CN114771266A - Antiskid control method, device, equipment and storage medium - Google Patents

Antiskid control method, device, equipment and storage medium Download PDF

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Publication number
CN114771266A
CN114771266A CN202210464511.3A CN202210464511A CN114771266A CN 114771266 A CN114771266 A CN 114771266A CN 202210464511 A CN202210464511 A CN 202210464511A CN 114771266 A CN114771266 A CN 114771266A
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China
Prior art keywords
torque
vehicle
wheel
speed
wheel speed
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CN202210464511.3A
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Chinese (zh)
Inventor
卜健
楚勇哲
王智颖
汪兴建
冯艳
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Dongfeng Nissan Passenger Vehicle Co
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Dongfeng Nissan Passenger Vehicle Co
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Priority to CN202210464511.3A priority Critical patent/CN114771266A/en
Publication of CN114771266A publication Critical patent/CN114771266A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/10—Indicating wheel slip ; Correction of wheel slip
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/46—Drive Train control parameters related to wheels
    • B60L2240/461—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/54—Drive Train control parameters related to batteries

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention relates to the technical field of automobile control, and discloses an anti-skid control method, an anti-skid control device, anti-skid control equipment and a storage medium, wherein in the driving process of a vehicle, whether the vehicle is in a skid state or not is determined according to the slip rate or the difference value of the speeds of front wheels and rear wheels; when the vehicle is in a slipping state, acquiring torque to be adjusted; determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque; the execution torque is sent to the motor controller, the motor is controlled to work according to the execution torque through the motor controller, so that the slip state is judged automatically through the vehicle controller, the torque is adjusted quickly according to the slip state judgment result, the VCM does not need to wait for the vehicle slip judgment result of the VDC and the torque adjustment request, the VCM judges that the vehicle slips independently and then quickly performs slip correction control, and the motor is quickly requested to execute, so that quick anti-slip control is realized.

Description

Antiskid control method, device, equipment and storage medium
Technical Field
The invention relates to the technical field of automobile control, in particular to an antiskid control method, an antiskid control device, antiskid control equipment and a storage medium.
Background
The conventional Vehicle state and drive antiskid Control is performed in a Vehicle Dynamic Control (VDC) controller, the VDC needs to perform matching development of four-wheel braking force according to the Vehicle weight, a braking system and other states of a Vehicle, various environmental road surfaces and three-high experimental calibration are needed, and the development period is long and the cost is high. Because the vehicle state is different, so every model need newly develop, if the motor system of vehicle has the change, also need VDC to carry out corresponding match development, invest high development cost.
After the VDC system judges that the Vehicle slips, information is sent to a Vehicle Control unit (VCM), the VCM arbitrates the information such as the intention of a driver and the state of the Vehicle, an execution torque value after calculation is sent to a motor controller to be executed, a Control link is long, the period from the beginning of the Vehicle slipping to the execution of the slip Control is long, the Vehicle slipping cannot be corrected at the first time, and if the Vehicle slips in an accelerating mode, the execution torque of the motor is rapidly increased during the period, so that the difficulty of the slip Control is increased. If the control strategy has slight deviation, obvious impact feeling of the vehicle is brought, the driving performance score is poor, and the potential driving hazard is brought when the vehicle is positioned on the roadside of the ice surface.
Disclosure of Invention
The invention mainly aims to provide an antiskid control method, an antiskid control device, antiskid control equipment and a storage medium, and aims to solve the problem of how to more effectively realize quick antiskid control.
In order to achieve the above object, the present invention provides an antiskid control method, including the steps of:
determining whether the vehicle is in a slipping state or not according to the slip rate or the difference value of the speeds of the front wheel and the rear wheel during the driving process of the vehicle;
when the vehicle is in a slipping state, acquiring torque to be adjusted;
determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque;
and sending the execution torque to a motor controller, and controlling the motor to work according to the execution torque through the motor controller.
Optionally, determining whether the vehicle is in a slip state based on the slip ratio comprises:
when the current vehicle speed is greater than or equal to the vehicle speed threshold value, acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel of the vehicle;
obtaining a slip rate according to the wheel speed of the front wheel and the wheel speed of the rear wheel;
and when the slip rate is greater than or equal to the slip rate threshold value, determining that the vehicle is in a slip state.
Optionally, the obtaining a slip ratio according to the front wheel speed and the rear wheel speed comprises:
when the vehicle is a front-drive vehicle, acquiring a first difference value between the wheel speed of the front wheel and the wheel speed of the rear wheel;
obtaining a slip rate according to the first difference and the rear wheel speed;
when the vehicle is a rear-drive vehicle, acquiring a second difference value between the speed of the rear wheel and the speed of the front wheel;
and obtaining the slip rate according to the second difference and the wheel speed of the front wheel.
