CN114734981A

CN114734981A - Control method, control device, storage medium and processor for preventing vehicle from slipping

Info

Publication number: CN114734981A
Application number: CN202210437313.8A
Authority: CN
Inventors: 赵洋; 于长虹; 刘元治; 梁赫奇; 吴爱彬; 周泽慧; 崔金龙; 倪健土
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2022-07-12

Abstract

The invention discloses a control method, a control device, a storage medium and a processor for preventing a vehicle from skidding. Wherein, the method comprises the following steps: detecting a driving state of the vehicle, wherein the driving state comprises that wheels of the vehicle are in a normal working state and the wheels are in a slipping state; judging whether the wheels are in a slipping state or not according to the driving state; if so, sending required torque information and acquiring a driving mode of the vehicle, wherein the required torque information is used for requesting the power system of the vehicle to provide required torque, and determining a response torque threshold value of the power system corresponding to the current driving mode based on the current driving mode; comparing the required torque with a response torque threshold value to obtain a comparison result; and responding to the required torque information to enable a power system of the vehicle to output the required torque under the condition that the comparison result meets the preset condition. The invention solves the technical problem that different driving modes are not considered when TCS response control is carried out when wheels slip in the prior art.

Description

Control method, control device, storage medium and processor for preventing vehicle from slipping

Technical Field

The invention relates to the technical field of vehicle control, in particular to a control method, a control device, a storage medium and a processor for preventing a vehicle from skidding.

Background

The dual-motor multi-mode hybrid system comprises pure electric driving modes, series driving modes, parallel driving modes and the like. Different driving modes should have different torque response modes and different energy management strategies when the wheels slip.

Patent CN104417525A discloses a system and method for controlling a hybrid vehicle during wheel slip of a vehicle having a power split transmission system, limiting the engine speed to an engine limit speed based on the drive motor speed and the generator speed when the vehicle slips, to prevent the generator speed from being overrun at the end of the wheel slip. The patent aims to prevent the generator speed from exceeding the limit, and does not mention how the vehicle assemblies are controlled during wheel slip.

Patent CN107757608A discloses a method of controlling engine drive force during TCS operation of a hybrid vehicle. The patent does not consider vehicle modes (pure electric, series connection and parallel connection) when TCS response control is carried out, different vehicle modes have different TCS response strategies, and the patent does not describe the control strategy of a motor when TCS response control is carried out.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides a control method, a control device, a storage medium and a processor for preventing a vehicle from slipping, and at least solves the technical problem that different driving modes are not considered when TCS response control is carried out when wheels slip in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a control method of preventing a slip of a vehicle, the control method including: detecting a driving state of the vehicle, wherein the driving state comprises that wheels of the vehicle are in a normal working state and the wheels are in a slipping state; judging whether the wheels are in a slipping state or not according to the driving state; if so, transmitting the required torque information and acquiring a driving mode of the vehicle, wherein the required torque information is used for requesting the power system of the vehicle to provide the required torque, and the driving mode comprises at least one of the following modes: a pure electric mode, a series mode, a parallel mode; determining a response torque threshold of the power system corresponding to the current driving mode based on the current driving mode; comparing the required torque with a response torque threshold to obtain a comparison result; and responding to the required torque information to enable a power system of the vehicle to output the required torque under the condition that the comparison result meets the preset condition.

Optionally, determining a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode comprises: under the condition that the current driving mode of the vehicle is determined to be the pure electric mode, collecting first working condition information of a power battery of the vehicle, wherein the first working condition information comprises at least one of the following conditions: the system comprises a power battery, a high-voltage accessory, a driving motor maximum driving torque, and a driving motor efficiency; a response torque threshold of the drive motor is determined based on the first operating condition information.

Optionally, the control method further includes: comparing the required torque with a response torque threshold value to obtain a first comparison result; and under the condition that the first comparison result meets the preset condition, controlling the driving motor to output the required torque and controlling the power battery to provide electric energy for the driving motor.

Optionally, determining a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode comprises: under the condition that the current driving mode of the vehicle is determined to be the series mode, second working condition information of the vehicle is collected, wherein the second working condition information comprises at least one of the following conditions: the method comprises the following steps of (1) carrying out 2s discharge power capacity on a power battery, 10s discharge power capacity on the power battery, reserved starting power on the power battery, reserved speed regulation power on the power battery, actual torque of a generator, actual rotating speed of the generator, generator efficiency, high-voltage accessory power, self maximum driving torque of a driving motor, self maximum generating torque of the driving motor, efficiency of the driving motor, actual power of the driving motor, self maximum driving torque of the generator, self maximum generating torque of the generator and maximum torque of the engine under the current inflation efficiency; response torque thresholds for the drive motor, the generator, and the engine in the powertrain are determined based on the second operating condition information.

