CN113085863A - Method, device, equipment and storage medium for preventing slipping - Google Patents
Method, device, equipment and storage medium for preventing slipping Download PDFInfo
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- CN113085863A CN113085863A CN202110470702.6A CN202110470702A CN113085863A CN 113085863 A CN113085863 A CN 113085863A CN 202110470702 A CN202110470702 A CN 202110470702A CN 113085863 A CN113085863 A CN 113085863A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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Abstract
The invention belongs to the technical field of electric automobiles, and discloses a method, a device, equipment and a storage medium for preventing slipping. The method comprises the following steps: acquiring the current speed of a target vehicle; when the current speed is smaller than a speed threshold value, acquiring the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels; adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping. Through the mode, whether the anti-skid strategy needs to be started or not is judged according to the current speed of the target vehicle, when the current speed is smaller than the speed threshold value, the rotating speed change degree and the wheel speed change degree are determined according to the rotating speed of the motor and the wheel speed, and the rotating speed change degree and the wheel speed change degree are compared with the boundary change degree, so that whether the torque needs to be adjusted or not is judged, and therefore the vehicle can be stably accelerated without easily slipping.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method, a device, equipment and a storage medium for preventing slipping.
Background
With the popularization of pure electric vehicle products, especially the gradual increase of private users, the high-quality driving experience of the pure electric vehicle has become a distinct advantage different from that of a traditional fuel vehicle, and is also an important product force for mutual competition among pure electric vehicle brands.
Currently, with the development of electric drive system technology and cost optimization, the power and peak torque of the electric drive system are improved qualitatively. The problem that the vehicle is easy to slip in the starting process of a large acceleration pedal is also brought while the experience of a user on the acceleration performance of the vehicle is improved, and the problem is particularly obvious for A0-level and A-level pure electric vehicles which generally adopt a front-drive mode.
When the wheel slip of the vehicle occurs, the vehicle with the electronic stability system has a corresponding control strategy to improve the controllability of the vehicle, but the stability of the vehicle is reduced after all. Particularly on some common roads, unexpected vehicle slip should not occur, which affects the user's vehicle using experience and increases the vehicle handling risk.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device, equipment and a storage medium for preventing slipping, and aims to solve the technical problem that a pure electric vehicle is easy to slip in the acceleration process in the prior art.
To achieve the above object, the present invention provides a slip prevention method comprising the steps of:
acquiring the current speed of a target vehicle;
when the current speed is smaller than a speed threshold value, acquiring the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels;
adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping.
Optionally, the step of obtaining the degree of change of the rotation speed of the motor of the target vehicle and the degree of change of the wheels when the current speed is less than the speed threshold includes:
acquiring rotating speed information of a motor of the target vehicle;
obtaining wheel speed information of the target vehicle wheel;
and determining the rotation speed change degree and the wheel speed change degree according to the rotation speed information and the wheel speed information.
Optionally, the step of determining a degree of change of the rotation speed and a degree of change of the wheel speed according to the rotation speed information and the wheel speed information includes:
determining an acceleration starting time and a starting rotating speed at the acceleration starting time according to the rotating speed information;
determining an initial wheel speed at the acceleration initial time according to the wheel speed information;
acquiring the current rotating speed, the current wheel speed and the current moment of the target vehicle;
determining acceleration time according to the current time and the acceleration starting time;
determining the rotation speed change degree according to the acceleration time, the initial rotation speed and the current rotation speed;
and determining the wheel speed change degree according to the acceleration time, the initial wheel speed and the current wheel speed.
Optionally, the step of adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed includes:
determining a speed standard interval in which the current speed is;
determining a corresponding first adjusting coefficient according to the speed standard interval;
acquiring a rotating speed change degree threshold value and a wheel speed change degree threshold value;
determining a second adjusting coefficient according to the threshold value of the rotating speed change degree and the rotating speed change degree;
determining a third adjusting coefficient according to the wheel speed change degree threshold value and the wheel speed change degree;
adjusting the torque of the target vehicle according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient.
Optionally, the step of adjusting the torque of the target vehicle according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient includes:
determining an effective adjustment coefficient result according to the first adjustment coefficient, the second adjustment coefficient and the third adjustment coefficient;
determining a target adjustment coefficient according to the effective adjustment coefficient result;
and adjusting the torque of the target vehicle according to the target adjusting coefficient.
