Anti-skid control method and system for vehicle

Abstract

An anti-skid control method and system for a vehicle, and a vehicle. The method comprises: an electronic stability controller of a vehicle determining a target rotational speed of a driving component corresponding to a slipping wheel and transmitting the target rotational speed to a vehicle control unit (101); the vehicle control unit determining a target torque of the driving component on the basis of the target rotational speed and an actual rotational speed of the driving component, and transmitting the target torque to a drive system controller (102); and the drive system controller adjusting an output torque of the driving component on the basis of the target torque, so as to stabilize the vehicle (103).

Description

Anti-skid control method and system for vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311633754.6, filed on November 30, 2023, entitled “A method and system for anti-skid control of a vehicle,” and the entire contents of that application are incorporated herein for all purposes. Technical Field

[0003] The present application relates to the field of automobile control technology, and in particular to a vehicle anti-skid control method and system. Background Art

[0004] Currently, the vehicle's anti-skid control method requires the actual speed of the motor to be transmitted through the drive system controller to the vehicle controller, and then from the vehicle controller to the body electronic stability controller. This communication transmission has a long communication link and large control delay, resulting in a low speed for the vehicle to respond to skidding, causing vehicle instability and acceleration jerks.

[0005] Summary of the Invention

[0006] The present application provides a vehicle anti-skid control method and system, which can shorten the communication link, improve the control speed, and do not increase the hardware cost. In order to solve the above technical problems, the first aspect of the present application discloses a vehicle anti-skid control method, which includes:

[0007] The electronic stability controller determines the target speed of the drive component corresponding to the slipping wheel and transmits it to the vehicle controller;

[0008] The vehicle controller determines the target torque of the drive component based on the target speed and actual speed of the drive component and transmits it to the drive system controller;

[0009] The drive system controller adjusts the output torque of the drive components according to the target torque to stabilize the vehicle.

[0010] As an optional implementation, in the first aspect of the present application, the actual rotational speed is calculated by the drive system controller based on the rotational speed of the drive component and transmitted to the vehicle controller.

[0011] As an optional implementation manner, in the first aspect of the present application, the vehicle controller determines the target torque according to the target speed and the actual speed, including:

[0012] The vehicle controller determines the first torque according to the target speed and the actual speed;

[0013] The vehicle controller determines the target torque according to the first torque and the throttle torque.

[0014] Optionally, the vehicle controller determines the target torque according to the first torque and the throttle torque, including:

[0015] Based on the comparison between the first torque and the accelerator torque, the smaller value is taken as the target torque.

[0016] As an optional implementation manner, in the first aspect of the present application, the vehicle body electronic stability controller determines the target rotational speed of the driving component corresponding to the slipping wheel, including:

[0017] The electronic stability controller of the vehicle calculates the target speed of the driving component based on a reference speed of the vehicle; wherein the reference speed is determined based on sensor information of multiple wheels of the vehicle, and the sensors include at least one of a wheel speed sensor, an IMU sensor, a steering wheel angle sensor and a yaw angular velocity sensor.

[0018] Optionally, the vehicle electronic stability controller calculates the target rotational speed of the driving component according to the reference speed of the vehicle, including:

[0019] The vehicle body electronic stability controller calculates the target rotation speed of the driving component according to the reference speed of the vehicle and a preset conversion relationship.

[0020] As an optional implementation, in the first aspect of the present application, before the vehicle body electronic stability controller determines the target speed corresponding to the slipping wheel, the method further includes:

[0021] Determine the slip rate of any wheel based on the wheel speed information of the wheel and in combination with the reference speed of the vehicle;

[0022] When the slip ratio of the wheel is greater than a slip ratio threshold, the wheel is determined to be a slipping wheel.

[0023] As an optional implementation, in the first aspect of the present application, the vehicle body electronic stability controller and the vehicle controller, as well as the vehicle controller and the drive system controller, communicate via CAN communication.

[0024] A second aspect of the present application discloses a vehicle anti-skid control system, the system comprising:

[0025] Body electronic stability controller, vehicle controller and drive system controller;

[0026] The vehicle electronic stability controller is used to determine the target speed of the drive component corresponding to the slipping wheel and transmit the target speed to the vehicle controller;

[0027] A vehicle controller, configured to calculate a target torque of the drive component based on the target speed and actual speed of the drive component, and transmit the target torque to a drive system controller;

[0028] The drive system controller is used to adjust the output torque of the drive component according to the target torque.

