Vehicle anti-slip control method and device, vehicle, readable storage medium and program product

Abstract

The application relates to a vehicle anti-skid control method and device, a vehicle, a readable storage medium and a program product. The method comprises the following steps: in response to a front windshield wiper of a vehicle being in an open state, obtaining a working state of a front windshield washer of the vehicle; in the case that the working state of the front windshield washer is a closed state, obtaining an operation condition of the front windshield wiper; in response to the operation condition of the front windshield wiper meeting a preset operation condition, obtaining an operation speed of the front windshield wiper; determining a target vehicle anti-skid parameter corresponding to the operation speed from a preset mapping relationship; the preset mapping relationship is used for recording vehicle anti-skid parameters corresponding to at least two different operation speeds; and performing anti-skid control on the vehicle according to the target vehicle anti-skid parameter. The method can reduce the hardware cost of vehicle anti-skid control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle anti-skid control method, device, vehicle, computer-readable storage medium, and computer program product. Background Technology

[0002] With the increasing demands for vehicle intelligence and safety, vehicle stability control has become a crucial research area. In related technologies, vehicle anti-skid control systems typically rely on hardware devices such as road surface adhesion coefficient detection devices or high-precision vehicle attitude sensors to obtain information about the road surface's slipperiness and implement anti-skid control. However, the high cost of such hardware devices increases the overall vehicle hardware configuration and manufacturing costs, making widespread application in economy models difficult.

[0003] Therefore, traditional vehicle anti-skid control technologies have high hardware costs. Summary of the Invention

[0004] Based on this, this application addresses the aforementioned technical problems by providing a vehicle anti-skid control method, device, vehicle, computer-readable storage medium, and computer program product that can reduce the hardware cost of vehicle anti-skid control.

[0005] In a first aspect, this application provides a vehicle anti-skid control method, comprising:

[0006] In response to the windshield wipers being turned on, the operating status of the windshield washer of the vehicle is obtained.

[0007] With the windshield washer in the off state, the operating status of the windshield wiper was obtained;

[0008] In response to the windshield wipers meeting preset operating conditions, the operating speed of the windshield wipers is obtained;

[0009] The target vehicle anti-skid parameters corresponding to the operating speed are determined from a preset mapping relationship; the preset mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different operating speeds.

[0010] According to the target vehicle anti-skid parameters, anti-skid control is performed on the vehicle.

[0011] The above technical solution has the following advantages or effects: By responding to the vehicle's windshield wipers being in the on state, the working state of the vehicle's windshield washer is obtained; when the windshield washer is in the off state, the operating status of the windshield wipers is obtained; and by responding to the windshield wipers' operating status meeting preset operating conditions, the operating speed of the windshield wipers is obtained. Then, from a preset mapping relationship, the target vehicle anti-skid parameters corresponding to the operating speed are determined. Thus, anti-skid control of the vehicle can be performed according to the target vehicle anti-skid parameters. In this way, the status signals of the vehicle's pre-configured windshield wipers and windshield washer can be used to accurately identify vehicle skidding scenarios. This reduces the hardware cost of vehicle anti-skid control, enabling its widespread application in economy and entry-level models. It solves the problem of high costs caused by traditional anti-skid control relying on expensive road sensing equipment. In addition, by configuring dual trigger conditions for the status signals of the windshield wipers and windshield washer fluid, it can effectively eliminate the possibility of the anti-skid control process being accidentally triggered by the driver manually cleaning the glass. The working status of the windshield wipers reflects the driver's judgment and response to the current rainfall intensity. This allows the vehicle to indirectly refer to the driver's judgment of the current rainfall intensity to limit the vehicle's torque, effectively improving the reliability and safety of anti-skid control while reducing the hardware cost of vehicle anti-skid control.

[0012] In an optional embodiment of the first aspect, the operation of the windshield wiper includes operating time and operating speed, and the method further includes:

[0013] In response to the windshield wiper being in a preset operating position, the duration of operation of the windshield wiper in the preset operating position is counted.

[0014] In response to the runtime being greater than or equal to a preset runtime, it is determined that the operation of the windshield wipers meets the preset operating conditions.

[0015] The above technical solution has the following advantages or effects: by setting the operation status of the windshield wipers to the operating time and operating level of the windshield wipers, a quantifiable basis for judging whether the operation status of the windshield wipers meets the preset operating conditions can be effectively provided, improving the accuracy of vehicle slippage scenario recognition, and allowing the anti-skid control process to be triggered only when the vehicle is in a real vehicle slippage scenario, thereby improving the targeting of vehicle anti-skid control.

[0016] In an optional embodiment of the first aspect, the vehicle is further equipped with a rain sensor, and when the windshield wipers are in the preset operating position for a duration greater than a preset operating duration, the method further includes:

[0017] In response to detecting a rainfall detection signal output by the rainfall sensor, the duration of the rainfall detection signal output is recorded;

[0018] In response to the duration being greater than or equal to a preset duration, the step of obtaining the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions is performed.

