Vehicle TCS control method, vehicle TCS control device and automobile
By pre-storing the correspondence between multiple vehicle speed ranges and slip ratio thresholds in the vehicle, the TCS control strategy is adjusted in real time, solving the problems of insufficient power and sideslip in economy passenger cars under different road conditions, reducing hardware costs and improving control accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-03-09
- Publication Date
- 2026-04-14
AI Technical Summary
In the existing technology, the TCS system of economy passenger cars uses a single slip rate threshold, which leads to inaccurate control under different road conditions, and may cause problems such as insufficient power or body skidding. In addition, the complex dynamic model requires additional hardware facilities, which increases costs and debugging difficulty.
By establishing a correspondence, multiple preset speed ranges and slip ratio thresholds are pre-stored in the vehicle. The vehicle speed and slip ratio are acquired in real time, the slip ratio threshold is dynamically set, and the TCS control strategy is determined based on the relationship between vehicle speed and slip ratio, thus avoiding the use of additional sensors.
It achieves precise TCS control under different road conditions, reduces hardware costs, simplifies computational requirements, and improves control accuracy and driving stability.
Smart Images
Figure CN121849152A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the automotive field, specifically to a vehicle TCS control method, a vehicle TCS control device, and an automobile. Background Technology
[0002] The Traction Control System (TCS) is one of the core electronic control systems that ensures vehicle driving stability and power. Its core principle is to calculate the slip ratio by monitoring the difference between the drive wheel speed and the actual vehicle speed in real time, and to suppress excessive slippage of the drive wheels by adjusting torque and intervening in braking. It is widely used in various passenger and commercial vehicles.
[0003] In existing technologies, many economy passenger vehicles equipped with TCS (Traction Control System) use a single slip ratio threshold control logic, setting a fixed slip ratio threshold as the trigger condition for TCS control. However, vehicles are used in a variety of scenarios. If the set slip ratio threshold is too low, even slight slippage of the drive wheels will trigger a reduction in torque or braking intervention, resulting in insufficient vehicle power and potential issues such as slow acceleration and difficulty climbing hills. This problem is particularly pronounced on low-traction surfaces such as gravel or ice. On high-traction surfaces such as asphalt, if the slip ratio threshold is set too high, the TCS may not be able to intervene in time when the drive wheels slip excessively, easily leading to accidents such as vehicle skidding and loss of control.
[0004] To address the issues arising from a fixed slip ratio threshold, some existing vehicle technologies employ multi-mode TCS control algorithms. These algorithms collect more vehicle and environmental parameters to construct complex dynamic models, thereby dynamically adjusting the slip ratio. However, such algorithms typically rely on additional hardware, such as road adhesion coefficient sensors and vehicle attitude sensors, leading to increased hardware costs. Furthermore, the TCS control algorithm has a long debugging cycle, making it difficult to adapt to the production demands and costs of economy passenger vehicles. Summary of the Invention
[0005] In view of this, it is necessary to provide a vehicle TCS control method, a vehicle TCS control device, and a vehicle, so as to achieve the technical effect of reducing vehicle costs while improving the accuracy of vehicle TCS control.
[0006] To achieve the aforementioned technical effects, firstly, this application provides a vehicle TCS control method, comprising: A set correspondence relationship is provided, which includes multiple set vehicle speed ranges and multiple set slip ratio thresholds, wherein the set vehicle speed ranges and the set slip ratio thresholds correspond one-to-one; Obtain the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle; The real-time slip rate threshold of the target vehicle is determined based on the real-time vehicle speed and the set correspondence. Whether to perform TCS control on the target vehicle is determined based on the relationship between the real-time slip rate of the drive wheel and the real-time slip rate threshold.
[0007] In one possible embodiment, the set correspondence relationship further includes a plurality of set TCS control strategies that correspond one-to-one with the plurality of set slip ratio thresholds; The step of determining whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheel and the real-time slip rate threshold includes: The set TCS control strategy corresponding to the real-time slip ratio threshold is determined as the real-time TCS control strategy; When the real-time slip rate of the drive wheel is greater than or equal to the real-time slip rate threshold, the real-time TCS control strategy is executed to perform TCS control on the target vehicle.
