CN114148327B - Vehicle anti-skid method and device and electronic equipment - Google Patents

Vehicle anti-skid method and device and electronic equipment Download PDF

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Publication number
CN114148327B
CN114148327B CN202010919660.5A CN202010919660A CN114148327B CN 114148327 B CN114148327 B CN 114148327B CN 202010919660 A CN202010919660 A CN 202010919660A CN 114148327 B CN114148327 B CN 114148327B
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wheel
slipping
driving motor
slipped
output torque
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CN114148327A (en
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丁晓帆
杨大成
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Hunan Power Action Technology Co ltd
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Hunan Power Action Technology Co ltd
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • 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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

One or more embodiments of the present disclosure provide a vehicle anti-skid method, apparatus, and electronic device, including: acquiring the angular acceleration of each wheel; judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels; and estimating the maximum rotation speed of the slipped wheel, and controlling the output torque of the driving motor corresponding to the slipped wheel according to the maximum rotation speed of the slipped wheel so as to realize the anti-slip of the vehicle. According to the method, the skid state is judged through the angular acceleration of the wheels, the output torque is limited by estimating the limit rotation speed of the wheels at the next moment, so that the skid resistance of the vehicle is realized, the posture of the vehicle body is not required to be acquired, too many sensors are not required, and the control flow is directly and effectively.

Description

Vehicle anti-skid method and device and electronic equipment
Technical Field
One or more embodiments of the present disclosure relate to the field of vehicle automation technology, and in particular, to a vehicle anti-skid method, a device and an electronic device.
Background
With the development of economy, the use of automobiles is becoming more and more popular, and with the deep development of engineering application and the progress of electric drive technology, electric drive vehicles are becoming popular due to the characteristics of low rotation speed and large torque of electric motors.
The electric drive vehicle is more suitable for off-road and complex road surfaces, and meanwhile, when the off-road vehicle is designed, a multi-wheel independent drive mode is adopted, and the power distribution among all driving wheels is carried out by virtue of a whole vehicle controller without mechanical coupling. When the vehicle is running at a high speed, if the road condition is severe, the wheels of the vehicle are highly likely to slide severely, which affects the stability and safety of the vehicle.
Existing vehicle anti-skid solutions include: judging whether the vehicle slips according to the vehicle body posture and the empirical data, and limiting torque output when the vehicle slips. The slip can be suppressed to some extent according to the current slip suppressing method, but in some cases, stable passing of the vehicle is still not ensured. Meanwhile, the existing anti-skid solution of the vehicle needs to rely on a positioning system or an attitude sensor, is complex in process and high in cost, and is not beneficial to specific engineering application implementation.
Disclosure of Invention
In view of this, an object of one or more embodiments of the present disclosure is to provide a vehicle anti-skid method, apparatus and electronic device, so as to solve the problems of complex process, high cost and inaccurate control of the existing vehicle anti-skid solution, which is not beneficial to implementation of specific engineering applications.
In view of the above object, one or more embodiments of the present specification provide a vehicle anti-skid method, each wheel of the vehicle being provided with one driving motor, the vehicle anti-skid method including:
acquiring the angular acceleration of each wheel;
judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels;
and estimating the highest rotating speed of the slipped wheel, and controlling the output torque of a driving motor corresponding to the slipped wheel according to the highest rotating speed of the slipped wheel so as to realize the anti-slip of the vehicle.
Optionally, the determining whether the wheel is in a slip state according to the angular acceleration of each wheel, and if the wheel is in the slip state, determining the slipping wheel includes:
and if at least one of the wheels has an angular acceleration greater than a preset angular acceleration threshold value, judging that the wheel is in a slipping state, and taking the wheel with the angular acceleration greater than the preset angular acceleration threshold value as the slipping wheel.
Optionally, the determining whether the wheel is in a slip state according to the angular acceleration of each wheel, and if the wheel is in the slip state, determining the slipping wheel includes:
for two said wheels, which are oppositely disposed left and right, if present:
|α left side (T)-k(ΔT)×α Right side (T)|/MIN(|α Left side (T)|，|k(ΔT)×α Right side If the (T) I) is larger than a preset ratio threshold value, judging that the wheel is in a slipping state, and taking the wheel with large angular acceleration as the slipping wheel;
wherein alpha is Left side (T) represents the angular acceleration of the left wheel; alpha Right side (T) represents the angular acceleration of the right wheel; t represents the output torque of a driving motor corresponding to wheels; delta T represents the difference of the output torque of the driving motor corresponding to the left wheel and the right wheel; k (Δt) represents the angular acceleration ratio of the left and right wheels when the output torques of the drive motors corresponding to the left and right wheels are different.