Alternatively, determining whether the vehicle is in a slip state based on the difference between the wheel speeds of the front and rear wheels comprises:
when the current vehicle speed is smaller than a vehicle speed threshold value, acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel of the vehicle;
obtaining a wheel speed difference value of the front wheel and the rear wheel according to the wheel speed of the front wheel and the wheel speed of the rear wheel;
and when the wheel speed difference value of the front wheel and the rear wheel is larger than or equal to a first wheel speed threshold value, determining that the vehicle is in a slipping state.
Optionally, the obtaining a front wheel speed difference value according to the front wheel speed and the rear wheel speed comprises:
when the vehicle is a front-drive vehicle, subtracting the wheel speed of a rear wheel from the wheel speed of the front wheel to obtain a wheel speed difference value of the front wheel and the rear wheel;
and when the vehicle is a rear-drive vehicle, subtracting the wheel speed of the front wheel from the wheel speed of the rear wheel to obtain a wheel speed difference value of the front wheel and the rear wheel.
Optionally, the determining whether the vehicle is in a slipping state according to the slip ratio or the difference between the speeds of the front wheel and the rear wheel includes:
acquiring a gear signal and an accelerator pedal signal;
and when the gear signal is a forward gear signal, the pedal opening degree of the accelerator pedal signal reaches a preset opening degree, the slip rate is greater than or equal to a slip rate threshold value, or the difference value of the speeds of front wheels and rear wheels is greater than or equal to a wheel speed threshold value, determining that the vehicle is in a slipping state.
Optionally, before determining whether the vehicle is in a slip state according to the slip ratio or the difference between the speeds of the front wheel and the rear wheel during driving of the vehicle, the method includes:
setting the priority of the antiskid control torque and the priority of the driver intention torque to enable the priority of the antiskid control torque to be larger than the priority of the driver intention torque;
when the vehicle is in the state of skidding, obtain and treat the adjustment torque, include:
when the vehicle is in a slipping state, acquiring an anti-slipping control torque and a driver intention torque;
and shielding the driver intention torque according to the priority of the antiskid control torque and the driver intention torque, and taking the antiskid control torque as the torque to be adjusted.
Optionally, the torque control strategy comprises a low speed torque control strategy;
the method for determining the torque control strategy according to the current vehicle speed or the current driving wheel speed and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque comprises the following steps:
when the vehicle is started or the current vehicle speed is smaller than a vehicle speed threshold value, acquiring an execution torque of a previous period according to the low-speed torque control strategy;
and carrying out torque reduction on the execution torque of the previous period to a preset torque, and taking the preset torque as the execution torque.
Optionally, the torque control strategy comprises a high speed torque control strategy;
the method for determining the torque control strategy according to the current vehicle speed or the current driving wheel speed and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque comprises the following steps:
when the current vehicle speed is greater than or equal to a vehicle speed threshold or the current driving wheel speed is greater than or equal to a second wheel speed threshold, inquiring a torque reduction ratio table according to the current slip rate and the current driving wheel speed through a high-speed torque control strategy to obtain a current torque reduction ratio, wherein the torque reduction ratio table records the corresponding relation among the slip rate, the driving wheel speed and the corresponding torque reduction ratio;
and dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque.
Optionally, after dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque, the method further includes:
monitoring the slip rate and the change of the wheel speed of the driving wheel in real time;
and when the changed slip ratio and the torque reduction ratio corresponding to the wheel speed of the driving wheel are changed, reducing the torque according to the new torque reduction ratio until the execution torque reaches the preset torque.
In addition, in order to achieve the above object, the present invention also provides an antiskid control device including:
the acquisition module is used for determining whether the vehicle is in a slipping state or not according to the slip rate or the difference value of the speeds of the front wheel and the rear wheel in the driving process of the vehicle;
the acquisition module is also used for acquiring the torque to be adjusted when the vehicle is in a slipping state;
the adjusting module is used for determining a torque control strategy according to the current vehicle speed or the current driving wheel speed and adjusting the torque to be adjusted according to the torque control strategy to obtain an execution torque;
and the control module is used for sending the execution torque to a motor controller and controlling the motor to work according to the execution torque through the motor controller.
Further, to achieve the above object, the present invention also proposes an antiskid control apparatus including: a memory, a processor, and an antiskid control program stored on the memory and executable on the processor, the antiskid control program configured to implement an antiskid control method as described above.
In addition, to achieve the above object, the present invention further provides a storage medium having an antiskid control program stored thereon, the antiskid control program implementing the antiskid control method as described above when executed by a processor.