[0008] In one possible embodiment, after executing the real-time TCS control strategy to perform TCS control on the target vehicle, the method further includes: Determine the exit slip ratio threshold based on the real-time slip ratio threshold; When the real-time slip rate of the drive wheel is less than or equal to the exit slip rate threshold, the real-time TCS control strategy is stopped.
[0009] In one possible embodiment, after stopping the execution of the real-time TCS control strategy, the method further includes: A reverse TCS control strategy is generated based on the real-time TCS control strategy. The reverse real-time TCS control strategy is executed.
[0010] In one possible embodiment, the plurality of set speed ranges include a first speed range, a second speed range, and a third speed range, wherein the upper limit of the threshold of the first speed range is less than or equal to the lower limit of the threshold of the second speed range, and the upper limit of the threshold of the second speed range is less than or equal to the lower limit of the threshold of the third speed range. The multiple TCS control strategies include a first TCS control strategy, a second TCS control strategy, and a third TCS control strategy. The first TCS control strategy includes a first drive wheel braking strategy, the second TCS control strategy includes a second drive wheel braking strategy and a first torque reduction strategy, and the third TCS control strategy includes a second torque reduction strategy. The braking force of the first drive wheel braking strategy is greater than the braking force of the second drive wheel braking strategy, and the torque reduction value of the first torque reduction strategy is less than the torque reduction value of the second torque reduction strategy.
[0011] In one possible embodiment, the plurality of set vehicle speed ranges include a first vehicle speed range, a second vehicle speed range, and a third vehicle speed range, and the plurality of set slip ratio thresholds include a first slip ratio threshold corresponding to the first vehicle speed range, a second slip ratio threshold corresponding to the second vehicle speed range, and a third slip ratio threshold corresponding to the third vehicle speed range. The upper limit of the threshold of the first speed range is less than or equal to the lower limit of the threshold of the second speed range, the upper limit of the threshold of the second speed range is less than or equal to the lower limit of the threshold of the third speed range, the first slip ratio threshold is greater than the second slip ratio threshold, and the second slip ratio threshold is greater than the third slip ratio threshold.
[0012] In one possible embodiment, the upper threshold of the first speed range and the lower threshold of the second speed range are greater than or equal to 15 km / h and less than or equal to 25 km / h, and the upper threshold of the second speed range and the lower threshold of the third speed range are greater than or equal to 55 km / h and less than or equal to 65 km / h. The first slip ratio threshold is greater than or equal to 15% and less than or equal to 20%, the second slip ratio threshold is greater than or equal to 8% and less than or equal to 12%, and the third slip ratio threshold is less than or equal to 5%.
[0013] In one possible embodiment, the method further includes: obtaining the historical speed of the target vehicle, wherein the historical speed is the speed of the target vehicle at the previous sampling time that is adjacent to the current time in terms of time sequence; The step of determining the real-time slip ratio threshold of the target vehicle based on the real-time vehicle speed and the set correspondence includes: If the real-time vehicle speed belongs to a first set vehicle speed range and the historical vehicle speed belongs to a second set vehicle speed range, obtain the first set slip ratio threshold corresponding to the first set vehicle speed range and the second set slip ratio threshold corresponding to the second set vehicle speed range, and obtain multiple interpolated slip ratio thresholds between the first set slip ratio threshold and the second set slip ratio threshold. Within a set time period, the second set slip ratio threshold, each of the interpolation slip ratio thresholds, and the first set slip ratio threshold are sequentially set to the real-time slip ratio threshold.
[0014] Secondly, this application provides a vehicle TCS control device, comprising: The storage module is used to store the set correspondence relationship, which includes multiple set vehicle speed ranges and multiple set slip ratio thresholds, and the set vehicle speed ranges and set slip ratio thresholds correspond one-to-one; A data acquisition module is used to acquire the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle. A threshold determination module is used to determine the real-time slip rate threshold of the target vehicle based on the real-time vehicle speed and the set correspondence. The vehicle control module is used to determine whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheel and the real-time slip rate threshold.
