CN101774372A - Driving anti-skid control system of hybrid electric vehicle and control method thereof - Google Patents
Driving anti-skid control system of hybrid electric vehicle and control method thereof Download PDFInfo
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Abstract
The invention relates to a driving anti-skid control system of a hybrid electric vehicle and a control method thereof; the driving anti-skid control system comprises a brake pressure pipe, a vehicle transmission system and a driving anti-skid control electric signal circuit; the brake pressure pipe comprises an air compressor; the air compressor is connected with a brake cylinder through a valve; the output end of the brake cylinder is connected with two front wheel brake chambers and two input ends of a bi-directional single-way valve through two vehicle brake anti-lock regulating valves, a driving anti-skid regulating valve and a brake pipe, and the input end thereof is connected with two rear wheel brake chambers through the other two vehicle brake anti-lock regulating valves; the vehicle transmission system comprises an engine, and the engine is connected with a transmission mechanism assembly through a motor; the driving anti-skid control electric signal circuit comprises four wheel speed sensors arranged near the wheels; the two wheel speed sensors in the front part and the two vehicle brake anti-lock regulating valves are connected with a brake/driving controller; and the brake/driving controller is respectively connected with the driving anti-skid regulating valve, the controller of the complete vehicle, an electronic throttle, a motor controller, the other two wheel speed sensors and the two vehicle brake anti-lock regulating valves. The invention can be widely applied to the anti-skid control systems of various hybrid electric vehicles.
Description
Technical field
The present invention relates to a kind of vehicle control system and control method, particularly about a kind of anti-slip regulation and control method thereof that has adopted the hybrid vehicle of Pneumatic braking system.
Background technology
Anti-slip regulation (ASR, Anti Slip Regulation), vehicular drive antiskid control system (ATC, Automatic Traction Control) and vehicle drive control system (TCS, Traction ControlSystem) produces by the trial-production of Sweden Volvo car company the earliest, after this development is swift and violent, technology is very ripe now, becomes the standard configuration of medium-to-high grade manned vehicle.And in the vehicular field that adopts Pneumatic braking system, since the integrated system of the German Bosch release air-pressure type ABS/ATC of company (car brakeing antiblock device/vehicular drive antiskid control system), driven skid control system and adopted the vehicular field of Pneumatic braking system to obtain to use widely abroad.At present, the driving skid control system also has been equipped with more and more on domestic some palace cars.From the angle of vehicle driving safety, it is very important suppressing acutely trackslipping of drive wheel.(A is no sideslip angle, vertical adhesion value curve among the figure, and B is 5 ° of sideslip angles, vertical adhesion value curve, and C is 5 ° of sideslip angles, side direction adhesion value curve as shown in Figure 1.), according to three curves as can be seen, along with the increase of slippage rate, vertically adhesion value increases earlier and reduces, and the side direction adhesion value then reduces always, and along with the increase of sideslip angle, vertically adhesion value reduces gradually.Therefore, when drive wheel takes place seriously to trackslip, the side direction cohesive resistance of tire will reduce greatly, thereby the sideslip angle of tire becomes greatly until reaching limit of adhesion appearance sideslip under same side force, the increase of sideslip angle can reduce vertical cohesive resistance of tire again, and promptly drive wheel trackslips and not only can significantly reduce the side direction cohesive resistance of tire but also can cause adverse effect to vertical cohesive resistance.Above-mentioned conclusion is reflected on the car load: the phenomenon of breakking away appears in axle drive shaft easily when drive wheel trackslips, and the directional balance of vehicle ' reduces, and acceleration capacity descends to some extent.
The anti-slip regulation that is used for orthodox car is general to adopt following several means to suppress trackslipping of drive wheel: throttle opening and the point of ignition of 1, regulating driving engine wait the output driving torque of regulating driving engine.2, the drive wheel that trackslips is implemented the braking force intervention.3, adopt some special physical constructions, such as anti-skid final drive, diff lock etc.Under the dual-pressure of energy shock and environmental problem, economy better and the hybrid vehicle of environmental protection more realize commercialization fast, year sales volume considerable (a whole world year sales volume was about 500,000 in 2008).Hybrid vehicle generally all comprises motor and storage battery, and motor not only can provide driving torque but also braking torque can be provided.In general driving engine is because the restriction of self-characteristic, the torque that can provide under the slow speed of revolution condition is less, but motor just can provide bigger driving torque in low engine speed range, so hybrid vehicle the phenomenon that drive wheel trackslips more likely occurs than conventional truck when low speed.On this basis, the driving skid control system that is used for hybrid vehicle can be with reference to the driving skid control system of orthodox car, and the part of also having any different simultaneously is mainly reflected in and drives in the anti-skidding control in the control to motor torque.