The anti-skid control method provided by the invention determines whether the vehicle is in a skid state or not according to the slip rate or the wheel speed difference value of the front wheel and the rear wheel in the vehicle driving process; when the vehicle is in a slipping state, acquiring torque to be adjusted; determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque; and sending the execution torque to a motor controller, controlling a motor to work according to the execution torque through the motor controller, so that the VCM automatically judges the slip state, and quickly adjusts the torque according to the slip state judgment result, wherein the VCM does not need to wait for the vehicle slip judgment result and the torque adjustment request of the VDC, and after independently judging the vehicle slip, the VCM quickly performs slip correction control, and quickly requests the motor to execute to realize quick anti-slip control.
Drawings
Fig. 1 is a schematic structural diagram of an antiskid control apparatus in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the antiskid control method according to the present invention;
FIG. 3 is a schematic flow chart of a second embodiment of the antiskid control method of the present invention;
fig. 4 is a functional block diagram of the antiskid control device according to the first embodiment of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement connection communication among these components. The user interface 1003 may comprise a Display screen (Display), an input unit such as keys, and the optional user interface 1003 may also comprise a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the antiskid control device configuration shown in fig. 1 does not constitute a limitation of antiskid control devices and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an antiskid control program.
In the antiskid control apparatus shown in fig. 1, the network interface 1004 is mainly used for connecting a server and performing data communication with the server; the user interface 1003 is mainly used for connecting a user terminal and performing data communication with the terminal; the antiskid control apparatus of the present invention calls the antiskid control program stored in the memory 1005 via the processor 1001, and executes the antiskid control method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the anti-skid control method is provided.
Referring to fig. 2, fig. 2 is a flowchart illustrating an anti-skid control method according to a first embodiment of the present invention.
In a first embodiment, the antiskid control method includes the steps of:
in step S10, it is determined whether the vehicle is in a slip state based on the slip ratio or the difference between the front and rear wheel speeds during driving of the vehicle.
It should be noted that, the execution main body of this embodiment is the VCM, the VCM is provided with an antiskid control program, and antiskid control can be automatically performed according to the antiskid control program, and since in general, the VDC performs vehicle driving skid judgment according to the shift information, the vehicle speed signal, the wheel speed signal, the accelerator pedal signal, and the brake pedal signal, and then the VCM calculates the execution torque according to the vehicle skid judgment result of the waiting VDC and the torque adjustment request, so as to cause a long control link and fail to perform antiskid control in time, this embodiment sets the vehicle driving skid judgment at the VCM, performs vehicle driving skid judgment by the VCM without waiting for the skid judgment result of the VDC, and effectively shortens the antiskid control link.
Providing a specific implementation example, determining whether the vehicle is in a slipping state according to the slip rate, and acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel of the vehicle when the current vehicle speed is greater than or equal to a vehicle speed threshold value; obtaining a slip rate according to the wheel speed of the front wheel and the wheel speed of the rear wheel; and when the slip rate is greater than or equal to the slip rate threshold value, determining that the vehicle is in a slip state.
When starting, the front and rear wheel speeds are low, and the front and rear wheel speeds are slightly different, so that the slip ratio calculation method is easy to cause misjudgment. Since the slip ratio may be still determined by the difference between the front wheels and the rear wheels and the ratio of the front wheels to the rear wheels when the vehicle is started and at low speed, in this case, the slip ratio cannot be determined by the difference between the front wheels and the rear wheels and the ratio between the front wheels and the rear wheels, when the vehicle driving slip determination is performed, the vehicle speed signal is added as a threshold condition for distinguishing the vehicle driving slip determination, when the vehicle speed is greater than or equal to a vehicle speed threshold value, the slip ratio is used for determination, when the vehicle speed is less than the vehicle speed threshold value, the vehicle driving slip determination is performed by using the difference between the front wheels and the rear wheels, so as to improve the accuracy of the vehicle driving slip determination, the vehicle speed threshold value may be 5km/h, or other parameters, which is not limited in this embodiment, only 5km/h is taken as an example as the vehicle speed threshold value, the slip ratio threshold value may be 0.08, or other parameters, in the present embodiment, this is not limited, and only 0.08 is taken as an example of the slip ratio threshold in the present embodiment.
In this embodiment, the specific manner of obtaining the slip ratio according to the front wheel speed and the rear wheel speed is to obtain a first difference value between the front wheel speed and the rear wheel speed when the vehicle is a front-drive vehicle, and obtain the slip ratio according to the first difference value and the rear wheel speed; when the vehicle is a rear-drive vehicle, acquiring a second difference value between the speed of the rear wheel and the speed of the front wheel; and obtaining the slip rate according to the second difference and the wheel speed of the front wheel, wherein when the vehicle is a front-drive vehicle, the wheel speed of the rear wheel is equal to the actual vehicle speed of the vehicle, and the slip rate is obtained according to the ratio of the first difference between the wheel speed of the front wheel and the wheel speed of the rear wheel to the wheel speed of the rear wheel, so that the slip judgment of the front-drive vehicle is realized according to the ratio of the difference between the wheel speed of the front wheel and the wheel speed of the rear wheel to the actual vehicle speed.
