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0040] Currently, the optimal slip ratio is calculated using a machine vision recognition module to identify road surface types, such as wet asphalt, dry asphalt, wet concrete, dry concrete, wet soil, dry soil, gravel, compacted snow, and icy surfaces. The optimal slip ratio calculation module then calculates the optimal slip ratio based on the road surface type. However, this method of calculating the optimal slip ratio solely based on road surface type leads to inaccurate results. Consequently, when vehicle control is based on the calculated optimal slip ratio, it increases tire wear, affects braking performance, and reduces vehicle safety.

[0041] To address this, the applicant proposes an optimal slip ratio determination method. This method involves obtaining the road surface adhesion coefficient and the vehicle's operating parameters, specifically including vehicle speed and acceleration. The optimal slip ratio is then determined based on these parameters, allowing for the determination of the optimal slip ratio according to both vehicle and road conditions. This improves the accuracy of the optimal slip ratio determination and, consequently, reduces tire wear, extends tire lifespan, enhances braking performance, and ensures overall vehicle safety when controlling vehicle operation based on the determined optimal slip ratio.

[0042] See Figure 1 This is a flowchart of an optimal slip ratio determination method according to some embodiments of this application, which may include the following steps:

[0043] S11: Obtain the road surface adhesion coefficient and vehicle operating parameters, including vehicle speed and acceleration.

[0044] It should be noted that the subject executing the optimal slip ratio determination method provided in this application can be a controller in the vehicle, and the controller can specifically be a vehicle computer, a vehicle controller, a domain controller, etc.

[0045] When determining the optimal slip ratio, the controller first acquires the road surface adhesion coefficient of the road surface the vehicle is traveling on, and also acquires the vehicle's operating parameters, which may include vehicle speed and acceleration. The controller can acquire the road surface adhesion coefficient and vehicle operating parameters in real time or periodically to determine the optimal slip ratio accordingly, thereby continuously determining the optimal slip ratio and controlling vehicle operation based on the latest determined optimal slip ratio.

[0046] To obtain the road surface adhesion coefficient (BPCC) of the road surface on which the vehicle is traveling, a BPCC sensor installed on the suspension or tires can measure the BPCC in real time or at regular intervals. This measured BPCC is then transmitted to the controller via a CAN (Controller Area Network) bus or other communication bus, allowing the controller to acquire the BPCC. Specifically, the BPCC sensor measures the friction between the tires and the road surface, and determines the BPCC based on this friction and the vehicle's load.

[0047] For acquiring vehicle operating parameters, vehicle speed can be obtained by a speed sensor and / or a navigation system (specifically, a high-precision navigation system), and sent to the controller so that the controller can acquire the vehicle speed. When the controller receives vehicle speeds from both the speed sensor and the navigation system, it can perform an average calculation to obtain the vehicle speed. Vehicle acceleration can be obtained by an IMU (Inertial Measurement Unit) sensor (which can obtain real-time vehicle acceleration and deceleration information) and / or the navigation system, and sent to the controller so that the controller can acquire the vehicle acceleration. When the controller receives vehicle accelerations from both the IMU sensor and the navigation system, it can perform an average calculation to obtain the vehicle acceleration.

[0048] S12: Determine the optimal slip ratio based on the road surface adhesion coefficient and vehicle operating parameters.

[0049] After acquiring the road surface adhesion coefficient and vehicle operating parameters, the controller can determine the optimal slip ratio based on these parameters. Specifically, a three-dimensional map table can be pre-established based on X-vehicle speed, Y-road surface adhesion coefficient, and Z-acceleration. The optimal slip ratio corresponding to vehicle speed, road surface adhesion coefficient, and acceleration is then calibrated on the actual vehicle, and the corresponding data is recorded in the map table. This yields the correspondence between road surface adhesion coefficient, vehicle speed, acceleration, and the optimal slip ratio. In the three-dimensional map table, road surface adhesion coefficient, vehicle speed, and acceleration can be represented as specific numerical ranges. In other words, the correspondence between road surface adhesion coefficient, vehicle speed, acceleration, and the optimal slip ratio can be pre-calibrated. Accordingly, the controller determines the optimal slip ratio based on the road surface adhesion coefficient and vehicle operating parameters. Specifically, this can be achieved by determining the optimal slip ratio quickly, efficiently, and accurately based on the pre-calibrated correspondence between road surface adhesion coefficient, vehicle speed, acceleration, and the optimal slip ratio, as well as the acquired road surface adhesion coefficient, vehicle speed, and acceleration.

