CN110588370B - Antiskid torque control method and device and vehicle - Google Patents

Antiskid torque control method and device and vehicle Download PDF

Info

Publication number
CN110588370B
CN110588370B CN201910945681.1A CN201910945681A CN110588370B CN 110588370 B CN110588370 B CN 110588370B CN 201910945681 A CN201910945681 A CN 201910945681A CN 110588370 B CN110588370 B CN 110588370B
Authority
CN
China
Prior art keywords
torque
current
driving wheel
requested
slip
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910945681.1A
Other languages
Chinese (zh)
Other versions
CN110588370A (en
Inventor
班平宝
石刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Hainachuan Automotive Parts Co Ltd
Original Assignee
Beijing Hainachuan Automotive Parts Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Hainachuan Automotive Parts Co Ltd filed Critical Beijing Hainachuan Automotive Parts Co Ltd
Priority to CN201910945681.1A priority Critical patent/CN110588370B/en
Publication of CN110588370A publication Critical patent/CN110588370A/en
Application granted granted Critical
Publication of CN110588370B publication Critical patent/CN110588370B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The invention discloses an antiskid torque control method, an antiskid torque control device and a vehicle, wherein the method comprises the following steps: when the driving wheel of the electric automobile is detected to be in a slipping state, determining a first target torque according to the current torque and the current torque reduction coefficient of the electric automobile, and determining a second target torque according to the current torque and the torque recovery coefficient of the electric automobile; reducing the motor request torque to a first target torque, and restoring the motor request torque to a second torque after suppressing the drive wheel slip; when the driving wheels are detected to exit the slipping state, the torque requested by the motor is restored to the torque requested by the driver. According to the method provided by the embodiment of the invention, under the condition that an independent chassis traction control system is not provided, the torque of the driving wheel can be interfered, the aim of inhibiting the driving wheel from slipping is achieved, the phenomenon of out-of-control of the vehicle due to slipping is effectively avoided, and the driving safety is effectively ensured.