Optionally, the control method further includes: comparing the required torque with a response torque threshold value to obtain a second comparison result; determining a required power required for responding to the required torque based on the required torque under the condition that the second comparison result meets a preset condition; acquiring SOC balance required power of a power battery; determining a target power of the engine based on the demanded power, the SOC balance demanded power, and the high-voltage accessory power; determining a target speed of the engine based on the target power of the engine; determining a target torque of the engine based on the target power of the engine and the target rotating speed of the engine; determining a target rotation speed of the generator and a target torque of the generator based on the target rotation speed of the engine and the target torque of the engine; the driving motor is controlled to output a required torque, the engine is controlled in response to a target rotation speed of the engine and a target torque of the engine, and the generator is controlled in response to a target rotation speed of the generator and a target torque of the generator.

Optionally, determining a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode comprises: under the condition that the current driving mode of the vehicle is determined to be the parallel mode, collecting third working condition information of the vehicle, wherein the third working condition information comprises at least one of the following conditions: the power battery discharge power capacity of 10s, the actual torque of the generator, the actual rotating speed of the generator, the efficiency of the generator, the high-voltage accessory power, the self maximum driving torque of the driving motor, the efficiency of the driving motor, the actual power of the driving motor, the self maximum driving torque of the generator, the self maximum generating torque of the generator, the maximum torque of the engine and the loss torque of the engine; a response torque threshold for the drive motor, the generator, and the engine in the powertrain is determined based on the third operating condition information.

Optionally, the control method includes: comparing the required torque with a response torque threshold value to obtain a third comparison result; determining a required power required for responding to the required torque based on the required torque under the condition that the third comparison result meets a preset condition; acquiring SOC balance required power of a power battery and actual torque of an engine; determining a target power of the engine based on the demanded power, the SOC balance demanded power, and the high-voltage accessory power; determining a target speed of the engine based on the target power of the engine; determining a target torque of the engine based on the target power and the target rotating speed of the engine, and determining a target torque of the driving motor based on the required torque and the actual torque of the engine; the engine is controlled to respond to a target torque of the engine, the driving motor responds to a target torque of the driving motor to compensate for a torque response capability of the engine, and the generator is controlled not to output torque.

According to another aspect of the embodiments of the present invention, there is also provided a control device for preventing a slip of a vehicle, the control device including: the device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for detecting the running state of the vehicle, and the running state comprises that wheels of the vehicle are in a normal working state and the wheels are in a slipping state; a judging unit for judging whether the wheel is in a slipping state according to the driving state; and the acquiring unit is used for sending the required torque information and acquiring a driving mode of the vehicle if the required torque information is used for requesting the power system of the vehicle to provide the required torque, and the driving mode comprises at least one of the following modes: a pure electric mode, a series mode, a parallel mode; the determining unit is used for determining a response torque threshold value of the power system corresponding to the current driving mode based on the current driving mode; the comparison unit compares the required torque with a response torque threshold value to obtain a comparison result; and the response unit is used for responding to the required torque information to enable the power system of the vehicle to output the required torque under the condition that the comparison result meets the preset condition.

According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the computer program is configured to control execution of the control method described above when executed.

According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the processor executes the control method described above by a computer program.

In the embodiment of the invention, by detecting the running state of the vehicle, whether the wheels are in a slipping state is judged according to the running state, if so, the required torque information is sent and the driving mode of the vehicle is acquired, wherein the required torque information is used for requesting the power system of the vehicle to provide the required torque, and the driving mode comprises at least one of the following modes: the method comprises the steps of determining a response torque threshold value of a power system corresponding to a current driving mode based on the current driving mode, comparing a required torque with the response torque threshold value to obtain a comparison result, responding to required torque information to enable the power system of a vehicle to output the required torque under the condition that the comparison result meets a preset condition, responding to the required torque by using different power systems according to the current driving mode of the vehicle, and performing corresponding energy management. Both guaranteed the response of demand moment of torsion, guaranteed the driving stability of vehicle, prevent again that power battery from overcharging or overdischarging, can also guarantee power battery's life under the condition that does not influence economic nature, carried out TCS response control when having solved among the prior art and not having considered the technical problem of different driving modes when the wheel skids.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a block diagram of an electric-only mode of a hybrid vehicle according to the prior art;