[0029] Optionally, the above-mentioned drive system controller is also used to obtain the actual speed of the drive component and transmit the actual speed to the vehicle controller.

[0030] Optionally, the vehicle electronic stability controller includes:

[0031] The vehicle electronic stability controller is integrated with the TCS target speed module, which is used to calculate the target speed based on the wheel speed of the slipping wheel.

[0032] Optionally, the vehicle controller includes:

[0033] The vehicle controller integrates a TCS target torque module, which is used to determine the first torque based on the target speed and actual speed of the driving component.

[0034] Optionally, the vehicle controller is further configured to determine a target torque of the driving component based on the first torque and the throttle torque.

[0035] A third aspect of the present application discloses a vehicle, comprising the anti-skid control system of the vehicle according to the second aspect.

[0036] Compared with the prior art, this application has the following beneficial effects:

[0037] In this application, the target speed of the drive component corresponding to the slipping wheel is determined by the vehicle body electronic stability controller and transmitted to the vehicle controller. The vehicle controller determines the target torque based on the target speed and actual speed of the drive component and transmits it to the drive system controller. The drive system controller adjusts the output torque of the drive component based on the target torque to stabilize the vehicle. This solution reduces the transmission link of the actual speed between the vehicle controller and the vehicle body electronic stability controller and shortens the communication link of the control signal. It can be seen that this application can change the torque integration method, shorten the link transmission path, reduce the torque response closed-loop time, and improve the slip response speed without increasing the hardware cost and complex technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0039] FIG1 is a flow chart of a vehicle anti-skid control method disclosed in an embodiment of the present application;

[0040] FIG2 is a schematic structural diagram of an anti-skid control system for a vehicle disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The terms "comprises," "comprising," and "having," and any variations thereof, in the specification and claims of this application are intended to cover non-exclusive inclusions. For example, a statement that a process, method, apparatus, product, or system comprises a sequence of steps or a method, apparatus, product, or system is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to such process, method, product, or system.

[0043] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] This application discloses a vehicle anti-skid control method and system, which can shorten the signal link transmission path, reduce the torque response closed-loop time, and improve the slip response speed. A detailed description is provided below.

[0045] Example 1

[0046] Please refer to Figure 1, which is a flow chart of a vehicle anti-skid control method disclosed in an embodiment of the present application. The method described in Figure 1 can be applied to a vehicle anti-skid control system, which can be an independent system or integrated into the vehicle, and the present application is not limited thereto. As shown in Figure 1, the vehicle anti-skid control method can include the following operations:

[0047] 101. The electronic stability controller determines the target speed of the drive component corresponding to the slipping wheel and transmits it to the vehicle controller.

[0048] In the embodiments of this application, the electronic stability control (ESC) is an active safety device in a vehicle and a technology that assists the driver in controlling the vehicle. The ESC uses wheel speed and vehicle speed to identify a slipping wheel, and then determines the target speed of the drive component corresponding to that wheel to prevent wheel slip. This target speed is then transmitted to the vehicle controller via a CAN message. In a vehicle, the drive component can refer to either the engine or the electric motor.

[0049] Optionally, the vehicle electronic stability controller collects wheel speed signals through wheel speed sensors, and uses the wheel speed and the driving wheel speed calculated by the vehicle speed calculation module and the reference vehicle speed to determine the slipping wheel, thereby calculating the actual slip rate of the slipping wheel, and then judging whether the vehicle is slipping based on the target slip rate and the actual slip rate, and recording the slip mark bit. When the slip mark bit is set to 1, the wheel or the vehicle is in a slipping state; when the slip mark bit is set to 0, the wheel or the vehicle is in a non-slipping state. At the same time, the target speed of the driving component corresponding to the wheel to avoid the vehicle slipping is calculated based on the reference vehicle speed. The calculation method can be a proportional conversion of its numerical value, and the proportional value depends on the specific transmission method and deceleration mechanism. The target speed is sent to the vehicle controller via a CAN message. The wheel speed sensor can be a control object of the vehicle electronic stability controller, directly transmitting signals, or it can be an external device.

[0050] 102. The vehicle controller determines the target torque of the driving component according to the target speed and actual speed of the driving component, and transmits the target torque to the driving system controller.

[0051] In the embodiments of this application, the vehicle controller (VCU) serves as the control center for normal vehicle operation and is the core component of the vehicle control system. The VCU receives the target speed of the drive components transmitted by the electronic stability controller (ESC) and the actual speed of the drive components from the drive system controller. It calculates the target torque of the drive components and transmits the calculated target torque to the drive system controller to control the output torque of the drive components.