Description

Antiskid torque control method and device and vehicle
Technical Field
The invention relates to the technical field of automotive electronics, in particular to an anti-skid torque control method, an anti-skid torque control device and a vehicle.
Background
At present, in the driving process, the driving wheels of some vehicles such as two-wheel drive electric vehicles can be divided into driving wheels and driven wheels, once the vehicles run on low-adhesion road surfaces such as ice and snow road surfaces and rain and snow road surfaces, the driving wheels can slip due to the reduction of the adhesion coefficient, so that the driving wheels are converted from static friction into sliding friction, the friction force of the wheels is greatly reduced, and the vehicles can be out of control in severe cases.
In the correlation technique, the vehicle matches independent chassis traction control system, nevertheless receives great restriction in because the cost is higher, development cycle length and the technique, leads to many middle and low-end motorcycle types not to dispose chassis traction control system, brings very big potential safety hazard for driving, needs a urgent need to solve.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present invention is to provide an antiskid torque control method for a vehicle, which can suppress the slip of a driving wheel by interfering with the torque of the driving wheel.
Another object of the present invention is to provide an anti-skid torque control apparatus for a vehicle.
It is a further object of the invention to propose a vehicle.
In order to achieve the above object, an embodiment of an aspect of the present invention provides an anti-skid torque control method for a vehicle, including: when the driving wheel of the electric automobile is detected to be in a slipping state, determining a first target torque according to the current torque and the current torque reduction coefficient of the electric automobile, and determining a second target torque according to the current torque and the torque recovery coefficient of the electric automobile; reducing a motor requested torque to the first target torque and restoring the motor requested torque to the second torque after suppressing the drive wheel from slipping; and when the driving wheel is detected to exit the slipping state, restoring the requested torque of the motor to the requested torque of the driver.
According to the anti-skid torque control method for the vehicle, under the condition that an independent chassis traction control system is not provided, when a driving wheel slips, the torque requested by the motor is reduced to a certain torque, after the slipping of the driving wheel is restrained, the torque requested by the motor is restored to a certain second torque, and if the driving wheel is always kept in a non-slipping state, the torque requested by a driver is gradually restored, so that the torque of the driving wheel is interfered, the purpose of restraining the slipping of the driving wheel is achieved, the out-of-control phenomenon of the vehicle due to the slipping is effectively avoided, and the driving safety is effectively guaranteed.
In addition, the antiskid torque control method of the vehicle according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the determining the first target torque according to the current torque of the electric vehicle and the current torque reduction coefficient includes: acquiring the current driving wheel slip ratio of the driving wheel; and inquiring a torque reduction coefficient table according to the current driving wheel slip ratio, determining the current torque reduction coefficient, and multiplying the current torque reduction coefficient and the current torque to obtain the first target torque.
Further, in an embodiment of the present invention, the determining the second target torque according to the current torque of the electric vehicle and the torque recovery coefficient includes: inquiring a torque recovery coefficient according to the current driving wheel slip ratio, and determining the current torque recovery coefficient; and multiplying the current torque recovery coefficient and the front torque to obtain the second target torque.
Further, in an embodiment of the present invention, the method further includes: acquiring the current wheel speeds of the driving wheel and the driven wheel to obtain the slip ratio of the current driving wheel; and when the current driving wheel slip rate is greater than a first preset threshold value and the difference value of the current wheel speeds of the driving wheel and the driven wheel is greater than a second preset threshold value, judging that the driving wheel of the electric automobile is in the slip state.
In addition, in an embodiment of the present invention, after the restoring the torque requested by the motor to the second torque, the method further includes: and after the fact that the driving wheels do not slip is detected, taking the second target torque as the requested torque of the motor for a preset time period.
In order to achieve the above object, according to another aspect of the present invention, an anti-skid torque control apparatus for a vehicle includes: the acquisition module is used for determining a first target torque according to the current torque and the current torque reduction coefficient of the electric automobile when the driving wheel of the electric automobile is detected to be in a slipping state, and determining a second target torque according to the current torque and the torque recovery coefficient of the electric automobile; a slip suppression module configured to reduce a motor requested torque to the first target torque and restore the motor requested torque to the second torque after suppressing the drive wheel from slipping; and the torque recovery module is used for recovering the torque requested by the motor to the torque requested by the driver when the driving wheel is detected to be out of the slip state.
The anti-skid torque control device of the vehicle can reduce the torque requested by the motor to a certain torque under the condition that an independent chassis traction control system is not provided, when the driving wheel slips, and recover the torque requested by the motor to a certain second torque after the driving wheel is restrained from slipping, and gradually recover the torque requested by the driver if the driving wheel is always kept in a non-slipping state, so that the torque of the driving wheel is interfered, the purpose of restraining the driving wheel from slipping is achieved, the out-of-control phenomenon of the vehicle due to slipping is effectively avoided, and the driving safety is effectively ensured.