[0050] The optimal slip ratio corresponding to the actual vehicle speed, road adhesion coefficient, and acceleration can be determined directly based on these three parameters. Alternatively, the optimal slip ratio corresponding to each of the vehicle speed, road adhesion coefficient, and acceleration can be determined separately first, and then the optimal slip ratio corresponding to each of these parameters can be calibrated to improve calibration efficiency. For example, vehicle speed can be divided into: starting speed (0–3 kph), first driving speed (4–15 kph), and second driving speed (>16 kph). At the starting speed, the vehicle is unlikely to slip during the initial low-speed start-up phase, so there is no need to limit the slip ratio; the optimal slip ratio can be set to 100%. At the first driving speed, the vehicle is most prone to slippage after starting (7–10 kph), so the optimal slip ratio needs to be limited to 15%–20%. At the second driving speed, the vehicle is less prone to slippage during stable driving, so the optimal slip ratio should be maintained at 15%–25%. Regarding acceleration, it can be divided into: low acceleration (0~3m / s²) 2 ), medium acceleration (3m / s²) 2 ~5m / s 2 ) and high acceleration (5m / s²) 2 ~10m / s 2The optimal slip ratio can be categorized as follows: Low acceleration: Under constant speed or slight acceleration conditions, slippage is less likely, so the optimal slip ratio can be set to 100%. Medium acceleration: Under moderate acceleration, the optimal slip ratio should be maintained between 15% and 25%. High acceleration: The vehicle accelerates to over 0.5g, which is the maximum acceleration achievable by most vehicles, making slippage more likely, and the optimal slip ratio should be limited to below 15%. For the road surface adhesion coefficient, it can be divided into: low adhesion coefficient (0.1–0.25), medium adhesion coefficient (0.25–0.7), and high road surface adhesion coefficient (0.7–1.0). For low adhesion coefficient, the optimal slip ratio needs to be reduced to prevent slippage from affecting safety, and should be kept below 15%. For medium adhesion coefficient, the optimal slip ratio needs to be reduced to maintain between 15% and 20%. For high adhesion coefficient, the optimal slip ratio should be set to 100% to ensure a good driving experience. Of course, depending on the circumstances, vehicle speed, acceleration, and road surface adhesion coefficient can be divided into other different levels, and the optimal slip ratio corresponding to each level can be calibrated.

[0051] Of course, the correspondence between the road surface adhesion coefficient and the optimal slip ratio, the correspondence between vehicle speed and the optimal slip ratio, and the correspondence between acceleration and the optimal slip ratio can also be pre-calibrated. Accordingly, the controller determines the optimal slip ratio based on the road surface adhesion coefficient and the vehicle's operating parameters. Specifically, based on the pre-calibrated correspondence between the road surface adhesion coefficient and the optimal slip ratio, the correspondence between vehicle speed and the optimal slip ratio, and the correspondence between acceleration and the optimal slip ratio, as well as the obtained road surface adhesion coefficient, vehicle speed, and acceleration of the vehicle's driving surface, the controller determines the optimal slip ratio corresponding to the road surface adhesion coefficient, the optimal slip ratio corresponding to the vehicle speed, and the optimal slip ratio corresponding to the vehicle acceleration, respectively. The smallest optimal slip ratio among the optimal slip ratios corresponding to the road surface adhesion coefficient, the optimal slip ratios corresponding to the vehicle speed, and the optimal slip ratios corresponding to the vehicle acceleration is determined as the optimal slip ratio.

[0052] As can be seen from the above, this application determines the optimal slip ratio based on the road surface adhesion coefficient of the road surface on which the vehicle is traveling, as well as the vehicle speed and acceleration, so as to achieve the determination of the optimal slip ratio based on comprehensive road conditions and vehicle conditions, thereby improving the accuracy of the determination of the optimal slip ratio, ensuring adaptive adjustment of the optimal slip ratio under different road conditions and vehicle conditions, and thus ensuring the driving safety of the whole vehicle.