In a specific implementation, WfIndicates the wheel speed of the front wheel, WrThe wheel speed of the rear wheel is shown as an example, and when the vehicle is a front-drive vehicle, the slip ratio is (W)f-Wr)/WrWhen the vehicle is a rear-drive vehicle, the slip ratio is (W)r-Wf)/WfThereby obtaining accurate slip rate.
Providing another specific implementation example, determining whether the vehicle is in a slipping state according to a difference value of wheel speeds of front wheels and rear wheels, and acquiring the wheel speed of the front wheels and the wheel speed of the rear wheels of the vehicle when the current vehicle speed is less than a vehicle speed threshold value; obtaining a wheel speed difference value of the front wheel and the rear wheel according to the wheel speed of the front wheel and the wheel speed of the rear wheel; and when the wheel speed difference value of the front wheel and the rear wheel is larger than or equal to a first wheel speed threshold value, determining that the vehicle is in a slipping state.
It should be noted that the first wheel speed threshold may be 25rpm, or may be other parameters, which is not limited in this embodiment, only 25rpm is taken as an example for description, that is, when the difference between the front wheel speed and the rear wheel speed is greater than or equal to 25rpm, it is determined that the vehicle is in a slipping state, so that the driving slipping determination of the vehicle is realized through the wheel speed difference between the front wheel speed and the rear wheel speed.
Based on the same principle, when the wheel speed difference value of the front wheel and the wheel speed of the rear wheel is obtained according to the wheel speed of the front wheel and the wheel speed of the rear wheel, whether the vehicle is a front-driving vehicle or a rear-driving vehicle is determined, when the vehicle is the front-driving vehicle, the wheel speed difference value of the front wheel and the wheel speed of the rear wheel is obtained by subtracting the wheel speed of the front wheel from the wheel speed of the front wheel, and when the vehicle is the rear-driving vehicle, the wheel speed difference value of the front wheel and the wheel speed is obtained, for example, when the vehicle is the front-driving vehicle, the wheel speed difference value of the front wheel and the wheel speed is Wf-WrFor a rear-drive vehicle, the difference between the wheel speeds of the front and rear wheels is Wr-WfTherefore, misjudgment of a calculation result is avoided, and the accuracy of anti-skid judgment is improved.
In step S20, when the vehicle is in a slip state, the torque to be adjusted is acquired.
It should be noted that, the torque to be adjusted is the execution torque of the previous cycle, in this embodiment, an input torque is set, and the execution torque of the previous cycle is recorded as the input torque of the current cycle, and when it is determined that the vehicle is in the slipping state, the flag position of the anti-slip control torque is set to be valid, so as to shield the torque intended by the driver, and implement arbitration between the slip control torque and the torque intended by the driver.
In a specific implementation, by setting the priority of the antiskid control torque and the priority of the driver intention torque, the priority of the antiskid control torque is larger than the priority of the driver intention torque, and when a vehicle is in a skid state, the antiskid control torque and the driver intention torque are obtained; and shielding the driver intention torque according to the priority of the antiskid control torque and the driver intention torque, and taking the antiskid control torque as the torque to be adjusted.
It can be understood that, when the slip determination is performed, in addition to combining the slip rate and the difference between the front wheel speed and the rear wheel speed, the slip determination may be further performed by referring to other parameters, so as to improve the accuracy of the slip determination, and therefore, the slip determination may be performed by combining a gear signal and an accelerator pedal signal, that is, by obtaining a gear signal and an accelerator pedal signal, when the gear signal is a forward gear signal, the pedal opening of the accelerator pedal signal reaches a preset opening, the slip rate is greater than or equal to a slip rate threshold, or the difference between the front wheel speed and the rear wheel speed is greater than or equal to a wheel speed threshold, it is determined that the vehicle is in a slip state, that is, the accelerator pedal is stepped on by a certain opening, the slip rate is greater than or equal to a threshold of 0.08, the slip rate threshold may be calibrated, and is suitable for the vehicle speed being greater than or equal to 5km/h, or the difference between the front wheel speed and the rear wheel speed is greater than a threshold of 25rpm, and the front wheel speed difference between the rear wheel speed threshold may be calibrated, the method is suitable for the situation that the vehicle speed is less than 5km/h, the above conditions are met, the duration is 0.05s, the duration can be calibrated, and the vehicle is determined to be in a slipping state.
The method comprises the steps of meeting the conditions, judging that the vehicle is in a slipping state, entering a vehicle slipping control mode, judging that the vehicle slipping control mark position is effective, arbitrating through slipping control torque and driver intention torque, and shielding the driver demand torque deduced according to the APO opening degree by the vehicle slipping control torque with higher priority, so that effective torque arbitration is realized.
