CN113386584A - Anti-lock control method and system for vehicle and electric vehicle - Google Patents
Anti-lock control method and system for vehicle and electric vehicle Download PDFInfo
- Publication number
- CN113386584A CN113386584A CN202110934276.7A CN202110934276A CN113386584A CN 113386584 A CN113386584 A CN 113386584A CN 202110934276 A CN202110934276 A CN 202110934276A CN 113386584 A CN113386584 A CN 113386584A
- Authority
- CN
- China
- Prior art keywords
- slip rate
- vehicle
- wheel speed
- driving wheel
- speed
- 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.)
- Pending
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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—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
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/465—Slip
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the application provides an anti-lock control method and system for a vehicle and an electric vehicle, belonging to the technical field of automatic control of the vehicle, wherein the method specifically comprises the following steps: collecting state information of a vehicle; determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model; determining the target wheel speed of the motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value; and adjusting the wheel speed of the motor driving wheel to the target wheel speed so as to reduce the slip rate of the motor driving wheel to be less than the preset slip rate threshold value. Through the scheme disclosed by the invention, the wheel speed of the motor driving wheel is adjusted to the target wheel speed, the slip rate of the motor driving wheel can be reduced to be less than the preset slip rate threshold value, the slip rate in the braking process is ensured to be in a safe range, and the anti-lock braking safety is provided.
Description
Technical Field
The application relates to the technical field of vehicle automatic control, in particular to an anti-lock control method and system for a vehicle and an electric vehicle.
Background
With the continuous development of vehicle technology, in order to ensure driving safety, vehicles are generally provided with an anti-lock braking system. The existing standard anti-lock braking system adjusts the pressure applied on the brake pad through an oil pressure loop, so as to adjust the braking force, and maintain the sliding degree of the wheel through controlling the braking force. The existing electronic anti-lock braking system is provided with a motor wheel, the current is directly controlled to realize the adjustment of braking force, and hydraulic control hardware and algorithm are not required to be installed. Although the prior art has provided relevant anti-lock braking systems, the problem still exists that the degree of slip cannot be rapidly limited when the acceleration is too fast, and the safety protection effect is poor.
Disclosure of Invention
In view of the above, embodiments of the present disclosure provide an anti-lock control method and system for a vehicle, and an electric vehicle, which at least partially solve the problems in the prior art.
In a first aspect, an embodiment of the present disclosure provides a method of anti-lock control of a vehicle, the method including:
collecting state information of a vehicle;
determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model;
determining a target wheel speed of the motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value, wherein when the motor driving wheel is at the target wheel speed, the slip rate corresponding to the motor driving wheel is smaller than the preset slip rate threshold value;
adjusting the wheel speed of the motor drive wheel to the target wheel speed to reduce the slip rate of the motor drive wheel to less than the preset slip rate threshold.
Optionally, the slip ratio model includes a slip ratio calculation formula, the state information includes a vehicle body speed, a motor driving wheel speed and an effective radius of the motor driving wheel, and the determining the current slip ratio of the electric driving wheel of the vehicle according to the state information and the slip ratio model includes:
and determining the current slip rate of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius through the slip rate calculation formula.
Optionally, the determining the current slip ratio of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius by the slip ratio calculation formula includes:
determining a current slip rate of the electric drive wheel according to formula 1;
equation 1:
；
wherein s represents a slip ratio of the electric drive wheel, ω represents the motor drive wheel speed, v represents the vehicle body speed, and R represents the effective radius.
Optionally, the slip ratio model further includes a wheel speed calculation formula, and determining a target wheel speed of the motor driving wheel according to the state information and the slip ratio model includes:
and determining the target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip rate threshold value through the wheel speed calculation formula.
Optionally, the determining a target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip ratio threshold by the wheel speed calculation formula includes:
determining a target wheel speed of the motor driven wheel according to equation 2:
equation 2:
；
wherein the content of the first and second substances,
representing a target wheel speed of the motor-driven wheel, v representing the vehicle body speed, R representing the effective radius,
representing the preset slip rate threshold.