[0019] The above technical solution has the following advantages or effects: by responding to the detection of the rain detection signal output by the rain sensor, recording the duration of the rain detection signal output, and by responding to the case that the duration is greater than or equal to the preset duration, executing the steps of responding to the windshield wiper operation meeting the preset operating conditions and obtaining the windshield wiper operating speed, it is possible to achieve redundancy verification through the rain sensor installed in the vehicle and improve the accuracy of road slippery scene recognition.

[0020] In an optional embodiment of the first aspect, the target vehicle anti-skid parameters include a vehicle wheel-side torque limit, and the step of performing anti-skid control on the vehicle according to the target vehicle anti-skid parameters includes:

[0021] Based on the wheel-side torque limit of the vehicle, the output torque limit range of the vehicle's power source is determined;

[0022] The target output torque of the power source is determined based on the current pedal opening of the vehicle.

[0023] Based on the comparison between the target output torque and the output torque limit range, the target output torque is limited so that the limited target output torque is within the output torque limit range.

[0024] The above technical solution has the following advantages or effects: by setting the anti-skid parameter of the target vehicle as the wheel-side torque limit, and by converting the wheel-side torque limit into the output torque limit range of the power source, the output torque limit range is used as the power constraint basis for anti-skid control. By limiting the target output torque of the power source, the maximum and minimum output torque of the vehicle can be constrained from the source, effectively improving the driving stability and safety of the vehicle on wet and slippery roads.

[0025] In an optional embodiment of the first aspect, the target vehicle anti-skid parameters further include a torque transition slope, and the step of performing anti-skid control on the vehicle according to the target vehicle anti-skid parameters includes:

[0026] Determine the target wheel torque of the vehicle based on the current pedal opening.

[0027] Obtain the torque difference between the current wheel-side torque of the vehicle and the target wheel-side torque, and determine the torque change of the vehicle per unit time based on the torque difference and the torque transition slope;

[0028] The wheel-side torque of the vehicle is controlled to increase or decrease according to the torque change per unit time.

[0029] The above technical solution has the following advantages or effects: by setting the anti-slip parameters of the target vehicle, including the torque transition slope, the anti-slip control of releasing and pressing the accelerator pedal can be achieved by setting the maximum and minimum torque limits of the wheel-side torque of the vehicle, thereby realizing the smooth adjustment of the wheel-side torque, effectively reducing the smoothness of vehicle driving on wet and slippery roads, and improving the comfort and safety of driving.

[0030] In an optional embodiment of the first aspect, the vehicle is further equipped with an outside temperature sensor, and the step of determining the target vehicle anti-skid parameters corresponding to the operating speed from a preset mapping relationship includes:

[0031] The current outside temperature of the vehicle is obtained through the outside temperature sensor;

[0032] When the current outside temperature is greater than a preset temperature threshold, the target vehicle anti-skid parameter corresponding to the running speed is determined from the first mapping relationship of the preset mapping relationship.

[0033] When the current outside temperature is less than or equal to the preset temperature threshold, the target vehicle anti-skid parameter corresponding to the running speed is determined from the second mapping relationship of the preset mapping relationship.

[0034] The first mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different operating speeds in a rainy scenario; the second mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different operating speeds in a snowy scenario.

[0035] The above technical solution has the following advantages or effects: by dividing the preset mapping relationship into a first mapping relationship for rain scenarios and a second mapping relationship for snow scenarios, it can effectively calibrate differentiated anti-skid parameters based on the differences in road surface adhesion characteristics between the two scenarios (the adhesion coefficient of snow-covered roads is much lower than that of rain-covered roads), and achieve precise adaptation of anti-skid strategies to actual road conditions. For example, it can more strictly limit wheel-side torque and reduce torque transition slope during snowfall, effectively improving the driving safety of vehicles on snow-covered and icy roads.

[0036] Secondly, this application also provides a vehicle anti-skid control device, comprising:

[0037] The acquisition module is used to acquire the working status of the vehicle's windshield washer in response to the vehicle's windshield wipers being turned on.

[0038] The recording module is used to record the operation of the windshield wipers when the windshield washer is in the off state.

[0039] A response module is used to obtain the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions.

[0040] The determining module is used to determine the target vehicle anti-skid parameters corresponding to the running speed from a preset mapping relationship; the preset mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different running speeds;

[0041] The control module is used to perform anti-skid control on the vehicle according to the target vehicle anti-skid parameters.

[0042] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described above.

[0043] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0044] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the above aspects.