And step S30, determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque.
It should be noted that the torque control strategy includes a high-speed torque control strategy and a low-speed torque control strategy, and when the vehicle is at a start or at a low vehicle speed, the torque control is performed through the low-speed torque control strategy, and when the vehicle is at a high vehicle speed or the wheel speed of the driving wheel is high, the torque control is performed through the high-speed torque control strategy.
In the concrete implementation, when the torque control is carried out through a low-speed torque control strategy, the execution torque of the previous period is directly adjusted to be 0Nm as the torque to be adjusted, when the torque control is carried out through a high-speed torque control strategy, the slip rate and the speed of a driving wheel are checked to obtain the matrix reduction ratio, gradient reduction is carried out according to the matrix reduction ratio, compared with the method that the target torque is obtained through the slip rate table check, the speed of the driving wheel is added to be used as two-dimensional table check input, the accuracy of the torque control is improved, the torque control is carried out through the matrix reduction ratio, the target torque obtained through the table check is not directly adjusted in the torque, the torque reduction process of a vehicle is more stable, and the driving experience of a driver is also improved.
And step S40, sending the execution torque to a motor controller, and controlling the motor to work according to the execution torque through the motor controller.
In the present embodiment, by determining whether the vehicle is in a slipping state during driving of the vehicle based on the slip ratio or the difference in the speeds of the front and rear wheels; when the vehicle is in a slipping state, acquiring torque to be adjusted; determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque; and sending the execution torque to a motor controller, controlling a motor to work according to the execution torque through the motor controller, so that the VCM automatically judges the slip state, quickly adjusts the torque according to the slip state, the VCM does not need to wait for the vehicle slip judgment result and the torque adjustment request of the VDC, and quickly performs slip correction control after the VCM judges that the vehicle slips, and quickly requests the motor to execute to realize quick anti-slip control.
In one embodiment, as shown in fig. 3, a second embodiment of the antiskid control method according to the present invention is proposed based on the first embodiment, wherein the torque control strategy includes a low-speed torque control strategy, and the step S30 includes:
when the vehicle is started or the current vehicle speed is smaller than a vehicle speed threshold value, acquiring the execution torque of the previous period according to the low-speed torque control strategy; and reducing the torque of the execution torque of the previous period to a preset torque, and taking the preset torque as the execution torque.
In this embodiment, a threshold is set according to the vehicle speed or the wheel speed of the driving wheel, different torque reduction algorithms are set, a wheel speed lookup table of the driving wheel is added to the slip control algorithm, and in the vehicle slip control mode at the time of starting or at a lower vehicle speed, the VCM CAN send the previous period to the execution torque of the motor controller, and in the current period, the VCM is directly adjusted to 0Nm and sent to the motor controller through the CAN. Therefore, the vehicle speed is low and directly reduced to 0Nm, so that the skid is efficiently corrected, and the impact feeling to the driver is weak.
In another embodiment provided, the torque control strategy comprises a high speed torque control strategy, and the step S30 comprises:
in the step S301, when the current vehicle speed is greater than or equal to a vehicle speed threshold or the current driving wheel speed is greater than or equal to a second wheel speed threshold, querying a torque reduction ratio table according to the current slip ratio and the current driving wheel speed through a high-speed torque control strategy to obtain a current torque reduction ratio, where the torque reduction ratio table records a corresponding relationship between the slip ratio, the driving wheel speed, and a corresponding torque reduction ratio; and dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque.
In the embodiment, when the vehicle speed is high or the driving wheel speed is high, two items of the current slip ratio and the driving wheel speed are used as input, a two-dimensional table is checked, the table is subjected to a real vehicle test on a road surface, different torque gradient reduction ratios are checked according to different slip ratios and different driving wheel speeds, and the torque is adjusted according to the ratios.
During the process of torque reduction, dynamic adjustment is also carried out in real time, and the slip rate and the change of the wheel speed of the driving wheel are monitored in real time; and when the changed slip ratio and the torque reduction ratio corresponding to the wheel speed of the driving wheel are changed, reducing the torque according to the new torque reduction ratio until the execution torque reaches the preset torque, namely after the torque is reduced for a plurality of periods, looking up the table again according to the latest slip ratio and the wheel speed of the driving wheel. So the circulation, until the moment of torsion decline value set value, predetermine the moment of torsion and can be 0Nm, still can be other parameters, this embodiment does not do the restriction to this, predetermines the moment of torsion and generally sets up to 0Nm when the motorcycle type of no energy recuperation.