[0053] After determining the optimal slip ratio, the controller can control vehicle operation based on the optimal slip ratio. Specifically, the domain controller can output torque increase / decrease requests and other torque requests based on the optimal slip ratio and vehicle data information (such as vehicle speed, wheel speed, accelerator pedal, brake pedal, motor torque and speed, etc.), and send the output information to the actuators. The actuators then coordinate electric drive and hydraulic braking based on the received information to achieve the purpose of increasing or decreasing torque and maintaining the optimal slip ratio.

[0054] The technical solution disclosed in this application obtains the road surface adhesion coefficient and the vehicle's operating parameters, including the vehicle's speed and acceleration. Then, based on the obtained road surface adhesion coefficient, vehicle speed, and acceleration, the optimal slip ratio is determined. This improves the accuracy of determining the optimal slip ratio by considering both vehicle and road conditions. Consequently, when controlling vehicle operation based on the determined optimal slip ratio, tire wear can be reduced, tire lifespan extended, vehicle braking performance improved, and overall vehicle safety ensured.

[0055] See Figure 2 This is a flowchart illustrating the determination of the optimal slip ratio and vehicle operation control based on the optimal slip ratio, according to some embodiments of this application. According to some embodiments of this application, it may also include:

[0056] Obtain target parameters; target parameters may include at least one of the following: meteorological parameters, road condition information, and the driver's emotional state;

[0057] The optimal slip ratio is corrected based on the target parameters.

[0058] In this embodiment of the application, when the controller obtains the road surface adhesion coefficient and the vehicle's operating parameters, it can also obtain target parameters, which may include at least one of meteorological parameters, road condition information and the driver's emotional state.

[0059] Meteorological parameters can be acquired and transmitted to the controller via meteorological sensors. These parameters include ground temperature and weather conditions (e.g., sunny, rainy, or snowy). Meteorological sensors specifically include temperature, rain / snow sensors, and road condition sensors. These sensors monitor external rain and snow conditions, measure rainfall amount and intensity, and monitor road surface humidity, temperature, ice, snow, and water accumulation to accurately assess road conditions. Slippery roads increase braking distance and handling difficulty, increasing the risk of traffic accidents, and thus serve as a factor in assessing severe weather.

[0060] Road condition information can be acquired and transmitted to the controller via road condition sensors and the navigation system. This information includes road surface type (e.g., asphalt, gravel) and road surface condition (e.g., dry, wet, snow-covered, icy). Examples include dry asphalt, wet asphalt, gravel, and snow / ice surfaces. Road condition sensors monitor road surface conditions such as humidity, snow, and water accumulation, while the navigation system measures road conditions ahead on the map and can identify road surface types and other information in advance based on a database. Alternatively, image sensors can be used to capture road surface images, and then road condition information can be obtained through machine vision recognition.

[0061] Regarding the driver's emotional state, a facial recognition sensor can be used to identify the driver's emotional state and send the identified state to the controller. The controller then acquires the driver's emotional state and adaptively adjusts the optimal slip ratio accordingly. Alternatively, multiple emotional states can be displayed on the vehicle's in-vehicle display screen, allowing the driver to select the appropriate state manually or via voice. The in-vehicle display system then sends the driver's emotional state to the controller. For example, the driver's emotional state could include: tense or stable.

[0062] Based on the above, after determining the optimal slip ratio according to the road surface adhesion coefficient and the vehicle's operating parameters, the controller can correct the optimal slip ratio based on the acquired target parameters. Then, vehicle operation control can be performed based on the corrected optimal slip ratio. That is, in this embodiment, a basic optimal slip ratio can be determined based on the road surface adhesion coefficient, vehicle speed, and vehicle acceleration. Then, at least one of meteorological parameters, road condition information, and the driver's emotional state can be used as parameters influencing the optimal slip ratio to correct the basic optimal slip ratio, thereby further improving the accuracy of the optimal slip ratio determination.