Optionally, the estimating the maximum rotation speed of the slipped wheel, and controlling the output torque of the driving motor corresponding to the slipped wheel according to the maximum rotation speed of the slipped wheel, so as to realize anti-slip of the vehicle, including:
setting a highest rotational speed of the slipping wheel equal to a weighted average of speeds of several cycles of the slipping wheel prior to slipping;
and calculating whether the slipped wheel is in a slipping state at the set maximum rotation speed, if so, controlling the output torque of a driving motor corresponding to the slipped wheel by taking the preset angular acceleration threshold value as a speed, and gradually reducing the maximum rotation speed of the slipped wheel until the slipped wheel is judged not to be in the slipping state.
Optionally, the estimating the maximum rotation speed of the slipped wheel, and controlling the output torque of the driving motor corresponding to the slipped wheel according to the maximum rotation speed of the slipped wheel, so as to realize anti-slip of the vehicle, including:
judging the relation between the highest rotating speed of the slipped wheel and a preset speed interval;
and controlling the output torque of the driving motor corresponding to the slipped wheel according to the relation between the highest rotating speed of the slipped wheel and the preset speed interval.
Optionally, the determining a relationship between the maximum rotational speed of the slipped wheel and a preset speed interval includes:
and setting the highest rotating speed of the slipped wheel according to the relation between the output torque of the driving motor corresponding to the slipped wheel and the output torque of the driving motor corresponding to the wheel which is arranged left and right oppositely.
Optionally, for the slipping wheel, setting the highest rotation speed of the slipping wheel according to the relation between the output torque of the driving motor corresponding to the slipping wheel and the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, including:
if the output torque of the driving motor corresponding to the slipped wheel is larger than the output torque of the driving motor corresponding to the wheel which is oppositely arranged at the left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state +V Experience 1 ；
Wherein V is Experience 1 Is the highest rotational speed experience allowance;
if the output torque of the driving motor corresponding to the slipped wheel is smaller than the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state -V Experience 1 ；
If the output torque of the driving motor corresponding to the slipped wheel is equal to the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state 。
Optionally, the controlling the output torque of the driving motor corresponding to the slipped wheel according to the relationship between the highest rotation speed of the slipped wheel and the preset speed interval includes:
if the set maximum rotation speed of the slipped wheel is in front of the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is set to be the preset output torque T It is desirable to ；
If the set maximum rotation speed of the slipped wheel is within the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is as follows:
T it is desirable to ×(1-(V-V max )/V Experience 2 )；
Wherein V is Experience 2 Buffering a speed interval for the rotational speed experience during linear force unloading;
and if the set maximum rotation speed of the slipped wheel is within the preset speed interval, enabling the output torque of the driving motor corresponding to the slipped wheel to be zero.
Based on the same inventive concept, one or more embodiments of the present disclosure provide a vehicle anti-skid device, wherein each wheel of the vehicle is correspondingly provided with a driving motor, the vehicle anti-skid device includes:
the angular acceleration acquisition module is used for acquiring the angular acceleration of each wheel;
the slipping state judging module is used for judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, the slipping wheels are determined;
and the driving motor control module is used for estimating the highest rotating speed of the slipped wheel and controlling the output torque of the driving motor corresponding to the slipped wheel according to the highest rotating speed of the slipped wheel so as to realize the anti-slip of the vehicle.
Based on the same inventive concept, one or more embodiments of the present specification provide an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the above-described method when executing the program.
From the foregoing, it can be seen that one or more embodiments of the present disclosure provide a vehicle anti-skid method, apparatus and electronic device, including: acquiring the angular acceleration of each wheel; judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels; and estimating the maximum rotation speed of the slipped wheel, and controlling the output torque of the driving motor corresponding to the slipped wheel according to the maximum rotation speed of the slipped wheel so as to realize the anti-slip of the vehicle. According to the method, the skid state is judged through the angular acceleration of the wheels, the output torque is limited by estimating the limit rotation speed of the wheels at the next moment, so that the skid resistance of the vehicle is realized, the posture of the vehicle body is not required to be acquired, too many sensors are not required, and the control flow is directly and effectively.