[0052] 103. The drive system controller adjusts the output torque of the drive component according to the target torque to stabilize the vehicle.

[0053] In the embodiments of the present application, the drive system controller is the core component of the vehicle's drive system, responsible for controlling the operation and power output of the motor and / or engine. The drive system controller can be either a motor controller or an engine controller. If the vehicle is a new energy vehicle, the drive system controller is a motor controller, which converts electrical energy into mechanical energy through the drive circuit, controls the motor's operation, and implements vehicle acceleration, deceleration, and braking. If the vehicle is a new energy vehicle, the drive system controller is an engine controller, which can control the engine torque. The drive system controller receives the target torque transmitted by the vehicle controller and adjusts the output torque of the drive components based on the received target torque to stabilize the vehicle. At the same time, the drive system controller also needs to continue to collect the speed and / or torque of the drive components to provide feedback on the adjusted wheel status to prepare for the next control step. If the drive component is a motor, the corresponding drive system controller is a motor controller; if the drive component is an engine, the corresponding drive system controller is an engine controller. In the following embodiments, the drive component is a motor and the corresponding drive system controller is a motor controller.

[0054] It can be seen that the method described in the embodiment of the present application can determine the target speed of the drive component corresponding to the slipping wheel through the vehicle electronic stability controller and transmit it to the vehicle controller; the vehicle controller determines the target torque based on the target speed and actual speed and transmits it to the drive system controller; the drive system controller adjusts the output torque of the drive component based on the target torque of the drive component to stabilize the vehicle. This embodiment gives the vehicle controller the function of calculating the target torque, avoiding the actual speed from being transmitted from the drive system controller to the vehicle controller and then to the vehicle electronic stability controller, shortening the signal link transmission path, reducing the torque response closed-loop time, and improving the slip response speed.

[0055] In an optional embodiment, the vehicle controller determines the target torque according to the target speed and the actual speed, which may include the following operations:

[0056] The vehicle controller determines the first torque according to the target speed and the actual speed;

[0057] The vehicle controller determines the target torque according to the first torque and the throttle torque.

[0058] In this embodiment, the target torque determined by the vehicle controller is determined by arbitrating between a first torque and an accelerator torque. The first torque can be determined by the target speed and the actual speed. The actual speed can be calculated by the drive system controller based on the motor speed and transmitted to the vehicle controller. The accelerator torque can be acquired by the accelerator pedal, and the driver's accelerator torque can be calculated by the accelerator torque calculation unit. The target torque is transmitted from the vehicle electronic stability control unit (ESC), or from the TCS target speed module within the vehicle electronic stability control unit (ESC). The method for determining the first torque based on the target speed and actual speed can be determined by the vehicle controller or by a TCS target torque module embedded in the vehicle controller. Specifically, if the actual speed is lower than the target speed, the required additional torque will cause the engine or motor to work harder to increase speed. If the actual speed is higher than the target speed, the required additional torque will cause the engine to work less hard to reduce speed. The accelerator pedal is also taken into account to comprehensively determine the final target torque.

[0059] It can be seen that the method described in the embodiment of the present application can determine the target torque based on the target speed and the actual speed. At the same time, it takes into account the driver's operation (such as pressing the accelerator pedal), which helps to accurately determine the output of the target torque.

[0060] In yet another optional embodiment, further optionally, the vehicle controller determines the target torque according to the first torque and the throttle torque, including:

[0061] Based on the comparison between the first torque and the accelerator torque, the smaller value is taken as the target torque.

[0062] In this embodiment, the vehicle controller determines a first torque based on the target speed and actual speed, and then compares these two torque values ​​with the throttle torque. If the first torque is greater than the throttle torque, the target torque is set as the throttle torque; if the first torque is less than the throttle torque, the first torque is set as the target torque. This ensures that no matter how the driver operates the throttle, the target torque will never exceed the smaller of the throttle torque and the first torque. The vehicle controller then sends the target torque to the drive system controller to control the motor torque output.

[0063] It can be seen that the method described in the embodiment of the present application can prevent torque overload. At the same time, it takes the driver's operation into consideration, making the driving experience more humane and achieving precise control of the torque output of the motor.