In a second aspect, an embodiment of the present disclosure provides an anti-lock control system of a vehicle, the system including:
the sensor subsystem is used for acquiring the state information of the vehicle;
the control subsystem is used for determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model; determining a target wheel speed of the motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value, wherein when the motor driving wheel is at the target wheel speed, the slip rate corresponding to the motor driving wheel is smaller than the preset slip rate threshold value;
and the motor driving wheel subsystem is used for adjusting the wheel speed of the motor driving wheel to the target wheel speed so as to reduce the slip rate of the motor driving wheel to be less than the preset slip rate threshold value.
Optionally, the slip rate model includes a slip rate calculation formula, the state information includes a vehicle body speed, a motor driving wheel speed and an effective radius of the motor driving wheel, and the control subsystem is further configured to determine a current slip rate of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius through the slip rate calculation formula.
Optionally, the slip rate model further includes a wheel speed calculation formula, and the control subsystem is further configured to determine a target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip rate threshold value through the wheel speed calculation formula.
In a third aspect, the disclosed embodiment further provides an electric vehicle including the anti-lock control system of the vehicle provided in the second aspect.
In a fourth aspect, this disclosure also provides a computer-readable storage medium storing a computer program product
A computer program for executing the anti-lock control method of a vehicle provided in the first aspect when the computer program runs on a processor
The anti-lock control method and system for the vehicle and the electric vehicle in the embodiment of the disclosure collect the state information of the vehicle; determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model; determining a target wheel speed of the motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value; adjusting the wheel speed of the motor drive wheel to the target wheel speed to reduce the slip rate of the motor drive wheel to less than the preset slip rate threshold. According to the scheme, the wheel speed of the motor driving wheel is adjusted to the target wheel speed, so that the slip rate of the motor driving wheel can be reduced to be smaller than the preset slip rate threshold value, the slip rate in the braking process is ensured to be in a safe range, and the anti-lock braking safety is provided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for anti-lock braking control of a vehicle according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an anti-lock control system of a vehicle according to an embodiment of the present disclosure.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
The embodiment of the application provides an anti-lock control method of a vehicle.
Referring to fig. 1, an embodiment of the present disclosure provides an anti-lock control method for a vehicle, including:
and step S101, collecting the state information of the vehicle.
In this embodiment, the vehicle is an electric vehicle, the vehicle includes an electric driving wheel, and the electric vehicle may be a motorcycle, an electric bicycle, an automobile, and the like, which is not limited herein. The vehicle is provided with various types of sensors for acquiring vehicle state information, and the state information of the electric vehicle can be acquired in real time through the sensors. The sensors may include a speed sensor, an acceleration sensor, a vehicle height sensor, a wheel height sensor, a roll angle sensor, a rotation angle sensor, etc., and may be installed according to actual requirements, which is not limited herein.
In this embodiment, multiple types of sensors may form a sensor subsystem, and corresponding sensors in the sensor subsystem perform real-time data acquisition, for example, a speed sensor acquires a vehicle body speed and a motor driving wheel speed in real time, and a wheel height sensor detects an effective radius of the motor driving wheel.
In this embodiment, the status information includes: vehicle body speed, motor drive wheel speed, and effective radius of the motor drive wheel. The sensor subsystem collects the state information of the vehicle and inputs the state information into the control subsystem.
And step S102, determining the current slip ratio of the electric driving wheel of the vehicle according to the state information and the slip ratio model.
In this embodiment, the slip ratio, which may also be referred to as slip ratio, represents the proportion of the slip component in the wheel motion, and relative motion occurs between the tire and the ground when the tire is applying traction or braking.
In the anti-lock control process of the vehicle, in order to prevent the wheels from locking when the vehicle brakes and keep the slip rate of the wheels within a certain safety range, the wheels and the road surface have good longitudinal and lateral adhesive force, the dangerous conditions of sideslip, steering loss, tail flicking and the like when the vehicle brakes and decelerates suddenly are effectively prevented, and the safety performance of the vehicle during braking is improved.
In this embodiment, the control subsystem of the vehicle determines the current slip ratio according to the state information, and may determine whether a danger may occur according to the magnitude of the current slip ratio.
And step S103, determining the target wheel speed of the motor driving wheel according to the state information and the slip ratio model under the condition that the current slip ratio is greater than or equal to a preset slip ratio threshold value.