Find through patent retrieval, Shanghai Fuel Battery Automobile Power System Co., Ltd has applied for name being called the patent of invention of " the driving skid control system and the method for four-wheel driving electric vehicle ", and (application number is 200610147758.3, publication number is CN101024377A, open day is 2007.08.29), a kind of anti-skidding control method of driving of the pure electric automobile at four wheel drive has been proposed, realize driving anti-skidding control by the size of regulating four motor-driven moments on the wheel, but owing to be pure electric automobile, this patent does not relate to the control to driving engine, does not relate to the adjusting of wheel being intervened braking force yet; Proposed among the U.S. Pat 005450324A a kind ofly not only to comprise the braking anti-lock function but also comprise system and the control method that drives antiskid function.Be to realize that by brake-pressure and the motor braking torque of regulating in the brake wheel cylinder braking anti-lock is anti-skidding with driving, but do not relate to the control of driving engine equally, also do not relate to adjusting the drive wheel brake-pressure; A kind of driving skid control system that is used for hybrid vehicle has been proposed among the U.S. Pat 006263267B1, when detecting wheel slip, suppress to trackslip, lack the content of the brake-pressure of regulating motor torque and drive wheel equally by the output torque that reduces motor.Can see that from above retrieval existing driving skid control system and control method major part all are to be used for orthodox car and pure electric automobile.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of anti-skidding control effect anti-slip regulation and the control method thereof of hybrid vehicle preferably.
For achieving the above object, the present invention takes following technical scheme: a kind of anti-slip regulation of hybrid vehicle is characterized in that: it comprises that a braking pressure pipeline, a vehicle transmission system and drive anti-skidding control electric signal loop; Described braking pressure pipeline comprises an Air compressor, and described Air compressor connects a braking gas tank by a safety valve, a pressure maintaining valve successively, and a mouth of described braking gas tank connects two front wheel brake air chambers respectively by two car brakeing anti-lock control cocks; Two other mouth of described braking gas tank drives the anti-slip regulation valve by one respectively and is connected two-way one-way valve two input ends with brake piping, and described two-way one-way valve mouth connects two trailing wheel compressed air brake cylinders by two other car brakeing anti-lock control cock respectively; Described vehicle transmission system comprises a driving engine, the described driving engine motor that is connected in series, and the moment of described driving engine and the coupling of the moment of described motor are after the mouth of described motor is transferred to an assembly of drive gear; The anti-skidding control electric signal of described driving loop comprises that four lay respectively near the wheel speed sensors of each wheel, near two described wheel speed sensors that are positioned at the front vehicle wheel are connected a braking/driving governor with two described car brakeing anti-lock control cocks, and described braking/driving governor also connects described driving anti-slip regulation valve, carload controller, an electronic throttle, an electric machine controller, two respectively and is positioned at rear wheel neighbouring described wheel speed sensors and two other described car brakeing anti-lock control cock.
