CN114312324A - Anti-flying method and device for vehicle, vehicle and storage medium - Google Patents
Anti-flying method and device for vehicle, vehicle and storage medium Download PDFInfo
- Publication number
- CN114312324A CN114312324A CN202210010203.3A CN202210010203A CN114312324A CN 114312324 A CN114312324 A CN 114312324A CN 202210010203 A CN202210010203 A CN 202210010203A CN 114312324 A CN114312324 A CN 114312324A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- torque
- flight
- rotating speed
- driving motor
- 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
- 238000000034 method Methods 0.000 title claims abstract description 45
- 230000008859 change Effects 0.000 claims abstract description 41
- 238000004590 computer program Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 5
- 230000006870 function Effects 0.000 description 17
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application relates to the technical field of automobiles, in particular to an anti-flying method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring the current rotating speed of a driving motor from a motor controller; calculating the rotating speed change rate of the driving motor according to the current rotating speed of the driving motor and the actual rotating speed of the driving motor at the previous moment; and when the change rate of the rotating speed exceeds a preset interval, controlling the vehicle to enter an anti-flight working condition, determining an anti-flight torque according to the actual output torque of the driving motor, and controlling the driving motor to output according to the anti-flight torque, wherein the anti-flight torque is smaller than the actual output torque. Therefore, the problems that in the related technology, the anti-flight mode of the vehicle is realized by utilizing the slip ratio, extra hardware needs to be added, the anti-flight cost is high and the like are solved.
Description
Technical Field
The present application relates to the field of automotive technologies, and in particular, to an anti-flying method and apparatus for a vehicle, and a storage medium.
Background
The driving motor is one of main parts of a new energy automobile, and the driving motor has large torque and quick response, so that when a driving wheel flies, the rotation speed of the motor usually rises sharply in a short time, and the sharply rising rotation speed easily causes damage to parts of the whole automobile and even leads the automobile to be in an out-of-control state. For this reason, how to avoid the vehicle flying is important for the safety of the vehicle.
In the related art, a common solution is to monitor a slip rate of a driving wheel by an ESC (Electronic Stability Controller) and control the slip rate of the driving wheel within a target range to achieve anti-creep of a vehicle. However, in the related art, the anti-flight of the vehicle is achieved by using the slip ratio, an additional sensor is generally required to monitor the vehicle state, and a controller is additionally required to achieve corresponding control, so that the anti-flight cost of the vehicle is greatly increased.
Disclosure of Invention
The application provides a vehicle anti-flying method, a device, a vehicle and a storage medium, which are used for solving the problems that in the related technology, the anti-flying mode of the vehicle is realized by utilizing the slip ratio, extra hardware needs to be added, the anti-flying cost is high, and the like.
An embodiment of a first aspect of the present application provides an anti-flying method for a vehicle, including the following steps:
acquiring the current rotating speed of a driving motor from a motor controller;
calculating the change rate of the rotating speed of the driving motor according to the current rotating speed of the driving motor and the actual rotating speed of the driving motor at the previous moment;
and when the rotating speed change rate exceeds a preset interval, controlling the vehicle to enter an anti-flight working condition, determining an anti-flight torque according to the actual output torque of the driving motor, and controlling the driving motor to output according to the anti-flight torque, wherein the anti-flight torque is smaller than the actual output torque.
Further, the determining of the anti-flight torque according to the actual output torque of the driving motor includes:
determining a target required torque according to a driving intention of a driver;
matching the anti-flight torque according to the actual output torque and the target required torque.
Further, after controlling the output of the drive motor in accordance with the anti-flight torque, the method further includes:
detecting whether the change rate of the rotating speed is in the preset interval or not;
and if the rotating speed change rate is within the preset interval, controlling the vehicle to exit the anti-flight working condition.
Further, still include:
and when the rotating speed change rate is in the preset interval, controlling the driving motor to output the target required torque.
Further, after the vehicle is controlled to enter the anti-flight working condition, the method further comprises the following steps:
generating soaring prompt information of the vehicle, and reminding soaring by using the soaring prompt information.