[0063] The above process enables the correction of the optimal slip ratio determined based on the road adhesion coefficient and vehicle operating parameters by utilizing at least one of the following: meteorological parameters, road condition information, and driver's emotional state. This allows for the accurate determination of the optimal slip ratio based on environmental parameters (specifically including meteorological parameters, road condition information, and road adhesion coefficient), vehicle conditions (specifically including vehicle speed and acceleration), and driver's emotional state. This ensures that the optimal slip ratio target is adaptively adjusted under different road conditions, vehicle conditions, and weather conditions, and that the slip ratio control target is adaptively adjusted to ensure the driving safety of the entire vehicle.

[0064] According to some embodiments of this application, when the target parameter includes any one of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameter, the following may also be included:

[0065] Obtain the optimal slip ratio range corresponding to the target parameters;

[0066] Determine whether the optimal slip ratio is within the optimal slip ratio range;

[0067] If not, then proceed with the step of correcting the optimal slip ratio based on the target parameters.

[0068] In this embodiment, when the acquired target parameters include any one of meteorological parameters, road condition information, and the driver's emotional state, the optimal slip ratio range corresponding to the target parameters can also be acquired after acquiring the target parameters. Specifically, the correspondence between various target parameters and optimal slip ratio ranges can be pre-defined. After acquiring the target parameters, the optimal slip ratio range corresponding to the target parameters can be determined based on the pre-defined correspondence between the corresponding target parameters and the optimal slip ratio range, as well as the acquired target parameters.

[0069] For example, for the target parameter of meteorological parameters, the correspondence between meteorological parameters and the optimal slip ratio range can be pre-defined. Specifically, meteorological parameters can be divided into several levels: low temperature, rain / snow, normal temperature, sunny, and high temperature. Specifically, in low temperature and rain / snow: the ground temperature is below -5℃, the road surface is prone to icing, and the optimal slip ratio needs to be reduced to below 15%; in normal temperature and sunny: the ground temperature is -5℃ to 40℃, grip is strong, no special treatment is needed, and the optimal slip ratio can be fully utilized, reaching 100%; in high temperature: the ground temperature is above 40℃, sudden braking and acceleration will increase the friction between the tire and the ground, increasing the risk of tire blowout, and the optimal slip ratio needs to be reduced to 15% to 20%. For road condition information, the correspondence between road condition information and the optimal slip ratio range can be pre-defined. Specifically, road condition information can be divided into several levels: dry asphalt, wet asphalt, gravel road surface, and snow / ice surface. Specifically, for dry asphalt roads: on dry roads, the road adhesion coefficient hardly changes with increasing speed, so the optimal slip ratio can be set at 100%. For wet asphalt roads: on wet roads, the road adhesion coefficient decreases sharply with increasing speed, so the optimal slip ratio needs to be reduced to ensure driving safety; the optimal slip ratio should be limited to 15%. For gravel roads: on gravel roads, the gravel reduces the friction between the hard surface and the gravel, turning sliding friction into rolling friction, which poses a risk of slippage during acceleration and deceleration. In this case, the optimal slip ratio needs to be appropriately reduced, maintaining it between 15% and 25%. For snow and ice surfaces: snow and ice surfaces are low-adhesion surfaces, making them prone to slippage during acceleration and deceleration; the optimal slip ratio needs to be kept low, limiting it to 15%. Regarding the driver's emotional state, the correspondence between the driver's emotional state and the optimal slip ratio range can be pre-defined. Specifically, the driver's emotional state can be divided into several levels, such as emotional tension and emotional stability, and the optimal slip ratio range can be defined based on these levels. Of course, meteorological parameters, road condition information and driver emotional state can also be divided into other different levels according to actual conditions, and the optimal slip ratio range corresponding to each level can be marked.

[0070] After determining the optimal slip ratio range corresponding to the target parameters, it can be judged whether the optimal slip ratio determined based on the road adhesion coefficient and vehicle operating parameters falls within the optimal slip ratio range corresponding to the target parameters. If it is determined that the determined optimal slip ratio does not fall within the optimal slip ratio range corresponding to the target parameters, a step of correcting the optimal slip ratio based on the target parameters can be performed to ensure that the corrected optimal slip ratio falls within the optimal slip ratio range corresponding to the target parameters, thereby improving the accuracy of the optimal slip ratio determination. If it is determined that the determined optimal slip ratio falls within the optimal slip ratio range corresponding to the target parameters, then the step of correcting the optimal slip ratio based on the target parameters can be rejected to avoid the corrected optimal slip ratio being too small.