[0015] Thirdly, this application provides a vehicle comprising: The vehicle body and the vehicle TCS control device, as described above, mounted on the vehicle body; The vehicle TCS control device executes the vehicle TCS control method described above to control the main body of the vehicle.
[0016] The beneficial effects of this application are: Compared with related technologies, the vehicle TCS control method, vehicle TCS control device, and automobile provided in this application pre-store a set correspondence in the vehicle. This set correspondence includes multiple set speed ranges and multiple set slip ratio thresholds, with each speed range and slip ratio threshold corresponding to the others. During the target vehicle's operation, the real-time speed and drive wheel slip ratio of the target vehicle are acquired in real time. The real-time slip ratio threshold is determined based on the real-time speed and the set correspondence, meaning the real-time slip ratio threshold is dynamically set according to the target vehicle's real-time speed. Simultaneously, the relationship between the drive wheel slip ratio and the real-time slip ratio threshold determines whether TCS control is applied to the target vehicle. This application only requires measuring the vehicle's real-time speed and drive wheel slip ratio, eliminating the need for additional sensors. The execution process is simpler, with lower hardware requirements, effectively reducing the cost of the target vehicle. Furthermore, by dividing the speed range and matching the real-time slip ratio threshold in real time, the pain point of traditional single threshold methods is solved, improving the accuracy of vehicle TCS control. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a schematic flowchart of a vehicle TCS control method provided in one embodiment of this application; Figure 2This is a schematic diagram of the process for determining the real-time slip rate threshold in a vehicle TCS control method provided in one embodiment of this application; Figure 3 A schematic flowchart of a vehicle TCS control method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of a vehicle TCS control device provided in one embodiment of this application. Detailed Implementation
[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.
[0020] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.
[0021] The terms "first," "second," etc., used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.
[0022] 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 mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.
[0023] This application provides a vehicle TCS control method, a vehicle TCS control device, an electronic device, and a computer-readable storage medium, which are described below.
[0024] Please refer to Figure 1 The vehicle TCS control method provided in this embodiment is applied to automobiles with TCS control function. The vehicle TCS control method includes the following steps: Step S101: Provide a setting correspondence relationship, which includes multiple setting speed ranges and multiple setting slip ratio thresholds, with each setting speed range and setting slip ratio threshold corresponding one-to-one.
[0025] In this step, a pre-defined correspondence is stored in the car. This correspondence is between vehicle speed and slip ratio threshold. Specifically, multiple speed ranges are set, and a unique slip ratio threshold is set for each speed range.
[0026] In this application, the multiple set speed ranges are specifically defined as low-speed, medium-speed, and high-speed ranges, corresponding to three different states of vehicle driving at low, medium, and high speeds, respectively. This is reflected in the setting correspondence as follows: the multiple set speed ranges include a first speed range, a second speed range, and a third speed range. The upper threshold of the first speed range is less than or equal to the lower threshold of the second speed range, and the upper threshold of the second speed range is less than or equal to the lower threshold of the third speed range. Based on this, corresponding set slip ratio thresholds are set for each set speed range. This is reflected in the setting correspondence as follows: multiple set slip ratio thresholds include a first slip ratio threshold corresponding to the first speed range, a second slip ratio threshold corresponding to the second speed range, and a third slip ratio threshold corresponding to the third speed range.
[0027] In this application, the set slip ratio threshold decreases as the set speed range increases, that is, the first slip ratio threshold is greater than the second slip ratio threshold, and the second slip ratio threshold is greater than the third slip ratio threshold.
[0028] In this embodiment, the low-speed, medium-speed, and high-speed ranges are specifically defined as follows: the upper threshold of the first speed range and the lower threshold of the second speed range are greater than or equal to 15 km / h and less than or equal to 25 km / h; the upper threshold of the second speed range and the lower threshold of the third speed range are greater than or equal to 55 km / h and less than or equal to 65 km / h. For example, the first speed range is 0~20 km / h, the second speed range is 20 km / h~60 km / h, and the third speed range is 60 km / h~∞. Based on this, the first slip ratio threshold is set to be greater than or equal to 15% and less than or equal to 20%, the second slip ratio threshold is greater than or equal to 8% and less than or equal to 12%, and the third slip ratio threshold is less than or equal to 5%. The details are shown in the table below:
[0029] It is understood that the foregoing are merely illustrative examples of multiple set speed ranges and multiple set slip ratio thresholds in some embodiments of this application. In other embodiments of this application, adjustments may be made based on factors such as vehicle type, vehicle parameters, and main application scenarios.