In this embodiment, when the vehicle is in a starting state or the current vehicle speed is less than a vehicle speed threshold, acquiring an execution torque of a previous period according to the low-speed torque control strategy; when the current vehicle speed is greater than or equal to a vehicle speed threshold value or the current driving wheel speed is greater than or equal to a second wheel speed threshold value, inquiring a torque reduction ratio table according to the current slip ratio and the current driving wheel speed through a high-speed torque control strategy to obtain a current torque reduction ratio, wherein the torque reduction ratio table records the corresponding relation among the slip ratio, the driving wheel speed and the corresponding torque reduction ratio; and dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque, namely, controlling the torque according to two torque control strategies by dividing the vehicle speed, and adjusting the torque according to the torque reduction ratio, so that the torque is finely controlled, the torque is ensured to be smoothly transited, and the driving experience of a driver is improved.
The invention further provides an antiskid control device.
Referring to fig. 4, fig. 4 is a functional block diagram of the antiskid control device according to the first embodiment of the present invention.
In a first embodiment of the antiskid control apparatus of the present invention, the antiskid control apparatus includes:
the obtaining module 10 is configured to determine whether the vehicle is in a slipping state according to a slip ratio or a difference between wheel speeds of front and rear wheels during driving of the vehicle.
The obtaining module 10 is further configured to obtain a torque to be adjusted when the vehicle is in a slipping state.
The adjusting module 20 is configured to determine a torque control strategy according to a current vehicle speed or a current driving wheel speed, and perform torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque.
And the control module 30 is configured to send the execution torque to a motor controller, and control the motor to work according to the execution torque through the motor controller.
In the present embodiment, by determining whether the vehicle is in a slipping state during driving of the vehicle based on the slip ratio or the difference in the speeds of the front and rear wheels; when the vehicle is in a slipping state, acquiring torque to be adjusted; determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque; and sending the execution torque to a motor controller, controlling a motor to work according to the execution torque through the motor controller, so that the VCM automatically judges the slip state, quickly adjusts the torque according to the slip state, the VCM does not need to wait for the vehicle slip judgment result and the torque adjustment request of the VDC, and quickly performs slip correction control after the VCM judges that the vehicle slips, and quickly requests the motor to execute to realize quick anti-slip control.
Optionally, the obtaining module 10 is further configured to obtain a wheel speed of a front wheel and a wheel speed of a rear wheel of the vehicle when the current vehicle speed is greater than or equal to a vehicle speed threshold;
obtaining a slip rate according to the wheel speed of the front wheel and the wheel speed of the rear wheel;
and when the slip rate is larger than or equal to the slip rate threshold value, determining that the vehicle is in a slip state.
Optionally, the obtaining module 10 is further configured to obtain a first difference between a wheel speed of the front wheel and a wheel speed of the rear wheel when the vehicle is a front-drive vehicle;
obtaining a slip rate according to the first difference and the rear wheel speed;
when the vehicle is a rear-drive vehicle, acquiring a second difference value between the speed of the rear wheel and the speed of the front wheel;
and obtaining the slip rate according to the second difference and the wheel speed of the front wheel.
Optionally, the obtaining module 10 is further configured to obtain a wheel speed of a front wheel and a wheel speed of a rear wheel of the vehicle when the current vehicle speed is less than the vehicle speed threshold;
obtaining a wheel speed difference value of the front wheel and the rear wheel according to the wheel speed of the front wheel and the wheel speed of the rear wheel;
and when the wheel speed difference value of the front wheel and the rear wheel is larger than or equal to a first wheel speed threshold value, determining that the vehicle is in a slipping state.
Optionally, the obtaining module 10 is further configured to subtract a rear wheel speed from a front wheel speed to obtain a front wheel speed difference when the vehicle is a front-drive vehicle;
and when the vehicle is a rear-drive vehicle, subtracting the wheel speed of the front wheel from the wheel speed of the rear wheel to obtain a wheel speed difference value of the front wheel and the rear wheel.
Optionally, the obtaining module 10 is further configured to obtain a gear signal and an accelerator pedal signal;
and when the gear signal is a forward gear signal, the pedal opening degree of the accelerator pedal signal reaches a preset opening degree, the slip rate is greater than or equal to a slip rate threshold value, or the difference value of the speeds of front wheels and rear wheels is greater than or equal to a wheel speed threshold value, determining that the vehicle is in a slipping state.
Optionally, the obtaining module 10 is further configured to set the priority of the antiskid control torque and the driver intention torque to be higher than the priority of the driver intention torque.
Optionally, the obtaining module 10 is further configured to obtain the antiskid control torque and the driver intention torque when the vehicle is in a slipping state;
and shielding the driver intention torque according to the priority of the antiskid control torque and the driver intention torque, and taking the antiskid control torque as the torque to be adjusted.
Optionally, the torque control strategy includes a low-speed torque control strategy, and the obtaining module 10 is further configured to obtain an execution torque of a previous period according to the low-speed torque control strategy when the vehicle is in a starting state or the current vehicle speed is less than a vehicle speed threshold;
and carrying out torque reduction on the execution torque of the previous period to a preset torque, and taking the preset torque as the execution torque.