[0045] Regarding the beneficial effects of any of the technical solutions in the second to fifth aspects mentioned above, refer to the beneficial effects of the corresponding technical solutions in the first aspect; repeated examples will not be listed here. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of an optional application environment for a vehicle anti-skid control method in one embodiment;

[0048] Figure 2 This is a schematic diagram of an optional process for a vehicle anti-skid control method in one embodiment;

[0049] Figure 3 This is a schematic diagram of another optional process for a vehicle anti-skid control method in one embodiment;

[0050] Figure 4 This is a schematic diagram of an optional process for a vehicle anti-skid control method in another embodiment;

[0051] Figure 5 This is a schematic diagram of an optional structure of a vehicle anti-skid control device in one embodiment;

[0052] Figure 6 This is a schematic diagram of an optional internal structure of a vehicle in one embodiment. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0054] The terms "first," "second," etc., used in this application may be used to describe various elements, but these elements are not limited by these terms. These terms are used only to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0055] The vehicle anti-skid control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the control unit of vehicle 102 can obtain the working status of the windshield washer in response to the windshield wipers being in the on state; when the windshield washer is in the off state, the control unit of vehicle 102 can obtain the operating status of the windshield wipers; the control unit of vehicle 102 can obtain the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions; the control unit of vehicle 102 can determine the target vehicle anti-skid parameters corresponding to the operating speed from a preset mapping relationship; the preset mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different operating speeds; the control unit of vehicle 102 can perform anti-skid control on the vehicle according to the target vehicle anti-skid parameters.

[0056] In one exemplary embodiment, such as Figure 2 As shown, a vehicle anti-skid control method is provided, which is applied to... Figure 1 Taking the control unit of vehicle 102 as an example, the explanation includes the following steps S202 to S210. Wherein:

[0057] Step S202: In response to the windshield wipers being turned on, the operating status of the windshield washer of the vehicle is obtained.

[0058] In practice, the vehicle's control unit (e.g., vehicle anti-skid control system, vehicle controller, or power domain controller) can monitor the real-time operating status of the windshield wipers, such as their control signals. When the vehicle's control unit detects that the windshield wiper control signal is active (including intermittent, low-speed, and high-speed modes), it can trigger a detection process for the windshield washer's operating status. Optionally, the vehicle's control unit can send a status query command to the windshield washer control module to obtain the washer's current operating status.

[0059] Step S204: When the windshield washer is in the off state, obtain the operating status of the windshield wipers.

[0060] In practice, the vehicle's control unit receives a status signal from the washer control module. If it determines that the washer is in a closed state (no water spray command output, washer pump not working), the vehicle's control unit determines that the windshield wipers are activated in a real precipitation or snowfall scenario, excluding the interference scenario of the driver manually activating the windshield wipers to clean the glass. The vehicle's control unit then obtains the operating status of the windshield wipers.

[0061] The operating status of the windshield wipers can include parameters such as operating speed, duration of operation, and oscillation frequency. The vehicle's control unit can determine whether the operating status of the windshield wipers meets preset operating conditions.

[0062] The preset operating conditions can be pre-calibrated criteria that characterize the vehicle's operation in a continuous precipitation scenario. For example, the windshield wipers' operating time in non-intermittent mode is longer than the preset operating time, or the windshield wipers' oscillation frequency is within the preset oscillation frequency range.

[0063] In addition, if the vehicle's control unit determines that the windshield washer is in the on state, the control unit will determine that the activation of the windshield wipers is an operation performed by the driver manually to clean the windshield, terminate the current anti-skid control process, and maintain normal vehicle driving control.

[0064] Step S206: In response to the windshield wipers meeting preset operating conditions, the operating speed of the windshield wipers is obtained.

[0065] If the vehicle's control unit determines that the windshield wipers are operating under preset conditions, it can then determine the windshield wiper speed. This windshield wiper speed can reflect the amount of rainfall in a real precipitation scenario or the amount of snowfall in a real snowfall scenario.

[0066] In practical applications, the vehicle's control unit can obtain the working speed or actual oscillation frequency of the windshield wipers to determine the operating speed of the windshield wipers.

[0067] Step S208: Determine the anti-skid parameters of the target vehicle corresponding to the running speed from the preset mapping relationship.

[0068] The preset mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different operating speeds. In practical applications, the vehicle's control unit pre-stores the preset mapping relationship, which can refer to a one-to-one correspondence table between at least two different wiper operating speeds and vehicle anti-skid parameters, calibrated on a real vehicle.

[0069] In practice, the vehicle's control unit can accurately match the corresponding anti-skid parameters of the target vehicle from the preset mapping relationship based on the currently acquired operating speed of the windshield wipers. In practical applications, the target vehicle anti-skid parameters may include control parameters that can constrain the vehicle's power output, such as wheel-side torque limits and torque transition slopes.

[0070] Step S210: Perform anti-skid control on the vehicle according to the target vehicle anti-skid parameters.

[0071] In practice, the vehicle's control unit can implement anti-skid control based on the target vehicle's anti-skid parameters. Specifically, the vehicle's control unit can send the matched target vehicle anti-skid parameters to execution modules such as the power control unit and braking control unit. These modules then adjust the vehicle's power output logic according to the target vehicle's anti-skid parameters to achieve anti-skid control. This process continues until the vehicle's control unit detects that the windshield wipers have switched from an on to an off state, at which point the anti-skid control process terminates, and the vehicle's normal power control logic is restored.