In addition, the anti-skid torque control apparatus for a vehicle according to the above-described embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the obtaining module includes: the acquisition unit is used for acquiring the current slip rate of the driving wheel; and the first query unit is used for querying a torque reduction coefficient table according to the current driving wheel slip ratio, determining the current torque reduction coefficient, and multiplying the current torque reduction coefficient and the current torque to obtain the first target torque.
Further, in an embodiment of the present invention, the obtaining module further includes: and the second query unit is used for querying a torque recovery coefficient according to the current driving wheel slip rate, determining the current torque recovery coefficient, and multiplying the current torque recovery coefficient by the previous torque to obtain the second target torque.
Further, in an embodiment of the present invention, the method further includes: the acquisition module is used for acquiring the current wheel speeds of the driving wheel and the driven wheel so as to obtain the slip ratio of the current driving wheel; and the judging module is used for judging that the driving wheel of the electric automobile is in the slipping state when the current driving wheel slipping rate is greater than a first preset threshold value and the difference value of the current wheel speeds of the driving wheel and the driven wheel is greater than a second preset threshold value.
In order to achieve the above object, an embodiment of another aspect of the present invention provides a vehicle including the above vehicle anti-skid torque control apparatus. The vehicle can reduce the torque requested by the motor to a certain torque when the driving wheel slips under the condition without an independent chassis traction control system, and recover the torque requested by the motor to a certain second torque after the driving wheel is inhibited from slipping, and gradually recover the torque requested by the driver if the driving wheel is always kept in a non-slipping state, so that the torque of the driving wheel is interfered, the purpose of inhibiting the driving wheel from slipping is realized, the out-of-control phenomenon of the vehicle due to slipping is effectively avoided, and the driving safety is effectively ensured.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an anti-skid torque control method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating the principle of controlling the anti-skid torque of the driving wheels of a two-wheel electric vehicle according to one embodiment of the present invention;
FIG. 3 is a flow chart of a method of antiskid torque control for a vehicle according to an embodiment of the present invention;
FIG. 4 is a graph illustrating a rear wheel slip rate threshold Rat when the rear wheel is a driving wheel according to an embodiment of the present inventionthdA map relating reference vehicle speed and steering wheel angle;
FIG. 5 is a graph illustrating a rear wheel slip rate threshold Rat when the front wheels are driving wheels according to an embodiment of the present inventionthdA map relating reference vehicle speed and steering wheel angle;
FIG. 6 is a velocity difference threshold Veh when the rear wheel is a driving wheel according to one embodiment of the present inventionGapthdA map relating reference vehicle speed and steering wheel angle;
FIG. 7 is a velocity difference threshold Veh when the front wheels are driving wheels according to one embodiment of the present inventionGapthdA map relating reference vehicle speed and steering wheel angle;
fig. 8 is a block diagram schematically illustrating an anti-skid torque control apparatus of a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
An antiskid torque control method, an apparatus, and a vehicle proposed according to an embodiment of the present invention will be described below with reference to the accompanying drawings, and first, the antiskid torque control method proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a flowchart of an anti-skid torque control method of a vehicle according to an embodiment of the present invention
As shown in fig. 1, the slip torque control method of the vehicle includes the steps of:
in step S101, when it is detected that the driving wheel of the electric vehicle is in a slipping state, a first target torque is determined according to the current torque of the electric vehicle and the current torque reduction coefficient, and a second target torque is determined according to the current torque of the electric vehicle and the torque recovery coefficient.
In an embodiment of the present invention, the method of the embodiment of the present invention further includes: acquiring the current wheel speeds of a driving wheel and a driven wheel to obtain the current slip rate of the driving wheel; and when the slip ratio of the current driving wheel is greater than a first preset threshold value and the difference value of the current wheel speeds of the driving wheel and the driven wheel is greater than a second preset threshold value, judging that the driving wheel of the electric automobile is in a slip state.
It should be noted that there are many ways to detect whether the driving wheel is slipping, for example, a wheel speed signal of the driven wheel is used as a reference vehicle speed to calculate a slip rate of the driving wheel, and the driving wheel is determined to be in a slipping state when the following two conditions are satisfied:
(1) the slip ratio of the driving wheel is greater than a slip ratio threshold value, namely a first preset threshold value;
(2) the speed difference between the wheel speed of the driving wheel and the reference vehicle speed is larger than a certain threshold value, namely a second preset threshold value.
It should be noted that the first preset threshold and the second preset threshold may be set by those skilled in the art according to practical situations, and are not limited herein.