Optionally, the torque control strategy includes a high-speed torque control strategy, and the obtaining module 10 is further configured to, when the current vehicle speed is greater than or equal to a vehicle speed threshold or the current driving wheel speed is greater than or equal to a second wheel speed threshold, query a torque reduction ratio table according to the current slip ratio and the current driving wheel speed by using the high-speed torque control strategy to obtain a current torque reduction ratio, where the torque reduction ratio table records a corresponding relationship between the slip ratio, the driving wheel speed, and a corresponding torque reduction ratio;
and dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque.
Optionally, the control module 30 is further configured to monitor the slip rate and the change of the wheel speed of the driving wheel in real time;
and when the changed slip ratio and the torque reduction ratio corresponding to the wheel speed of the driving wheel are changed, reducing the torque according to the new torque reduction ratio until the execution torque reaches the preset torque.
Further, to achieve the above object, the present invention also proposes an antiskid control apparatus including: a memory, a processor, and an antiskid control program stored on the memory and executable on the processor, the antiskid control program configured to implement an antiskid control method as described above.
In addition, an embodiment of the present invention further provides a storage medium, where the storage medium stores an anti-skid control program, and the anti-skid control program, when executed by a processor, implements the anti-skid control method as described above.
Since the storage medium adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and details are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or system in which the element is included.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be substantially or partially embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling an intelligent terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (13)

1. An antiskid control method is applied to a vehicle control unit, and comprises the following steps:
determining whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference value of front and rear wheels during the driving process of the vehicle;
when the vehicle is in a slipping state, acquiring torque to be adjusted;
determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain an execution torque;
and sending the execution torque to a motor controller, and controlling a motor to work according to the execution torque through the motor controller.
2. The anti-skid control method according to claim 1, wherein determining whether the vehicle is in a skid state according to the slip ratio includes:
when the current vehicle speed is greater than or equal to a vehicle speed threshold value, acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel of the vehicle;
obtaining a slip rate according to the wheel speed of the front wheel and the wheel speed of the rear wheel;
and when the slip rate is greater than or equal to the slip rate threshold value, determining that the vehicle is in a slip state.
3. The antiskid control method according to claim 2, wherein said obtaining the slip ratio based on the front wheel speed and the rear wheel speed includes:
when the vehicle is a front-drive vehicle, acquiring a first difference value between the wheel speed of the front wheel and the wheel speed of the rear wheel;
obtaining a slip rate according to the first difference and the rear wheel speed;
when the vehicle is a rear-drive vehicle, acquiring a second difference value between the speed of the rear wheel and the speed of the front wheel;
and obtaining the slip rate according to the second difference and the wheel speed of the front wheel.
4. The antiskid control method of claim 1, wherein determining whether the vehicle is in a skid state based on a difference between wheel speeds of the front and rear wheels comprises:
when the current vehicle speed is smaller than a vehicle speed threshold value, acquiring the wheel speed of a front wheel and the wheel speed of a rear wheel of the vehicle;
obtaining a wheel speed difference value of the front wheel and the rear wheel according to the wheel speed of the front wheel and the wheel speed of the rear wheel;
and when the wheel speed difference value of the front wheel and the rear wheel is larger than or equal to a first wheel speed threshold value, determining that the vehicle is in a slipping state.
5. The antiskid control method according to claim 4, wherein said obtaining a front-rear wheel speed difference value from the front-wheel speed and the rear-wheel speed comprises:
when the vehicle is a front-drive vehicle, subtracting the wheel speed of a rear wheel from the wheel speed of the front wheel to obtain a wheel speed difference value of the front wheel and the rear wheel;
and when the vehicle is a rear-drive vehicle, subtracting the wheel speed of the front wheel from the wheel speed of the rear wheel to obtain a wheel speed difference value of the front wheel and the rear wheel.
6. The antiskid control method according to any one of claims 1 to 5, wherein the determining whether the vehicle is in a skid state based on the slip ratio or the difference in wheel speeds of front and rear wheels includes:
acquiring a gear signal and an accelerator pedal signal;
and when the gear signal is a forward gear signal, the pedal opening of the accelerator pedal signal reaches a preset opening, the slip rate is greater than or equal to a slip rate threshold value, or the wheel speed difference value of front wheels and rear wheels is greater than or equal to a wheel speed threshold value, determining that the vehicle is in a slipping state.
7. The antiskid control method according to any one of claims 1 to 5, wherein before determining whether the vehicle is in a skid state based on a slip ratio or a difference in wheel speeds of front and rear wheels during driving of the vehicle, further comprising:
setting the priority of the antiskid control torque and the driver intention torque so that the priority of the antiskid control torque is greater than the priority of the driver intention torque;
when the vehicle is in a slipping state, acquiring the torque to be adjusted, including:
when the vehicle is in a slipping state, acquiring an anti-slipping control torque and a driver intention torque;
and shielding the driver intention torque according to the priority of the antiskid control torque and the driver intention torque, and taking the antiskid control torque as the torque to be adjusted.