Optionally, after the step of adjusting the torque of the target vehicle according to the rotation speed variation degree, the wheel speed variation degree and the current speed to prevent the target vehicle from slipping, the method further comprises:
acquiring a preset wheel speed corresponding to the current rotating speed;
when the current wheel speed is greater than the preset wheel speed, judging that the target vehicle enters a wet skid section, and acquiring a preset anti-skid torque;
and controlling the target vehicle according to the preset antiskid torque.
Optionally, after the step of adjusting the torque of the target vehicle according to the rotation speed variation degree, the wheel speed variation degree and the current speed to prevent the target vehicle from slipping, the method further comprises:
when the current speed of the target vehicle is greater than the speed threshold, acquiring a preset adjusting coefficient;
and adjusting the torque of the target vehicle according to the preset adjusting coefficient.
Further, in order to achieve the above object, the present invention also proposes a slippage prevention device comprising:
the speed acquisition module is used for acquiring the current speed of the target vehicle;
the degree obtaining module is used for obtaining the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels when the current speed is smaller than a speed threshold value;
and the torque adjusting module is used for adjusting the torque of the target vehicle according to the rotating speed change degree, the wheel speed change degree and the current speed so as to prevent the target vehicle from skidding.
Further, to achieve the above object, the present invention also proposes a skid prevention apparatus comprising: a memory, a processor and a skid prevention program stored on the memory and executable on the processor, the skid prevention program configured to implement the steps of the skid prevention method as described above.
In addition, to achieve the above object, the present invention further proposes a storage medium having a skid prevention program stored thereon, the skid prevention program implementing the steps of the skid prevention method as described above when executed by a processor.
The method comprises the steps of obtaining the current speed of a target vehicle; when the current speed is smaller than a speed threshold value, acquiring the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels; adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping. Through the mode, whether the anti-skid strategy needs to be started or not is judged according to the current speed of the target vehicle, when the current speed is smaller than the speed threshold value, the rotating speed change degree and the wheel speed change degree are determined according to the rotating speed of the motor and the wheel speed, and the rotating speed change degree and the wheel speed change degree are compared with the boundary change degree, so that whether the torque needs to be adjusted or not is judged, and therefore the vehicle can be stably accelerated without easily slipping.
Drawings
Fig. 1 is a schematic structural diagram of a skid prevention apparatus of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first embodiment of a method for preventing slippage according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of the method for preventing hydroplaning according to the present invention;
FIG. 4 is a block diagram of a strategy for implementing the method of preventing slippage according to an embodiment of the present invention;
fig. 5 is a block diagram showing the construction of the first embodiment of the slippage prevention device of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a skid prevention device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the slip prevention apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the anti-slip device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a slippage prevention program.
In the slippage prevention apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the slippage prevention device of the present invention may be provided in a slippage prevention device that calls up a slippage prevention program stored in the memory 1005 by the processor 1001 and executes a slippage prevention method provided by an embodiment of the present invention.
An embodiment of the present invention provides a method for preventing slippage, referring to fig. 2, and fig. 2 is a flowchart illustrating a first embodiment of the method for preventing slippage according to the present invention.
In this embodiment, the method for preventing slippage includes the steps of:
step S10: the current speed of the target vehicle is acquired.
It should be noted that the execution subject of the present embodiment is an in-vehicle terminal, such as an in-vehicle computer, provided on the target vehicle. The vehicle-mounted terminal is connected with various sensors, such as a vehicle speed sensor, through a Controller Area Network (CAN), and the vehicle speed sensor monitors the current speed of the target vehicle in real time and sends the current speed to the vehicle-mounted terminal.
Step S20: and when the current speed is smaller than the speed threshold value, acquiring the rotating speed change degree of the motor of the target vehicle and the wheel speed change degree of the wheel.
It will be appreciated that when the current speed of the target vehicle exceeds the speed threshold, the target vehicle will not slip as easily, and therefore the problem of slipping wheels of the target vehicle only needs to occur when the current speed of the target vehicle is less than the speed threshold and during a large accelerator pedal launch.