Optionally, in an embodiment of the present invention, determining the first target torque according to the current torque of the electric vehicle and the current torque reduction coefficient includes: acquiring the current slip ratio of the driving wheel; and inquiring a torque reduction coefficient table according to the current driving wheel slip ratio, determining a current torque reduction coefficient, and multiplying the current torque reduction coefficient and the current torque to obtain a first target torque.
It is understood that the first stage of torque control is active torque down slip suppression, wherein, when the driving wheel is identified to be slipping, the actual output torque of the driving motor at the time of current slipping is taken as the anti-slip allowable anti-slip torque, the driving wheel slip rate is calculated, the torque down coefficient is determined according to a predetermined torque down coefficient table (the input is the reference vehicle speed and the steering wheel angle), and is multiplied by the current anti-slip allowable torque to obtain the torque down target torque, i.e. the first target torque, and the torque down process needs to be subjected to ramp processing, wherein the ramp rate can be set by a person skilled in the art according to actual conditions, and is not specifically limited again.
Alternatively, in an embodiment of the present invention, determining the second target torque according to the current torque of the electric vehicle and the torque recovery coefficient includes: inquiring a torque recovery coefficient according to the current driving wheel slip rate, and determining the current torque recovery coefficient; and multiplying the current torque recovery coefficient and the previous torque to obtain a second target torque.
It is understood that the second phase of the torque control is the first phase of the torque recovery, wherein the torque recovery coefficient is determined according to the slip ratio of the driving wheel calculated in the first phase of the torque control and a predetermined torque recovery coefficient table (input as the reference vehicle speed and the steering wheel angle), and is multiplied by the current slip allowable torque to be the target torque of the first phase of the torque recovery, i.e. the second target torque, and the torque recovery process needs to be processed by ramp, wherein the ramp rate can be set by a person skilled in the art according to actual conditions, and is not particularly limited again.
In step S102, the motor requested torque is decreased to the first target torque, and is restored to the second torque after suppressing the drive wheel slip.
Further, in an embodiment of the present invention, after restoring the torque requested by the motor to the second torque, the method further includes: and after the driving wheels are detected not to skid, the second target torque is used as the motor request torque for a preset time period.
It is understood that the third phase of the torque control is the second phase of torque recovery-torque maintenance, and when the torque is recovered to the second target torque, the torque is maintained for a certain time t, i.e. a preset time period, wherein the preset time period can be set by a person skilled in the art according to practical situations, and is not limited specifically herein.
In step S103, when it is detected that the drive wheels exit the slip state, that is, when no repeated slip occurs, the motor requested torque is restored to the driver requested torque.
That is, the torque control fourth stage is a torque recovery third stage, and when no slip is recognized again in the third stage, the torque is recovered to the torque requested by the driver through ramp, wherein the ramp rate can be set by a person skilled in the art according to actual conditions, and is not limited in particular again.
And finally, the fifth stage is a normal quit stage, and the torque interference is quitted normally until the torque is recovered to the torque requested by the driver and the repeated slip of the driving wheels does not occur.
The operation of the method according to an embodiment of the present invention is described in detail with reference to fig. 2 and 3.
As shown in fig. 2 and 3, the control method according to the embodiment of the present invention includes:
step S1: the driver's requested torque Trq is collected through an accelerator pedalDrvr。
Step S2: collecting wheel speed signals Spd of a driving wheel and a driven wheel through a wheel speed sensorDrvgWhl，SpdDrvnWhl。
Step S3: taking the wheel speed signal of the driven wheel as the reference vehicle speed Spdref，Spdref＝SpdDrvgWhlCalculating the slip ratio Rat of the driving wheelslip，Ratslip＝(SpdDrvgWhl-Spdref)/SpdDrvgWhlWhen the following two conditions are met, the driving wheel is judged to be in a slip state:
(1) the slip rate of the driving wheel is greater than a defined slip rate threshold Ratslip>RatthdTime (the slip rate threshold may be obtained by looking up the slip rate threshold with the vehicle speed and the steering wheel rotation correspondence table), as shown in fig. 4 and 5;
(2) the speed difference between the wheel speed of the driving wheel and the reference vehicle speed is greater than a certain threshold value TrqDrvr-Spdref>VehGapthd(the speed difference threshold may be obtained by looking up a table of speed differences versus vehicle speed and steering wheel rotation), as shown in fig. 6 and 7.
Step S4: when slip is identified, recording the actual output torque of the current driving motor as the current anti-slip allowable torque TrqPertSimultaneously, the torque reduction coefficient Fac set by table lookup is determined according to the slip ratio during triggeringDecAnd torque recovery coefficient FacRecCalculating to obtain a first target torque TrqDecAnd a second target torque TrqRecThe calculation formula is as follows:
TrqDec＝TrqPert*FacDec；
TrqRec＝TrqPert*FacRec。
step S5: the motor-end requested torque Trq is transmitted via ramp1MotQuickly dropping to the first target torque, and when dropping to the first target torque TrqDecIf the drive wheel slip is not suppressed, the routine returns to step S4 to recalculate the first target torque to reduce the torque.