[0071] By correcting the optimal slip ratio only when it is not within the range of the optimal slip ratio corresponding to the target parameter, it is possible to ensure that the corrected optimal slip ratio is within the range of the optimal slip ratio corresponding to the target parameter, thereby improving the accuracy of the determination of the optimal slip ratio and avoiding the corrected optimal slip ratio being too small.

[0072] According to some embodiments of this application, when the target parameter includes at least two of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameter, the process may further include:

[0073] Obtain the optimal slip ratio range for each target parameter;

[0074] Correcting the optimal slip ratio based on the target parameters can include:

[0075] The optimal slip ratio is corrected based on the target parameter that is not within the corresponding optimal slip ratio range.

[0076] In this embodiment of the application, when the target parameters include at least two of the following: meteorological parameters, road condition information, and the driver's emotional state, the optimal slip ratio corresponding to each target parameter can be obtained after acquiring the target parameters. Specifically, the optimal slip ratio range corresponding to each target parameter can be determined according to the pre-defined correspondence between each target parameter and the optimal slip ratio range, as well as the acquired target parameters. Based on the above, the specific process of correcting the optimal slip ratio range according to the target parameters can be as follows: Obtain the target parameters whose optimal slip ratio is not within their respective optimal slip ratio ranges, based on the optimal slip ratio and the optimal slip ratio ranges corresponding to each target parameter. Correct the optimal slip ratio based on these target parameters. Specifically, if the optimal slip ratio is not within the optimal slip ratio range corresponding to at least two target parameters, then correct the optimal slip ratio based on these multiple target parameters (i.e., the target parameters whose optimal slip ratio is not within their respective optimal slip ratio ranges). For example, if the obtained target parameters are weather parameters, road condition information, and the driver's emotional state, and it is determined that the optimal slip ratio is not within the optimal slip ratio range corresponding to the weather parameters and road condition information respectively, then correct the optimal slip ratio based on the weather parameters and road condition information. However, for target parameters whose optimal slip ratio is within their respective optimal slip ratio ranges, there is no need to correct the optimal slip ratio based on the corresponding target parameters.

[0077] The above methods can improve the reliability and accuracy of determining the optimal slip ratio.

[0078] According to some embodiments of this application, when the target parameter may include at least two of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameter, the following may also be included:

[0079] Obtain the optimal slip ratio range for each target parameter and the priority of each target parameter;

[0080] Correcting the optimal slip ratio based on the target parameters can include:

[0081] The current target parameter is determined in descending order of priority of each target parameter, and it is determined whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter.

[0082] If so, the target parameter of the next priority level is determined as the current target parameter, and the corrected optimal slip ratio is used to replace the optimal slip ratio. Then, the process returns to the step of determining whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter.

[0083] If not, the optimal slip ratio is adjusted according to the current target parameter, the target parameter of the next priority level is determined as the current target parameter, and the process returns to the step of determining whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter.

[0084] In this embodiment of the application, when the target parameters include at least two of the following: meteorological parameters, road condition information, and the driver's emotional state, the optimal slip ratio corresponding to each target parameter can be obtained after acquiring the target parameters. Specifically, the optimal slip ratio range corresponding to each target parameter can be determined according to the pre-defined correspondence between each target parameter and the optimal slip ratio range, as well as the acquired target parameters.

[0085] Based on the above, the specific process of correcting the optimal slip ratio range according to the target parameters can be as follows:

[0086] Step 1: Obtain the priority of each target parameter; the higher the priority of the target parameter, the greater its impact on the optimal slip ratio. For example, when the target parameters include weather parameters, road condition information, and driver's emotional state, the priority order from high to low can be: road condition information, weather parameters, driver's emotional state. Of course, the priority order of these target parameters can also be adjusted according to specific needs.

[0087] Step 2: Determine the current target parameter according to the priority of each target parameter from high to low;

[0088] Step 3: Determine whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter; if yes, proceed to step 4; otherwise, proceed to step 5.