Drawings
For a clearer description of one or more embodiments of the present description or of the solutions of the prior art, the drawings that are necessary for the description of the embodiments or of the prior art will be briefly described, it being apparent that the drawings in the description below are only one or more embodiments of the present description, from which other drawings can be obtained, without inventive effort, for a person skilled in the art.
FIG. 1 is a schematic flow diagram of a vehicle anti-skid method according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic illustration of one or more embodiments of a vehicle anti-skid device according to the present disclosure;
fig. 3 is a schematic diagram of a hardware structure of an electronic device according to one or more embodiments of the present disclosure.
Detailed Description
For the purposes of promoting an understanding of the principles and advantages of the disclosure, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same.
It is noted that unless otherwise defined, technical or scientific terms used in one or more embodiments of the present disclosure should be taken in a general sense as understood by one of ordinary skill in the art to which the present disclosure pertains. The use of the terms "first," "second," and the like in one or more embodiments of the present description does not denote any order, quantity, or importance, but rather the terms "first," "second," and the like are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
With the development of economy, the use of automobiles is becoming more and more popular, and with the deep development of engineering application and the progress of electric drive technology, electric drive vehicles are becoming popular due to the characteristics of low rotation speed and large torque of electric motors.
The electric drive vehicle is more suitable for off-road and complex road surfaces, and meanwhile, when the off-road vehicle is designed, a multi-wheel independent drive mode is adopted, and the power distribution among all driving wheels is carried out by virtue of a whole vehicle controller without mechanical coupling. When the vehicle is running at a high speed, if the road condition is severe, the wheels of the vehicle are highly likely to slide severely, which affects the stability and safety of the vehicle.
Existing vehicle anti-skid solutions include: judging whether the vehicle slips according to the vehicle body posture and the empirical data, and limiting torque output when the vehicle slips. The slip can be suppressed to some extent according to the current slip suppressing method, but in some cases, stable passing of the vehicle is still not ensured. Meanwhile, the existing anti-skid solution of the vehicle needs to rely on a positioning system or an attitude sensor, is complex in process and high in cost, and is not beneficial to specific engineering application implementation.
In view of this, an object of one or more embodiments of the present disclosure is to provide a vehicle anti-skid method, apparatus and electronic device, so as to solve the problems of complex process, high cost and inaccurate control of the existing vehicle anti-skid solution, which is not beneficial to implementation of specific engineering applications.
Fig. 1 is a schematic flow chart of a vehicle anti-skid method according to one or more embodiments of the present disclosure, where each wheel of the vehicle is correspondingly provided with a driving motor, and the vehicle anti-skid method includes:
and S101, acquiring the angular acceleration of each wheel.
In some embodiments, after the rotational speed of the wheel is obtained by the rotational speed sensor, the angular acceleration is calculated according to parameters of the vehicle, such as the mass of the vehicle, the radius of the wheel, and the output torque of the driving motor provided corresponding to the wheel.
In some embodiments, the angular acceleration of the wheel is obtained directly by an angular acceleration sensor.
S102, judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels.
In some embodiments, if at least one of the wheels has an angular acceleration greater than a preset angular acceleration threshold, determining that the wheel is in a slip state, and taking the wheel having an angular acceleration greater than the preset angular acceleration threshold as a slipping wheel, and recording the vehicle slip condition as a first slip condition.
For example, for two wheels disposed opposite to each other, the angular acceleration thereof is: angular acceleration alpha of left wheel Left side (T) and angular acceleration alpha of right-hand wheel Right side And (T), wherein T represents the output torque of the driving motor corresponding to the wheel, and alpha (T) represents the angular acceleration of the wheel represented by the torque as a variable.
Wherein if only alpha Left side (T) is greater than a preset angular acceleration threshold alpha Design of (T) determining that the left wheel is in a slip state if only alpha Right side (T) is greater than a preset angular acceleration threshold alpha Design of (T) determining that the right wheel is in a slip state if alpha Left side (T) and alpha Right side (T) are all greater than a preset angular acceleration threshold value alpha Design of And (T) judging that the left wheel and the right wheel are in a slipping state.