Step S6: after the drive wheel slip is successfully suppressed, the motor-end requested torque is restored to the second target torque Trq by the ramp2RecIf the driving wheel is once slipped again during the process, the process returns to step S4 to recalculate the first target torque for torque reduction.
Step S7: when the torque is recovered to the second target torque, if the driving wheel does not slip, the Trq is maintainedMot＝TrqRecTime t. If the driving wheel has repeated slip, the step S4 is returned to calculate the first target torque again for torque reduction.
Step S8: if the drive wheels are not slipping, the torque requested by the motor end is restored to the torque requested by the driver via ramp 3.
Step S9: in steps S5, S6, S7, and S8, if the driver requested torque is equal to or less than the currently interfered motor requested torque TrqDrvr<＝TrqMotAnd meanwhile, the torque interference is directly withdrawn when the driving wheel does not slip.
According to the anti-skid torque control method of the vehicle, under the condition that an independent chassis traction control system is not provided, when a driving wheel slips, the torque requested by the motor is reduced to a certain torque, after the slipping of the driving wheel is restrained, the torque requested by the motor is restored to a certain second torque, and if the driving wheel is always kept in a non-slipping state, the torque requested by a driver is gradually restored, so that the torque of the driving wheel is interfered, the purpose of restraining the slipping of the driving wheel is achieved, the out-of-control phenomenon of the vehicle due to the slipping is effectively avoided, and the driving safety is effectively ensured.
Next, an anti-skid torque control apparatus of a vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 8 is a block schematic diagram of an antiskid torque control apparatus of a vehicle according to an embodiment of the present invention.
As shown in fig. 8, the antiskid torque control device 10 of the vehicle includes: the system includes an acquisition module 100, a slip suppression module 200, and a torque recovery module.
The obtaining module 100 is configured to determine a first target torque according to a current torque and a current torque reduction coefficient of the electric vehicle when it is detected that a driving wheel of the electric vehicle is in a slipping state, and determine a second target torque according to the current torque and a torque recovery coefficient of the electric vehicle.
The slip suppression module 200 is configured to reduce the motor requested torque to a first target torque and restore the motor requested torque to a second torque after suppressing the drive wheels from slipping.
The torque restoration module 300 is configured to restore the electric machine requested torque to the driver requested torque upon detecting that the drive wheels exit the slip condition.
Further, in an embodiment of the present invention, the obtaining module 100 includes: the device comprises an acquisition unit and a first query unit.
The device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the current slip rate of the driving wheel.
And the first query unit is used for querying the torque reduction coefficient table according to the current driving wheel slip ratio, determining the current torque reduction coefficient, and multiplying the current torque reduction coefficient and the current torque to obtain a first target torque.
Further, in an embodiment of the present invention, the obtaining module 100 further includes: a second lookup unit.
The second query unit is used for querying the torque recovery coefficient according to the current driving wheel slip rate, determining the current torque recovery coefficient, and multiplying the current torque recovery coefficient by the previous torque to obtain a second target torque.
Further, in one embodiment of the present invention, the apparatus 10 of the embodiment of the present invention further comprises: the device comprises an acquisition module and a judgment module.
The acquisition module is used for acquiring the current wheel speeds of the driving wheel and the driven wheel so as to obtain the slip rate of the current driving wheel.
The judging module is used for judging that the driving wheel of the electric automobile is in a slipping state when the slip ratio of the current driving wheel is larger than a first preset threshold value and the difference value of the current wheel speeds of the driving wheel and the driven wheel is larger than a second preset threshold value.
It should be noted that the foregoing explanation of the embodiment of the anti-skid torque control method for a vehicle is also applicable to the anti-skid torque control device for a vehicle of this embodiment, and will not be repeated herein.
According to the anti-skid torque control device of the vehicle, under the condition that an independent chassis traction control system is not provided, when the driving wheel slips, the torque requested by the motor is reduced to a certain torque, after the slipping of the driving wheel is restrained, the torque requested by the motor is restored to a certain second torque, and if the driving wheel is always kept in a non-slipping state, the torque requested by a driver is gradually restored, so that the torque of the driving wheel is interfered, the purpose of restraining the slipping of the driving wheel is achieved, the out-of-control phenomenon of the vehicle due to the slipping is effectively avoided, and the driving safety is effectively ensured.
In addition, the embodiment of the invention also provides a vehicle which comprises the anti-skid torque control device of the vehicle. The vehicle can reduce the torque requested by the motor to a certain torque when the driving wheel slips under the condition without an independent chassis traction control system, and recover the torque requested by the motor to a certain second torque after the driving wheel is inhibited from slipping, and gradually recover the torque requested by the driver if the driving wheel is always kept in a non-slipping state, so that the torque of the driving wheel is interfered, the purpose of inhibiting the driving wheel from slipping is realized, the out-of-control phenomenon of the vehicle due to slipping is effectively avoided, and the driving safety is effectively ensured.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (7)