[0064] In yet another optional embodiment, the method may further include the following operations:

[0065] The electronic stability control system determines the target speed of the drive components corresponding to the slipping wheels, including:

[0066] The electronic stability controller of the vehicle calculates the target speed of the driving component based on a reference speed of the vehicle; wherein the reference speed is determined based on sensor information of multiple wheels of the vehicle, and the sensors include at least one of a wheel speed sensor, an IMU sensor, a steering wheel angle sensor and a yaw angular velocity sensor.

[0067] In this embodiment, the vehicle electronic stability controller determines the reference speed of the vehicle based on the sensor information of the four wheels of the vehicle. The reference speed of the vehicle is obtained through various sensors and control systems of the vehicle, such as vehicle speed sensor, IMU sensor, steering wheel angle sensor, yaw rate sensor or other related sensors, and the corresponding wheel speed signal, yaw rate, steering wheel angle and / or lateral acceleration are obtained according to the installed sensors. The embodiment of the present application describes that the vehicle speed and target speed can be determined more accurately by fusing information from multiple sensors, thereby improving the handling and stability of the vehicle. Based on the determined reference speed, the vehicle electronic stability controller can calculate the target speed of the slipping wheel and transmit the target speed to the vehicle controller.

[0068] As can be seen, the method described in the embodiments of this application can effectively determine the target speed corresponding to the slipping wheel using the vehicle electronic stability controller, providing more accurate data for the vehicle controller to calculate the target torque, thereby controlling the vehicle's driving state. Furthermore, the use of multiple sensors can increase the redundancy and robustness of the system.

[0069] In an optional embodiment, before the vehicle body electronic stability controller determines the target rotational speed corresponding to the slipping wheel, the method further includes:

[0070] Determine the slip rate of any wheel based on the wheel speed information of the wheel and in combination with the reference speed of the vehicle;

[0071] When the slip ratio of the wheel is greater than a slip ratio threshold, the wheel is determined to be a slipping wheel.

[0072] In this embodiment, before determining the target speed corresponding to the slipping wheel, the electronic stability controller of the vehicle also includes determining the slip rate of the wheel based on the wheel speed information of any wheel and combined with the reference speed of the vehicle; when the slip rate of the wheel is greater than the slip rate threshold, the wheel is determined to be a slipping wheel.

[0073] It can be seen that the method described in the embodiment of the present application can enable the vehicle electronic stability controller to more accurately detect the vehicle's slippage, and can respond and control the slipping wheels more quickly.

[0074] In yet another optional embodiment, the method may further include the following operations:

[0075] The electronic stability controller and the vehicle controller, as well as the vehicle controller and the drive system controller communicate via CAN.

[0076] In this embodiment, CAN (Controller Area Network) is a commonly used vehicle network communication protocol with high reliability and real-time performance. CAN communication meets the requirements of vehicle control systems. Specifically, in communications between the electronic stability controller (ESC) and the vehicle controller (VCU), CAN communication can help them share sensor data, control commands, and status information. Similarly, in communications between the VCU and the drivetrain controller, CAN communication can help them share motor control commands and status information.

[0077] It can be seen that the method described in the embodiment of the present application can use CAN communication mode, and data exchange and collaborative work can be carried out between the body electronic stability controller and the vehicle controller, as well as between the vehicle controller and the drive system controller, to achieve more efficient, safer and smarter vehicle performance.

[0078] Example 2

[0079] Please refer to Figure 2, which is a schematic diagram of the structure of a vehicle anti-skid control system disclosed in an embodiment of the present application. The system described in Figure 2 can be integrated into a vehicle, which is not limited in the embodiment of the present application. As shown in Figure 2, the vehicle anti-skid control system may include:

[0080] Body electronic stability controller, vehicle controller and drive system controller;

[0081] The vehicle electronic stability controller is used to determine the target speed of the drive component corresponding to the slipping wheel and transmit the target speed to the vehicle controller;

[0082] A vehicle controller, configured to calculate a target torque of the drive component based on the target speed and actual speed of the drive component, and transmit the target torque to a drive system controller;

[0083] The drive system controller is used to receive the target torque and adjust the output torque of the drive component.

[0084] In this embodiment, the interaction between the vehicle electronic stability controller and the drive system controller is described. During this process, the vehicle electronic stability controller is responsible for obtaining the wheel speed of the slipping wheel and calculating the target speed, which is then transmitted to the vehicle controller. The vehicle controller calculates the target torque based on the target speed and actual speed and transmits the target torque to the drive system controller. The drive system controller receives the target torque and adjusts the output torque of the drive components to achieve vehicle stability control. If the drive component is a motor, the motor controller receives the target torque and adjusts the motor output torque to achieve vehicle stability control.