In some embodiments of the present invention,
for two said wheels, which are oppositely disposed left and right, if present:
|α left side (T)-k(ΔT)×α Right side (T)|/MIN(|α Left side (T)|，|k(ΔT)×α Right side If (T) is larger than the preset ratio threshold, judging that the wheels are in a slipping stateAnd taking the wheel with large angular acceleration as a slipping wheel;
wherein alpha is Left side (T) represents the angular acceleration of the left wheel; alpha Right side (T) represents the angular acceleration of the right wheel; t represents the output torque of a driving motor corresponding to wheels; delta T represents the difference of the output torque of the driving motor corresponding to the left wheel and the right wheel; k (Δt) represents the angular acceleration ratio of the left and right wheels when the output torques of the drive motors corresponding to the left and right wheels are different.
This vehicle slip condition is referred to as a second slip condition.
For example, in the case where the vehicle does not slip, when the output torques of the left-side wheel drive motor and the right-side wheel drive motor are different, assuming that the difference in the output torques of the two is Δt, the angular acceleration of the left-side wheel and the angular acceleration of the right-side wheel have the following relationship:
α left side (T)＝k(ΔT)×α Right side (T)；
In the running process of the vehicle, judging whether the result of the following formula exceeds a preset ratio threshold value:
|α left side (T)-k(ΔT)×α Right side (T)|/MIN(|α Left side (T)|，|k(ΔT)×α Right side (T)|)；
For example, the preset ratio threshold is 0.2, if the value of the above formula is greater than 0.2, it is determined that the wheel is in a slip state, and the wheel with high angular acceleration is a slipping wheel.
S103, estimating the highest rotating speed of the slipped wheel, and controlling the output torque of a driving motor corresponding to the slipped wheel according to the highest rotating speed of the slipped wheel so as to realize the anti-slip of the vehicle.
In some embodiments, during the first slip regime:
setting a highest rotational speed of the slipping wheel equal to a weighted average of speeds of several cycles of the slipping wheel prior to slipping;
and calculating whether the slipped wheel is in a slipping state at the set maximum rotation speed, if so, controlling the output torque of a driving motor corresponding to the slipped wheel by taking the preset angular acceleration threshold value as a speed, and gradually reducing the maximum rotation speed of the slipped wheel until the slipped wheel is judged not to be in the slipping state.
For example, the speed of the wheel being slipped for several cycles before slipping is obtained, and the weighted average thereof is taken as V max weighting ；
Setting the maximum rotation speed of the slip-side wheel to V max ＝|V max weighting |-k 3 ×α Design of ；
Wherein V is max weighting A weighted average of the speeds of several cycles of the wheel before slipping;
k 3 to accumulate the number of times of judging whether to slip.
In some embodiments, during the second slip condition:
judging the relation between the highest rotating speed of the slipped wheel and a preset speed interval;
and controlling the output torque of the driving motor corresponding to the slipped wheel according to the relation between the highest rotating speed of the slipped wheel and the preset speed interval.
Wherein, the judging the relationship between the highest rotating speed of the slipped wheel and the preset speed interval comprises the following steps:
and setting the highest rotating speed of the slipped wheel according to the relation between the output torque of the driving motor corresponding to the slipped wheel and the output torque of the driving motor corresponding to the wheel which is arranged left and right oppositely.
Wherein, include:
if the output torque of the driving motor corresponding to the slipped wheel is larger than the output torque of the driving motor corresponding to the wheel which is oppositely arranged at the left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state +V Experience 1 ；
Wherein V is Experience 1 Is the highest rotational speed experience allowance;
V slip max The highest rotational speed of the wheel for slipping;
V normal state The rotation speed of the wheel is set to be opposite to the left and right of the slipping wheel.
If the output torque of the driving motor corresponding to the slipped wheel is smaller than the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state -V Experience 1 ；
If the output torque of the driving motor corresponding to the slipped wheel is equal to the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state 。
In some embodiments, the predetermined speed interval is (V Slip max ，V Slip max +V Experience 2 )，
Wherein V is Experience 2 The speed interval is buffered for the rotational speed experience when the force is removed linearly.