FIG. 2 is a block diagram of a series mode of a hybrid vehicle according to the prior art;

fig. 3 is a block diagram of a parallel mode of a hybrid vehicle according to the related art;

FIG. 4 is a flow chart illustrating an alternative anti-skid control method for a vehicle according to an embodiment of the present invention;

FIG. 5 is a schematic flow chart illustrating the calculation of the maximum driving torque of the driving motor in an alternative electric-only mode or series mode according to the embodiment of the present invention;

FIG. 6 is a schematic flow chart illustrating the calculation of the maximum generated torque of the drive motor in an alternative electric-only mode or series mode in accordance with the embodiments of the present invention;

FIG. 7 is a schematic flow chart illustrating the calculation of maximum drive torque for an alternative series or parallel mode generator according to an embodiment of the present invention;

FIG. 8 is a schematic flow chart illustrating the calculation of maximum generated torque for an alternative series or parallel mode generator according to an embodiment of the present invention;

FIG. 9 is a schematic flow chart illustrating the calculation of maximum torque for an engine in an alternative series mode according to the embodiments of the present invention;

FIG. 10 is a schematic flow chart illustrating the calculation of maximum drive torque for the drive motors in an alternative parallel mode in accordance with the embodiments of the present invention;

FIG. 11 is a schematic flow chart illustrating calculation of powertrain response torque demand in an alternative series mode, in accordance with the exemplary embodiment of the present invention;

FIG. 12 is a schematic flow chart illustrating calculation of powertrain response torque demand in an alternative parallel mode, in accordance with the exemplary embodiment of the present invention;

fig. 13 is a block diagram of an alternative control device according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The dual-motor hybrid electric vehicle comprises an engine, a driving motor (TM) and a Generator (GM). The driving modes include electric only, series, parallel, etc. modes, and as shown in fig. 1, is a block diagram of a structure of an electric only mode of a hybrid vehicle according to the related art, fig. 2 is a block diagram of a structure of a series mode of a hybrid vehicle according to the related art, and fig. 3 is a block diagram of a structure of a parallel mode of a hybrid vehicle according to the related art. In the pure electric mode, the driving motor provides driving torque for driving the vehicle, the power battery provides electric energy required by the driving motor, and the engine is in a stop state. In the series mode, the driving motor provides driving torque for the running of the vehicle, and the engine provides required electric energy for the driving motor through the generator. Under the parallel model, the engine directly drives the vehicle to run, and the driving motor recovers braking energy or provides driving power-assisted torque.

In accordance with an embodiment of the present invention, there is provided a method embodiment of a method for anti-skid control of a vehicle, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than presented herein.

Fig. 4 is a control method for preventing a slip of a vehicle according to an embodiment of the present invention, as shown in fig. 4, including the steps of:

step S101, detecting a running state of a vehicle, wherein the running state comprises that wheels of the vehicle are in a normal working state and the wheels are in a slipping state;

step S102, judging whether the wheel is in a slipping state according to the driving state;

step S103, if yes, sending required torque information and acquiring a driving mode of the vehicle, wherein the required torque information is used for requesting to provide required torque to a power system of the vehicle, and the driving mode comprises at least one of the following modes: a pure electric mode, a series mode, a parallel mode;

step S104, determining a response torque threshold value of the power system corresponding to the current driving mode based on the current driving mode;

step S105, comparing the required torque with a response torque threshold value to obtain a comparison result;

and S106, responding to the required torque information to enable the power system of the vehicle to output the required torque under the condition that the comparison result meets the preset condition.

Through the steps, the required torque can be responded by using different power systems according to the current vehicle driving mode, and corresponding energy management is carried out. Both guaranteed the response of demand moment of torsion, guaranteed the driving stability of vehicle, prevent again that power battery from overcharging or overdischarging, can also guarantee power battery's life under the condition that does not influence economic nature, carried out TCS response control when having solved among the prior art and not having considered the technical problem of different driving modes when the wheel skids.

In an exemplary embodiment of the present application, when the wheels are slipping, the drive anti-slip (TCS/ASR) function of the vehicle is turned on, issuing a torque down request to the vehicle. A Vehicle Control Unit (VCU) compares the driver requested torque with the TCS requested torque and responds to the TCS requested torque when the TCS requested torque is less than the driver requested torque. The control mode for responding to the TCS torque is different in different driving modes.