In this embodiment, when the motor driving wheel is at the target wheel speed, the slip ratio corresponding to the motor driving wheel is smaller than the preset slip ratio threshold.
In the embodiment, the preset slip ratio threshold value is selected between [0.15,0.2] according to the use condition.
And the control subsystem determines the target wheel speed of the motor driving wheel according to the state information and the slip rate model, determines a driving signal according to the target wheel speed, and outputs the driving signal to the motor driving wheel subsystem.
Step S104, adjusting the wheel speed of the motor driving wheel to the target wheel speed so as to reduce the slip rate of the motor driving wheel to be less than the preset slip rate threshold value.
In this embodiment, the motor driving wheel subsystem adjusts the wheel speed of the motor driving wheel to the target wheel speed according to the driving signal, so as to reduce the slip rate of the motor driving wheel to be less than the preset slip rate threshold. Specifically, the motor driving wheel subsystem is configured to control a torque and a wheel speed of the motor driving wheel according to the driving signal, complete wheel speed adjustment of the motor driving wheel, and adjust the wheel speed of the motor driving wheel to a target wheel speed.
In this embodiment, by adjusting the wheel speed of the motor driving wheel to the target wheel speed, it is possible to reduce the slip ratio of the motor driving wheel to be less than the preset slip ratio threshold value, ensure that the slip ratio in the braking process is in a safe range, and provide anti-lock braking safety.
Compared with a standard anti-lock system, the wheel motor of the electronic anti-lock system is connected to a cooling circuit, the heat dissipation efficiency is high during braking, and the current control frequency is far higher than the frequency of hydraulic adjustment.
In this embodiment, the wheel speed is directly adjusted in a closed loop manner to limit the slip degree of the wheel, that is, the wheel speed is adjusted to enable the slip rate of the wheel to be in a safe position, and when the adjustment acceleration is too fast, the slip degree can be controlled according to the anti-lock control method provided in this embodiment, so that the safety of the electric vehicle is improved.
Optionally, the slip ratio model includes a slip ratio calculation formula, the state information includes a vehicle body speed, a motor driving wheel speed, and an effective radius of the motor driving wheel, and step S102 includes:
and determining the current slip rate of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius through the slip rate calculation formula.
Therefore, the current slip rate can be quickly obtained according to the relevant vehicle state information, and the data processing efficiency is improved.
Optionally, the determining the current slip ratio of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius by the slip ratio calculation formula includes:
determining a current slip rate of the electric drive wheel according to formula 1;
equation 1:
；
wherein s represents a slip ratio of the electric drive wheel, ω represents the motor drive wheel speed, v represents the vehicle body speed, and R represents the effective radius.
Optionally, the slip ratio model further includes a wheel speed calculation formula, and step S103 includes:
and determining the target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip rate threshold value through the wheel speed calculation formula.
Thus, the target wheel speed of the motor driving wheel can be obtained quickly according to the relevant vehicle state information, and the time required by data processing is reduced.
Optionally, the determining a target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip ratio threshold by the wheel speed calculation formula includes:
determining a target wheel speed of the motor driven wheel according to equation 2:
equation 2:
；
wherein the content of the first and second substances,
representing a target wheel speed of the motor-driven wheel, v representing the vehicle body speed, R representing the effective radius,
representing the preset slip rate threshold.
The anti-lock control method of the vehicle in the embodiment of the disclosure collects the state information of the vehicle; determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model; determining a target wheel speed of the motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value; adjusting the wheel speed of the motor drive wheel to the target wheel speed to reduce the slip rate of the motor drive wheel to less than the preset slip rate threshold. According to the scheme, the wheel speed of the motor driving wheel is adjusted to the target wheel speed, so that the slip rate of the motor driving wheel can be reduced to be smaller than the preset slip rate threshold value, the slip rate in the braking process is ensured to be in a safe range, and the anti-lock braking safety is provided.