[0072] In the aforementioned vehicle anti-skid control method, the operating status of the windshield washer is obtained in response to the windshield wipers being in the on state. When the windshield washer is in the off state, the operating status of the windshield wipers is obtained. Based on the windshield wipers meeting preset operating conditions, the operating speed of the windshield wipers is obtained. Then, the target vehicle anti-skid parameters corresponding to the operating speed are determined from a preset mapping relationship. Thus, anti-skid control can be performed on the vehicle according to the target vehicle anti-skid parameters. In this way, the status signals of the vehicle's pre-configured windshield wipers and windshield washer can be used to accurately identify vehicle skidding scenarios, reducing the risk of skidding. The hardware cost of vehicle anti-skid control allows for widespread application in low-end models such as economy and entry-level vehicles, solving the problem of high costs caused by traditional anti-skid control relying on expensive road sensing equipment. In addition, by configuring dual trigger conditions for the status signals of the windshield wipers and windshield washer fluid, it is possible to effectively eliminate the possibility of the anti-skid control process being accidentally triggered by the driver manually cleaning the glass. The working status of the windshield wipers reflects the driver's judgment and response intention regarding the current rainfall intensity, thereby allowing the vehicle to indirectly refer to the driver's judgment of the current rainfall intensity to limit the vehicle's torque. This effectively improves the reliability and safety of anti-skid control while reducing the hardware cost of vehicle anti-skid control.

[0073] In an exemplary embodiment, the method further includes: in response to the windshield wiper being in a preset operating position, calculating the duration of operation of the windshield wiper in the preset operating position; and in response to the duration being greater than or equal to the preset operating duration, determining that the operation of the windshield wiper meets preset operating conditions.

[0074] The operating status of the windshield wipers includes the running time and the operating speed.

[0075] The preset operating gear can refer to the operating gear that can represent continuous precipitation or snowfall, i.e., excluding the inching gear (MIST). In practical applications, the preset operating gear can include intermittent gear (INT), low speed gear (LO), and high speed gear (HI).

[0076] In practice, when the vehicle's control unit acquires information about the operation of the windshield wipers, it can obtain the wiper's operating speed and duration. Then, the control unit can determine whether the wiper is operating at a preset speed.

[0077] If the vehicle's control unit determines that the windshield wipers are in the preset operating position, the control unit can initiate a statistical process to count the duration of the windshield wipers in the preset operating position; if the control unit determines that the windshield wipers are in the inching position (MIST), the current anti-skid control process will be terminated.

[0078] The vehicle's control unit continuously monitors the duration of the windshield wipers in a preset operating mode. Furthermore, the control unit can mask non-continuous operation times such as wiper mode switching and brief pauses. If the duration of the windshield wipers in the preset operating mode is greater than or equal to a preset operating time (the preset operating time is a threshold calibrated on a real vehicle, such as 30s or 60s, which can be adjusted according to the vehicle model), it is determined that the windshield wipers' operation meets the preset operating conditions. The unit then proceeds to obtain the windshield wiper's operating speed. Finally, it determines the target vehicle anti-skid parameters corresponding to the operating speed from a preset mapping relationship and performs anti-skid control on the vehicle according to these parameters.

[0079] If the vehicle's control unit determines that the windshield wipers have been in the preset operating position for less than the preset operating time, it will be considered an invalid scenario such as accidental activation of the windshield wipers or instantaneous rain, and the current anti-skid control process will be terminated.

[0080] The technical solution of this embodiment, by setting the operation status of the windshield wipers to the operating time and operating level of the windshield wipers, can effectively provide a quantifiable basis for judging whether the operation status of the windshield wipers meets the preset operating conditions, improve the accuracy of vehicle slippage scenario recognition, and allow the anti-skid control process to be triggered only when the vehicle is in a real vehicle slippage scenario, thereby improving the targeting of vehicle anti-skid control.

[0081] In an exemplary embodiment, when the operating time of the windshield wipers in a preset operating position is greater than a preset operating time, the method further includes: in response to detecting a rain detection signal output by a rain sensor, recording the duration of the rain detection signal output; and in response to the duration being greater than or equal to a preset duration, performing the step of obtaining the operating speed of the windshield wipers in response to the windshield wipers operating condition meeting a preset operating condition.

[0082] The vehicle is also equipped with a rain sensor that can communicate with the vehicle's control unit. The rain sensor is used to detect the amount of rain outside the vehicle and output a rain detection signal.

[0083] In practice, when the windshield wipers are in a preset operating position for a duration longer than the preset operating time, the vehicle's control unit can send a signal acquisition command to the rain sensor, triggering the rain sensor's detection process and acquiring the rain detection signal output by the rain sensor in real time. This rain detection signal is used to characterize the presence of precipitation as an electrical or digital signal.

[0084] The vehicle's control unit can statistically analyze the duration of the rain detection signal output by the rain sensor. If the duration of the rain detection signal output by the rain sensor is greater than or equal to a preset duration, the vehicle's control unit continues to execute step S206 to implement the subsequent vehicle anti-skid control process. Thus, when the windshield wipers are enabled, by statistically analyzing the duration of the rain detection signal output by the rain sensor, and only triggering the subsequent vehicle anti-skid control process when the duration of the rain detection signal output by the rain sensor is greater than or equal to a preset duration, the driver's action of activating the windshield wipers can be further objectively verified by the environment. This allows the windshield wiper's operating state (e.g., enabled state, gear state, etc.) to more accurately and effectively reflect the driver's judgment and response intention regarding the current rainfall intensity. This facilitates the vehicle indirectly referencing the driver's judgment and response intention regarding the current rainfall intensity to apply torque limiting, ensuring that the vehicle's anti-skid control strategy aligns with the driver's expectations.