An embodiment of a second aspect of the present application provides an anti-flying device for a vehicle, including:
the acquisition module is used for acquiring the current rotating speed of the driving motor from the motor controller;
the calculation module is used for calculating the change rate of the rotating speed of the driving motor according to the current rotating speed of the driving motor and the actual rotating speed of the driving motor at the previous moment; and
the first control module is used for controlling the vehicle to enter an anti-flight working condition when the rotating speed change rate exceeds a preset interval, determining an anti-flight torque according to the actual output torque of the driving motor, and controlling the driving motor to output according to the anti-flight torque, wherein the anti-flight torque is smaller than the actual output torque.
Further, the first control module is further configured to determine a target required torque according to a driving intention of a driver, and match the anti-flight torque according to the actual output torque and the target required torque.
Further, still include:
the second control module is used for detecting whether the change rate of the rotating speed is in the preset interval or not after the driving motor is controlled to output according to the anti-flight torque, and controlling the vehicle to exit the anti-flight working condition if the change rate of the rotating speed is in the preset interval;
the third control module is used for controlling the driving motor to output the target required torque when the rotating speed change rate is within the preset interval;
and the prompt module is used for generating the soaring prompt information of the vehicle after controlling the vehicle to enter the soaring prevention working condition and utilizing the soaring prompt information to prompt soaring.
An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement a method of anti-flight of a vehicle as described above.
A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, the program being executed by a processor for implementing an anti-flight method for a vehicle as described above.
Therefore, the application has at least the following beneficial effects:
the anti-flying function of the vehicle can be realized by the motor rotating speed detected by the motor controller, extra hardware is not needed, anti-flying can be realized only by the hardware of the vehicle, the risks of damage, out of control and the like of the whole vehicle parts, which are possibly caused by flying of the vehicle, are effectively avoided, and the anti-flying cost is effectively reduced while the safety of the vehicle is improved. Therefore, the problems that in the related technology, the anti-flight mode of the vehicle is realized by utilizing the slip ratio, extra hardware needs to be added, the anti-flight cost is high, and the like are solved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an anti-flight method for a vehicle according to an embodiment of the present application;
FIG. 2 is an exemplary diagram providing an anti-flight functionality system of a vehicle according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating an anti-soaring function of a vehicle according to an embodiment of the present disclosure;
FIG. 4 is an exemplary diagram providing an anti-soaring device of a vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The driving motor adopted by the new energy automobile has large torque and quick response, when the driving wheel soaks, the larger driving torque can drive the tire to rotate at a high speed, the rotating speed of the motor rises sharply in a short time, the sharply rising rotating speed can not only cause the damage of the whole automobile part, but also can cause the vehicle to be in an out-of-control state, and the driving safety of the vehicle is greatly reduced. For this reason, in the related art, the vehicle body stability control unit ESC monitors the slip rate of the wheels, and controls the slip rate of the driving wheels within a target range to realize the anti-creep of the vehicle.
However, the above method needs to add a controller and a sensor to monitor the vehicle state, which increases the cost of the whole vehicle. Compared with the prior art that the anti-flight function of the vehicle is realized by using the TCS (Traction Control System) function of the ESC, the anti-flight function of the vehicle is monitored by the set rotating speed fluctuation based on the monitoring and judging of the part motor controller and the whole vehicle controller of the vehicle, so that the anti-flight function of the vehicle is realized, the same effect is achieved, and the cost of the whole vehicle is reduced.
An anti-flying method of a vehicle, an apparatus, a vehicle, and a storage medium according to embodiments of the present application will be described below with reference to the accompanying drawings. The method for preventing the vehicle from flying comprises the steps that a motor controller detects the rotating speed of a motor, and the motor controller detects the rotating speed of the motor to achieve the function of preventing the vehicle from flying. Therefore, the problems that in the related technology, the anti-flight mode of the vehicle is realized by utilizing the slip ratio, extra hardware needs to be added, the anti-flight cost is high, and the like are solved.
Specifically, fig. 1 is a schematic flow chart of a method for preventing a vehicle from flying in an empty flight manner according to an embodiment of the present application.
As shown in fig. 1, the anti-flying method for a vehicle includes the steps of:
in step S101, the current rotation speed of the drive motor is acquired from the motor controller.