Optionally, determining a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode comprises: under the condition that the current driving mode of the vehicle is determined to be the pure electric mode, collecting first working condition information of a power battery of the vehicle, wherein the first working condition information comprises at least one of the following conditions: the method comprises the steps of determining the 2s discharge power capacity of a power battery, the 10s discharge power capacity of the power battery, the reserved starting power of the power battery, the reserved speed regulation power of the power battery, the actual torque of a generator, the actual rotating speed of the generator, the high-voltage accessory power, the self maximum driving torque of a driving motor and the efficiency of the driving motor, and determining the response torque threshold of the driving motor based on first working condition information. Fig. 5 is a schematic flow chart illustrating a calculation process of a maximum driving torque of a driving motor in an optional pure electric mode or in a series mode according to an embodiment of the present invention, in which a power battery reserves a portion of power as reserved starting power for a Generator (GM) to drag an engine to start, the reserved starting power should be cleared after the engine starts, and in addition, the power battery reserves a portion of power as reserved governing power for the Generator (GM) to adjust an operating point of the engine through closed-loop control in the series mode. Specifically, the calculation flow is as follows: the power battery reports 2s discharge power capability, 10s discharge power capability and 10s charging power capability of the power battery, the driving motor (TM) reports the TM own maximum driving torque, the Generator (GM) reports the GM own maximum driving torque, the high-voltage accessory power is obtained by adding air conditioner compressor power, DCDC input power and PTC power, the efficiency of the driving motor is obtained by looking up a table, the generating power (GM generating power) of the Generator (GM) can be obtained according to the actual torque of the generator and the actual rotating speed of the generator, firstly, the 2s discharge power capability of the power battery is differentiated from the reserved starting power to obtain a first difference value, the 10s discharge power capability of the power battery is differentiated from the reserved speed regulation power to obtain a second difference value, the smaller one of the first difference value and the second difference value is the maximum driving power which can be provided by the power battery for the driving motor (TM), the method comprises the steps of adding the maximum driving power which can be provided by a power battery for a driving motor (TM) and GM generating power, then subtracting high-voltage accessory power to obtain the input driving power of the driving motor (TM), determining the driving torque of the driving motor (TM) according to the input driving power of the driving motor (TM) and the efficiency of the driving motor (TM), comparing the driving torque with the maximum driving torque of the TM, wherein the smaller one of the driving torque and the maximum driving torque of the TM is the maximum driving torque of the TM. As shown in fig. 6, which is a schematic diagram of a calculation flow of a maximum power generation torque of a driving motor in an optional pure electric mode or a series mode according to an embodiment of the present invention, first, a difference is made between a 10s charging power capability of a power battery and a reserved speed regulation power to obtain a maximum power generation power that can be provided by the power battery to the driving motor (TM), a power generation power of a generator is subtracted from the maximum power generation power that can be provided by the power battery to the driving motor (TM), and the subtracted power is added to a high-voltage accessory power to obtain an input power generation power of the driving motor (TM), and a power generation torque of the driving motor (TM) can be determined according to the input power generation power and the TM efficiency of the driving motor (TM), and the power generation torque is compared with the TM own maximum power generation torque, where the smaller of the two is the TM maximum power generation torque. The response torque threshold of the driving motor can be determined by the TM maximum driving torque and the TM maximum generating torque. When the required torque is responded, if the driving mode of the current vehicle is the pure electric mode, the torque of the driving motor must be limited to be not lower than the lower limit value of the response torque threshold value of the driving motor in the pure electric mode and not higher than the upper limit value of the response torque threshold value of the driving motor in the pure electric mode. Therefore, the assembly capacity of the driving motor (TM) can be limited, so that the situation that the power battery is overcharged and overdischarged due to unreasonable power utilization of the driving motor (TM) is prevented.

Optionally, the control method further includes: comparing the required torque with a response torque threshold value to obtain a first comparison result; and under the condition that the first comparison result meets the preset condition, controlling the driving motor to output the required torque and controlling the power battery to provide electric energy for the driving motor. The preset condition is set to be within a range of the response torque threshold value. This arrangement improves the reliability in response to the required torque.