Wherein, according to the relation between the highest rotation speed of the slipped wheel and the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is controlled, and the method comprises the following steps:
if the set maximum rotation speed of the slipped wheel is in front of the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is set to be the preset output torque T It is desirable to ；
Wherein T is It is desirable to Representing a preset output torque;
if the set maximum rotation speed of the slipped wheel is within the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is as follows:
T it is desirable to ×(1-(V-V max )/V Experience 2 )；
Wherein V is the actual rotational speed of the slipping wheel;
V max a set maximum rotational speed of the slipping wheel;
V experience 2 Buffering a speed interval for the rotational speed experience during linear force unloading;
and if the set maximum rotation speed of the slipped wheel is within the preset speed interval, enabling the output torque of the driving motor corresponding to the slipped wheel to be zero.
From the foregoing, it can be seen that one or more embodiments of the present disclosure provide a vehicle anti-skid method, apparatus and electronic device, including: acquiring the angular acceleration of each wheel; judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels; and estimating the maximum rotation speed of the slipped wheel, and controlling the output torque of the driving motor corresponding to the slipped wheel according to the maximum rotation speed of the slipped wheel so as to realize the anti-slip of the vehicle. According to the method, the skid state is judged through the angular acceleration of the wheels, the output torque is limited by estimating the limit rotation speed of the wheels at the next moment, so that the skid resistance of the vehicle is realized, the posture of the vehicle body is not required to be acquired, too many sensors are not required, and the control flow is directly and effectively.
It is understood that the method may be performed by any apparatus, device, platform, cluster of devices having computing, processing capabilities.
It should be noted that the methods of one or more embodiments of the present description may be performed by a single device, such as a computer or server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of one or more embodiments of the present description, the devices interacting with each other to accomplish the methods.
The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Fig. 2 is a schematic structural diagram of a vehicle anti-skid device according to one or more embodiments of the present disclosure, where each wheel of the vehicle is correspondingly provided with a driving motor, and the vehicle anti-skid device includes:
an angular acceleration acquisition module 201 for acquiring an angular acceleration of each of the wheels.
The slip state judging module 202 is configured to judge whether a wheel is in a slip state according to the angular acceleration of each wheel, and if the wheel is in the slip state, determine the slipping wheel.
In some embodiments, it is specifically used to:
and if at least one of the wheels has an angular acceleration greater than a preset angular acceleration threshold value, judging that the wheel is in a slipping state, and taking the wheel with the angular acceleration greater than the preset angular acceleration threshold value as the slipping wheel.
In some embodiments, it is specifically used to:
for two said wheels, which are oppositely disposed left and right, if present:
|α left side (T)-k(ΔT)×α Right side (T)|/MIN(|α Left side (T)|，|k(ΔT)×α Right side If the (T) I) is larger than a preset ratio threshold value, judging that the wheel is in a slipping state, and taking the wheel with large angular acceleration as the slipping wheel;
wherein alpha is Left side (T) represents the angular acceleration of the left wheel; alpha Right side (T) represents the angular acceleration of the right wheel; t represents the output torque of a driving motor corresponding to wheels; delta T represents the difference of the output torque of the driving motor corresponding to the left wheel and the right wheel; k (Δt) represents the ratio of angular acceleration of the left and right wheels when the output torques of the drive motors corresponding to the left and right wheels are different。
And the driving motor control module 203 is configured to estimate a maximum rotational speed of the slipped wheel, and control an output torque of a driving motor corresponding to the slipped wheel according to the maximum rotational speed of the slipped wheel, so as to implement anti-slip of the vehicle.
In some embodiments, it is specifically used to:
setting a highest rotational speed of the slipping wheel equal to a weighted average of speeds of several cycles of the slipping wheel prior to slipping;
and calculating whether the slipped wheel is in a slipping state at the set maximum rotation speed, if so, controlling the output torque of a driving motor corresponding to the slipped wheel by taking the preset angular acceleration threshold value as a speed, and gradually reducing the maximum rotation speed of the slipped wheel until the slipped wheel is judged not to be in the slipping state.
In some embodiments, it is specifically used to:
and judging the relation between the highest rotating speed of the slipped wheel and a preset speed interval.
Wherein, include:
and setting the highest rotating speed of the slipped wheel according to the relation between the output torque of the driving motor corresponding to the slipped wheel and the output torque of the driving motor corresponding to the wheel which is arranged left and right oppositely.