[0089] Step 4: If the optimal slip ratio is determined to be within the range of the optimal slip ratio corresponding to the current target parameter, then the correction of the optimal slip ratio based on the current target parameter is rejected, and the target parameter of the next priority level is determined as the current target parameter in order of priority from high to low, and the process returns to step 3.

[0090] Step 5: If it is determined that the optimal slip ratio is not within the range of the optimal slip ratio corresponding to the current target parameter, the optimal slip ratio can be corrected according to the current target parameter so that the corrected optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter. Then, the target parameter of the next priority level is determined as the current target parameter in descending order of priority. Next, it is determined whether the corrected optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter. Specifically, the corrected optimal slip ratio can be used to replace the optimal slip ratio. Then, return to step 3.

[0091] The above method ensures that the final optimal slip ratio falls within the range of optimal slip ratios corresponding to each target parameter, thereby improving the accuracy of determining the optimal slip ratio.

[0092] According to some embodiments of this application, correcting the optimal slip ratio based on the target parameter may include:

[0093] Determine the slip ratio influence coefficient corresponding to the target parameter, and use the slip ratio influence coefficient corresponding to the target parameter to correct the optimal slip ratio.

[0094] In this embodiment of the application, the specific process of correcting the optimal slip ratio based on the target parameters can be as follows:

[0095] Step a: Determine the slip ratio influence coefficient corresponding to the target parameter. Specifically, the correspondence between various target parameters and slip ratio influence coefficients can be calibrated separately. After obtaining the target parameters, the slip ratio influence coefficient corresponding to the target parameter can be determined based on the pre-calibrated correspondence between the corresponding target parameters and slip ratio influence coefficients, as well as the obtained target parameters.

[0096] For example, regarding meteorological parameters, the slip ratio influence coefficient for rainy / snowy days can be 0.6, for hot days it can be 0.8, and for sunny days it can be 1.0. Regarding road condition information, the slip ratio influence coefficient for snow / ice surfaces can be 0.6, for wet asphalt pavements it can be 0.8, for gravel pavements it can be 0.8, and for dry asphalt pavements it can be 1.0. Regarding the driver's emotional state, the slip ratio influence coefficient for a driver in a tense state can be 0.8, and for a driver in a stable state it can be 1.2.

[0097] Step b: After determining the slip ratio influence coefficient corresponding to the target parameter, multiply the slip ratio influence coefficient corresponding to the target parameter by the optimal slip ratio to correct the optimal slip ratio.

[0098] The above methods can be used to accurately determine the optimal slip ratio, thereby improving the accuracy of the optimal slip ratio determination.

[0099] According to some embodiments of this application, when the target parameter includes the driver's emotional state, obtaining the driver's emotional state may include:

[0100] It acquires the driver's emotional state as identified by a facial recognition sensor.

[0101] In this embodiment, when the target parameter includes the driver's emotional state, the driver's emotional state can be identified by a facial recognition sensor inside the vehicle, and the identified emotional state can be sent to the controller so that the controller can obtain the driver's emotional state. Specifically, the facial recognition sensor can capture the driver's facial image and identify the driver's emotional state based on the captured facial image.

[0102] The above methods improve the convenience and accuracy of obtaining the driver's emotional state.

[0103] According to some embodiments of this application, when the target parameter includes traffic information, obtaining the traffic information may include:

[0104] Acquire road condition information collected by road surface sensors and / or navigation systems.

[0105] In this embodiment, when the target parameter includes road condition information, the road condition information can be collected by road surface sensors and / or a navigation system, and then sent to the controller so that the controller can obtain the road condition information. When road surface sensors or a navigation system are used for collection, the road condition information can be collected and sent to the controller. When both road surface sensors and a navigation system are used for collection, road surface condition sensors can be used to collect road surface conditions (e.g., humidity, snow, water accumulation, etc.) and send them to the controller, while the navigation system can be used to collect road surface types (e.g., asphalt, gravel, etc.), so that the controller can obtain road condition information based on the road surface conditions and types.

[0106] By utilizing road condition sensors and / or navigation systems to obtain road condition information, the convenience and accuracy of determining road conditions can be improved.