[0030] Furthermore, in some embodiments of this application, a hysteresis threshold can be set to avoid frequent switching caused by vehicle speed fluctuations around the threshold. Specifically, a certain difference is set between the upper limit of the threshold for the first vehicle speed range and the lower limit of the threshold for the second vehicle speed range, and a certain difference is set between the upper limit of the threshold for the second vehicle speed range and the lower limit of the threshold for the third vehicle speed range. For example, the hysteresis threshold can be set to ±1 km / h. Based on this, the first vehicle speed range is set to 0~19 km / h, the second vehicle speed range to 21 km / h~59 km / h, and the third vehicle speed range to 61 km / h~∞.
[0031] Step S102: Obtain the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle.
[0032] In this step, the specific method involves measuring the wheel speed of the target vehicle's drive wheels. and driven wheel speed How to obtain real-time vehicle speed and real-time slip rate of drive wheels That is, measuring the wheel speed of the target vehicle's drive wheels in real time using sensors. and driven wheel speed Based on this, the speed of the driven wheel is directly calculated. As the target vehicle speed, that is Then based on the formula The real-time slip rate of the drive wheel was calculated.
[0033] It is understood that the foregoing is merely an example of the specific methods for obtaining the real-time vehicle speed and the real-time slip rate of the drive wheels of the target vehicle in this embodiment. In some other embodiments of this application, the real-time vehicle speed and the real-time slip rate of the drive wheels can also be obtained in other ways, and the specific settings can be made according to the actual structure of the vehicle.
[0034] Step S103: Determine the real-time slip rate threshold of the target vehicle based on the real-time vehicle speed and the set correspondence.
[0035] In this step, the real-time vehicle speed is directly compared with the set speed range to determine the set speed range to which the real-time vehicle speed belongs. The set slip rate threshold corresponding to the set speed range in the set correspondence is used as the real-time slip rate threshold of the target vehicle.
[0036] It is understood that the foregoing is merely an illustrative example of one method for determining the real-time slip ratio threshold in this embodiment. In some other embodiments of this application, it may also be as follows: Figure 2 Other methods shown include: Step S201: Obtain the historical speed of the target vehicle.
[0037] In this step, the historical vehicle speed refers to the speed of the target vehicle at the previous sampling time that is adjacent to the current time in terms of time sequence. The previous sampling time is the time point immediately preceding the current sampling time, taken during the vehicle's movement, with no sampling point interval between them. It is the preceding sampling time that directly connects to the current time on the timeline, with a predetermined interval between them, and is the core adjacent preceding time for time series data comparison and time series operations.
[0038] Step S202: If the real-time vehicle speed belongs to the first set vehicle speed range and the historical vehicle speed belongs to the second set vehicle speed range, obtain the first set slip ratio threshold corresponding to the first set vehicle speed range and the second set slip ratio threshold corresponding to the second set vehicle speed range.
[0039] In this step, the real-time vehicle speed belongs to the first set speed range, and the historical vehicle speed belongs to the second set speed range. That is, the historical vehicle speed and the real-time vehicle speed belong to two different speed ranges. In other words, the vehicle speed changes abruptly within the two speed ranges in a short period of time. Specifically, in this embodiment, the real-time vehicle speed belongs to the first set speed range and the historical vehicle speed belongs to the second set speed range. Alternatively, the real-time vehicle speed belongs to the second set speed range and the historical vehicle speed belongs to the third set speed range, or the real-time vehicle speed belongs to the first set speed range and the historical vehicle speed belongs to the third set speed range, etc.
[0040] Step S203: Obtain multiple interpolated slip ratio thresholds between the first set slip ratio threshold and the second set slip ratio threshold.