It should be understood that the degree of change of the rotation speed refers to how fast the rotation speed of the motor changes over a certain time, for example: within 1 minute, the rotating speed of the motor is increased from 0r/min to 3000r/min, and the rotating speed of the motor in the time is changed to 3000r/min 2. Similarly, the wheel speed variation degree of the wheel refers to the speed variation speed of the wheel within a certain time, for example: the wheel speed is increased from 0r/min to 500r/min in one minute, and the wheel speed changes to 500r/min2 in this one minute.
It should be noted that the wheel speed sensor can be used to monitor the rotation speed of the wheel in real time to calculate and obtain the degree of wheel speed change.
Further, in order to accurately acquire the degree of change in the rotation speed and the degree of change in the wheel speed of the target vehicle, step S20 includes: acquiring rotating speed information of a motor of the target vehicle; obtaining wheel speed information of the target vehicle wheel; and determining the rotation speed change degree and the wheel speed change degree according to the rotation speed information and the wheel speed information.
It is understood that the rotation speed information includes the rotation speed of the target vehicle motor at intervals, wherein the intervals may be 1 second, 5 seconds, etc., for example: the rotation speed of the motor is 500r/min collected at 12 o 'clock, 10 min and 35 sec, and the rotation speed of the motor is 800r/min collected after 5 sec (i.e. 12 o' clock, 10 min and 40 sec). Similarly, the wheel speed information of the target also includes the wheel speed of the target vehicle wheel (i.e., the rotational speed of the wheel) at intervals.
In a specific implementation, the degree of change in the rotation speed and the degree of change in the wheel speed may be obtained from the rotation speed and the wheel speed at each interval, for example: the rotating speed of the motor is 200r/min at 15 points, 25 minutes and 20 seconds, and the rotating speed of the motor is 500r/min after 5 seconds, so that the rotating speed change degree of the motor in the 5 seconds is 3600r/min 2. Similarly, the degree of wheel speed change can also be calculated as described above.
It can be understood that, the driver may not stably maintain the unique torque while driving, so the rotation speed variation degree and the wheel speed variation degree in each time period may vary during the whole acceleration process, and through the above manner, the specific rotation speed variation degree and the wheel speed variation degree in each time period may be more accurately reflected, so that the torque may be more reasonably adjusted according to the rotation speed variation degree and the wheel speed variation degree to prevent slipping, thereby improving the driving experience of the user.
Further, when the target vehicle is running at a low speed and a uniform speed, the real-time monitoring and calculation of the speed change degree and the speed change degree may cause electric energy waste, and therefore, the step of determining the speed change degree and the speed change degree according to the speed information and the speed information includes: determining an acceleration starting time and a starting rotating speed at the acceleration starting time according to the rotating speed information; determining an initial wheel speed at the acceleration initial time according to the wheel speed information; acquiring the current rotating speed, the current wheel speed and the current moment of the target vehicle; determining acceleration time according to the current time and the acceleration starting time; determining the rotation speed change degree according to the acceleration time, the initial rotation speed and the current rotation speed; and determining the wheel speed change degree according to the acceleration time, the initial wheel speed and the current wheel speed.
It can be understood that the degree of change in the rotation speed and the degree of change in the wheel speed of the target vehicle may be detected when the speed of the target vehicle is lower than the speed threshold and acceleration is started, thereby reducing waste of resources caused by calculating the degree of change in the rotation speed and the degree of change in the wheel speed in real time.
It should be noted that, the speed sensor detects the speed of the vehicle in real time, when the vehicle starts to accelerate, the vehicle-mounted terminal records the acceleration starting time, the starting rotating speed of the motor and the starting wheel speed of the wheels, and determines the total acceleration time according to the current time, and the current rotating speed and the current wheel speed at the current time, so as to determine the rotating speed variation degree and the wheel speed variation degree in the acceleration stage.
Step S30: adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping.
It should be noted that when the torque requested by the driver to drive the target vehicle in the acceleration phase is too large, the rotation speed variation degree of the motor and the wheel speed variation degree are increased, so that the vehicle is easy to slip, and therefore, the torque needs to be controlled so that the rotation speed variation degree and the wheel speed variation degree do not exceed the threshold boundary of the vehicle for slipping. For example: when the target vehicle is addingThe torque at speed is 100 nm, and the current rotating speed change degree of the target vehicle is 3000r/min2The wheel speed variation is 500r/min2, and the threshold boundary at which slippage occurs is 2500r/min2The degree of change of the wheel speed is 400r/min2Then the torque of the target vehicle needs to be reduced to reduce the degree of change in the rotation speed and the degree of change in the wheel speed below the threshold boundary in order to prevent the target vehicle from slipping.