The vehicle anti-flight method according to the embodiment of the present application may be executed by the vehicle anti-flight device according to the embodiment of the present application, and the vehicle anti-flight device according to the embodiment of the present application may be configured in any vehicle control unit to execute the vehicle anti-flight method according to the present application.
Wherein, the current rotating speed refers to the actual rotating speed collected in the current collecting period.
It can be understood that, in the running process of the whole vehicle, the motor controller can acquire the rotating speed of the driving motor and send the rotating speed to the vehicle control unit through the can network, so that the vehicle control unit can directly acquire the current rotating speed from the motor controller without adding hardware such as a sensor and the like, and the vehicle control cost is reduced.
In step S102, the rate of change of the rotation speed of the drive motor is calculated from the current rotation speed of the drive motor and the actual rotation speed of the drive motor at the previous time.
The actual rotation speed of the driving motor at the previous moment can be understood as the actual rotation speed acquired in the previous acquisition period.
It can be understood that the embodiment of the application can calculate the rotation speed change rate of the driving motor by using the actual rotation speed acquired in the adjacent acquisition period.
In step S103, when the rotation speed change rate exceeds the preset interval, the vehicle is controlled to enter the anti-flight working condition, the anti-flight torque is determined according to the actual output torque of the driving motor, and the driving motor is controlled to output according to the anti-flight torque, where the anti-flight torque is smaller than the actual output torque.
The preset interval may be specifically calibrated or set according to actual conditions, and is not specifically limited to this.
The anti-creep torque may be a torque for reducing the rotational speed of the drive motor to within a predetermined range.
It can be understood that the vehicle state can be judged by calculating the change rate of the rotating speed, if the vehicle is judged to fly, the anti-flying torque is determined by referring to the actual torque of the driving motor sent by the motor controller in the last period, and the driving motor is controlled to output the corresponding torque, so that the anti-flying function on the vehicle is monitored based on the fluctuation of the rotating speed, hardware is not required to be additionally added, the anti-flying function can be realized by utilizing the hardware of the vehicle, the driving safety is effectively protected, and the cost of the whole vehicle is reduced.
In the present embodiment, determining the anti-flying torque based on the actual output torque of the drive motor includes: determining a target required torque according to a driving intention of a driver; and matching the anti-flight torque according to the actual output torque and the target required torque.
The anti-flight torque can be matched according to the actual output torque and the target required torque in various ways, for example, the anti-flight torque can be quickly determined through a pre-calibrated torque correspondence table, and the like, which is not particularly limited.
It can be understood that after the vehicle is controlled to enter the anti-flight working condition, the embodiment of the application can refer to the actual torque of the driving motor and the torque required by the driver, which are sent by the motor controller in the last period, comprehensively determine the output torque in the current period, and send the torque to the vehicle control unit after calculation.
In this embodiment, after controlling the output of the drive motor in accordance with the anti-flying torque, the method further includes: detecting whether the change rate of the rotating speed is within a preset interval or not; and if the rotating speed change rate is within the preset interval, controlling the vehicle to exit the anti-flying working condition.
It can be understood that, after the motor is controlled and driven to reduce the output torque according to the anti-flight torque in the embodiment of the application, in order to take the safety of the vehicle into account and meet the torque output requirement of the user, whether the change rate of the rotating speed of the motor is reduced to a reasonable range needs to be judged in real time, and when the change rate of the rotating speed of the motor is reduced to the reasonable range, the anti-flight working condition is timely quitted so as to normally respond to the torque output requirement of the user.
In this embodiment, after controlling the vehicle to enter the anti-flight condition, the method further includes: generating soaring prompt information of the vehicle, and reminding soaring by using the soaring prompt information.
It can be understood that after the vehicle enters the anti-flying working condition, the vehicle is in the flying state at the moment, and the embodiment of the application can timely remind the user of flying so that the user can timely acquire the current state of the vehicle and the driving experience of the user is improved. The flight reminding method and the flight reminding device can be used for carrying out flight reminding in various ways, such as optical and/or acoustic reminding and the like, and are not particularly limited.
In this embodiment, the method of the embodiment of the present application further includes: and controlling the driving motor to output the target required torque when the rotating speed change rate is within a preset interval.