[0085] If the duration of the rain sensor's output rain detection signal is less than a preset duration, or if the rain sensor does not output a valid rain detection signal, it is determined that the activation of the windshield wipers may be due to accidental activation by the driver. The vehicle's control unit can then terminate the current anti-skid control process and restore normal vehicle control. The inventors discovered that rain sensors are typically installed on the inside of the windshield and often detect rainfall in a localized area, failing to represent the overall slipperiness of the road surface. This can easily lead to false triggering events such as water splashes from sprinkler trucks, dripping water from leaves under trees, stains on the glass surface, and residual windshield washer fluid. By setting a determination based on whether the duration of the rain sensor's output rain detection signal exceeds a preset duration, interfering rain signals can be effectively identified to filter out the aforementioned false triggering events, reducing the possibility of the vehicle unnecessarily limiting power output in non-rainy scenarios.

[0086] The technical solution of this embodiment, in response to the detection of a rain detection signal output by a rain sensor, records the duration of the rain detection signal output, and, in response to a duration greater than or equal to a preset duration, executes the step of obtaining the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions. This can achieve redundancy verification through the rain sensor installed in the vehicle, thereby improving the accuracy of road slippery scene recognition.

[0087] In an exemplary embodiment, anti-skid control of the vehicle is performed according to the target vehicle anti-skid parameters, including: determining the output torque limit range of the vehicle's power source based on the vehicle's wheel-side torque limit; determining the target output torque of the power source based on the vehicle's current pedal opening; and limiting the target output torque based on the comparison result between the target output torque and the output torque limit range, so that the limited target output torque is within the output torque limit range.

[0088] The anti-skid parameters for the target vehicle include wheel-side torque limits. These wheel-side torque limits can include both maximum and minimum wheel-side torque limits.

[0089] In practice, when the vehicle's control unit performs anti-skid control on the vehicle according to the target vehicle's anti-skid parameters, the vehicle's control unit can obtain the vehicle's overall transmission parameters, which may include the transmission ratio, wheel rolling radius, etc. Then, the vehicle's control unit can convert the vehicle's wheel-side torque limit into the output torque limit range of the vehicle's power source.

[0090] The power source includes engines, drive motors, etc., and the output torque limit range includes the maximum output torque threshold and the minimum output torque threshold of the power source.

[0091] Then, the vehicle's control unit can obtain the vehicle's current pedal opening and, based on the pre-calibrated pedal opening-power source output torque mapping relationship, determine the target output torque that the power source should output according to the current pedal opening when there is no anti-slip control.

[0092] Then, the vehicle's control unit can compare the target output torque with the output torque limit range, and adjust the target output torque limit based on the comparison result, so that the limited target output torque is within the output torque limit range. This can include the following situations:

[0093] Scenario 1: When the target output torque is within the output torque limit range, the vehicle's control unit can send the target output torque to the vehicle's power source control module;

[0094] Scenario 2: When the target output torque is greater than the maximum output torque within the output torque limit range, the vehicle control unit can limit the target output torque to the maximum output torque to reduce the probability of drive wheel slippage caused by excessive power source output torque.

[0095] Scenario 3: When the target output torque is less than the minimum output torque within the output torque limit range, the vehicle control unit can adjust the target output torque to the minimum output torque to reduce the probability of events such as wheel lock-up and sudden changes in vehicle body posture caused by a sudden drop in torque.

[0096] The technical solution of this embodiment sets the anti-skid parameter of the target vehicle as the wheel-side torque limit, and converts the wheel-side torque limit into the output torque limit range of the power source. This enables the output torque limit range to be used as the power constraint basis for anti-skid control. By limiting the target output torque of the power source, the maximum and minimum output torque of the vehicle can be constrained from the source, effectively improving the driving stability and safety of the vehicle on wet and slippery roads.

[0097] In an exemplary embodiment, anti-skid control of the vehicle is performed according to the target vehicle anti-skid parameters, including: determining the target wheel torque of the vehicle based on the current pedal opening; obtaining the torque difference between the current wheel torque and the target wheel torque; determining the torque change of the vehicle per unit time based on the torque difference and the torque transition slope; and controlling the increase or decrease of the wheel torque of the vehicle according to the torque change per unit time.

[0098] Among the anti-skid parameters for the target vehicle is the torque transition slope.

[0099] In practice, during the process of implementing anti-skid control of the vehicle according to the target vehicle anti-skid parameters, the vehicle control unit can determine the target wheel torque based on the current pedal opening. Specifically, the vehicle control unit can obtain the current pedal opening and determine the target wheel torque that matches the current pedal opening based on a pre-calibrated pedal opening-wheel torque mapping relationship.