Optionally, determining a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode comprises: under the condition that the current driving mode of the vehicle is determined to be the series mode, second working condition information of the vehicle is collected, wherein the second working condition information comprises at least one of the following conditions: the method comprises the steps of determining the response torque threshold of a driving motor, a generator and an engine in a power system based on second working condition information, wherein the response torque threshold of the driving motor, the generator and the engine in the power system is determined based on second working condition information. The calculation mode of the response torque threshold of the driving motor in the series mode is the same as that of the response torque threshold of the driving motor in the pure electric mode. It should be noted that the values of the parameters such as the high-voltage accessory power and the GM power in the series mode are different from those in the electric-only mode, and the response torque threshold of the driving motor in the series mode is also different from that in the electric-only mode. Fig. 7 is a schematic flow chart of the calculation of the maximum driving torque of the generator in the alternative series mode or parallel mode according to the embodiment of the present invention, and the maximum driving torque of the generator is calculated as follows: firstly, the actual power of the driving motor (i.e. the TM actual power in fig. 7) and the high-voltage accessory power are subtracted from the 10s discharge power capacity of the power battery to obtain the input driving power of the generator, the driving power of the generator is determined by the input driving power of the generator and the efficiency of the generator (i.e. the GM efficiency in fig. 7), the driving torque of the generator is determined by the driving power of the generator and the rotation speed of the generator, and the smaller of the driving torque of the generator and the maximum driving torque of the GM motor itself is taken as the maximum driving torque of the generator (the GM maximum driving torque in fig. 8). Fig. 8 is a schematic flow chart illustrating the calculation of the maximum generating torque of the generator in the optional series mode or parallel mode according to the embodiment of the present invention, wherein the maximum generating torque of the generator is calculated as follows: firstly, the input generating power of the generator is obtained by adding the 10s charging power capacity of the power battery with the actual power of the driving motor (i.e. the TM actual power in fig. 8) and the high-voltage accessory power, the generating power of the generator is determined by the input generating power of the generator and the efficiency of the generator (i.e. the GM efficiency in fig. 8), the generating torque of the generator is determined by the generating power of the generator and the rotating speed of the generator, and the smaller of the generating torque of the generator and the maximum generating torque of the GM motor is taken as the maximum generating torque of the generator (the GM maximum generating torque in fig. 8). The response torque threshold of the generator in the series mode can be determined according to the maximum driving torque of the generator and the maximum generating torque of the generator. Fig. 9 is a schematic flow chart illustrating a calculation process of the maximum torque of the engine in the optional series mode according to an embodiment of the present invention, where the speed regulation torque of the engine is obtained from the reserved speed regulation power and the rotation speed of the engine, the speed regulation torque of the engine is subtracted from the GM maximum generation torque to obtain the GM end torque, the engine end torque is determined from the GM end torque and the speed ratio between the engine and the generator, and the smaller of the engine end torque and the engine maximum torque at the current charging efficiency is taken as the engine maximum torque. When the required torque is responded, if the current driving mode of the vehicle is the series mode, the torque of the driving motor must be limited to be not lower than the lower limit value of the response torque threshold value of the driving motor in the series mode and not higher than the upper limit value of the response torque threshold value of the driving motor in the series mode, and meanwhile, the torque of the generator must be limited to be not lower than the lower limit value of the response torque threshold value of the generator in the series mode and not higher than the upper limit value of the response torque threshold value of the generator in the series mode, so that the torque of the engine cannot exceed the maximum torque of the engine. Therefore, in the series mode, the assembly capacity of the driving motor (TM), the Generator (GM) and the engine can be limited, so that unreasonable power utilization of the driving motor (TM) is prevented, and unreasonable power supply of the generator and the engine is prevented, and the power battery is prevented from being overcharged and overdischarged.

Optionally, the control method further includes: the method comprises the steps of comparing a required torque with a response torque threshold value to obtain a second comparison result, determining required power required by the response required torque based on the required torque under the condition that the second comparison result meets a preset condition, obtaining SOC balance required power of a power battery, and determining target power of an engine based on the required power, the SOC balance required power and high-voltage accessory power. A target rotation speed of the engine is determined based on the target power of the engine, and a target torque of the engine is determined based on the target power of the engine and the target rotation speed of the engine. A target rotation speed of the generator and a target torque of the generator are determined based on the target rotation speed of the engine and the target torque of the engine. The driving motor is controlled to output a required torque, the engine is controlled in response to a target rotation speed of the engine and a target torque of the engine, and the generator is controlled in response to a target rotation speed of the generator and a target torque of the generator. The energy management in response to the requested torque in series mode is: the driving motor outputs the required torque, the engine drives the generator to work, and the generator provides electric energy for the driving motor. Specifically, as shown in fig. 11, which is a schematic flow chart illustrating a calculation flow of a response required torque of the powertrain in an optional series mode according to an embodiment of the present invention, in the series mode, if the required torque is within a range of a response torque threshold of the powertrain in the series mode, a target power of the engine (the engine power requirement in fig. 11) is calculated, the target power of the engine is a sum of the required power (the TCS power in fig. 11), the SOC balance required power (the SOC balance requirement (PI control) in fig. 11), and the high-voltage accessory power (the accessory power in fig. 11), and the target rotational speed of the engine can be determined by looking up an engine power-rotational speed table according to the target power of the engine, and a ratio of the target power of the engine to the target rotational speed of the engine is the target torque of the engine. The target torque of the generator may be obtained by multiplying the target torque of the engine by the speed ratio, and the target rotation speed of the generator may be obtained by multiplying the target rotation speed of the engine by the speed ratio. This can improve the reliability of the series mode in response to the required torque.