It can be understood that the embodiment of the application can calculate the change rate of the rotating speed to judge the state of the vehicle, and if the vehicle is judged not to fly, the torque required by the driver is converted into the motor execution torque, and the motor is driven to normally output the torque.
The anti-flying method of the vehicle will be explained by a specific embodiment, wherein, in the hardware of the vehicle related in the embodiment of the present application, as shown in fig. 2, the vehicle anti-flying function system based on the rotation speed fluctuation includes a vehicle controller, a motor controller and a driving motor; wherein, vehicle control unit: collecting the torque demand of a driver, receiving a motor rotating speed signal, calculating the rotating speed change rate of the motor, judging the flying working condition, and calculating the comprehensive output torque; the motor controller receives a torque instruction of the whole vehicle controller, controls the output torque of the driving motor through a vector algorithm, acquires the rotating speed of the motor and sends the rotating speed to the whole vehicle controller; driving a motor: providing a power output.
Based on the vehicle anti-flight function system shown in fig. 2, the anti-flight method of the vehicle is shown in fig. 3, and comprises the following steps:
1. the vehicle control unit converts a driver torque demand signal into a torque instruction and sends the torque instruction to the motor controller;
2. the motor controller controls the motor to execute a torque instruction and feeds back the rotating speed and the torque of the motor in real time;
3. the vehicle control unit receives the rotating speed fed back by the motor controller to calculate the rotating speed change rate;
4. judging whether the change rate of the rotating speed of the motor exceeds the range or not;
5. if the torque does not exceed the range, the vehicle control unit normally converts the torque required by the driver into the motor execution torque;
6. if the vehicle is out of the range, judging that the vehicle flies, reducing a torque instruction by the vehicle controller, and calibrating the vehicle by the reduced torque instruction;
7. judging that the change rate of the rotating speed of the motor is reduced to a reasonable range;
8. if the torque is not reduced to a reasonable range, judging that the vehicle is still flying, and continuing to reduce the torque instruction by the vehicle control unit;
9. the range is reduced to a reasonable range, and the whole vehicle enters a normal running state.
According to the anti-flying method for the vehicle, the anti-flying function of the vehicle can be achieved through the motor rotating speed detected by the motor controller, extra hardware is not needed, anti-flying can be achieved only through the hardware of the vehicle, risks such as damage and out of control of parts of the whole vehicle, which are possibly caused by flying of the vehicle, are effectively avoided, and the anti-flying cost is effectively reduced while the safety of the vehicle is improved.
Next, an anti-flying apparatus of a vehicle according to an embodiment of the present application will be described with reference to the drawings.
Fig. 4 is a block diagram schematically illustrating an anti-flying apparatus of a vehicle according to an embodiment of the present application.
As shown in fig. 4, the anti-flying apparatus 10 of the vehicle includes: an acquisition module 100, a calculation module 200 and a first control module 300.
The acquiring module 100 is configured to acquire a current rotation speed of the driving motor from the motor controller; the calculating module 200 is configured to calculate a rotation speed change rate of the driving motor according to a current rotation speed of the driving motor and an actual rotation speed of the driving motor at a previous time; the first control module 300 is configured to control the vehicle to enter an anti-flight working condition when the rotation speed change rate exceeds a preset interval, determine an anti-flight torque according to an actual output torque of the driving motor, and control the driving motor to output according to the anti-flight torque, where the anti-flight torque is smaller than the actual output torque.
In the present embodiment, the first control module 300 is further configured to determine a target required torque according to the driver's driving intention, and match the anti-flight torque according to the actual output torque and the target required torque.
In the present embodiment, the anti-flying apparatus 10 for a vehicle further includes: the device comprises a second control module, a third control module and a prompt module.
The second control module is used for detecting whether the change rate of the rotating speed is in the preset interval or not after controlling the output of the driving motor according to the anti-flight torque, and controlling the vehicle to exit the anti-flight working condition if the change rate of the rotating speed is in the preset interval; the third control module is used for controlling the driving motor to output the target required torque when the rotating speed change rate is within the preset interval; and the prompt module is used for generating the soaring prompt information of the vehicle after controlling the vehicle to enter the soaring prevention working condition and utilizing the soaring prompt information to prompt soaring.