[0041] In this step, the interpolation slip ratio threshold is specifically a slip ratio threshold that is greater than the first set slip ratio threshold and less than the second set slip ratio threshold. The number of interpolations is determined based on the control accuracy requirements (e.g., 5 or 10). Using an interpolation algorithm (e.g., linear interpolation), a series of slip ratio values between the first and second set slip ratio thresholds are calculated at set step sizes, resulting in multiple interpolation slip ratio thresholds. For example, if the first slip ratio threshold is 20% and the second slip ratio threshold is 12%, multiple interpolation slip ratio thresholds of 19%, 18%, 17%, 16%, 15%, 14%, and 13% can be evenly set using a linear interpolation algorithm.
[0042] Step S204: Within a set time period, the second set slip ratio threshold, each interpolation slip ratio threshold, and the first set slip ratio threshold are sequentially set to the real-time slip ratio threshold.
[0043] In this step, the time period is set to a preset time period, such as a time period of 500ms after the current time. Within this time period, the second preset slip ratio threshold, each interpolation slip ratio threshold, and the first preset slip ratio threshold are gradually set to the real-time slip ratio threshold.
[0044] When the target vehicle's speed suddenly changes, and the real-time speed changes from the second set speed range to the first set speed range, multiple interpolation slip ratio thresholds are determined by interpolation. The second set slip ratio threshold, each interpolation slip ratio threshold, and the first set slip ratio threshold are then set as the real-time slip ratio threshold. By using interpolation transition, the control abrupt changes when the vehicle speed changes across speed ranges are eliminated, effectively reducing problems such as vehicle vibration and power jerking, and improving driving comfort.
[0045] Step S104: Determine whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheels and the real-time slip rate threshold.
[0046] In this step, TCS control is applied to the target vehicle when the real-time slip rate of the drive wheels is greater than the real-time slip rate threshold; conversely, TCS control is not applied to the target vehicle when the real-time slip rate of the drive wheels is less than the real-time slip rate threshold.
[0047] Furthermore, in some embodiments of this application, if TCS control has already been applied to the target vehicle, an exit slip rate threshold can be further determined based on a real-time slip rate threshold. When the real-time slip rate of the drive wheels is less than or equal to the exit slip rate threshold, TCS control is stopped. The exit slip rate threshold is less than the real-time slip rate threshold, and it is specifically calculated using a set constant greater than zero and less than 1 and the real-time slip rate threshold. The set constant could be, for example, 70%, 80%, or 90%.
[0048] Since the real-time slip rate threshold of the target vehicle will decrease accordingly after TCS control is applied, in this embodiment, after TCS control has been applied to the target vehicle, the exit slip rate threshold is determined based on the real-time slip rate threshold. TCS control is only stopped when the real-time slip rate of the drive wheels is less than or equal to the exit slip rate threshold. This can prevent the real-time slip rate of the target vehicle's drive wheels from fluctuating continuously around the real-time slip rate threshold, which would cause frequent TCS control to start and stop, thus improving the vehicle control effect.
[0049] Compared with related technologies, the vehicle TCS control method provided in this embodiment stores a pre-defined correspondence in the vehicle, setting multiple speed ranges and multiple slip ratio thresholds. The speed ranges and slip ratio thresholds are mapped one-to-one. During the vehicle's operation, the real-time speed and drive wheel slip ratio of the target vehicle are acquired. The real-time slip ratio threshold is determined based on the real-time speed and the pre-defined correspondence, i.e., the real-time slip ratio threshold is dynamically set based on the real-time speed. Simultaneously, the relationship between the drive wheel slip ratio and the real-time slip ratio threshold determines whether TCS control is applied to the target vehicle. This application only requires measuring the vehicle's real-time speed and drive wheel slip ratio, eliminating the need for additional sensors. The execution process is simpler, with lower hardware requirements, effectively reducing the cost of the target vehicle. Furthermore, by dividing the speed range and matching the real-time slip ratio threshold in real time, the pain point of traditional single thresholds is solved, improving the accuracy of vehicle TCS control.