Optionally, determining a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode comprises: under the condition that the current driving mode of the vehicle is determined to be the parallel mode, collecting third working condition information of the vehicle, wherein the third working condition information comprises at least one of the following conditions: the power battery discharge power capacity of 10s, the actual torque of the generator, the actual rotating speed of the generator, the efficiency of the generator, the high-voltage accessory power, the self maximum driving torque of the driving motor, the efficiency of the driving motor, the actual power of the driving motor, the self maximum driving torque of the generator, the self maximum generating torque of the generator, the maximum torque of the engine and the loss torque of the engine; a response torque threshold for the drive motor, the generator, and the engine in the powertrain is determined based on the third operating condition information. In the present embodiment, the maximum power generation torque of the drive motor is 0. As shown in fig. 10, which is a schematic diagram of a calculation flow of the maximum driving torque of the driving motor in the optional parallel mode according to the embodiment of the present invention, first, the GM power generation and the high-voltage accessory power are subtracted from the 10s discharge power capacity of the power battery to obtain the input driving power of the driving motor (TM), the driving power of the driving motor (TM) can be determined according to the input driving power of the driving motor (TM) and the TM efficiency, the driving torque of the driving motor can be determined according to the driving power of the driving motor (TM) and the rotation speed of the driving motor (TM), and the smaller of the driving torque of the driving motor (TM) and the maximum driving torque of the TM itself is taken to be the TM maximum driving torque. In the parallel mode, the calculation mode of the response torque threshold of the generator is the same as that of the response torque threshold of the generator in the parallel mode. It should be noted that the values of the parameters such as the high-voltage accessory power and the TM actual power in the parallel mode are different from those in the series mode, and the response torque threshold of the generator in the parallel mode is also different from that of the generator in the series mode. The maximum torque of the engine is reported through EMS, and the minimum torque of the engine is determined through the following formula: the engine minimum torque is-1 × engine loss torque. When the required torque is responded, if the driving mode of the current vehicle is the parallel mode, the torque of the driving motor is limited to be not less than 0 and not more than the maximum driving torque of the driving motor in the parallel mode, and meanwhile, the torque of the generator is limited to be not lower than the lower limit value of the response torque threshold value of the parallel mode generator and not higher than the upper limit value of the response torque threshold value of the parallel mode generator, and the torque of the engine is limited to be not more than the maximum torque of the engine and not lower than the minimum torque of the engine. Therefore, when the required torque is responded in the parallel mode, the capacity limitation of the driving motor, the generator and the engine in the parallel mode can be fully considered, the unreasonable power utilization of the driving motor (TM) is further prevented, and the unreasonable power supply of the generator and the engine is prevented, so that the power battery is prevented from being overcharged and overdischarged.