[0100] Then, the vehicle's control unit can obtain the current wheel-side torque of the vehicle through the torque detection module and calculate the torque difference between the current wheel-side torque and the target wheel-side torque. By obtaining the torque transition slope matched from the preset mapping relationship, the torque change of the vehicle per unit time is determined based on the torque difference and the torque transition slope, ensuring that the torque change does not exceed the limit of the torque transition slope.

[0101] In practical applications, the torque transition slope can include the torque increase slope when the pedal is pressed and the torque decrease slope when the pedal is released.

[0102] Then, the vehicle's control unit can control the wheel torque to increase or decrease from the current wheel torque value to the target wheel torque value according to the torque change per unit time. Specifically, when the driver presses the accelerator pedal, the wheel torque gradually increases according to the torque increase slope, reducing the probability of drive wheel slippage due to a step increase in torque. When the driver releases the accelerator pedal, the wheel torque gradually decreases according to the torque decrease slope, reducing the probability of sudden changes in vehicle body posture due to a sudden drop in torque.

[0103] When the wheel-side torque reaches the target wheel-side torque, the vehicle's control unit can terminate the torque smoothing adjustment process and maintain the wheel-side torque at the target wheel-side torque value until the pedal opening changes. Then, the above steps of determining the vehicle's target wheel-side torque based on the vehicle's current pedal opening are re-executed.

[0104] The technical solution of this embodiment, by setting the anti-slip parameters of the target vehicle, also includes a torque transition slope. While setting the maximum and minimum torque limits for the wheel-side torque of the vehicle, the torque transition slope can be used to control the anti-slip when releasing and pressing the accelerator pedal, thereby achieving smooth adjustment of the wheel-side torque. This effectively reduces the smoothness of vehicle driving on wet and slippery roads and improves driving comfort and safety.

[0105] In an exemplary embodiment, the vehicle is further equipped with an outside temperature sensor to determine the target vehicle anti-skid parameters corresponding to the operating speed from a preset mapping relationship, including: obtaining the current outside temperature of the vehicle through the outside temperature sensor; if the current outside temperature is greater than a preset temperature threshold, determining the target vehicle anti-skid parameters corresponding to the operating speed from a first mapping relationship of the preset mapping relationship; if the current outside temperature is less than or equal to the preset temperature threshold, determining the target vehicle anti-skid parameters corresponding to the operating speed from a second mapping relationship of the preset mapping relationship.

[0106] The preset mapping relationship includes a first mapping relationship and a second mapping relationship that are independent of each other.

[0107] The first mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different operating speeds in rainy scenarios. In practical applications, the first mapping relationship can refer to a table showing the correspondence between wiper operating speeds and anti-skid parameters calibrated on actual vehicles in rainy scenarios.

[0108] The second mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different operating speeds in a snowfall scenario. In practical applications, the second mapping relationship can refer to a table showing the correspondence between wiper operating speeds and anti-skid parameters calibrated on a real vehicle in a snowfall scenario.

[0109] In practice, the vehicle is also equipped with an outside temperature sensor, which can communicate with the vehicle's control unit. The outside temperature sensor is used to detect the ambient temperature outside the vehicle and output a temperature signal.

[0110] After obtaining the operating speed of the windshield wipers, the vehicle's control unit can send a temperature acquisition command to the outside temperature sensor to obtain the current outside temperature output by the sensor.

[0111] The vehicle's control unit can be pre-calibrated with preset temperature thresholds, which are used to distinguish between rainfall and snowfall. In practical applications, the preset temperature threshold can be any value between 0°C and 4°C. The vehicle's control unit can compare the current outside temperature with the preset temperature threshold to determine the type of precipitation the vehicle is experiencing. In practical applications, the vehicle's control unit can also determine the corresponding preset temperature threshold based on the vehicle's current geographical location; for example, the preset temperature threshold for frigid northern regions can be set higher than that for warmer southern regions, improving regional adaptability.

[0112] Specifically, if the vehicle's control unit determines that the current outside temperature is greater than a preset temperature threshold, the control unit can determine the target vehicle anti-skid parameters corresponding to the current wiper operating speed from the first mapping relationship, thereby achieving anti-skid control of the vehicle using vehicle anti-skid parameters specifically for rain scenarios; if the vehicle's control unit determines that the current outside temperature is less than or equal to the preset temperature threshold, the control unit can determine the target vehicle anti-skid parameters corresponding to the current wiper operating speed from the second mapping relationship, thereby achieving anti-skid control of the vehicle using vehicle anti-skid parameters specifically for snow scenarios.

[0113] The technical solution of this embodiment, by dividing the preset mapping relationship into a first mapping relationship for rain scenarios and a second mapping relationship for snow scenarios, can effectively calibrate differentiated anti-skid parameters based on the differences in road surface adhesion characteristics between the two scenarios (the adhesion coefficient of snow-covered roads is much lower than that of rain-covered roads). This achieves precise adaptation of the anti-skid strategy to the actual road conditions. For example, during snowfall, it can more strictly limit wheel-side torque and reduce torque transition slope, effectively improving the driving safety of vehicles on snow-covered and icy roads.