[0050] Please refer to Figure 3 Another embodiment of this application provides a vehicle TCS control method, which includes the following steps: Step S301: Provide a setting correspondence relationship, which includes multiple setting vehicle speed ranges, multiple setting slip ratio thresholds, and multiple setting TCS control strategies. The setting vehicle speed ranges and setting slip ratio thresholds correspond one-to-one, and the setting slip ratio thresholds and setting TCS control strategies correspond one-to-one.
[0051] In this step, the correspondence setting includes not only the multiple set speed ranges and multiple set slip ratio thresholds described in step S101 above, but also multiple set TCS control strategies. The set slip ratio thresholds and the set TCS control strategies are in one-to-one correspondence. That is, the set speed ranges, set slip ratio thresholds, and set TCS control strategies correspond to each other. Each set speed range corresponds to a unique set slip ratio threshold and a unique set TCS control strategy. Each set slip ratio threshold corresponds to a unique set speed range and a unique set TCS control strategy. Each set TCS control strategy corresponds to a unique set slip ratio threshold and a unique set speed range.
[0052] In this embodiment, multiple speed ranges are defined, including a first speed range, a second speed range, and a third speed range. The upper threshold of the first speed range is less than or equal to the lower threshold of the second speed range, and the upper threshold of the second speed range is less than or equal to the lower threshold of the third speed range. Based on this, multiple TCS control strategies are defined, including a first TCS control strategy, a second TCS control strategy, and a third TCS control strategy. The first TCS control strategy includes a first drive wheel braking strategy, the second TCS control strategy includes a second drive wheel braking strategy and a first torque reduction strategy, and the third TCS control strategy includes a second torque reduction strategy. The braking force of the first drive wheel braking strategy is greater than that of the second drive wheel braking strategy, and the torque reduction value of the first torque reduction strategy is less than that of the second torque reduction strategy. Specific examples are shown in the table below:
[0053] Step S302: Obtain the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle.
[0054] Step S303: Determine the real-time slip rate threshold of the target vehicle based on the real-time vehicle speed and the set correspondence.
[0055] It is understood that steps S302 and S303 in this embodiment are largely the same as steps S102 and S103 in the previous embodiment, and specific details can be found in the specific descriptions in the previous embodiments.
[0056] Step S304: Determine whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheels and the real-time slip rate threshold.
[0057] In this step, based on the correspondence provided in step S301, the set TCS control strategy corresponding to the real-time slip rate threshold is first determined as the real-time TCS control strategy. Then, when the real-time slip rate of the drive wheels is greater than or equal to the real-time slip rate threshold, the real-time TCS control strategy is executed to perform TCS control on the target vehicle. That is, in this embodiment, a corresponding real-time TCS control strategy is set for different real-time vehicle speeds and real-time slip rates of the drive wheels.
[0058] In some embodiments of this application, if a real-time TCS control strategy has already been implemented to control the target vehicle using TCS, an exit slip rate threshold can be further determined based on the real-time slip rate threshold. When the real-time slip rate of the drive wheels is less than or equal to the exit slip rate threshold, the implementation of the real-time TCS control strategy to control the target vehicle using TCS is stopped.
[0059] Furthermore, in some other embodiments of this application, in addition to stopping the execution of the real-time TCS control strategy to perform TCS control on the target vehicle as described above, when the real-time slip rate of the drive wheels is less than or equal to the exit slip rate threshold, a reverse TCS control strategy is generated based on the real-time TCS control strategy; and the reverse real-time TCS control strategy is executed. The reverse TCS control strategy is to perform TCS control according to the opposite strategy of the real-time TCS control strategy. Taking "prioritizing the execution of single-point braking of the drive wheels, with the braking pressure increasing linearly from 0 to the target pressure" as an example as shown in the table above, the reverse TCS control strategy is to control the braking pressure to decrease linearly from the target pressure to 0.
[0060] Compared with related technologies, the vehicle TCS control method provided in this embodiment retains the technical effects of the aforementioned embodiments, and also sets a TCS control strategy corresponding to the set vehicle speed range and the set slip rate threshold in the setting correspondence relationship. The real-time TCS control strategy corresponding to the real-time vehicle speed and the real-time slip rate of the drive wheels is determined, so that different TCS control strategies can be set according to different vehicle conditions, thereby further improving the vehicle's TCS control effect.