Optionally, the control method comprises: comparing the required torque response torque threshold values to obtain a third comparison result, and under the condition that the third comparison result meets the preset condition, the method comprises the steps of determining required power required for responding to required torque based on the required torque, obtaining SOC balance required power of a power battery and actual torque of an engine, determining target power of the engine based on the required power, the SOC balance required power and high-voltage accessory power, determining target rotating speed of the engine based on the target power of the engine, determining target torque of a driving motor based on the target power of the engine and the target rotating speed of the engine, determining target torque of the driving motor based on the required torque and the actual torque of the engine, controlling the engine to respond to the target torque of the engine, controlling the driving motor to respond to the target torque of the driving motor so as to compensate torque response capacity of the engine, and controlling a generator not to output torque. In this embodiment, when the driving mode is the parallel mode, the energy management manner in response to the required torque is: the engine directly drives the vehicle to run, and the driving motor recovers braking energy or provides driving power-assisted torque. Because the energy source of the engine is gasoline, compared with the motor, the torque response precision and the torque response time of the engine are poor, and therefore, the response capability of the engine is compensated by the driving motor. This can improve the reliability of the parallel mode in response to the required torque. Specifically, as shown in fig. 12, which is a schematic flow chart illustrating a calculation flow of the response required torque of the powertrain in an optional parallel mode according to the embodiment of the present invention, in the parallel mode, if the required torque is within the range of the response torque threshold of the powertrain in the parallel mode, the target power of the engine (the engine power requirement in fig. 12) is calculated, the target power of the engine is equal to the sum of the required power (the TCS required power in fig. 12), the high-voltage accessory power (the accessory power in fig. 12) and the SOC balance required power (the SOC balance requirement (PI control) in fig. 12), and the target speed of the engine can be determined by looking up the engine power-speed table from the target power of the engine, and the ratio of the target power of the engine to the target speed of the engine is the target torque of the engine. The target torque of the driving motor is a difference between the required torque and the actual torque of the engine, and the target torque of the generator is 0.

In an exemplary embodiment of the present application, the upper limit value of the response torque threshold is set as the required torque when the required torque is greater than the upper limit value of the response torque threshold of the powertrain system, and the lower limit value of the response torque threshold is set as the required torque when the required torque is less than the lower limit value of the response torque threshold of the powertrain system.

According to another embodiment of the present application, there is also provided a control device for preventing a slip of a vehicle, as shown in fig. 13, including: a detection unit 41, a judgment unit 42, an acquisition unit 43, a determination unit 44, a comparison unit 45, and a response unit 46. The detection unit 41 is configured to detect a running state of the vehicle, where the running state includes that wheels of the vehicle are in a normal operation state and that the wheels are in a slip state. The determination unit 42 is configured to determine whether the wheels are in a slip state according to the running state, and if so, to transmit the required torque information and acquire the driving mode of the vehicle through the acquisition unit 43. Wherein the requested torque information is used to request the powertrain of the vehicle to provide the requested torque. The driving mode includes at least one of: pure electric mode, series mode, parallel mode. The determination unit 44 is operative to determine a response torque threshold of the powertrain corresponding to the current driving mode based on the current driving mode. The comparison result is obtained by comparing the required torque with the response torque threshold by the comparison unit 45. The response unit 46 is configured to respond to the required torque information to cause the powertrain of the vehicle to output the required torque if the comparison result satisfies a preset condition.

According to another specific embodiment of the present application, there is also provided a computer-readable storage medium comprising a stored program, wherein the computer program is configured to control, when running, the execution of the control method in the above-described embodiments.

According to another specific embodiment of the present application, there is also provided a processor for executing a program, wherein the processor executes the control method in the above embodiments by a computer program.

By adopting the technical scheme, under the working condition that the vehicle is in slipping, when the TCS demand torque is responded, the corresponding assembly capacity limitation and energy management can be carried out on the power system of the vehicle according to the current driving mode of the vehicle, and different power systems can be controlled according to different driving modes to respond to the demand torque, so that the response of the demand torque is ensured, the driving stability of the vehicle is ensured, the overcharge or overdischarge of the power battery is prevented, the service life of the power battery can be ensured under the condition that the economy is not influenced, and the technical problem that different driving modes are not considered when the TCS response control is carried out when the wheel slips in the prior art is solved.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.

Claims

1. A control method for preventing a slip of a vehicle, characterized by comprising:

detecting a driving state of a vehicle, wherein the driving state comprises that wheels of the vehicle are in a normal working state and the wheels are in a slipping state;

judging whether the wheels are in a slipping state or not according to the running state;

if yes, sending required torque information and obtaining a driving mode of the vehicle, wherein the required torque information is used for requesting a power system of the vehicle to provide required torque, and the driving mode comprises at least one of the following modes: a pure electric mode, a series mode, a parallel mode;

determining a response torque threshold of the power system corresponding to the current driving mode based on the current driving mode;

comparing the required torque with the response torque threshold to obtain a comparison result;

and responding to the required torque information to enable the power system of the vehicle to output the required torque under the condition that the comparison result meets a preset condition.

2. The control method of claim 1, wherein determining a response torque threshold for the powertrain for a current driving mode based on the current driving mode comprises:

under the condition that the driving mode of the vehicle is determined to be the pure electric mode, collecting first working condition information of a power battery of the vehicle, wherein the first working condition information comprises at least one of the following conditions: the system comprises a power battery, a driving motor, and a driving motor efficiency;

determining the response torque threshold of the drive motor based on the first operating condition information.