[0114] For ease of understanding by those skilled in the art, such as Figure 3 As shown, a vehicle wheel-side torque anti-slip control logic diagram triggered by the wiper system state is provided. In this logic, the vehicle's control unit verifies whether the two conditions of the windshield wipers being enabled and the windshield washer being disabled are met simultaneously. If the windshield wipers are enabled and the windshield washer is disabled simultaneously, it is determined to be a potential wet road surface scenario, and the vehicle's control unit enters the validity verification stage.

[0115] The vehicle's control unit simultaneously verifies three validity conditions: Condition 1: the wiper gear is valid and the gear is ≥1; Condition 2: the wiper working time is ≥t1; Condition 3: the rain sensor continuously detects rainfall for ≥t2. If all three conditions are met, the vehicle is determined to be in a real and continuous wet road surface scenario, and the vehicle's control unit enters the anti-skid strategy matching stage.

[0116] The vehicle's control unit can match the corresponding target anti-slip control parameters based on the wiper's operating gear: these target anti-slip control parameters include a hard limit on the maximum wheel-side torque that constrains power output, and a soft constraint on the wheel-side torque transition slope to prevent sudden torque changes.

[0117] The vehicle's control unit can perform anti-skid control based on the target anti-skid control parameters.

[0118] In another embodiment, such as Figure 4 As shown, a vehicle anti-skid control method is provided, which is applied to... Figure 1 Taking the vehicle in question as an example, the steps include:

[0119] Step S402: In response to the windshield wipers being turned on, the operating status of the windshield washer of the vehicle is obtained.

[0120] Step S404: When the windshield washer is in the off state, obtain the operating position of the windshield wiper.

[0121] Step S406: In response to the windshield wipers being in a preset operating position, the duration of operation of the windshield wipers in the preset operating position is counted.

[0122] Step S408: In response to the running length being greater than or equal to a preset running length, and the duration of the rain detection signal output by the rain sensor being greater than or equal to a preset duration, the operating speed of the windshield wipers is obtained.

[0123] Step S410: Determine the target vehicle anti-skid parameters corresponding to the running speed from the preset mapping relationship; the preset mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different running speeds.

[0124] Step S412: Perform anti-skid control on the vehicle according to the target vehicle's anti-skid parameters.

[0125] It should be noted that the specific limitations of the above steps can be found in the specific limitations of a vehicle anti-skid control method described above, and will not be repeated here.

[0126] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0127] Based on the same inventive concept, this application also provides a vehicle anti-skid control device for implementing the vehicle anti-skid control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more vehicle anti-skid control device embodiments provided below can be found in the limitations of the vehicle anti-skid control method described above, and will not be repeated here.

[0128] In one exemplary embodiment, such as Figure 5 As shown, a vehicle anti-skid control device is provided, comprising:

[0129] The acquisition module 510 is used to acquire the working status of the vehicle's windshield washer in response to the vehicle's windshield wipers being in the on state.

[0130] The recording module 520 is used to record the operation of the windshield wipers when the windshield washer is in the off state.

[0131] The response module 530 is used to obtain the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions.

[0132] The determining module 540 is used to determine the target vehicle anti-skid parameters corresponding to the running speed from a preset mapping relationship; the preset mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different running speeds;

[0133] The control module 550 is used to perform anti-skid control on the vehicle according to the target vehicle anti-skid parameters.

[0134] In one embodiment, the operation status of the windshield wiper includes running time and operating gear. The device is further configured to, in response to the windshield wiper being in a preset operating gear, count the running time of the windshield wiper in the preset operating gear; and, in response to the running time being greater than or equal to the preset running time, determine that the operation status of the windshield wiper meets the preset operating conditions.

[0135] In one embodiment, the vehicle is further equipped with a rain sensor. When the operating time of the windshield wipers in the preset operating position is greater than a preset operating time, the device is further configured to, in response to detecting a rain detection signal output by the rain sensor, record the duration of the rain detection signal output; and, in response to the duration being greater than or equal to the preset duration, perform the step of obtaining the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions.

[0136] In one embodiment, the target vehicle anti-skid parameters include a vehicle wheel-side torque limit. The control module 550 is used to determine the output torque limit range of the vehicle's power source based on the vehicle wheel-side torque limit; determine the target output torque of the power source based on the current pedal opening of the vehicle; and limit the target output torque based on the comparison result between the target output torque and the output torque limit range, so that the limited target output torque is within the output torque limit range.

[0137] In one embodiment, the target vehicle anti-skid parameter further includes a torque transition slope. The control module 550 is used to determine the target wheel torque of the vehicle based on the current pedal opening of the vehicle; obtain the torque difference between the current wheel torque and the target wheel torque; determine the torque change of the vehicle per unit time based on the torque difference and the torque transition slope; and control the increase or decrease of the wheel torque of the vehicle according to the torque change per unit time.