A kind of anti-skidding control method of driving that adopts the hybrid vehicle of above-mentioned control system, its step is as follows: the 1) wheel speed signal that sends according to two wheel speed sensors that are positioned at front vehicle wheel, calculate the instantaneous speed of a motor vehicle of vehicle, according to the wheel speed signal and the described instantaneous speed of a motor vehicle that two wheel speed sensors that are positioned at rear wheel send, calculate the instantaneous slippage rate of vehicle rear wheel; 2) according to the instantaneous speed of a motor vehicle and instantaneous slippage rate, judge by braking/driving governor whether drive wheel the phenomenon of trackslipping occurs, when judging that trackslipping appears in drive wheel, according to the size of instantaneous speed of a motor vehicle v, decision is to enter braking force to intervene the stage, still enters electronic throttle and motor torque and regulates the stage; When judging that drive wheel does not occur trackslipping, then determine the throttle opening bid value and the motor torque bid value of electronic throttle; 3) described step 2),, satisfy S＞S when entering the braking force intervention during stage
+The time, intervening braking force on the drive wheel increases; Satisfy S
-≤ S≤S
+The time, intervene braking force on the drive wheel and remain unchanged; Satisfy S＜S
-The time, intervene braking force on the drive wheel and reduce; Continue to withdraw from behind the 3s when the braking force intervention stage, enter electronic throttle and motor torque and regulate the stage; Wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold, S
-Be wheel slip rate minimum threshold; 4) described step 2) and in the step 3), enter the adjusting of electronic throttle and motor torque during the stage, utilize the proportional plus integral plus derivative controller that presets in the braking/driving governor to determine motor-driven/braking torque command value on the one hand, this motor torque bid value is sent to motor by electric machine controller; Aperture bid value by braking/driving governor control electronic throttle descends rapidly on the other hand; 5) in the described step 4), with the motor torque bid value and the aperture bid value after descending send in the logic threshold control module, and the aperture bid value of the electronic throttle adjusted is sent to driving engine;
In the described step 1), described instantaneous speed of a motor vehicle v is: v=ω
fR, described instantaneous slippage rate S is:
In the formula, S is a slippage rate, ω
fBe the front-wheel wheel speed, ω
rBe rear wheel rotation speed, v is the instantaneous speed of a motor vehicle, and r is a radius of wheel.
Described step 2) in, judges that the condition that described drive wheel trackslips is: S＞S
+, wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold.
In the described step 4), the described motor torque bid value tm_cmd that is determined by described proportional plus integral plus derivative controller is: tm_cmd=PID (S-S
d), in the formula, S is a slippage rate; S
dBe the target slippage rate, according to different adhesion to road surface situation S
dScope be [0.1,0.2].
In the described step 4), the best decline scope of the aperture bid value of described electronic throttle is [25%, 40%].
In the described step 5), jump to the condition that described electronic throttle aperture reduces state by described electronic throttle aperture increase state and be: described motor torque bid value tm_cmd is a braking torque, and tm_cmd＞C
1, S＞D
1, C wherein
1Be threshold value, relevant with the drive performance of described motor; D
1Also be threshold value, its scope is [0.15,0.2].
In the described step 5), reduce the condition that state jumps to described electronic throttle aperture and increase state by described electronic throttle aperture and be: described motor torque bid value tm_cmd is a driving torque, and tm_cmd＞C
2, S＜D
2, C wherein
2Be threshold value, relevant with described motor characteristic, D
2Also be threshold value, scope is [0.1,0.15].
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention carries out logic threshold control owing to according to the slippage rate of drive wheel wheel is intervened braking force, motor torque is carried out PID control, change simultaneously the engine air throttle aperture is carried out logic threshold control, realized that therefore slippage rate with drive wheel changes near being controlled at optimal value according to the slippage rate of motor torque and drive wheel.2, the present invention is owing to be provided with wheel speed sensors near two front vehicle wheels and two rear wheels, the wheel speed signal that records according to wheel speed sensors can calculate the instantaneous speed of a motor vehicle and the instantaneous slippage rate of vehicle, and judge drive wheel by braking/driving governor according to this instantaneous speed of a motor vehicle and instantaneous slippage rate and the phenomenon of trackslipping whether occurs, and then adopt corresponding braking force intervention and electronic throttle and motor torque to regulate, with the effective control that realizes drive wheel is trackslipped.3, the present invention drives anti-slip regulation valve and car brakeing anti-lock control cock because the braking pressure pipeline of car load is provided with, and therefore can regulate the intervention braking force size on the drive wheel by these two kinds of control cocks.4, the present invention controls to adjust the aperture of electronic throttle owing to be provided with electronic throttle and braking/driving governor by braking/driving governor, and then realizes the adjusting to the driving torque of driving engine.5, driving/braking torque of the braking/driving governor co-operative control motor of the present invention's employing is so that the slippage rate of drive wheel is stabilized near the optimal value.The present invention can be widely used in the various hybrid vehicle antiskid control systems.