1. An antiskid torque control method of a vehicle, characterized by comprising the steps of:
when the driving wheel of the electric automobile is detected to be in a slipping state, determining a first target torque according to the current torque and the current torque reduction coefficient of the electric automobile, and determining a second target torque according to the current torque and the torque recovery coefficient of the electric automobile; the determining a first target torque according to the current torque and the current torque reduction coefficient of the electric automobile comprises the following steps:
acquiring the current driving wheel slip rate of the driving wheel, wherein the current wheel speed of the driving wheel and the driven wheel is acquired to obtain the current driving wheel slip rate; when the current driving wheel slip rate is larger than a first preset threshold value and the difference value of the current wheel speeds of the driving wheel and the driven wheel is larger than a second preset threshold value, judging that the driving wheel of the electric automobile is in the slip state;
reducing a motor requested torque to the first target torque and restoring the motor requested torque to the second target torque after suppressing the drive wheel from slipping; and
when the driving wheels are detected to exit the slipping state, restoring the requested torque of the motor to the requested torque of the driver;
after the restoring the torque requested by the motor to the second target torque, the method further includes:
after the driving wheels are detected not to slip, taking the second target torque as the torque requested by the motor for a preset duration; wherein the content of the first and second substances,
the restoring the motor requested torque to the driver requested torque upon detection of the drive wheels exiting the slip state includes: and after the second target torque is used as the motor requested torque for a preset duration, the torque is restored to the driver requested torque and the torque interference is normally quitted if the driving wheels do not repeatedly slip.
2. The method of claim 1, wherein determining a first target torque based on a current torque and a current torque-down factor of the electric vehicle comprises:
and inquiring a torque reduction coefficient table according to the current driving wheel slip ratio, determining the current torque reduction coefficient, and multiplying the current torque reduction coefficient and the current torque to obtain the first target torque.
3. The method of claim 2, wherein determining the second target torque based on the current torque and the torque recovery coefficient of the electric vehicle comprises:
inquiring a torque recovery coefficient according to the current driving wheel slip ratio, and determining the current torque recovery coefficient;
and multiplying the current torque recovery coefficient and the current torque to obtain the second target torque.
4. An antiskid torque control apparatus of a vehicle, characterized by comprising:
the device comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for determining a first target torque according to the current torque and the current torque reduction coefficient of the electric automobile when the driving wheel of the electric automobile is detected to be in a slipping state, and determining a second target torque according to the current torque and the torque recovery coefficient of the electric automobile; wherein the content of the first and second substances,
the acquisition module comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the current slip ratio of the driving wheel;
the acquisition module is used for acquiring the current wheel speeds of the driving wheel and the driven wheel so as to obtain the slip ratio of the current driving wheel;
the judging module is used for judging that the driving wheel of the electric automobile is in the slipping state when the current driving wheel slipping rate is larger than a first preset threshold value and the difference value of the current wheel speeds of the driving wheel and the driven wheel is larger than a second preset threshold value;
a slip suppression module configured to reduce a motor requested torque to the first target torque and restore the motor requested torque to the second target torque after suppressing the drive wheel from slipping; and
the torque recovery module is used for recovering the torque requested by the motor to the torque requested by the driver when the driving wheel is detected to be out of the slip state;
after the restoring the torque requested by the motor to the second target torque, the method further includes:
after the driving wheels are detected not to slip, taking the second target torque as the torque requested by the motor for a preset duration; wherein the content of the first and second substances,
the restoring the motor requested torque to the driver requested torque upon detection of the drive wheels exiting the slip state includes: and after the second target torque is used as the motor requested torque for a preset duration, the torque is restored to the driver requested torque and the torque interference is normally quitted if the driving wheels do not repeatedly slip.
5. The apparatus of claim 4, wherein the obtaining module comprises:
and the first query unit is used for querying a torque reduction coefficient table according to the current driving wheel slip ratio, determining the current torque reduction coefficient, and multiplying the current torque reduction coefficient and the current torque to obtain the first target torque.
6. The apparatus of claim 5, wherein the obtaining module further comprises:
and the second query unit is used for querying a torque recovery coefficient according to the current driving wheel slip rate, determining the current torque recovery coefficient, and multiplying the current torque recovery coefficient and the current torque to obtain the second target torque.
7. A vehicle, characterized by comprising: the antiskid torque control apparatus of a vehicle according to any one of claims 4 to 6.
CN201910945681.1A 2019-09-30 2019-09-30 Antiskid torque control method and device and vehicle Active CN110588370B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910945681.1A CN110588370B (en) 2019-09-30 2019-09-30 Antiskid torque control method and device and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910945681.1A CN110588370B (en) 2019-09-30 2019-09-30 Antiskid torque control method and device and vehicle