[0138] In one embodiment, the vehicle is further equipped with an outside temperature sensor. The determining module 540 is used to obtain the current outside temperature of the vehicle through the outside temperature sensor; when the current outside temperature is greater than a preset temperature threshold, it determines the target vehicle anti-skid parameter corresponding to the operating speed from a first mapping relationship of the preset mapping relationship; when the current outside temperature is less than or equal to the preset temperature threshold, it determines the target vehicle anti-skid parameter corresponding to the operating speed from a second mapping relationship of the preset mapping relationship; wherein, the first mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different operating speeds in a rainy scenario; the second mapping relationship is used to record the vehicle anti-skid parameters corresponding to at least two different operating speeds in a snowy scenario.

[0139] The various modules in the aforementioned vehicle anti-skid control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0140] In one exemplary embodiment, a vehicle is provided, the internal structure of which can be as follows: Figure 6 As shown, the vehicle includes a processor and a memory. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium storing a computer program. When executed by the processor, the computer program implements a vehicle anti-skid control method.

[0141] Those skilled in the art will understand that Figure 6 The structure shown is a block diagram of a partial structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0142] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0143] In one exemplary embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described method embodiments.

[0144] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0145] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program mentioned can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic resistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0146] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0147] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle anti-skid control method, characterized in that, The method includes: In response to the windshield wipers being turned on, the operating status of the windshield washer of the vehicle is obtained. With the windshield washer in the off state, the operating status of the windshield wiper was obtained; In response to the windshield wipers meeting preset operating conditions, the operating speed of the windshield wipers is obtained; The target vehicle anti-skid parameters corresponding to the operating speed are determined from a preset mapping relationship; the preset mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different operating speeds. According to the target vehicle anti-skid parameters, anti-skid control is performed on the vehicle.

2. The method according to claim 1, characterized in that, The operation status of the windshield wipers includes operating time and operating speed; the method further includes: In response to the windshield wiper being in a preset operating position, the duration of operation of the windshield wiper in the preset operating position is counted. In response to the runtime being greater than or equal to a preset runtime, it is determined that the operation of the windshield wipers meets the preset operating conditions.

3. The method according to claim 2, characterized in that, The vehicle is also equipped with a rain sensor. When the windshield wipers are in the preset operating position for a duration exceeding a preset operating time, the method further includes: In response to detecting a rainfall detection signal output by the rain gauge sensor, the duration of the rain gauge sensor outputting the rainfall detection signal is recorded; In response to the duration being greater than or equal to a preset duration, the step of obtaining the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions is performed.

4. The method according to any one of claims 1 to 3, characterized in that, The target vehicle anti-skid parameters include the vehicle wheel torque limit. The step of controlling the vehicle's anti-skid performance according to the target vehicle anti-skid parameters includes: Based on the wheel-side torque limit of the vehicle, the output torque limit range of the vehicle's power source is determined; The target output torque of the power source is determined based on the current pedal opening of the vehicle. Based on the comparison between the target output torque and the output torque limit range, the target output torque is limited so that the limited target output torque is within the output torque limit range.

5. The method according to any one of claims 1 to 3, characterized in that, The target vehicle anti-skid parameters also include a torque transition slope. The step of performing anti-skid control on the vehicle according to the target vehicle anti-skid parameters includes: Determine the target wheel torque of the vehicle based on the current pedal opening. Obtain the torque difference between the current wheel-side torque of the vehicle and the target wheel-side torque, and determine the torque change of the vehicle per unit time based on the torque difference and the torque transition slope; The wheel-side torque of the vehicle is controlled to increase or decrease according to the torque change per unit time.

6. The method according to claim 1, characterized in that, The vehicle is also equipped with an outside temperature sensor. Determining the target vehicle anti-skid parameters corresponding to the operating speed from a preset mapping relationship includes: The current outside temperature of the vehicle is obtained through the outside temperature sensor; When the current outside temperature is greater than a preset temperature threshold, the target vehicle anti-skid parameter corresponding to the running speed is determined from the first mapping relationship of the preset mapping relationship. When the current outside temperature is less than or equal to the preset temperature threshold, the target vehicle anti-skid parameter corresponding to the running speed is determined from the second mapping relationship of the preset mapping relationship. The first mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different operating speeds in a rainy scenario; the second mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different operating speeds in a snowy scenario.

7. A vehicle anti-skid control device, characterized in that, The device includes: The acquisition module is used to acquire the working status of the vehicle's windshield washer in response to the vehicle's windshield wipers being turned on. The recording module is used to record the operation of the windshield wipers when the windshield washer is in the off state. A response module is used to obtain the operating speed of the windshield wipers in response to the windshield wipers meeting preset operating conditions. The determining module is used to determine the target vehicle anti-skid parameters corresponding to the running speed from a preset mapping relationship; the preset mapping relationship is used to record vehicle anti-skid parameters corresponding to at least two different running speeds; The control module is used to perform anti-skid control on the vehicle according to the target vehicle anti-skid parameters.

8. A vehicle comprising a memory and a processor, said memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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