Description of drawings
Fig. 1 is a motor tire cohesive resistance typical curve scheme drawing of the prior art
Fig. 2 is an anti-slip regulation structural representation of the present invention
Fig. 3 is the anti-skidding control method schematic flow sheet of driving of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 2, anti-slip regulation of the present invention comprises a braking pressure pipeline 1 (shown in black solid line among the figure), a vehicle transmission system 2 (shown in grey lines among the figure) and 3 (as shown in phantom in FIG.) of the anti-skidding control electric signal of driving loop.
Drive anti-skidding control electric signal loop 3 and comprise four wheel speed sensors 31, a braking/driving governor 32, an electronic throttle 33, an electric machine controller 34 and carload controller 35.Four wheel speed sensors 31 lay respectively at four wheels before and after the vehicle near, two wheel speed sensors 31 that are positioned at front vehicle wheel are sent to braking/driving governor 32 with detected wheel speed signal, and the ABS control cock 15 of two front vehicle wheels is from braking/driving governor 32 receiving valve control signals, braking/driving governor 32 connects driving anti-slip regulation valve 17 respectively simultaneously, entire car controller 35, electronic throttle 33, electric machine controller 34, two are positioned at wheel speed sensors 31 and two ABS control cocks 15 of rear wheel, entire car controller 35 sends the aperture reference value signal throttle_tgt of electronic throttle 33 and the motor torque reference value signal tm_tgt of electric machine controller 34 to braking/driving governor 32, braking/driving governor 32 is opened according to two reference value signals and is driven anti-slip regulation valve 17, make the air pressure in the braking gas tank 14 promote two-way one-way valve 18, air pressure is delivered to be positioned at two ABS control cocks 15 of rear wheel, by the switching frequency of control ABS control cock 15, control action goes up the value of intervening braking force at drive wheel (two trailing wheels); Braking/driving governor 32 sends throttle opening bid value signal throttle_cmd to electronic throttle 33, controls the aperture of actual electronic throttle 33; Braking/driving governor 32 sends motor torque bid value signal tm_cmd to electric machine controller 34, the size of control real electrical machinery torque.
As shown in Figure 3, to drive anti-skidding control method be when drive wheel trackslips slippage rate to be controlled near the optimum slippage rate in the present invention.Braking/driving governor 32 judges according to drive wheel wheel speed and flower wheel wheel speed whether drive wheel the phenomenon of trackslipping occurs.When detecting drive wheel and trackslip, according to the slippage rate of drive wheel, the intervention braking force on the co-operative control drive wheel and the aperture of the electronic throttle 33 of driving engine 21, the size of motor torque are so that the slippage rate of drive wheel changes near optimal value.Its step is as follows:
1) wheel speed signal that sends according to two wheel speed sensors that are positioned at front vehicle wheel, the instantaneous speed of a motor vehicle v that calculates vehicle is:
v＝ω
f·r (1)
According to wheel speed signal and instantaneous speed of a motor vehicle v that two wheel speed sensors that are positioned at rear wheel send, the instantaneous slippage rate S that calculates the vehicle rear wheel is:
In the above-mentioned formula: S is a slippage rate, ω
fBe the front-wheel wheel speed, ω
rBe rear wheel rotation speed, v is the instantaneous speed of a motor vehicle, and r is a radius of wheel;
2) according to instantaneous speed of a motor vehicle v and instantaneous slippage rate S, judge by the decision condition in the braking/driving governor whether drive wheel the phenomenon of trackslipping occurs, when judging that trackslipping appears in drive wheel, size according to instantaneous speed of a motor vehicle v, whether decision adopts the braking force intervention, if this moment, the speed of a motor vehicle was lower than 40km/h, enters braking force and intervenes the stage, if this moment, the speed of a motor vehicle was higher than 40km/h, enters electronic throttle and motor torque and regulate the stage; When judging that drive wheel does not occur trackslipping, the throttle opening bid value throttle_cmd that then determines electronic throttle is identical with the aperture reference value throttle_tgt of electronic throttle, and the motor torque bid value tm_cmd of electric machine controller is identical with the motor torque reference value tm_tgt of electric machine controller;
Wherein, decision condition is S＞S
+, wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold;
3) above-mentioned steps 2) in, when the speed of a motor vehicle is lower than 40km/h, enter the braking force intervention during stage, satisfy S＞S
+The time, increase by intervening braking force on the status adjustment drive wheel that drives anti-slip regulation valve and ABS control cock; Satisfy S
-≤ S≤S