[0085] As can be seen, the system described in the embodiments of this application enables real-time information exchange between the three controllers: the electronic stability controller, the vehicle controller, and the drive system controller, ensuring vehicle stability and safety during driving. Furthermore, this distributed control system shortens link transmission paths, improves slip response speed, and enhances the efficiency and reliability of the entire system.

[0086] In this optional embodiment, further optionally, the drive system controller is also used to obtain the actual rotational speed of the drive component and transmit the actual rotational speed to the vehicle controller.

[0087] In this embodiment, the drive system controller not only receives the target torque and adjusts the output torque of the drive component, but also is responsible for obtaining the actual speed of the drive component and transmitting it to the vehicle controller. In this embodiment, the drive component can be a motor or an engine.

[0088] It can be seen that the system described in the embodiment of the present application enables the vehicle controller to more accurately understand the actual driving status of the vehicle, thereby better adjusting the calculation of the target torque and the control of the engine or motor, and improving the stability and safety of the vehicle.

[0089] In an optional embodiment, the vehicle body electronic stability controller may include:

[0090] The vehicle body electronic stability controller is integrated with a TCS target speed module, which is used to calculate the target speed according to the wheel speed of the slipping wheel.

[0091] In this embodiment, the target speed of the drive component is derived from a reference vehicle speed based on a predetermined conversion relationship. In the following embodiments, the drive component is a motor, and the corresponding drive system controller is a motor controller. The TCS target speed module refers to the target speed module of the traction control system. The traction control system (TCS) is an electronic control system that controls the vehicle's powertrain (such as the engine and transmission) to help the vehicle achieve optimal power output and fuel economy under various driving conditions. The TCS target speed module is a component of the system, responsible for calculating and setting the vehicle's target speed. The target speed refers to the engine speed the vehicle should reach, achieved by comparing the actual engine speed with the target engine speed. In this embodiment, wheel speed signals are acquired from at least one of a wheel speed sensor, an IMU sensor, a steering wheel angle sensor, and a yaw rate sensor. The wheel speed and vehicle speed calculation module calculates the drive wheel speed and the reference vehicle speed, thereby calculating the actual slip ratio. The target slip ratio and the actual slip ratio are then used to determine whether the vehicle is slipping. The target speed is calculated based on the reference vehicle speed according to a predetermined conversion relationship and transmitted to the vehicle controller via a CAN message. The TCS target speed module is integrated into the vehicle's electronic stability control (ESC), effectively enabling the ESC to calculate a target speed based on the vehicle's reference speed. The vehicle's reference speed can be obtained from at least one of the wheel speed sensors, IMU sensor, steering wheel angle sensor, and yaw rate sensor. The TCS target speed module then calculates the vehicle's reference speed based on this information and determines the target speed based on the reference speed. The calculated target speed is then transmitted to the vehicle controller to determine the target torque, which is then used to adjust the motor's torque output to achieve vehicle stability control.

[0092] As can be seen, the system described in the embodiments of this application can improve vehicle stability and safety. By integrating the TCS target speed module, the electronic stability controller can more accurately calculate the target speed and respond more quickly to changes in the vehicle's driving state. This helps reduce the occurrence of vehicle slippage, yaw, and instability, improving vehicle controllability and safety.

[0093] In yet another optional embodiment, the vehicle controller integrates a TCS target torque module for determining the first torque based on the target speed and the actual speed.

[0094] In this embodiment, the TCS target torque module is a component of the traction control system, responsible for calculating and setting the vehicle's target torque. When the vehicle slips, the TCS automatically adjusts the engine's throttle opening and calculates the driver's throttle torque request via the throttle torque calculation unit. Simultaneously, the TCS receives the target speed from the TCS target speed module and the actual speed from the drive system controller. The TCS target torque module calculates the speed control target torque, then outputs the final target torque by taking the smaller of the throttle torque request and the speed control target torque. The traction control system can be a DMC speed control unit, which calculates the speed control target torque. The vehicle controller integrates the TCS target torque module, which determines a first torque based on the target speed and actual speed. In addition to receiving the target speed and calculating the target torque, the vehicle controller also determines the first torque based on the target and actual speeds. If there is a significant difference between the target speed and the actual speed, it is considered necessary to adjust the motor's torque output. In this case, the TCS target torque module calculates an appropriate torque (the first torque) to bring the actual speed closer to the target speed.