8. The antiskid control method of any one of claims 1 to 5, wherein the torque control strategy includes a low speed torque control strategy;
the method for determining the torque control strategy according to the current vehicle speed or the current driving wheel speed and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque comprises the following steps:
when the vehicle is started or the current vehicle speed is smaller than a vehicle speed threshold value, acquiring an execution torque of a previous period according to the low-speed torque control strategy;
and reducing the torque of the execution torque of the previous period to a preset torque, and taking the preset torque as the execution torque.
9. The antiskid control method of any one of claims 1 to 5, wherein the torque control strategy includes a high speed torque control strategy;
the method for determining the torque control strategy according to the current vehicle speed or the current driving wheel speed and performing torque reduction adjustment on the torque to be adjusted according to the torque control strategy to obtain the execution torque comprises the following steps:
when the current vehicle speed is greater than or equal to a vehicle speed threshold or the current driving wheel speed is greater than or equal to a second wheel speed threshold, inquiring a torque reduction ratio table according to the current slip rate and the current driving wheel speed through a high-speed torque control strategy to obtain a current torque reduction ratio, wherein the torque reduction ratio table records the corresponding relation among the slip rate, the driving wheel speed and the corresponding torque reduction ratio;
and dynamically adjusting the torque to be adjusted according to the current torque reduction ratio to obtain an execution torque.
10. The antiskid control method according to claim 9, wherein the dynamically adjusting the torque to be adjusted according to the current torque down ratio, after obtaining the execution torque, further comprises:
monitoring the slip rate and the change of the wheel speed of the driving wheel in real time;
and when the changed slip ratio and the torque reduction ratio corresponding to the wheel speed of the driving wheel are changed, reducing the torque according to the new torque reduction ratio until the execution torque reaches the preset torque.
11. An antiskid control apparatus, comprising:
the acquisition module is used for determining whether the vehicle is in a slipping state or not according to the slip rate or the difference value of the speeds of the front wheel and the rear wheel in the driving process of the vehicle;
the acquisition module is also used for acquiring the torque to be adjusted when the vehicle is in a slipping state;
the adjusting module is used for determining a torque control strategy according to the current vehicle speed or the current driving wheel speed and adjusting the torque to be adjusted according to the torque control strategy to obtain an execution torque;
and the control module is used for sending the execution torque to a motor controller and controlling the motor to work according to the execution torque through the motor controller.
12. An antiskid control apparatus characterized by comprising: a memory, a processor, and an antiskid control program stored on the memory and executable on the processor, the antiskid control program configured to implement the antiskid control method of any one of claims 1 to 10.
13. A storage medium having an antiskid control program stored thereon, the antiskid control program implementing the antiskid control method according to any one of claims 1 to 10 when executed by a processor.
CN202210464511.3A 2022-04-29 2022-04-29 Antiskid control method, device, equipment and storage medium Pending CN114771266A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210464511.3A CN114771266A (en) 2022-04-29 2022-04-29 Antiskid control method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210464511.3A CN114771266A (en) 2022-04-29 2022-04-29 Antiskid control method, device, equipment and storage medium

Publications (1)

Publication Number Publication Date
CN114771266A true CN114771266A (en) 2022-07-22

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Country Link
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116513191A (en) * 2023-06-28 2023-08-01 小米汽车科技有限公司 Vehicle driving anti-skid method and device, vehicle and storage medium
CN117533293A (en) * 2024-01-09 2024-02-09 深圳市好盈科技股份有限公司 Control method and device for stabilizing body of two-wheeled vehicle and electronic equipment
CN118405007A (en) * 2024-07-02 2024-07-30 小米汽车科技有限公司 Torque control method, torque control device, vehicle, medium, and program product

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116513191A (en) * 2023-06-28 2023-08-01 小米汽车科技有限公司 Vehicle driving anti-skid method and device, vehicle and storage medium
CN116513191B (en) * 2023-06-28 2023-09-26 小米汽车科技有限公司 Vehicle driving anti-skid method and device, vehicle and storage medium
CN117533293A (en) * 2024-01-09 2024-02-09 深圳市好盈科技股份有限公司 Control method and device for stabilizing body of two-wheeled vehicle and electronic equipment
CN117533293B (en) * 2024-01-09 2024-04-19 深圳市好盈科技股份有限公司 Control method and device for stabilizing body of two-wheeled vehicle and electronic equipment
CN118405007A (en) * 2024-07-02 2024-07-30 小米汽车科技有限公司 Torque control method, torque control device, vehicle, medium, and program product

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