+The time, remain unchanged by intervening braking force on the status adjustment drive wheel that drives anti-slip regulation valve and ABS control cock; Satisfy S＜S
-The time, reduce by intervening braking force on the status adjustment drive wheel that drives anti-slip regulation valve and ABS control cock; Continue to withdraw from behind the 3s when the braking force intervention stage, enter electronic throttle and motor torque and regulate the stage; Wherein, S
+Be wheel slip rate maximum threshold, S
-Be wheel slip rate minimum threshold;
4) above-mentioned steps 2) and step 3) in, enter the adjusting of electronic throttle and motor torque during the stage, utilize PID (proportion integration differentiation) controller that presets in the braking/driving governor to determine motor-driven/braking torque command value tm_cmd on the one hand, this motor torque bid value is sent to motor by electric machine controller, and motor torque bid value tm_cmd is:
tm_cmd＝PID(S-S
d) (3)
In the formula, S is a slippage rate, S
dBe the target slippage rate, according to different adhesion to road surface situation S
dScope be [0.1,0.2];
Aperture bid value throttle_cmd by braking/driving governor control electronic throttle descends rapidly on the other hand, and its preferably decline scope is [25%, 40%];
5) above-mentioned steps 4) in, aperture bid value throttle_cmd after motor torque bid value tm_cmd and the decline is sent in the logic threshold control module, control the increase and decrease state of electronic throttle aperture, and the aperture bid value throttle_cmd of the electronic throttle adjusted is sent to driving engine;
Above-mentioned steps 5) in, in logical gate limit control module, the increase and decrease state of electronic throttle aperture carries out saltus step according to condition D in the logical gate limit control module and condition E, wherein, jumping to the condition D that electronic throttle 14 apertures reduce state by electronic throttle 14 aperture increase states is: the motor torque bid value is a braking torque, and tm_cmd＞C
1, S＞D
1, C wherein
1Be threshold value, relevant with the drive performance of motor; D
1Also be threshold value, its scope is [0.15,0.2].Reducing the condition E that state jumps to the electronic throttle aperture and increase state by the electronic throttle aperture is: the motor torque bid value is a driving torque, and tm_cmd＞C
2And S＜D
2, C wherein
2Be threshold value, also relevant with motor characteristic, D
2Also be threshold value, scope is [0.1,0.15].
In electronic throttle aperture increase state, the electronic throttle aperture is monotone increasing in time, and advancing the speed is 5% per second; Reduce in the state at throttle opening, throttle opening is monotone decreasing in time, and reducing speed also is 5% per second.
In sum, when the enforcement driving is anti-skidding on hybrid vehicle, the anti-skidding control method of driving on orthodox car and the pure electric automobile need be combined, promptly can drive the control that increases on the basis of anti-skidding control method motor torque, also can improve the anti-skidding control effect of driving of hybrid vehicle largely in traditional vehicle.
The various embodiments described above only are used to illustrate the present invention, and wherein the structure of each parts, connection mode etc. all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (8)
1. the anti-slip regulation of a hybrid vehicle is characterized in that: it comprises that a braking pressure pipeline, a vehicle transmission system and drive anti-skidding control electric signal loop;
Described braking pressure pipeline comprises an Air compressor, and described Air compressor connects a braking gas tank by a safety valve, a pressure maintaining valve successively, and a mouth of described braking gas tank connects two front wheel brake air chambers respectively by two car brakeing anti-lock control cocks; Two other mouth of described braking gas tank drives the anti-slip regulation valve by one respectively and is connected two-way one-way valve two input ends with brake piping, and described two-way one-way valve mouth connects two trailing wheel compressed air brake cylinders by two other car brakeing anti-lock control cock respectively;
Described vehicle transmission system comprises a driving engine, the described driving engine motor that is connected in series, and the moment of described driving engine and the coupling of the moment of described motor are after the mouth of described motor is transferred to an assembly of drive gear;
The anti-skidding control electric signal of described driving loop comprises that four lay respectively near the wheel speed sensors of each wheel, near two described wheel speed sensors that are positioned at the front vehicle wheel are connected a braking/driving governor with two described car brakeing anti-lock control cocks, and described braking/driving governor also connects described driving anti-slip regulation valve, carload controller, an electronic throttle, an electric machine controller, two respectively and is positioned at rear wheel neighbouring described wheel speed sensors and two other described car brakeing anti-lock control cock.