Comprising the following steps:
if the output torque of the driving motor corresponding to the slipped wheel is larger than the output torque of the driving motor corresponding to the wheel which is oppositely arranged at the left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state +V Experience 1 ；
Wherein V is Experience 1 Is the highest rotational speed experience allowance;
if the output torque of the driving motor corresponding to the slipped wheel is smaller than the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state -V Experience 1 ；
If the output torque of the driving motor corresponding to the slipped wheel is equal to the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max ＝V Normal state 。
And controlling the output torque of the driving motor corresponding to the slipped wheel according to the relation between the highest rotating speed of the slipped wheel and the preset speed interval.
Wherein, include:
if the set maximum rotation speed of the slipped wheel is in front of the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is set to be the preset output torque T It is desirable to ；
If the set maximum rotation speed of the slipped wheel is within the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is as follows:
T it is desirable to ×(1-(V-V max )/V Experience 2 )；
Wherein V is Experience 2 Buffering a speed interval for the rotational speed experience during linear force unloading;
and if the set maximum rotation speed of the slipped wheel is within the preset speed interval, enabling the output torque of the driving motor corresponding to the slipped wheel to be zero.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in one or more pieces of software and/or hardware when implementing one or more embodiments of the present description.
The device of the foregoing embodiment is configured to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Fig. 3 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the disclosure, including the claims, is limited to these examples; combinations of features of the above embodiments or in different embodiments are also possible within the spirit of the present disclosure, steps may be implemented in any order, and there are many other variations of the different aspects of one or more embodiments described above which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure one or more embodiments of the present description. Furthermore, the apparatus may be shown in block diagram form in order to avoid obscuring the one or more embodiments of the present description, and also in view of the fact that specifics with respect to implementation of such block diagram apparatus are highly dependent upon the platform within which the one or more embodiments of the present description are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the disclosure, it should be apparent to one skilled in the art that one or more embodiments of the disclosure can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present disclosure is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Any omissions, modifications, equivalents, improvements, and the like, which are within the spirit and principles of the one or more embodiments of the disclosure, are therefore intended to be included within the scope of the disclosure.

Claims (9)

1. A vehicle anti-skid method, wherein each wheel of the vehicle is correspondingly provided with a driving motor, the vehicle anti-skid method comprising:
acquiring the angular acceleration of each wheel;
judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels; judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, determining the slipping wheels specifically comprises the following steps: for two said wheels, which are oppositely disposed left and right, if present: alpha Left side （T）- k（ΔT）×α Right side （T）| / MIN(|α Left side （T）|，|k（ΔT）×α Right side If the (T) I) is larger than a preset ratio threshold value, judging that the wheel is in a slipping state, and taking the wheel with large angular acceleration as the slipping wheel; wherein alpha is Left side (T) represents the angular acceleration of the left wheel; alpha Right side (T) represents the angular acceleration of the right wheel; t represents the output torque of a driving motor corresponding to wheels; delta T represents the difference of the output torque of the driving motor corresponding to the left wheel and the right wheel; k (Δt) represents the angular acceleration ratio of the left and right wheels when the output torques of the drive motors corresponding to the left and right wheels are different;
and estimating the highest rotating speed of the slipped wheel, and controlling the output torque of a driving motor corresponding to the slipped wheel according to the highest rotating speed of the slipped wheel so as to realize the anti-slip of the vehicle.
2. The method of claim 1, wherein determining whether a wheel is in a slip state based on the angular acceleration of each of the wheels, and if a wheel is in a slip state, determining a slipping wheel comprises:
and if at least one of the wheels has an angular acceleration greater than a preset angular acceleration threshold value, judging that the wheel is in a slipping state, and taking the wheel with the angular acceleration greater than the preset angular acceleration threshold value as the slipping wheel.
3. The vehicle anti-skid method according to claim 2, wherein said estimating the maximum rotational speed of the slipping wheel, controlling the output torque of the driving motor corresponding to the slipping wheel according to the maximum rotational speed of the slipping wheel, to achieve vehicle anti-skid, comprises:
setting a highest rotational speed of the slipping wheel equal to a weighted average of speeds of several cycles of the slipping wheel prior to slipping;
and calculating whether the slipped wheel is in a slipping state at the set maximum rotation speed, if so, controlling the output torque of a driving motor corresponding to the slipped wheel by taking the preset angular acceleration threshold value as a speed, and gradually reducing the maximum rotation speed of the slipped wheel until the slipped wheel is judged not to be in the slipping state.