It can be understood that, firstly, the monitoring of the change degree of the rotating speed of the electric drive system and the change of the wheel speed of the whole vehicle is established, and the evaluation standards of the change speed of the rotating speed of the motor and the change speed of the wheel speed of the vehicle are calculated under the condition that the whole vehicle outputs full power to drive the vehicle to move forward, and the limit boundary of the change degree of the rotating speed of the motor and the limit boundary of the change degree of the wheel speed of the vehicle when the vehicle slips.
The embodiment obtains the current speed of the target vehicle; when the current speed is smaller than a speed threshold value, acquiring the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels; adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping. Through the mode, whether the anti-skid strategy needs to be started or not is judged according to the current speed of the target vehicle, when the current speed is smaller than the speed threshold value, the rotating speed change degree and the wheel speed change degree are determined according to the rotating speed of the motor and the wheel speed, and the rotating speed change degree and the wheel speed change degree are compared with the boundary change degree, so that whether the torque needs to be adjusted or not is judged, and therefore the vehicle can be stably accelerated without easily slipping.
Referring to fig. 3, fig. 3 is a flowchart illustrating a method for preventing skidding according to a second embodiment of the present invention.
Based on the first embodiment described above, the step S30 of the slip prevention method of the present embodiment includes:
step S31: and determining a speed standard interval in which the current speed is positioned.
It should be noted that, during the acceleration of the target vehicle, the vehicle speed of the vehicle is divided into several speed standard intervals from 0 to a speed threshold, for example: when the speed threshold is 80km/h, the speed standard interval may be [0,20], (20,40], (40,60], (60,80 ]. the above is only an example, and the embodiment is not limited thereto.
Step S32: and determining a corresponding first adjusting coefficient according to the speed standard interval.
It can be understood that, in the acceleration phase, when the vehicle is in different speed standard intervals, the first adjustment coefficients for adjusting the torque are different, because when the speed of the target vehicle is increased, the stability of the target vehicle is gradually increased, and therefore the first adjustment coefficients for the torque are adjusted. For example: when the current speed of the target vehicle is 30km/h, the current speed goes out of a speed standard interval (20, 40), the corresponding regulating coefficient of the standard interval is 0.4, and the torque requested by the user is 100 nm, and the regulated torque is 40 nm.
Step S33: and acquiring a threshold value of the speed change degree and a threshold value of the speed change degree of the wheel.
It should be noted that the threshold of the rotational speed change degree and the threshold of the wheel speed change degree are boundary values at which the target vehicle slips when the speed is lower than the threshold of the speed and in the acceleration stage, monitoring of the rotational speed change degree of the electric drive system and the wheel speed change of the whole vehicle is firstly established, and the limit boundary of the rotational speed change degree of the motor and the limit boundary value of the wheel speed change degree of the wheel when the wheel slips under the condition that the whole vehicle is driven to move forward by full power output is calculated through theoretical analysis and simulation, hub rotation test and road test.
Step S34: and determining a second adjusting coefficient according to the threshold value of the rotating speed change degree and the rotating speed change degree.
It is to be understood that the degree of change in the rotation speed of the target vehicle is compared with a threshold value of the degree of change in the rotation speed, and the second adjustment coefficient is larger as the degree of change in the rotation speed is larger, for example: if the rotating speed change degree of the target vehicle is 3000r/min2The threshold value of the change degree of the rotating speed is 2500r/min2, and the second regulating coefficient is 0.6 at the moment; if the rotating speed of the target vehicle changesThe degree is 3100r/min2Threshold value of speed variation degree 2500r/min2At this time, the second adjustment coefficient is 0.5. The above is merely an illustration of distance, and the present implementation is not limited.
Step S35: and determining a third adjusting coefficient according to the wheel speed change degree threshold value and the wheel speed change degree.