2. one kind is adopted the anti-skidding control method of driving of the hybrid vehicle of control system according to claim 1, and its step is as follows:
1) according to the wheel speed signal of the two wheel speed sensors transmission that is positioned at front vehicle wheel, calculate the instantaneous speed of a motor vehicle of vehicle, according to the wheel speed signal and the described instantaneous speed of a motor vehicle that two wheel speed sensors that are positioned at rear wheel send, calculate the instantaneous slippage rate of vehicle rear wheel;
2) according to the instantaneous speed of a motor vehicle and instantaneous slippage rate, judge by braking/driving governor whether drive wheel the phenomenon of trackslipping occurs, when judging that trackslipping appears in drive wheel, according to the size of instantaneous speed of a motor vehicle v, decision is to enter braking force to intervene the stage, still enters electronic throttle and motor torque and regulates the stage; When judging that drive wheel does not occur trackslipping, then determine the throttle opening bid value and the motor torque bid value of electronic throttle;
3) described step 2),, satisfy S＞S when entering the braking force intervention during stage
+The time, intervening braking force on the drive wheel increases; Satisfy S
-≤ S≤S
+The time, intervene braking force on the drive wheel and remain unchanged; Satisfy S＜S
-The time, intervene braking force on the drive wheel and reduce; Continue to withdraw from behind the 3s when the braking force intervention stage, enter electronic throttle and motor torque and regulate the stage; Wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold, S
-Be wheel slip rate minimum threshold;
4) described step 2) and in the step 3), enter the adjusting of electronic throttle and motor torque during the stage, utilize the proportional plus integral plus derivative controller that presets in the braking/driving governor to determine motor-driven/braking torque command value on the one hand, this motor torque bid value is sent to motor by electric machine controller; Aperture bid value by braking/driving governor control electronic throttle descends rapidly on the other hand;
5) in the described step 4), with the motor torque bid value and the aperture bid value after descending send in the logic threshold control module, and the aperture bid value of the electronic throttle adjusted is sent to driving engine;
3. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 2, it is characterized in that: in the described step 1), described instantaneous speed of a motor vehicle v is:
v＝ω
f·r，
Described instantaneous slippage rate S is:
In the formula, S is a slippage rate, ω
fBe the front-wheel wheel speed, ω
rBe rear wheel rotation speed, v is the instantaneous speed of a motor vehicle, and r is a radius of wheel.
4. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 2 is characterized in that: described step 2), judge that the condition that described drive wheel trackslips is:
S＞S
+，
Wherein, S is a slippage rate, S
+Be wheel slip rate maximum threshold.
5. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 2 is characterized in that: in the described step 4), the described motor torque bid value tm_cmd that is determined by described proportional plus integral plus derivative controller is:
tm_cmd＝PID(S-S
d)，
In the formula, S is a slippage rate; S
dBe the target slippage rate, according to different adhesion to road surface situation S
dScope be [0.1,0.2].
6. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 2, it is characterized in that: in the described step 4), the best decline scope of the aperture bid value of described electronic throttle is [25%, 40%].
7. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 2, it is characterized in that: in the described step 5), jumping to the condition that described electronic throttle aperture reduces state by described electronic throttle aperture increase state is: described motor torque bid value tm_cmd is a braking torque, and tm_cmd＞C
1, S＞D
1, C wherein
1Be threshold value, relevant with the drive performance of described motor; D
1Also be threshold value, its scope is [0.15,0.2].
8. the anti-skidding control method of the driving of a kind of hybrid vehicle as claimed in claim 2, it is characterized in that: in the described step 5), reducing the condition that state jumps to described electronic throttle aperture and increase state by described electronic throttle aperture is: described motor torque bid value tm_cmd is a driving torque, and tm_cmd＞C
2, S＜D
2, C wherein
2Be threshold value, relevant with described motor characteristic, D
2Also be threshold value, scope is [0.1,0.15].
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