[0061] To better implement the vehicle TCS control method in the embodiments of this application, based on the vehicle TCS control method, please refer to the corresponding... Figure 4 This application also provides a vehicle TCS control device, including: Storage module 401 is used to store the setting correspondence relationship, which includes multiple setting speed ranges and multiple setting slip ratio thresholds, with each setting speed range and setting slip ratio threshold corresponding one-to-one. The data acquisition module 402 is used to acquire the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle. The threshold determination module 403 is used to determine the real-time slip rate threshold of the target vehicle based on the real-time vehicle speed and the set correspondence. The vehicle control module 404 is used to determine whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheels and the real-time slip rate threshold.
[0062] The vehicle TCS control device provided in the above embodiments can realize the technical solutions described in the above vehicle TCS control method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above vehicle TCS control method embodiments, and will not be repeated here.
[0063] Compared with related technologies, the vehicle TCS control device provided in this embodiment stores a pre-defined correspondence in the storage module 401. This correspondence sets multiple speed ranges and multiple slip ratio thresholds, mapping each speed range to a specific slip ratio threshold. During the target vehicle's operation, the data acquisition module 402 acquires the target vehicle's real-time speed and the real-time slip ratio of its drive wheels. The threshold determination module 403 determines the target vehicle's real-time slip ratio threshold based on the real-time speed and the pre-defined correspondence, dynamically setting the threshold according to the target vehicle's real-time speed. Finally, the vehicle control module 404 determines whether to perform TCS control on the target vehicle based on the relationship between the drive wheel slip ratio and the threshold. This application only requires measuring the vehicle's real-time speed and drive wheel slip ratio, eliminating the need for additional sensors. The execution process is simpler, with lower hardware requirements, effectively reducing the cost of the target vehicle. Furthermore, by dividing the speed range and matching the real-time slip ratio threshold in real-time, the pain point of traditional single thresholds is solved, improving the accuracy of vehicle TCS control.
[0064] This application also provides a corresponding automobile, including: an automobile body and a vehicle TCS control device disposed on the automobile body as described above; the vehicle TCS control device executes the vehicle TCS control method provided in the foregoing embodiments to control the automobile body.
[0065] The specific structure of the vehicle TCS control device in the automobile provided in this embodiment can be found in the corresponding content of the above-mentioned vehicle TCS control device embodiment, and will not be repeated here.
[0066] The vehicle TCS control method, vehicle TCS control device, and automobile provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.
Claims
1. A vehicle TCS control method, characterized in that, include: A set correspondence relationship is provided, which includes multiple set vehicle speed ranges and multiple set slip ratio thresholds, wherein the set vehicle speed ranges and the set slip ratio thresholds correspond one-to-one; Obtain the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle; The real-time slip rate threshold of the target vehicle is determined based on the real-time vehicle speed and the set correspondence. Whether to perform TCS control on the target vehicle is determined based on the relationship between the real-time slip rate of the drive wheel and the real-time slip rate threshold.
2. The vehicle TCS control method according to claim 1, characterized in that, The set correspondence also includes multiple set TCS control strategies that correspond one-to-one with the multiple set slip ratio thresholds; The step of determining whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheel and the real-time slip rate threshold includes: The set TCS control strategy corresponding to the real-time slip ratio threshold is determined as the real-time TCS control strategy. When the real-time slip rate of the drive wheel is greater than or equal to the real-time slip rate threshold, the real-time TCS control strategy is executed to perform TCS control on the target vehicle.
3. The vehicle TCS control method according to claim 2, characterized in that, After executing the real-time TCS control strategy to perform TCS control on the target vehicle, the method further includes: Determine the exit slip ratio threshold based on the real-time slip ratio threshold; When the real-time slip rate of the drive wheel is less than or equal to the exit slip rate threshold, the real-time TCS control strategy is stopped.
4. The vehicle TCS control method according to claim 3, characterized in that, After stopping the execution of the real-time TCS control strategy, the method further includes: A reverse TCS control strategy is generated based on the real-time TCS control strategy. The reverse real-time TCS control strategy is executed.