In correspondence with the above method embodiment, referring to fig. 2, an embodiment of the present disclosure also provides an antilock control system 200 of a vehicle, the system including:
a sensor subsystem 201 for collecting status information of the vehicle;
a control subsystem 202 for determining a current slip ratio of an electrically driven wheel of the vehicle based on the state information and a slip ratio model; determining a target wheel speed of the motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value, wherein when the motor driving wheel is at the target wheel speed, the slip rate corresponding to the motor driving wheel is smaller than the preset slip rate threshold value;
a motor driving wheel subsystem 203 for adjusting the wheel speed of the motor driving wheel to the target wheel speed to reduce the slip rate of the motor driving wheel to be less than the preset slip rate threshold.
Optionally, the slip rate model includes a slip rate calculation formula, the state information includes a vehicle body speed, a motor driving wheel speed and an effective radius of the motor driving wheel, and the control subsystem is further configured to determine a current slip rate of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius through the slip rate calculation formula.
Optionally, the control subsystem is further configured to determine a current slip ratio of the electric driving wheel according to formula 1;
equation 1:
；
wherein s represents a slip ratio of the electric drive wheel, ω represents the motor drive wheel speed, v represents the vehicle body speed, and R represents the effective radius.
Optionally, the slip rate model further includes a wheel speed calculation formula, and the control subsystem is further configured to determine a target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip rate threshold value through the wheel speed calculation formula.
Optionally, the control subsystem is further configured to determine a target wheel speed of the motor driving wheel according to formula 2:
equation 2:
；
wherein the content of the first and second substances,
representing a target wheel speed of the motor-driven wheel, v representing the vehicle body speed, R representing the effective radius,
representing the preset slip rate threshold.
The anti-lock control system of the vehicle provided in this embodiment may correspondingly execute the contents in the above-mentioned embodiment of the anti-lock control method of the vehicle, and details that are not described in detail in this embodiment refer to the contents described in the above-mentioned embodiment of the method, and are not described again here.
The embodiment of the disclosure also provides an electric vehicle which comprises the anti-lock control system of the vehicle provided in the embodiment.
The electric vehicle of the present embodiment may correspondingly execute the contents in the above method embodiments, and details of parts not described in detail in the present embodiment refer to the contents described in the above method embodiments, which are not described herein again.
The disclosed embodiments also provide a computer readable storage medium storing a computer program which, when run on a processor, performs the method of anti-lock control of a vehicle in the aforementioned method embodiments.
The computer-readable storage medium provided in the embodiments of the present disclosure may correspondingly execute the contents in the above method embodiments, and details of the parts not described in detail in this embodiment refer to the contents described in the above method embodiments, which are not described herein again.
The disclosed embodiments also provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method of anti-lock control of a vehicle in the aforementioned method embodiments.
The computer program product of this embodiment may correspondingly execute the contents in the above embodiment of the anti-lock control method for a vehicle, and details of the parts not described in this embodiment refer to the contents described in the above embodiment of the method, which are not described herein again.
It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable medium may be embodied in an electronic device; or may be present alone without being incorporated into the electronic device.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (10)
1. An anti-lock control method of a vehicle, characterized by comprising:
collecting state information of a vehicle;
determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model;
determining a target wheel speed of a motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value, wherein when the motor driving wheel is at the target wheel speed, the slip rate corresponding to the motor driving wheel is smaller than the preset slip rate threshold value;
adjusting the wheel speed of the motor drive wheel to the target wheel speed to reduce the slip rate of the motor drive wheel to less than the preset slip rate threshold.
2. The method of claim 1, wherein the slip rate model comprises a slip rate calculation formula, the status information comprises a vehicle body speed, a motor drive wheel speed, and an effective radius of a motor drive wheel, and the determining a current slip rate of an electric drive wheel of the vehicle based on the status information and the slip rate model comprises:
and determining the current slip rate of the electric driving wheel according to the vehicle body speed, the motor driving wheel speed and the effective radius through the slip rate calculation formula.
3. The anti-lock control method of a vehicle according to claim 2, wherein said determining a current slip ratio of said electric drive wheel from said vehicle body speed, said motor drive wheel speed and said effective radius by said slip ratio calculation formula comprises:
determining a current slip rate of the electric drive wheel according to formula 1;
equation 1:
；
wherein s represents a slip ratio of the electric drive wheel, ω represents the motor drive wheel speed, v represents the vehicle body speed, and R represents the effective radius.