[0107] This application also provides an optimal slip ratio determination device, see [link to relevant documentation] Figure 3This is a schematic diagram of the structure of an optimal slip ratio determination device according to some embodiments of this application. The optimal slip ratio determination device 30 may include a first acquisition module 31 and a determination module 32. The first acquisition module is used to acquire the road surface adhesion coefficient of the road surface on which the vehicle travels and the vehicle's operating parameters, including vehicle speed and acceleration; the determination module is used to determine the optimal slip ratio based on the road surface adhesion coefficient and the vehicle's operating parameters.

[0108] According to some embodiments of this application, the optimal slip ratio determination device 30 may further include: a second acquisition module for acquiring target parameters; the target parameters may include at least one of meteorological parameters, road condition information, and the driver's emotional state; and a correction module for correcting the optimal slip ratio based on the target parameters.

[0109] According to some embodiments of this application, when the target parameter includes any one of meteorological parameters, road condition information, and the driver's emotional state, the optimal slip ratio determination device 30 may further include: a third acquisition module, used to acquire the optimal slip ratio range corresponding to the target parameter; a first judgment module, used to judge whether the optimal slip ratio is within the optimal slip ratio range; and a first execution module, used to perform a step of correcting the optimal slip ratio according to the target parameter if the optimal slip ratio is not within the optimal slip ratio range.

[0110] According to some embodiments of this application, when the target parameters include at least two of the following: meteorological parameters, road condition information, and driver's emotional state, the optimal slip ratio determination device 30 may further include: a fourth acquisition module, used to acquire the optimal slip ratio range corresponding to each target parameter; and a correction module to correct the optimal slip ratio according to the target parameters, used to correct the optimal slip ratio according to the target parameters whose optimal slip ratio is not within the corresponding optimal slip ratio range.

[0111] According to some embodiments of this application, when the target parameters include at least two of the following: meteorological parameters, road condition information, and driver's emotional state, the optimal slip ratio determination device 30 may further include: a fifth acquisition module, used to acquire the optimal slip ratio range corresponding to each target parameter and the priority of each target parameter; a correction module to correct the optimal slip ratio according to the target parameters, used to determine the current target parameter in descending order of priority of each target parameter, and to determine whether the optimal slip ratio is within the optimal slip ratio range corresponding to the current target parameter; if yes, then the target parameter of the next priority level is determined as the current target parameter, and the corrected optimal slip ratio is used to replace the optimal slip ratio, and the step of determining whether the optimal slip ratio is within the optimal slip ratio range corresponding to the current target parameter is returned; if no, then the optimal slip ratio is corrected according to the current target parameter, the target parameter of the next priority level is determined as the current target parameter, and the step of determining whether the optimal slip ratio is within the optimal slip ratio range corresponding to the current target parameter is returned.

[0112] According to some embodiments of this application, the correction module corrects the optimal slip ratio based on the target parameter, specifically by determining the slip ratio influence coefficient corresponding to the target parameter, and using the slip ratio influence coefficient corresponding to the target parameter to correct the optimal slip ratio.

[0113] According to some embodiments of this application, when the target parameter includes the driver's emotional state, the second acquisition module acquires the target parameter, specifically for acquiring the driver's emotional state recognized by the face recognition sensor.

[0114] According to some embodiments of this application, when the target parameter includes road condition information, the second acquisition module acquires the target parameter, specifically for acquiring road condition information collected by road condition sensors and / or navigation systems.

[0115] This application also provides a controller, see [link to relevant documentation] Figure 4 This is a schematic diagram of the controller structure in some embodiments of this application. The controller 40 may include a memory 41 and a processor 42. The memory 41 is used to store computer programs; the processor 42 is used to execute the computer programs stored in the memory to implement the steps of any of the above-described optimal slip ratio determination methods.

[0116] This application also provides a vehicle that may include the aforementioned controller.

[0117] This application also provides a readable storage medium storing a computer program, which, when executed by a processor, can implement the steps of any of the above-described optimal slip ratio determination methods.