It can be understood that the degree of wheel speed change of the target vehicle is compared with a wheel speed change degree threshold value, and the third adjustment coefficient is larger as the degree of wheel speed change is larger, for example: if the wheel speed of the target vehicle is changed to 600r/min2Threshold value of degree of change of rotation speed of 500r/min2The third adjustment factor is 0.6; if the rotating speed change degree of the target vehicle is 700r/min2Threshold value of degree of change of rotation speed of 500r/min2At this time, the second adjustment coefficient is 0.4. The above is merely an illustration of distance, and the present implementation is not limited.
Step S36: adjusting the torque of the target vehicle according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient.
It should be noted that, since the first adjustment factor, the second adjustment factor, and the third adjustment factor may not be the same, the smallest adjustment factor is selected to adjust the torque of the target vehicle. For example: the first adjustment factor for the target vehicle is now 0.5, the second adjustment factor 0.7 and the third adjustment factor 0.6, with the first adjustment factor being the smallest, so the first adjustment factor is selected to adjust the torque requested by the user.
Further, in order to ensure the effectiveness of the adjustment coefficient, step S36 includes: determining an effective adjustment coefficient result according to the first adjustment coefficient, the second adjustment coefficient and the third adjustment coefficient; determining a target adjustment coefficient according to the effective adjustment coefficient result; and adjusting the torque of the target vehicle according to the target adjusting coefficient.
It can be understood that, when the rotation speed acquisition on the target vehicle fails or the wheel number acquisition fails, or the rotation speed and the wheel speed acquisition are abnormal, the generated corresponding adjustment coefficient is an invalid coefficient, so that valid adjustment data in the three adjustment coefficients needs to be selected as a target adjustment coefficient, and the target adjustment coefficient is used to adjust the torque, thereby realizing accurate torque adjustment even when the acquired data are abnormal.
In a specific implementation, as shown in fig. 4, a motor speed, a wheel speed, and a vehicle speed of the vehicle are obtained, when the vehicle speed is less than a vehicle speed threshold, a corresponding torque adjustment coefficient is determined according to a change degree of the motor speed, the vehicle speed, and the change degree of the wheel speed, and a final torque adjustment coefficient is obtained, so as to adjust the torque. After acceleration to the vehicle speed threshold, the user requested torque is fully satisfied.
Further, after step S36, to ensure that the target vehicle can be stable on a wet road surface, the method further includes: acquiring a preset wheel speed corresponding to the current rotating speed; when the current wheel speed is greater than the preset wheel speed, judging that the target vehicle enters a wet skid section, and acquiring a preset anti-skid torque; and controlling the target vehicle according to the preset antiskid torque.
It should be noted that, the change of the rotation speed of the motor to the rotation speed of the wheel has a certain loss of performance, which is larger in the case of a normal high-adhesion road surface because of a large friction force, but is smaller in the case where the target vehicle enters a wet road surface than usual because of a relatively small friction force, and thus the loss of performance is also smaller. When on a wet road surface, the actual wheel speed at a fixed motor speed may be faster than a preset wheel speed at a normal road surface, so that it is possible to compare the current wheel speed with the preset wheel speed, and determine whether the target vehicle is driven into the wet road surface.
It is understood that, in order to prevent slipping on a wet road, a preset anti-slip torque set in advance is used to control the vehicle, for example: the current torque of the vehicle is 60 Nm, and after the vehicle is judged to enter a wet and slippery road surface, the torque is adjusted to be 30 Nm of the preset anti-skid torque, so that the safety of the vehicle is guaranteed.
Further, after the speed of the vehicle is greater than the speed threshold, the vehicle may be relatively smooth, so after step S36, the method further includes: when the current speed of the target vehicle is greater than the speed threshold, acquiring a preset adjusting coefficient; and adjusting the torque of the target vehicle according to the preset adjusting coefficient.
It should be noted that the preset adjustment coefficient is 1, so that when the speed is greater than the speed threshold, the torque requested by the user is completely met, and the current torque is gradually transited to the torque requested by the user.
The embodiment determines a speed standard interval where the current speed is located; determining a corresponding first adjusting coefficient according to the speed standard interval; acquiring a rotating speed change degree threshold value and a wheel speed change degree threshold value; determining a second adjusting coefficient according to the threshold value of the rotating speed change degree and the rotating speed change degree; determining a third adjusting coefficient according to the wheel speed change degree threshold value and the wheel speed change degree; adjusting the torque of the target vehicle according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient. Through the mode, the corresponding adjusting coefficient is determined according to the speed, the rotating speed change degree and the wheel speed change degree of the vehicle, the final target adjusting coefficient is determined according to the size of the adjusting coefficient and the effectiveness of the adjusting coefficient, the torque of the vehicle is adjusted by using the target adjusting coefficient, and therefore the vehicle can be stably accelerated without slipping easily.