4. The anti-lock control method of a vehicle according to claim 3, wherein said slip rate model further includes a wheel speed calculation formula that determines a target wheel speed of said motor drive wheel based on said state information and said slip rate model, comprising:
and determining the target wheel speed of the motor driving wheel according to the vehicle body speed, the effective radius and the preset slip rate threshold value through the wheel speed calculation formula.
5. The antilock control method of a vehicle according to claim 4, wherein said determining a target wheel speed of the motor driven wheel from the vehicle body speed, the effective radius, and the preset slip rate threshold value by the wheel speed calculation formula includes:
determining a target wheel speed of the motor driven wheel according to equation 2:
equation 2:
；
wherein the content of the first and second substances,
representing a target wheel speed of the motor-driven wheel, v representing the vehicle body speed, R representing the effective radius,
representing the preset slip rate threshold.
6. An anti-lock control system of a vehicle, characterized by comprising:
the sensor subsystem is used for acquiring the state information of the vehicle;
the control subsystem is used for determining the current slip rate of the electric driving wheel of the vehicle according to the state information and the slip rate model; determining a target wheel speed of a motor driving wheel according to the state information and the slip rate model under the condition that the current slip rate is greater than or equal to a preset slip rate threshold value, wherein when the motor driving wheel is at the target wheel speed, the slip rate corresponding to the motor driving wheel is smaller than the preset slip rate threshold value;
and the motor driving wheel subsystem is used for adjusting the wheel speed of the motor driving wheel to the target wheel speed so as to reduce the slip rate of the motor driving wheel to be less than the preset slip rate threshold value.
7. The anti-lock control system of vehicle of claim 6, wherein the slip rate model comprises a slip rate calculation formula, the status information comprises a vehicle body speed, a motor drive wheel speed, and an effective radius of a motor drive wheel, and the control subsystem is further configured to determine a current slip rate of the electric drive wheel from the vehicle body speed, the motor drive wheel speed, and the effective radius via the slip rate calculation formula.
8. The anti-lock control system of a vehicle of claim 7, wherein the slip rate model further comprises a wheel speed calculation formula, and the control subsystem is further configured to determine a target wheel speed of the motor driven wheel from the body speed, the effective radius, and the preset slip rate threshold value via the wheel speed calculation formula.
9. An electric vehicle characterized by comprising the anti-lock control system of a vehicle according to any one of claims 6 to 8.
10. A computer-readable storage medium, characterized in that it stores a computer program, and
the computer program, when run on a processor, performs a method of anti-lock control of a vehicle as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110934276.7A CN113386584A (en) | 2021-08-16 | 2021-08-16 | Anti-lock control method and system for vehicle and electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110934276.7A CN113386584A (en) | 2021-08-16 | 2021-08-16 | Anti-lock control method and system for vehicle and electric vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113386584A true CN113386584A (en) | 2021-09-14 |
Family
ID=77622787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110934276.7A Pending CN113386584A (en) | 2021-08-16 | 2021-08-16 | Anti-lock control method and system for vehicle and electric vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113386584A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115123164A (en) * | 2022-06-23 | 2022-09-30 | 北京京深深向科技有限公司 | Anti-lock control method, device, electronic equipment and storage medium |
| CN115195681A (en) * | 2022-09-16 | 2022-10-18 | 达芬骑动力科技(北京)有限公司 | Anti-lock control method and system for vehicle and vehicle |
| CN115366855A (en) * | 2022-09-22 | 2022-11-22 | 浙江吉利控股集团有限公司 | Control method and device of anti-lock brake system and electronic equipment |
| TWI804219B (en) * | 2022-03-02 | 2023-06-01 | 三陽工業股份有限公司 | Electric vehicle with tracking and anti-skid function |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173293A (en) * | 2011-03-18 | 2011-09-07 | 奇瑞汽车股份有限公司 | Control method, device and system of driving torque of electric automobile |