[0118] For a description of the relevant parts of the optimal slip ratio determination device, controller and readable storage medium provided in this application, please refer to the detailed description of the corresponding parts of the optimal slip ratio determination method provided in this application, and will not be repeated here.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for determining the optimal slip ratio, characterized in that, include: The road surface adhesion coefficient of the road surface on which the vehicle travels and the operating parameters of the vehicle are obtained; the operating parameters include vehicle speed and acceleration. The optimal slip ratio is determined based on the road surface adhesion coefficient and the vehicle's operating parameters; Obtain target parameters; the target parameters include at least one of meteorological parameters, road condition information, and the driver's emotional state; The optimal slip ratio is corrected based on the target parameters; When the target parameters include any one of meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameters, the following are also included: Obtain the optimal slip ratio range corresponding to the target parameter; Determine whether the optimal slip ratio is within the range of the optimal slip ratio; If not, then perform the step of correcting the optimal slip ratio according to the target parameter; When the target parameters include at least two of the following: meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameters, the method further includes: Obtain the optimal slip ratio range corresponding to each of the target parameters; The optimal slip ratio is corrected based on the target parameters, including: The optimal slip ratio is corrected based on the target parameter that is not within the corresponding optimal slip ratio range.

2. The method for determining the optimal slip ratio according to claim 1, characterized in that, When the target parameters include at least two of the following: meteorological parameters, road condition information, and the driver's emotional state, after obtaining the target parameters, the method further includes: Obtain the optimal slip ratio range corresponding to each of the target parameters and the priority of each target parameter; The optimal slip ratio is corrected based on the target parameters, including: The current target parameter is determined in descending order of priority of each target parameter, and it is determined whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter. If so, the target parameter of the next priority level is determined as the current target parameter, and the process returns to the step of determining whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter; If not, then the optimal slip ratio is corrected according to the current target parameter, the target parameter of the next priority level is determined as the current target parameter, and the corrected optimal slip ratio is used to replace the optimal slip ratio. Then, the step of determining whether the optimal slip ratio is within the range of the optimal slip ratio corresponding to the current target parameter is returned.

3. The method for determining the optimal slip ratio according to any one of claims 1 to 2, characterized in that, The optimal slip ratio is corrected based on the target parameters, including: Determine the slip ratio influence coefficient corresponding to the target parameter, and use the slip ratio influence coefficient corresponding to the target parameter to correct the optimal slip ratio.

4. The method for determining the optimal slip ratio according to claim 3, characterized in that, When the target parameter includes the driver's emotional state, the driver's emotional state is obtained, including: The driver's emotional state is obtained from the facial recognition sensor.

5. The method for determining the optimal slip ratio according to claim 3, characterized in that, When the target parameter includes road condition information, the road condition information is obtained, including: Acquire the road condition information collected by road condition sensors and / or navigation systems.

6. An optimal slip ratio determination device, characterized in that, include: The first acquisition module is used to acquire the road surface adhesion coefficient of the road surface on which the vehicle travels and the operating parameters of the vehicle. The operating parameters include vehicle speed and acceleration; The determination module is used to determine the optimal slip ratio based on the road surface adhesion coefficient and the vehicle's operating parameters; Also includes: The second acquisition module is used to acquire target parameters; the target parameters include at least one of meteorological parameters, road condition information, and the driver's emotional state. The correction module is used to correct the optimal slip ratio according to the target parameters; When the target parameter includes any one of meteorological parameters, road condition information, and the driver's emotional state, the system further includes: a third acquisition module, used to acquire the optimal slip ratio range corresponding to the target parameter; a first judgment module, used to determine whether the optimal slip ratio is within the optimal slip ratio range; and a first execution module, used to execute the step of correcting the optimal slip ratio according to the target parameter if the optimal slip ratio is not within the optimal slip ratio range. When the target parameters include at least two of the following: meteorological parameters, road condition information, and driver's emotional state, the system further includes: a fourth acquisition module, used to acquire the optimal slip ratio range corresponding to each of the target parameters; and a correction module, used to correct the optimal slip ratio based on the target parameters whose optimal slip ratio is not within the corresponding optimal slip ratio range.

7. A controller, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the optimal slip ratio determination method as described in any one of claims 1 to 5 when executing the computer program.

8. A vehicle, characterized in that, Includes the controller as described in claim 7.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the optimal slip ratio determination method as described in any one of claims 1 to 5.

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