Furthermore, an embodiment of the present invention further provides a storage medium, which stores a skid prevention program, and the skid prevention program implements the steps of the skid prevention method as described above when executed by a processor.
Referring to fig. 5, fig. 5 is a block diagram showing the construction of the first embodiment of the slippage prevention device of the present invention.
As shown in fig. 5, the anti-slip device according to the embodiment of the present invention includes:
the speed obtaining module 10 is used for obtaining the current speed of the target vehicle.
And the degree obtaining module 20 is used for obtaining the rotating speed change degree of the motor of the target vehicle and the wheel speed change degree of the wheel when the current speed is less than the speed threshold value.
And a torque adjusting module 30 for adjusting the torque of the target vehicle according to the rotation speed change degree, the wheel speed change degree and the current speed to prevent the target vehicle from slipping.
In an embodiment, the degree obtaining module 20 is further configured to obtain information of a rotation speed of the target vehicle motor; obtaining wheel speed information of the target vehicle wheel; and determining the rotation speed change degree and the wheel speed change degree according to the rotation speed information and the wheel speed information.
In an embodiment, the degree obtaining module 20 is further configured to determine an acceleration starting time and a starting rotational speed at the acceleration starting time according to the rotational speed information; determining an initial wheel speed at the acceleration initial time according to the wheel speed information; acquiring the current rotating speed, the current wheel speed and the current moment of the target vehicle; determining acceleration time according to the current time and the acceleration starting time; determining the rotation speed change degree according to the acceleration time, the initial rotation speed and the current rotation speed; and determining the wheel speed change degree according to the acceleration time, the initial wheel speed and the current wheel speed.
In one embodiment, the torque adjustment module 30 is further configured to determine a speed standard interval in which the current speed is located; determining a corresponding first adjusting coefficient according to the speed standard interval; acquiring a rotating speed change degree threshold value and a wheel speed change degree threshold value; determining a second adjusting coefficient according to the threshold value of the rotating speed change degree and the rotating speed change degree; determining a third adjusting coefficient according to the wheel speed change degree threshold value and the wheel speed change degree; adjusting the torque of the target vehicle according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient.
In an embodiment, the torque adjustment module 30 is further configured to determine an effective adjustment coefficient result according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient; determining a target adjustment coefficient according to the effective adjustment coefficient result; and adjusting the torque of the target vehicle according to the target adjusting coefficient.
In an embodiment, the torque adjusting module 30 is further configured to obtain a preset wheel speed corresponding to the current rotation speed; when the current wheel speed is greater than the preset wheel speed, judging that the target vehicle enters a wet skid section, and acquiring a preset anti-skid torque; and controlling the target vehicle according to the preset antiskid torque.
In an embodiment, the torque adjusting module 30 is further configured to obtain a preset adjustment coefficient when the current speed of the target vehicle is greater than the speed threshold; and adjusting the torque of the target vehicle according to the preset adjusting coefficient.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
The embodiment obtains the current speed of the target vehicle; when the current speed is smaller than a speed threshold value, acquiring the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels; adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping. Through the mode, whether the anti-skid strategy needs to be started or not is judged according to the current speed of the target vehicle, when the current speed is smaller than the speed threshold value, the rotating speed change degree and the wheel speed change degree are determined according to the rotating speed of the motor and the wheel speed, and the rotating speed change degree and the wheel speed change degree are compared with the boundary change degree, so that whether the torque needs to be adjusted or not is judged, and therefore the vehicle can be stably accelerated without easily slipping.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the method for preventing skidding provided by any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A slippage prevention method, characterized by comprising:
acquiring the current speed of a target vehicle;
when the current speed is smaller than a speed threshold value, acquiring the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels;
adjusting the torque of the target vehicle according to the degree of change in the rotation speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping.