5. The vehicle TCS control method according to claim 2, characterized in that, The plurality of set speed ranges include a first speed range, a second speed range and a third speed range, wherein the upper limit of the threshold of the first speed range is less than or equal to the lower limit of the threshold of the second speed range, and the upper limit of the threshold of the second speed range is less than or equal to the lower limit of the threshold of the third speed range. The multiple TCS control strategies include a first TCS control strategy, a second TCS control strategy, and a third TCS control strategy. The first TCS control strategy includes a first drive wheel braking strategy, the second TCS control strategy includes a second drive wheel braking strategy and a first torque reduction strategy, and the third TCS control strategy includes a second torque reduction strategy. The braking force of the first drive wheel braking strategy is greater than the braking force of the second drive wheel braking strategy, and the torque reduction value of the first torque reduction strategy is less than the torque reduction value of the second torque reduction strategy.
6. The vehicle TCS control method according to claim 1, characterized in that, The plurality of set vehicle speed ranges include a first vehicle speed range, a second vehicle speed range and a third vehicle speed range, and the plurality of set slip ratio thresholds include a first slip ratio threshold corresponding to the first vehicle speed range, a second slip ratio threshold corresponding to the second vehicle speed range and a third slip ratio threshold corresponding to the third vehicle speed range. The upper limit of the threshold of the first speed range is less than or equal to the lower limit of the threshold of the second speed range, the upper limit of the threshold of the second speed range is less than or equal to the lower limit of the threshold of the third speed range, the first slip ratio threshold is greater than the second slip ratio threshold, and the second slip ratio threshold is greater than the third slip ratio threshold.
7. The vehicle TCS control method according to claim 6, characterized in that, The upper limit of the threshold of the first speed range and the lower limit of the threshold of the second speed range are greater than or equal to 15 km / h and less than or equal to 25 km / h, and the upper limit of the threshold of the second speed range and the lower limit of the threshold of the third speed range are greater than or equal to 55 km / h and less than or equal to 65 km / h. The first slip ratio threshold is greater than or equal to 15% and less than or equal to 20%, the second slip ratio threshold is greater than or equal to 8% and less than or equal to 12%, and the third slip ratio threshold is less than or equal to 5%.
8. The vehicle TCS control method according to claim 6, characterized in that, Also includes: Obtain the historical speed of the target vehicle, where the historical speed is the speed of the target vehicle at the previous sampling time that is adjacent to the current time in terms of time sequence; The step of determining the real-time slip ratio threshold of the target vehicle based on the real-time vehicle speed and the set correspondence includes: If the real-time vehicle speed belongs to a first set vehicle speed range and the historical vehicle speed belongs to a second set vehicle speed range, obtain the first set slip ratio threshold corresponding to the first set vehicle speed range and the second set slip ratio threshold corresponding to the second set vehicle speed range, and obtain multiple interpolated slip ratio thresholds between the first set slip ratio threshold and the second set slip ratio threshold. Within a set time period, the second set slip ratio threshold, each of the interpolation slip ratio thresholds, and the first set slip ratio threshold are sequentially set to the real-time slip ratio threshold.
9. A vehicle TCS control device, characterized in that, include: The storage module is used to store the set correspondence relationship, which includes multiple set vehicle speed ranges and multiple set slip ratio thresholds, and the set vehicle speed ranges and set slip ratio thresholds correspond one-to-one; A data acquisition module is used to acquire the real-time speed of the target vehicle and the real-time slip rate of the drive wheels of the target vehicle. A threshold determination module is used to determine the real-time slip rate threshold of the target vehicle based on the real-time vehicle speed and the set correspondence. The vehicle control module is used to determine whether to perform TCS control on the target vehicle based on the relationship between the real-time slip rate of the drive wheel and the real-time slip rate threshold.
10. A car, characterized in that, include: The vehicle body and the vehicle TCS control device as described in claim 9, mounted on the vehicle body; The vehicle TCS control device executes the vehicle TCS control method as described in any one of claims 1 to 8 to control the main body of the vehicle.