It should be noted that the foregoing explanation of the embodiment of the anti-flying method for a vehicle also applies to the anti-flying device for a vehicle in this embodiment, and details are not repeated here.
According to the anti-flying device for the vehicle, the anti-flying function of the vehicle can be achieved through the motor rotating speed detected by the motor controller, extra hardware does not need to be added, anti-flying can be achieved only through the hardware of the vehicle, risks such as damage and out of control of parts of the whole vehicle possibly caused by flying of the vehicle are effectively avoided, and the anti-flying cost is effectively reduced while the safety of the vehicle is improved.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502, when executing the program, implements the anti-flight method of the vehicle provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The Memory 501 may include a high-speed RAM (Random Access Memory) Memory, and may also include a nonvolatile Memory, such as at least one disk Memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
Embodiments of the present application also provide a computer-readable storage medium on which a computer program is stored, which when executed by a processor, implements the anti-flight method for a vehicle as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array, a field programmable gate array, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
Claims (10)
1. An anti-flying method for a vehicle, characterized by comprising the steps of:
acquiring the current rotating speed of a driving motor from a motor controller;
calculating the change rate of the rotating speed of the driving motor according to the current rotating speed of the driving motor and the actual rotating speed of the driving motor at the previous moment; and
and when the rotating speed change rate exceeds a preset interval, controlling the vehicle to enter an anti-flight working condition, determining an anti-flight torque according to the actual output torque of the driving motor, and controlling the driving motor to output according to the anti-flight torque, wherein the anti-flight torque is smaller than the actual output torque.
2. The method of claim 1, wherein determining an anti-flight torque from an actual output torque of the drive motor comprises:
determining a target required torque according to a driving intention of a driver;
matching the anti-flight torque according to the actual output torque and the target required torque.
3. The method of claim 1, further comprising, after controlling the drive motor output in accordance with the anti-lofting torque:
detecting whether the change rate of the rotating speed is in the preset interval or not;
and if the rotating speed change rate is within the preset interval, controlling the vehicle to exit the anti-flight working condition.
4. The method of claim 1, further comprising:
and when the rotating speed change rate is in the preset interval, controlling the driving motor to output the target required torque.
5. The method of any of claims 1-4, further comprising, after controlling the vehicle into the anti-empty condition:
generating soaring prompt information of the vehicle, and reminding soaring by using the soaring prompt information.
6. An anti-flying apparatus of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the current rotating speed of the driving motor from the motor controller;
the calculation module is used for calculating the change rate of the rotating speed of the driving motor according to the current rotating speed of the driving motor and the actual rotating speed of the driving motor at the previous moment; and
the first control module is used for controlling the vehicle to enter an anti-flight working condition when the rotating speed change rate exceeds a preset interval, determining an anti-flight torque according to the actual output torque of the driving motor, and controlling the driving motor to output according to the anti-flight torque, wherein the anti-flight torque is smaller than the actual output torque.
7. The apparatus of claim 6, wherein the first control module is further configured to determine a target demand torque based on a driver's driving intent, the anti-flight torque being matched based on the actual output torque and the target demand torque.
8. The method of claim 6, further comprising:
the second control module is used for detecting whether the change rate of the rotating speed is in the preset interval or not after the driving motor is controlled to output according to the anti-flight torque, and controlling the vehicle to exit the anti-flight working condition if the change rate of the rotating speed is in the preset interval;
the third control module is used for controlling the driving motor to output the target required torque when the rotating speed change rate is within the preset interval;
and the prompt module is used for generating the soaring prompt information of the vehicle after controlling the vehicle to enter the soaring prevention working condition and utilizing the soaring prompt information to prompt soaring.
9. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the anti-flight method of a vehicle according to any one of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing an anti-flight method of a vehicle according to any one of claims 1 to 5.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210010203.3A CN114312324A (en) | 2022-01-06 | 2022-01-06 | Anti-flying method and device for vehicle, vehicle and storage medium |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210010203.3A CN114312324A (en) | 2022-01-06 | 2022-01-06 | Anti-flying method and device for vehicle, vehicle and storage medium |
Publications (1)
Publication Number | Publication Date |
---|---|
CN114312324A true CN114312324A (en) | 2022-04-12 |
Family
ID=81025002
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210010203.3A Pending CN114312324A (en) | 2022-01-06 | 2022-01-06 | Anti-flying method and device for vehicle, vehicle and storage medium |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN114312324A (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106740267A (en) * | 2017-01-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | Control method and system for output torque |
CN109305052A (en) * | 2018-09-30 | 2019-02-05 | 浙江吉利控股集团有限公司 | Antiskid control system, method and automobile |
CN109515213A (en) * | 2018-12-14 | 2019-03-26 | 深圳市英威腾电动汽车驱动技术有限公司 | A kind of speed-limiting control method and system of new energy vehicle |
CN111572366A (en) * | 2020-05-22 | 2020-08-25 | 安徽江淮汽车集团股份有限公司 | Method, equipment, storage medium and device for protecting electric vehicle in air |
CN112549991A (en) * | 2020-12-17 | 2021-03-26 | 广州橙行智动汽车科技有限公司 | Torque control method, device, vehicle and storage medium |
-
2022
- 2022-01-06 CN CN202210010203.3A patent/CN114312324A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106740267A (en) * | 2017-01-25 | 2017-05-31 | 北京新能源汽车股份有限公司 | Control method and system for output torque |
CN109305052A (en) * | 2018-09-30 | 2019-02-05 | 浙江吉利控股集团有限公司 | Antiskid control system, method and automobile |
CN109515213A (en) * | 2018-12-14 | 2019-03-26 | 深圳市英威腾电动汽车驱动技术有限公司 | A kind of speed-limiting control method and system of new energy vehicle |
CN111572366A (en) * | 2020-05-22 | 2020-08-25 | 安徽江淮汽车集团股份有限公司 | Method, equipment, storage medium and device for protecting electric vehicle in air |
CN112549991A (en) * | 2020-12-17 | 2021-03-26 | 广州橙行智动汽车科技有限公司 | Torque control method, device, vehicle and storage medium |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107512175B (en) | Pure electric vehicle speed display method and device | |
CN110696829B (en) | Method and device for processing vehicle soaring and slipping, electric vehicle and storage medium | |
US8956266B2 (en) | Vehicle driving force control device | |
CN109849933B (en) | Method and device for determining driver demand torque, vehicle and readable storage medium | |
CN106240372B (en) | Control device for electric vehicle | |
CN113968139A (en) | Vehicle driving antiskid control method, device, equipment and storage medium | |
WO2023151458A1 (en) | Motor torque control method and apparatus, electronic device, and vehicle | |
CN110466363B (en) | Motor control method, device, equipment and computer readable storage medium for vehicle | |
CN112874316B (en) | Stability control method and device for electric automobile and vehicle | |
CN113734171B (en) | Anti-slip control method and device based on whole vehicle controller and electronic equipment | |
CN109334454A (en) | A kind of method, apparatus and vehicle of restricted speed | |
CN111959487A (en) | Vehicle torque safety monitoring method and device, vehicle and storage medium | |
CN111391866B (en) | Method and system for monitoring function safety torque | |
CN115476837A (en) | Vehicle speed control method and system and vehicle | |
CN114475263B (en) | Control method, whole vehicle controller, control system, electric vehicle and storage medium | |
CN109353326B (en) | Engine torque control method and device | |
CN111942170A (en) | Vehicle creep control device and vehicle creep control method | |
CN113830012A (en) | Vehicle high fuel consumption reason diagnosis method, device, equipment and storage medium | |
CN115593238A (en) | Vehicle torque control method, electronic device, and storage medium | |
CN113386578B (en) | Torque output control method and device, vehicle and equipment | |
CN114312324A (en) | Anti-flying method and device for vehicle, vehicle and storage medium | |
CN112590564B (en) | Motor torque control method and device, electronic equipment and storage medium | |
CN114148337A (en) | Driver state information prompting method and device and computer readable storage medium | |
CN113602250A (en) | Automatic parking method and device for electric automobile, vehicle and storage medium | |
CN115123175A (en) | Vehicle control method and device and vehicle |
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 |