2. The method of claim 1, wherein the step of obtaining a degree of change in the rotational speed of the target vehicle motor and a degree of change in the wheel when the current speed is less than a speed threshold comprises:
acquiring rotating speed information of a motor of the target vehicle;
obtaining wheel speed information of the target vehicle wheel;
and determining the rotation speed change degree and the wheel speed change degree according to the rotation speed information and the wheel speed information.
3. The method of claim 2, wherein said step of determining a degree of change in rotational speed and a degree of change in wheel speed based on said rotational speed information and said wheel speed information comprises:
determining an acceleration starting time and a starting rotating speed at the acceleration starting time according to the rotating speed information;
determining an initial wheel speed at the acceleration initial time according to the wheel speed information;
acquiring the current rotating speed, the current wheel speed and the current moment of the target vehicle;
determining acceleration time according to the current time and the acceleration starting time;
determining the rotation speed change degree according to the acceleration time, the initial rotation speed and the current rotation speed;
and determining the wheel speed change degree according to the acceleration time, the initial wheel speed and the current wheel speed.
4. The method of claim 3, wherein said step of adjusting the torque of the target vehicle based on the degree of change in rotational speed, the degree of change in wheel speed, and the current speed comprises:
determining a speed standard interval in which the current speed is;
determining a corresponding first adjusting coefficient according to the speed standard interval;
acquiring a rotating speed change degree threshold value and a wheel speed change degree threshold value;
determining a second adjusting coefficient according to the threshold value of the rotating speed change degree and the rotating speed change degree;
determining a third adjusting coefficient according to the wheel speed change degree threshold value and the wheel speed change degree;
adjusting the torque of the target vehicle according to the first adjustment coefficient, the second adjustment coefficient, and the third adjustment coefficient.
5. The method of claim 4, wherein the step of adjusting the torque of the target vehicle based on the first adjustment factor, the second adjustment factor, and the third adjustment factor comprises:
determining an effective adjustment coefficient result according to the first adjustment coefficient, the second adjustment coefficient and the third adjustment coefficient;
determining a target adjustment coefficient according to the effective adjustment coefficient result;
and adjusting the torque of the target vehicle according to the target adjusting coefficient.
6. The method of any one of claims 1-5, wherein, after the step of adjusting the torque of the target vehicle based on the degree of change in the rotational speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping, further comprising:
acquiring a preset wheel speed corresponding to the current rotating speed;
when the current wheel speed is greater than the preset wheel speed, judging that the target vehicle enters a wet skid section, and acquiring a preset anti-skid torque;
and controlling the target vehicle according to the preset antiskid torque.
7. The method of any one of claims 1-5, wherein, after the step of adjusting the torque of the target vehicle based on the degree of change in the rotational speed, the degree of change in the wheel speed, and the current speed to prevent the target vehicle from slipping, further comprising:
when the current speed of the target vehicle is greater than the speed threshold, acquiring a preset adjusting coefficient;
and adjusting the torque of the target vehicle according to the preset adjusting coefficient.
8. A slippage prevention device, comprising:
the speed acquisition module is used for acquiring the current speed of the target vehicle;
the degree obtaining module is used for obtaining the rotating speed change degree of a motor of the target vehicle and the wheel speed change degree of wheels when the current speed is smaller than a speed threshold value;
and the torque adjusting module is used for adjusting the torque of the target vehicle according to the rotating speed change degree, the wheel speed change degree and the current speed so as to prevent the target vehicle from skidding.
9. An anti-skid apparatus, characterized in that the apparatus comprises: a memory, a processor, and a skid prevention program stored on the memory and executable on the processor, the skid prevention program configured to implement the skid prevention method according to any one of claims 1 to 7.
10. A storage medium having a skid prevention program stored thereon, the skid prevention program implementing the skid prevention method according to any one of claims 1 to 7 when executed by a processor.
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| CN202110470702.6A CN113085863A (en) | 2021-04-28 | 2021-04-28 | Method, device, equipment and storage medium for preventing slipping |
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| CN202110470702.6A CN113085863A (en) | 2021-04-28 | 2021-04-28 | Method, device, equipment and storage medium for preventing slipping |
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| CN113910917A (en) * | 2021-09-23 | 2022-01-11 | 摩拜(北京)信息技术有限公司 | Electric bicycle speed control method and device, electric bicycle and storage medium |
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