[0095] It can be seen that the system described in the embodiment of the present application can help reduce the occurrence of vehicle slippage, yaw and instability, and improve the vehicle's controllability and safety. At the same time, the TCS target torque module is integrated into the vehicle controller, which can reduce system complexity and cost and shorten the link transmission path.

[0096] In this optional embodiment, further optionally, the vehicle controller is further configured to determine the target torque based on the first torque and the throttle torque.

[0097] In this embodiment, in addition to calculating the first torque based on the target speed and the actual speed, the vehicle controller also determines the target torque based on the first torque and the throttle torque. This process can be achieved by comparing the accelerator pedal position and other relevant parameters (such as vehicle speed and gear position) to determine the appropriate torque (target torque) to drive the vehicle.

[0098] It can be seen that the method described in the embodiment of the present application can significantly improve the handling and stability of the vehicle, while reducing the occurrence of vehicle instability and the like, providing the driver with safer driving.

[0099] Example 3

[0100] The embodiments of the present application disclose a vehicle. The specific vehicle of the embodiments of the present application is not limited and can be a new energy vehicle, a truck, etc. It should be noted that the vehicle refers to any embodiment of the anti-skid control system of a vehicle described in the second embodiment.

[0101] It can be seen that the device described in the embodiment of the present application can shorten the communication link and improve the control speed without increasing the hardware cost, thereby improving the driving performance of the vehicle.

[0102] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware.

[0103] Finally, it should be noted that the anti-skid control method and system for a vehicle disclosed in the embodiments of the present application are only preferred embodiments of the present application, and are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A vehicle anti-skid control method, characterized in that: The method includes: The body electronic stability controller determines the target speed of the drive component corresponding to the slipping wheel and transmits it to the vehicle controller; The vehicle controller determines the target torque of the drive component according to the target speed and the actual speed of the drive component, and transmits it to the drive system controller; The drive system controller adjusts the output torque of the drive component according to the target torque to stabilize the vehicle.

2. The anti-skid control method according to claim 1, characterized in that: The actual speed is transmitted from the drive system controller to the vehicle controller.

3. The anti-skid control method according to claim 1 or 2, characterized in that: The vehicle controller determines the target torque according to the target speed and the actual speed, including: The vehicle controller determines the first torque according to the target speed and the actual speed; The vehicle controller determines the target torque according to the first torque and the throttle torque.

4. The anti-skid control method according to claim 3, characterized in that: The vehicle controller determines the target torque according to the first torque and the throttle torque, including: Taking the smaller value as the target torque according to the comparison between the first torque and the throttle torque.

5. The anti-skid control method according to any one of claims 1 to 4, characterized in that: The body electronic stability controller determines the target speed of the drive component corresponding to the slipping wheel, including: The body electronic stability controller calculates the target speed of the drive component according to the reference vehicle speed of the vehicle; wherein, the reference vehicle speed is determined according to the sensor information of multiple wheels of the vehicle, and the sensors include at least one of a wheel speed sensor, an IMU sensor, a steering wheel angle sensor, and a yaw rate sensor.

6. The anti-skid control method according to claim 5, characterized in that: The body electronic stability controller calculates the target speed of the drive component according to the reference vehicle speed of the vehicle, including: The body electronic stability controller calculates the target speed of the drive component according to the reference vehicle speed of the vehicle and a preset conversion relationship.

7. The anti-skid control method according to any one of claims 1 to 6, characterized in that: Before the body electronic stability controller determines the target speed corresponding to the slipping wheel, the method further includes: Based on the wheel speed information of any wheel and in combination with the reference vehicle speed of the vehicle, determining the slip ratio; When the slip ratio of the wheel is greater than the slip ratio threshold, determining that the wheel is a slipping wheel.

8. The anti-skid control method according to any one of claims 1 to 7, characterized in that: The body electronic stability controller and the vehicle controller communicate with each other, and the vehicle controller and the drive system controller communicate with each other through the CAN communication method.

9. A vehicle anti-skid control system, characterized in that: The system includes: A body electronic stability controller, a vehicle controller, and a drive system controller; The body electronic stability controller is used to determine the target speed of the drive component corresponding to the slipping wheel and transmit the target speed to the vehicle controller; The vehicle controller is used to calculate the target torque of the drive component according to the target speed and the actual speed of the drive component and transmit the target torque to the drive system controller; The drive system controller is used to adjust the output torque of the drive component according to the target torque.

10. A vehicle, characterized in that: The vehicle includes the anti-slip control system as claimed in claim 9.

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