| CN102501779A (en) * | 2011-10-31 | 2012-06-20 | 长城汽车股份有限公司 | Method for controlling traction of electric vehicle |
| US20150298577A1 (en) * | 2012-04-20 | 2015-10-22 | Hitachi Construction Machinery Co., Ltd. | Electric drive vehicle |
| CN105492266A (en) * | 2013-09-26 | 2016-04-13 | 日立汽车系统株式会社 | Control device for electric vehicle |
| CN110126640A (en) * | 2019-05-20 | 2019-08-16 | 苏亮 | A kind of four-wheeled electric vehicle variable element antiskid control system and method based on pavement self-adaptive |
| CN112477619A (en) * | 2019-09-12 | 2021-03-12 | 丰田自动车株式会社 | Vehicle control device |
-
2021
- 2021-08-16 CN CN202110934276.7A patent/CN113386584A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102173293A (en) * | 2011-03-18 | 2011-09-07 | 奇瑞汽车股份有限公司 | Control method, device and system of driving torque of electric automobile |
| CN102501779A (en) * | 2011-10-31 | 2012-06-20 | 长城汽车股份有限公司 | Method for controlling traction of electric vehicle |
| US20150298577A1 (en) * | 2012-04-20 | 2015-10-22 | Hitachi Construction Machinery Co., Ltd. | Electric drive vehicle |
| CN105492266A (en) * | 2013-09-26 | 2016-04-13 | 日立汽车系统株式会社 | Control device for electric vehicle |
| CN110126640A (en) * | 2019-05-20 | 2019-08-16 | 苏亮 | A kind of four-wheeled electric vehicle variable element antiskid control system and method based on pavement self-adaptive |
| CN112477619A (en) * | 2019-09-12 | 2021-03-12 | 丰田自动车株式会社 | Vehicle control device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI804219B (en) * | 2022-03-02 | 2023-06-01 | 三陽工業股份有限公司 | Electric vehicle with tracking and anti-skid function |
| CN115123164A (en) * | 2022-06-23 | 2022-09-30 | 北京京深深向科技有限公司 | Anti-lock control method, device, electronic equipment and storage medium |
| CN115123164B (en) * | 2022-06-23 | 2024-04-12 | 北京京深深向科技有限公司 | Anti-lock control method and device, electronic equipment and storage medium |
| CN115195681A (en) * | 2022-09-16 | 2022-10-18 | 达芬骑动力科技(北京)有限公司 | Anti-lock control method and system for vehicle and vehicle |
| CN115366855A (en) * | 2022-09-22 | 2022-11-22 | 浙江吉利控股集团有限公司 | Control method and device of anti-lock brake system and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113386584A (en) | Anti-lock control method and system for vehicle and electric vehicle | |
| CN107719186B (en) | Vehicle threshold-crossing compensation control method, device and system and motor controller | |
| CN107848525B (en) | Vehicle attitude control device | |
| CN109835196B (en) | Control method and control system for motor-driven vehicle | |
| US20080208424A1 (en) | Electronic protection for articulated vehicles | |
| CN107264285B (en) | Driving motor detection method and device | |
| CN115489334B (en) | Energy recovery negative torque control method, device, computer equipment and storage medium | |
| CN110843783A (en) | Antiskid pre-control method and system based on road surface recognition drive | |
| EP3275723A1 (en) | Vehicle control device and vehicle control method | |
| CN102438880A (en) | A method for influencing the steering torque in a vehicle steering system | |
| CN114802165B (en) | Vehicle braking method, device, equipment and storage medium | |
| CN112109557B (en) | Method and system for controlling rotating speed of driving wheel | |
| KR20210070014A (en) | Apparatus for estimating friction coefficient of road surface and method thereof | |
| CN115195681A (en) | Anti-lock control method and system for vehicle and vehicle | |
| JP2007118945A (en) | Vehicle | |
| WO2023029711A1 (en) | Chassis domain control method under high-speed working condition, and related apparatus | |
| JP5169539B2 (en) | Downhill road speed control device | |
| JP2009083820A (en) | Vehicle control device | |
| CN114407848A (en) | Brake control method and device, electronic equipment and storage medium | |
| CN113428152A (en) | Vehicle control method, device and computer readable storage medium | |
| CN110901406A (en) | Vehicle driving and braking combined braking control method and system | |
| JP6064787B2 (en) | Vehicle behavior control device and vehicle state estimation device | |
| KR101373280B1 (en) | Apparatus for providing conering assist function of electronic stability control system and method thereof | |
| US20170015311A1 (en) | A Vehicle Control System | |
| JP4630039B2 (en) | Vehicle steering 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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210914 |