4. The vehicle anti-skid method according to claim 1, wherein said estimating the maximum rotational speed of the slipping wheel, controlling the output torque of the driving motor corresponding to the slipping wheel according to the maximum rotational speed of the slipping wheel, to achieve vehicle anti-skid, comprises:
judging the relation between the highest rotating speed of the slipped wheel and a preset speed interval;
and controlling the output torque of the driving motor corresponding to the slipped wheel according to the relation between the highest rotating speed of the slipped wheel and the preset speed interval.
5. The vehicle anti-skid method according to claim 4, wherein said determining a relationship between the maximum rotational speed of the slipping wheel and a preset speed interval includes:
and setting the highest rotating speed of the slipped wheel according to the relation between the output torque of the driving motor corresponding to the slipped wheel and the output torque of the driving motor corresponding to the wheel which is arranged left and right oppositely.
6. The vehicle anti-skid method according to claim 5, wherein the setting of the maximum rotational speed of the slipping wheel according to the relation between the output torque of the driving motor corresponding to the slipping wheel and the output torque of the driving motor corresponding to the wheel disposed opposite to the slipping wheel, comprises:
if the output torque of the driving motor corresponding to the slipped wheel is larger than the output torque of the driving motor corresponding to the wheel which is oppositely arranged at the left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max =V Normal state +V Experience 1 ；
Wherein V is Experience 1 Is the highest rotational speed experience allowance;
if the output torque of the driving motor corresponding to the slipped wheel is smaller than the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max =V Normal state -V Experience 1 ；
If the output torque of the driving motor corresponding to the slipped wheel is equal to the output torque of the driving motor corresponding to the wheel oppositely arranged left and right, setting the highest rotating speed of the slipped wheel as follows:
V slip max =V Normal state 。
7. The vehicle anti-skid method according to claim 6, wherein said controlling the output torque of the driving motor corresponding to the slipping wheel according to the relationship between the highest rotational speed of the slipping wheel and a preset speed interval comprises:
if the set maximum rotation speed of the slipped wheel is in front of the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is set to be the preset output torque T It is desirable to ；
If the set maximum rotation speed of the slipped wheel is within the preset speed interval, the output torque of the driving motor corresponding to the slipped wheel is as follows:
T it is desirable to ×（1-（V-V max ）/V Experience 2 ）；
Wherein V is Experience 2 Buffering a speed interval for the rotational speed experience during linear force unloading;
and if the set maximum rotation speed of the slipped wheel is within the preset speed interval, enabling the output torque of the driving motor corresponding to the slipped wheel to be zero.
8. A vehicle anti-skid device, wherein each wheel of the vehicle is correspondingly provided with a driving motor, the vehicle anti-skid device comprising:
the angular acceleration acquisition module is used for acquiring the angular acceleration of each wheel;
the slipping state judging module is used for judging whether the wheels are in a slipping state or not according to the angular acceleration of each wheel, and if the wheels are in the slipping state, the slipping wheels are determined; the method is particularly used for: for two said wheels, which are oppositely disposed left and right, if present: alpha Left side （T）- k（ΔT）×α Right side （T）| / MIN(|α Left side （T）|，|k（ΔT）×α Right side If (T) is larger than the preset ratio threshold, judging that the vehicle wheel is at the positionIn a slipping state, taking the wheel with large angular acceleration as the slipping wheel; wherein alpha is Left side (T) represents the angular acceleration of the left wheel; alpha Right side (T) represents the angular acceleration of the right wheel; t represents the output torque of a driving motor corresponding to wheels; delta T represents the difference of the output torque of the driving motor corresponding to the left wheel and the right wheel; k (Δt) represents the angular acceleration ratio of the left and right wheels when the output torques of the drive motors corresponding to the left and right wheels are different;
and the driving motor control module is used for estimating the highest rotating speed of the slipped wheel and controlling the output torque of the driving motor corresponding to the slipped wheel according to the highest rotating speed of the slipped wheel so as to realize the anti-slip of the vehicle.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.
CN202010919660.5A 2020-09-04 2020-09-04 Vehicle anti-skid method and device and electronic equipment Active CN114148327B (en)

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