3. The method according to claim 2, wherein the control method further comprises:

comparing the required torque with the response torque threshold value to obtain a first comparison result;

and under the condition that the first comparison result meets the preset condition, controlling the driving motor to output the required torque and controlling the power battery to provide electric energy for the driving motor.

4. The control method of claim 1, wherein determining a response torque threshold for the powertrain for a current driving mode based on the current driving mode comprises:

under the condition that the driving mode of the vehicle is determined to be the series mode, second working condition information of the vehicle is collected, wherein the second working condition information comprises at least one of the following conditions: the method comprises the following steps of (1) carrying out 2s discharge power capacity on a power battery, 10s discharge power capacity on the power battery, reserved starting power on the power battery, reserved speed regulation power on the power battery, actual torque of a generator, actual rotating speed of the generator, efficiency of the generator, high-voltage accessory power, self maximum driving torque of a driving motor, self maximum generating torque of the driving motor, efficiency of the driving motor, actual power of the driving motor, self maximum driving torque of the generator, self maximum generating torque of the generator and maximum torque of the engine under the current inflation efficiency;

determining the response torque thresholds of the drive motor, the generator, and the engine in the powertrain based on the second operating condition information.

5. The control method according to claim 4, characterized by further comprising:

comparing the required torque with the response torque threshold value to obtain a second comparison result;

determining a required power required to respond to the required torque based on the required torque if the second comparison result satisfies the preset condition;

acquiring SOC balance required power of the power battery;

determining a target power for the engine based on the demanded power, the SOC balance demanded power, and the high-voltage accessory power;

determining a target speed of the engine based on the target power of the engine;

determining a target torque of the engine based on the target power of the engine, the target rotational speed of the engine;

determining a target rotational speed of the generator and a target torque of the generator based on the target rotational speed of the engine and the target torque of the engine;

controlling the drive motor to output the required torque, the engine in response to the target rotation speed of the engine and the target torque of the engine, and the generator in response to the target rotation speed of the generator and the target torque of the generator.

6. The method of claim 1, wherein determining a response torque threshold for the powertrain system for the current driving mode based on the current driving mode comprises:

collecting third working condition information of the vehicle under the condition that the driving mode of the vehicle is determined to be the parallel mode, wherein the third working condition information comprises at least one of the following conditions: the power battery discharge power capacity of 10s, the actual torque of the generator, the actual rotating speed of the generator, the efficiency of the generator, the high-voltage accessory power, the self maximum driving torque of the driving motor, the efficiency of the driving motor, the actual power of the driving motor, the self maximum driving torque of the generator, the self maximum generating torque of the generator, the maximum torque of the engine and the loss torque of the engine;

determining the response torque thresholds for the drive motor, the generator, and the engine in the powertrain based on the third operating condition information.

7. The method according to claim 6, wherein the control method comprises:

comparing the required torque with the response torque threshold value to obtain a third comparison result;

determining a required power required to respond to the required torque based on the required torque if the third comparison result satisfies the preset condition;

acquiring SOC balance required power of the power battery and actual torque of the engine;

determining a target rotational speed of the engine based on the target power of the engine;

determining a target torque of the drive motor based on the required torque, the actual torque of the engine;

controlling the engine to respond to the target torque of the engine, the driving motor to respond to the target torque of the driving motor to compensate for a torque response capability of the engine, and controlling the generator not to output torque.

8. A control device for preventing a slip of a vehicle, characterized by comprising:

the device comprises a detection unit, a control unit and a control unit, wherein the detection unit is used for detecting the running state of a vehicle, and the running state comprises that wheels of the vehicle are in a normal working state and the wheels are in a slipping state;

the judging unit is used for judging whether the wheels are in a slipping state or not according to the running state;

and the acquiring unit is used for sending required torque information and acquiring a driving mode of the vehicle if the required torque information is used for requesting the power system of the vehicle to provide required torque, and the driving mode comprises at least one of the following modes: a pure electric mode, a series mode, a parallel mode;

the determining unit is used for determining a response torque threshold value of the power system corresponding to the current driving mode based on the current driving mode;

the comparison unit is used for comparing the required torque with the response torque threshold value to obtain a comparison result;

and the response unit is used for responding to the required torque information to enable the power system of the vehicle to output the required torque under the condition that the comparison result meets a preset condition.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the control method of any one of claims 1 to 7.

10. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the control method according to any one of claims 1 to 7 when running.