Publications (2)

Publication Number Publication Date
CN110588370A CN110588370A (en) 2019-12-20
CN110588370B true CN110588370B (en) 2022-04-26

Family

ID=68865478

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910945681.1A Active CN110588370B (en) 2019-09-30 2019-09-30 Antiskid torque control method and device and vehicle

Country Status (1)

Country Link
CN (1) CN110588370B (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113060116B (en) * 2021-04-19 2023-05-26 奇瑞商用车（安徽）有限公司 Anti-skid control method for driving electric automobile
CN113895235B (en) * 2021-11-15 2023-08-15 奇瑞新能源汽车股份有限公司 Control method and device for four-wheel drive vehicle, new energy automobile and storage medium
CN113997791A (en) * 2021-11-19 2022-02-01 奇瑞新能源汽车股份有限公司 Anti-slip control method and device for electric vehicle, vehicle and storage medium
CN115284890A (en) * 2022-04-15 2022-11-04 长城汽车股份有限公司 Slip control method, slip control device, electronic apparatus, and storage medium

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5473020B2 (en) * 2010-01-22 2014-04-16 日立建機株式会社 Electric drive vehicle
CN102485528B (en) * 2010-12-03 2014-08-13 比亚迪股份有限公司 Wheel motor slip processing control system and slip processing method of wheel motor
CN108248449B (en) * 2016-12-29 2020-11-06 比亚迪股份有限公司 Driving antiskid control method and device for four-wheel-drive electric automobile
CN106740266A (en) * 2017-01-25 2017-05-31 北京新能源汽车股份有限公司 The control method and system of a kind of output torque
CN108215936B (en) * 2017-12-29 2020-09-08 潍柴动力股份有限公司 Drive control method and device for pure electric vehicle
CN109572447B (en) * 2018-11-26 2020-05-15 吉林大学 Driving anti-skid control method for multi-wheel distributed hybrid power system
CN109795339B (en) * 2018-12-29 2021-10-01 奇瑞新能源汽车股份有限公司 Pure electric vehicle driving anti-skid system and control method

Also Published As

Publication number Publication date
CN110588370A (en) 2019-12-20

Similar Documents

Publication Publication Date Title
CN110588370B (en) Antiskid torque control method and device and vehicle
US9873353B1 (en) System and method for controlling creep torque of an electric vehicle
CN109606369B (en) Vehicle running control method and device and four-wheel drive type vehicle
US8406952B2 (en) Electric parking brake control system and electric parking brake control method
CN114248630B (en) Anti-slip parking control method for electric automobile, whole vehicle controller and medium
JP2009523650A (en) Method for estimating the longitudinal speed of an automobile
CN114347802B (en) Active anti-slip control method for new energy vehicle
CN111186306A (en) Control method and system for preventing vehicle from rolling down slope reversely and vehicle comprising system for preventing vehicle from rolling down slope reversely
US6470254B1 (en) Method and device for adjusting the braking and/or drive effects on wheel of motor vehicles
JP5394347B2 (en) Vehicle control device
CN115339452B (en) Crawling control method and device, electronic equipment and storage medium
CN111746546A (en) Road surface condition estimation device
JPH0375361B2 (en)
CN115071445A (en) New energy vehicle crawling control method and system
CN114684157A (en) Vehicle speed estimation method and device and electric vehicle
US6554376B2 (en) Method and device for adjusting the braking and/or driving effect on the wheels of a motor vehicle
CN110745124A (en) Vehicle and brake control method and device thereof
US20120253622A1 (en) Control device for controlling drive force that operates on vehicle
US20090319146A1 (en) Traction control system for diesel powered vehicles
JP3196686B2 (en) Road surface friction coefficient estimation device
US20060212205A1 (en) Method for detecting when a vehicle is in a downhill situation
US8401754B2 (en) Method for detecting the status of the clutch in the drive train of a motor vehicle
JP3196685B2 (en) Road surface friction coefficient estimation device
CN116238462B (en) Anti-slip method and device for vehicle, vehicle and storage medium
JP4111780B2 (en) Vehicle traction control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant