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

Abstract

The invention relates to the technical field of automobile control, and discloses an anti-skid control method, device, equipment and storage medium. During the driving process of the vehicle, it is determined whether the vehicle is in a slip state according to the slip rate or the wheel speed difference between front and rear wheels; In the slipping state, the torque to be adjusted is obtained; the torque control strategy is determined according to the current vehicle speed or the current driving wheel speed, and the torque to be adjusted is adjusted by reducing the torque according to the torque control strategy to obtain the execution torque; Send it to the motor controller, and control the motor to work according to the execution torque through the motor controller, so that the vehicle controller can automatically judge the slip state, and quickly adjust the torque according to the result of the slip state judgment, and the VCM does not need to wait for the VDC. The vehicle slip judgment result and the torque adjustment request, after the VCM independently judges the vehicle slip, it quickly performs the slip correction control, and quickly requests the motor to execute, so as to realize the rapid anti slip control.

Description

Anti-skid control method, device, equipment and storage medium

technical field

The present invention relates to the technical field of automobile control, and in particular, to a method, device, equipment and storage medium for anti-skid control.

Background technique

The existing vehicle state and driving anti-skid control are in the vehicle dynamic control system (Vehicle Dynamics Control, VDC) controller. This kind of environment pavement and three-high experiment calibration, the development cycle is long and the cost is high. Due to the different state of the vehicle, each model needs to be newly developed. If the motor system of the vehicle is changed, VDC needs to be matched and developed accordingly, and a high development fee will be invested.

After the VDC system judges that the vehicle is slipping, the information is sent to the vehicle controller (Vehicle Control Module, VCM). After the VCM is arbitrated by the driver's intention, vehicle status and other information, the calculated execution torque value is sent to the motor controller for execution. , the control link is long, and the period from the start of the vehicle slip to the execution of the slip control is long, and the vehicle slip cannot be corrected at the first time. Increased slip control difficulty. If the control strategy is slightly deviated, it will bring a clear sense of impact to the vehicle, the drivability score is poor, and it is on the side of the icy road, which will also bring driving hidden dangers.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to propose a method, device, equipment and storage medium for anti-skid control, aiming at solving how to more effectively realize fast anti-skid control.

In order to achieve the above object, the present invention provides an anti-skid control method, and the anti-skid control method includes the following steps:

During the driving process of the vehicle, determine whether the vehicle is in a slip state according to the slip rate or the wheel speed difference between the front and rear wheels;

Obtain the torque to be adjusted when the vehicle is slipping;

Determine a torque control strategy according to the current vehicle speed or current driving wheel speed, and perform torque reduction adjustment on the to-be-adjusted torque according to the torque control strategy to obtain an execution torque;

The execution torque is sent to the motor controller, and the motor is controlled by the motor controller to work according to the execution torque.

Optionally, determining whether the vehicle is in a slip state according to the slip rate includes:

When the current vehicle speed is greater than or equal to the vehicle speed threshold, obtain the front wheel speed and rear wheel speed of the vehicle;

obtaining the slip rate according to the front wheel speed and the rear wheel speed;

When the slip ratio is greater than or equal to a slip ratio threshold, it is determined that the vehicle is in a slipping state.

Optionally, obtaining the slip rate according to the wheel speed of the front wheel and the wheel speed of the rear wheel includes:

When the vehicle is a front-drive vehicle, obtaining a first difference between the wheel speed of the front wheel and the wheel speed of the rear wheel;

obtaining a slip ratio according to the first difference and the wheel speed of the rear wheel;

When the vehicle is a rear-drive vehicle, obtaining a second difference between the wheel speed of the rear wheel and the wheel speed of the front wheel;

A slip ratio is obtained from the second difference and the front wheel speed.

Optionally, determining whether the vehicle is in a slipping state according to the wheel speed difference between the front and rear wheels, including:

When the current vehicle speed is less than the vehicle speed threshold, obtain the front wheel speed and rear wheel speed of the vehicle;

Obtain the wheel speed difference between the front and rear wheels according to the front wheel speed and the rear wheel speed;

When the wheel speed difference between the front and rear wheels is greater than or equal to the first wheel speed threshold, it is determined that the vehicle is in a slipping state.

Optionally, obtaining the wheel speed difference between the front and rear wheels according to the front wheel speed and the rear wheel speed, including:

When the vehicle is a front-drive vehicle, subtracting the wheel speed of the front wheel from the wheel speed of the rear wheel obtains the wheel speed difference between the front and rear wheels;

When the vehicle is a rear-drive vehicle, the wheel speed difference between the front and rear wheels is obtained by subtracting the wheel speed of the rear wheel from the wheel speed of the front wheel.

Optionally, the determining whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference between the front and rear wheels includes:

Get gear signal and 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 the slip rate threshold, or the wheel speed difference between the front and rear wheels is greater than or equal to the wheel speed threshold , make sure the vehicle is slipping.

Optionally, before determining whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference between the front and rear wheels during the driving of the vehicle, the method includes:

Setting the priority of the anti-skid control torque and the driver's intended torque, so that the priority of the anti-skid control torque is greater than the priority of the driver's intended torque;

The obtaining the torque to be adjusted when the vehicle is in a slipping state includes:

Obtain the anti-skid control torque and the driver's intention torque when the vehicle is slipping;

According to the priority of the anti-skid control torque and the driver's intended torque, the driver's intended torque is shielded, and the anti-skid control torque is used as the torque to be adjusted.

Optionally, the torque control strategy includes a low-speed torque control strategy;

The determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the to-be-adjusted torque according to the torque control strategy to obtain an execution torque, including:

When the vehicle is starting or the current vehicle speed is less than a vehicle speed threshold, obtain the execution torque of the previous cycle according to the low-speed torque control strategy;

The execution torque of the previous cycle is reduced to a preset torque, and the preset torque is used as the execution torque.

Optionally, the torque control strategy includes a high-speed torque control strategy;

The determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the to-be-adjusted torque according to the torque control strategy to obtain an execution torque, including:

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 the torque reduction ratio according to the current slip rate and the current driving wheel speed through a high-speed torque control strategy table to obtain the current torque reduction ratio, wherein the torque reduction ratio table records the correspondence between the slip ratio, the wheel speed of the driving wheel and the corresponding torque reduction ratio;

The torque to be adjusted is dynamically adjusted according to the current torque reduction ratio to obtain an execution torque.

Optionally, after dynamically adjusting the to-be-adjusted torque according to the current torque reduction ratio to obtain the execution torque, the method further includes:

Real-time monitoring of slip rate and changes in drive wheel speed;

When the changed slip ratio and the torque reduction ratio corresponding to the driving wheel speed are changed, torque reduction is performed 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 anti-skid control device, the anti-skid control device includes:

The acquisition module is used to determine whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference between the front and rear wheels during the driving process of the vehicle;

The obtaining module is further configured to obtain the torque to be adjusted when the vehicle is in a slipping state;

an adjustment module, configured to determine a torque control strategy according to the current vehicle speed or the current driving wheel speed, and adjust the to-be-adjusted torque according to the torque control strategy to obtain an execution torque;

A control module, 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 addition, in order to achieve the above object, the present invention also proposes an anti-skid control device, the anti-skid control device includes: a memory, a processor, and an anti-skid control program stored in the memory and executable on the processor, so The anti-skid control program is configured to implement the anti-skid control method as described above.

In addition, in order to achieve the above object, the present invention also provides a storage medium, where an anti-skid control program is stored thereon, and the anti-skid control program as described above is implemented when the anti-skid control program is executed by a processor.

In the anti-skid control method proposed by the present invention, in the process of vehicle driving, it is determined whether the vehicle is in a slip state according to the slip rate or the wheel speed difference between the front and rear wheels; when the vehicle is in a slip state, the torque to be adjusted is obtained; according to the current vehicle speed or the current driving The wheel speed determines the torque control strategy, and adjusts the torque to be adjusted according to the torque control strategy to obtain the execution torque; sends the execution torque to the motor controller, and the motor controller controls the motor according to the The execution torque works, so that the VCM can automatically judge the slip state, and quickly adjust the torque according to the result of the slip state judgment. The VCM does not need to wait for the VDC's vehicle slip judgment result and torque adjustment request. Carry out slip correction control, quickly request the motor to execute, and realize fast anti-skid control.

Description of drawings

1 is a schematic structural diagram of an anti-skid control device of a hardware operating environment involved in an embodiment of the present invention;

FIG. 2 is a schematic flowchart of the first embodiment of the anti-skid control method of the present invention;

3 is a schematic flowchart of a second embodiment of the anti-skid control method of the present invention;

FIG. 4 is a schematic diagram of functional modules of the first embodiment of the anti-skid control device of the present invention.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic diagram of a device structure of a hardware operating environment involved in an embodiment of the present invention.

As shown in FIG. 1 , the device 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 . Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a button, and the optional user interface 1003 may also include a standard wired interface and a wireless interface. Optionally, the network interface 1004 may include a standard wired interface and a wireless interface (eg, a Wi-Fi interface). The memory 1005 may be high-speed RAM memory, or may be non-volatile memory, such as disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the structure of the anti-skid control device shown in FIG. 1 does not constitute a limitation on the anti-skid control device, and may include more or less components than the one shown, or combine some components, or different components layout.

As shown in FIG. 1 , the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module and an anti-skid control program.

In the anti-skid control device shown in FIG. 1 , the network interface 1004 is mainly used to connect to the server and perform data communication with the server; the user interface 1003 is mainly used to connect to the user terminal and perform data communication with the terminal; the anti-skid control device of the present invention passes through the processor 1001 calls the anti-skid control program stored in the memory 1005, and executes the anti-skid control method provided by the embodiment of the present invention.

Based on the above hardware structure, an embodiment of the anti-skid control method of the present invention is proposed.

Referring to FIG. 2 , FIG. 2 is a schematic flowchart of the first embodiment of the anti-skid control method of the present invention.

In the first embodiment, the anti-skid control method includes the following steps:

In step S10, during the driving of the vehicle, it is determined whether the vehicle is in a slip state according to the slip ratio or the wheel speed difference between the front and rear wheels.

It should be noted that the executive body of this embodiment is the VCM, and the VCM is provided with an anti-skid control program, which can automatically perform anti-skid control according to the anti-skid control program. and the accelerator pedal signal and brake pedal signal to judge the vehicle driving slip, and then the VCM calculates the execution torque according to the vehicle slip judgment result of the waiting VDC and the torque adjustment request, resulting in a long control link and unable to perform anti-skid control in time. Therefore, this In the embodiment, the vehicle driving slip judgment is set in the VCM, and the vehicle driving slip judgment is performed through the VCM without waiting for the slip judgment result of the VDC, which effectively shortens the anti-skid control link.

Provide a specific implementation example, determine whether the vehicle is in a slipping state according to the slip rate, and obtain the front wheel speed and rear wheel speed of the vehicle when the current vehicle speed is greater than or equal to the vehicle speed threshold; When the slip ratio is greater than or equal to the slip ratio threshold, it is determined that the vehicle is in a slipping state.

It should be noted that when starting, the front and rear wheel speeds are low, and the front and rear wheel speeds are slightly different. Using the calculation method of slip rate is likely to cause misjudgment. Since the front wheel or the rear wheel may still be in a stationary state when the car is at a start and at a low speed, in this case, it is impossible to slip through the ratio of the difference between the front wheel and the rear wheel to the ratio of the front wheel or the rear wheel. Therefore, when the vehicle driving slip is judged, the vehicle speed signal is added as the threshold condition for distinguishing the vehicle driving slip judgment. When the vehicle speed is greater than or equal to the vehicle speed threshold, the slip rate is used for judgment. The wheel-to-wheel speed difference is used to judge the vehicle driving slip, thereby improving the accuracy of the vehicle driving slip judgment. The vehicle speed threshold can be 5km/h, or other parameters, which are not limited in this embodiment. In this embodiment, only Taking 5km/h as the vehicle speed threshold as an example for illustration, the slip rate threshold can be 0.08, or other parameters, which are not limited in this embodiment. In this embodiment, only 0.08 is used as the slip rate threshold. example to illustrate.

In this embodiment, the specific method for obtaining the slip rate according to the wheel speed of the front wheel and the wheel speed of the rear wheel is: when the vehicle is a front-wheel drive vehicle, the wheel speed of the front wheel and the wheel speed of the rear wheel are obtained. The first difference value of , obtains the slip rate according to the first difference value and the wheel speed of the rear wheel; when the vehicle is a rear-drive vehicle, obtains the difference between the wheel speed of the rear wheel and the wheel speed of the front wheel The second difference; the slip rate is obtained according to the second difference and the wheel speed of the front wheels, since when the vehicle is a front-drive vehicle, the wheel speed of the rear wheels is equivalent to the actual speed of the vehicle, The slip ratio is obtained by the ratio of the first difference between the wheel speeds of the rear wheels and the wheel speeds of the rear wheels, so that the ratio of the difference between the wheel speeds of the front wheels and the wheel speeds of the rear wheels and the actual vehicle speed can be used to achieve the speed of the front-drive vehicle. Slip judgment. Correspondingly, when making a slip judgment of a rear-drive vehicle, since the wheel speed of the front wheel is equivalent to the actual speed of the vehicle, the second difference between the wheel speed of the rear wheel and the wheel speed of the front wheel is compared with the wheel speed of the front wheel. The ratio of , obtains the slip ratio, thereby improving the accuracy of vehicle slip judgment.

In the specific implementation, W _f represents the wheel speed of the front wheel, and _{W r} represents the wheel speed of the rear _{wheel .} In the case of a rear-drive vehicle, the slip ratio is (W _r -W _f )/W _f , thus obtaining an accurate slip ratio.

Another specific implementation example is provided, whether the vehicle is in a slipping state is determined according to the wheel speed difference between the front and rear wheels, and when the current vehicle speed is less than the vehicle speed threshold, the front wheel speed and the rear wheel speed of the vehicle are obtained; The wheel speed difference between the front and rear wheels is obtained from the wheel speed of the rear wheels; when the wheel speed difference between the front and rear wheels is greater than or equal to the first wheel speed threshold, it is determined that the vehicle is in a slipping state.

It should be noted that the first wheel speed threshold may be 25 rpm, or other parameters, which are not limited in this embodiment. In this embodiment, only 25 rpm is taken as the first wheel speed threshold for illustration, that is, When the wheel speed difference between the front and rear wheels is greater than or equal to 25 rpm, it is determined that the vehicle is in a slipping state, so that the vehicle driving slip judgment is realized by the wheel speed difference between the front and rear wheels.

Based on the same principle as above, when the wheel speed difference between the front and rear wheels is obtained according to the front wheel speed and the rear wheel speed, it is also first determined whether the vehicle is a front-wheel drive vehicle or a rear-wheel drive vehicle, and when the vehicle is a front-wheel drive vehicle, the The wheel speed of the front wheel is subtracted from the wheel speed of the rear wheel to obtain the wheel speed difference between the front and rear wheels. When the vehicle is a rear-drive vehicle, the wheel speed of the rear wheel is subtracted from the wheel speed of the front wheel to obtain the wheel speed difference between the front and rear wheels. For example, for a front-drive vehicle, the wheel speed difference between the front and rear wheels is W _f -W _r , and for a rear-drive vehicle, the wheel speed difference between the front and rear wheels is W _r -W _f , so as to avoid misjudgment of the calculation result and improve the accuracy of anti-skid judgment. sex.

In step S20, when the vehicle is in a slipping state, the torque to be adjusted is obtained.

It should be noted that the torque to be adjusted is the execution torque of the previous cycle. In this embodiment, an input torque will be set. By recording the execution torque of the previous cycle as the input torque of the current cycle, when it is determined that the vehicle is in a slipping state , the flag position of the anti-skid control torque will be valid, thereby shielding the driver's intended torque and realizing the arbitration between the slip control torque and the driver's intended torque.

In a specific implementation, by setting the priority of the anti-skid control torque and the driver's intended torque, the priority of the anti-skid control torque is greater than the priority of the driver's intended torque, and when the vehicle is in a slip state, the anti-skid control torque is obtained and the driver's intended torque; according to the priority of the anti-skid control torque and the driver's intended torque, the driver's intended torque is shielded, and the anti-skid control torque is used as the torque to be adjusted.

It can be understood that, in addition to combining the slip ratio and the wheel speed difference between the front and rear wheels, the slip judgment can be further made by referring to other parameters, so as to improve the accuracy of the slip judgment. Therefore, it can also be determined by combining The gear position signal and the accelerator pedal signal are used for slip judgment, that is, by obtaining the gear position signal and the accelerator pedal signal, when the gear position signal is the forward gear signal, the pedal opening degree of the accelerator pedal signal reaches the preset opening degree, and the slippage occurs. When the slip rate is greater than or equal to the slip rate threshold, or the wheel speed difference between the front and rear wheels is greater than or equal to the wheel speed threshold, it is determined that the vehicle is in a slipping state, that is, the accelerator pedal is depressed to a certain opening, and the slip rate is greater than or equal to the threshold 0.08. The shift rate threshold can be calibrated, and it is suitable for the vehicle speed greater than or equal to 5km/h, or the wheel speed difference between the front and rear wheels is greater than the threshold value of 25rpm. 0.05s, this duration can be calibrated to determine that the vehicle is in a slipping state.

If the above conditions are met, it is judged that the vehicle is in a slip state, and the vehicle slip control mode is entered. The position of the vehicle slip control flag is valid, and the slip control torque is arbitrated with the driver's intended torque. At this time, the driver's demand torque is derived from the APO opening. will be masked by the higher priority vehicle slip control torque, enabling efficient torque arbitration.

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 to-be-adjusted torque 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. When the vehicle is at start or at a low speed, torque control is performed through the low-speed torque control strategy. When the vehicle is at a higher speed or the speed of the driving wheels When higher, torque control is performed through a high-speed torque control strategy.

In the specific implementation, when torque control is performed through the low-speed torque control strategy, the execution torque of the previous cycle is used as the torque to be adjusted to be directly adjusted to 0Nm. Perform a table lookup to obtain the matrix drop ratio, and perform gradient descent according to the matrix drop ratio. Compared with obtaining the target torque through the slip rate lookup table, adding the driving wheel speed as the two-dimensional lookup table input improves the accuracy of torque control, and Torque control is performed through the matrix reduction ratio, rather than direct torque adjustment through the target torque obtained by looking up the table, which makes the vehicle's torque reduction process more stable and improves the driver's driving experience.

In step S40, the execution torque is sent to a motor controller, and the motor controller is used to control the motor to work according to the execution torque.

In this embodiment, during the driving process of the vehicle, it is determined whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference between the front and rear wheels; when the vehicle is in a slipping state, the torque to be adjusted is obtained; according to the current vehicle speed or the current driving wheel The wheel speed determines the torque control strategy, and adjusts the torque to be adjusted according to the torque control strategy to obtain the execution torque; sends the execution torque to the motor controller, and the motor controller is used to control the motor according to the specified torque. The VCM can automatically judge the slip state and quickly adjust the torque according to the slip state judgment. The VCM does not need to wait for the vehicle slip judgment result and torque adjustment request from the VDC. After the VCM judges that the vehicle slips, it quickly performs slip correction control. , quickly request the motor to execute to achieve fast anti-skid control.

In one embodiment, as shown in FIG. 3 , a second embodiment of the anti-skid control method of the present invention is proposed based on the first embodiment. The torque control strategy includes a low-speed torque control strategy. The step S30 includes:

When the vehicle is starting or the current vehicle speed is less than the vehicle speed threshold, the execution torque of the previous cycle is obtained according to the low-speed torque control strategy; the execution torque of the previous cycle is reduced to a preset torque, and the The preset torque is used as the execution torque.

In this embodiment, the threshold is set according to the vehicle speed or the speed of the driving wheels, different torque reduction algorithms are set, and the driving wheel speed look-up table is added to the slip control algorithm. When starting or at a lower speed, the vehicle slip control mode Next, the VCM can send the execution torque of the previous cycle to the motor controller, in the current cycle, directly adjust it to 0Nm, and send it to the motor controller through CAN. Therefore, the speed of the vehicle is low, and it directly drops to 0Nm. While effectively correcting the slip, the impact on the driver is weak.

In another embodiment provided, the torque control strategy includes a high-speed torque control strategy, and the step S30 includes:

In 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, a high-speed torque control strategy is used according to the current slip rate and the current driving wheel speed. Quickly query the torque reduction ratio table to obtain the current torque reduction ratio, wherein the torque reduction ratio table records the corresponding relationship between the slip ratio, the speed of the driving wheel and the corresponding torque reduction ratio; The torque to be adjusted is dynamically adjusted to obtain the execution torque.

In this embodiment, when the vehicle speed is relatively high or the speed of the driving wheel is relatively high, the current slip rate and the wheel speed of the driving wheel are used as inputs, and a two-dimensional table is checked, which has been tested on the road surface. According to different slip rates and different driving wheel speeds, different ratios of torque gradient descent are found, and the torque is adjusted according to this ratio.

In the process of torque reduction, dynamic adjustment is also performed in real time, and changes in slip rate and driving wheel speed are monitored in real time; The torque reduction ratio is reduced until the execution torque reaches the preset torque, that is, after several cycles of torque reduction, the table is checked again according to the latest slip ratio and driving wheel speed. This cycle is repeated until the torque drop value is set, and the preset torque can be 0Nm or other parameters, which are not limited in this embodiment, and the preset torque is generally set to 0Nm for vehicles without energy recovery.

In this embodiment, when the vehicle is starting or the current vehicle speed is less than the vehicle speed threshold, the execution torque of the previous cycle is obtained according to the low-speed torque control strategy; the execution torque of the previous cycle is reduced to The preset torque is used as the execution torque. When the current vehicle speed is greater than or equal to the vehicle speed threshold or the current driving wheel speed is greater than or equal to the second wheel speed threshold, the high-speed torque control strategy is used according to the current The slip ratio and the current driving wheel speed query the torque reduction ratio table to obtain the current torque reduction ratio, wherein the torque reduction ratio table records the correspondence between the slip ratio, the driving wheel speed and the corresponding torque reduction ratio; The torque to be adjusted is dynamically adjusted according to the current torque reduction ratio to obtain the execution torque, that is, the torque is divided into two torque control strategies according to the vehicle speed for control, and the torque is adjusted according to the torque reduction ratio, so as to realize the refined control of the torque , to ensure a smooth transition of torque and improve the driver's driving experience.

The present invention further provides an anti-skid control device.

Referring to FIG. 4 , FIG. 4 is a schematic diagram of functional modules of the first embodiment of the anti-skid control device of the present invention.

In the first embodiment of the anti-skid control device of the present invention, the anti-skid control device includes:

The obtaining module 10 is configured to determine whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference between the front and rear wheels during the driving process of the vehicle.

The obtaining module 10 is further configured to obtain the torque to be adjusted when the vehicle is in a slipping state.

The adjustment module 20 is used for determining a torque control strategy according to the current vehicle speed or the current driving wheel speed, and performing torque reduction adjustment on the to-be-adjusted torque according to the torque control strategy to obtain an execution torque.

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 this embodiment, during the driving process of the vehicle, it is determined whether the vehicle is in a slipping state according to the slip rate or the wheel speed difference between the front and rear wheels; when the vehicle is in a slipping state, the torque to be adjusted is obtained; according to the current vehicle speed or the current driving wheel The wheel speed determines the torque control strategy, and adjusts the torque to be adjusted according to the torque control strategy to obtain the execution torque; sends the execution torque to the motor controller, and the motor controller is used to control the motor according to the specified torque. The VCM can automatically judge the slip state and quickly adjust the torque according to the slip state judgment. The VCM does not need to wait for the vehicle slip judgment result and torque adjustment request from the VDC. After the VCM judges that the vehicle slips, it quickly performs slip correction control. , quickly request the motor to execute to achieve fast anti-skid control.

Optionally, the obtaining module 10 is further configured to obtain the front wheel speed and the rear wheel speed of the vehicle when the current vehicle speed is greater than or equal to the vehicle speed threshold;

obtaining the slip rate according to the front wheel speed and the rear wheel speed;

When the slip ratio is greater than or equal to a slip ratio threshold, it is determined that the vehicle is in a slipping state.

Optionally, the obtaining module 10 is further configured to obtain the first difference between the wheel speed of the front wheel and the wheel speed of the rear wheel when the vehicle is a front-drive vehicle;

obtaining a slip ratio according to the first difference and the wheel speed of the rear wheel;

When the vehicle is a rear-drive vehicle, obtaining a second difference between the wheel speed of the rear wheel and the wheel speed of the front wheel;

A slip ratio is obtained from the second difference and the front wheel speed.

Optionally, the obtaining module 10 is further configured to obtain the front wheel speed and the rear wheel speed of the vehicle when the current vehicle speed is less than the vehicle speed threshold;

Obtain the wheel speed difference between the front and rear wheels according to the front wheel speed and the rear wheel speed;

When the wheel speed difference between the front and rear wheels is greater than or equal to the first wheel speed threshold, it is determined that the vehicle is in a slipping state.

Optionally, the obtaining module 10 is further configured to subtract the wheel speed of the front wheel from the wheel speed of the rear wheel to obtain the wheel speed difference between the front and rear wheels when the vehicle is a front-drive vehicle;

When the vehicle is a rear-drive vehicle, the wheel speed difference between the front and rear wheels is obtained by subtracting the wheel speed of the rear wheel from the wheel speed of the front wheel.

Optionally, the obtaining module 10 is further configured to obtain the gear signal and the 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 the slip rate threshold, or the wheel speed difference between the front and rear wheels is greater than or equal to the wheel speed threshold , make sure the vehicle is slipping.

Optionally, the obtaining module 10 is further configured to set the priority of the anti-skid control torque and the driver's intended torque, so that the priority of the anti-skid control torque is higher than the priority of the driver's intended torque.

Optionally, the obtaining module 10 is further configured to obtain the anti-skid control torque and the driver's intended torque when the vehicle is in a slipping state;

According to the priority of the anti-skid control torque and the driver's intended torque, the driver's intended torque is shielded, and the anti-skid control torque is used 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 the previous torque control strategy according to the low-speed torque control strategy when the vehicle is starting or the current vehicle speed is less than a vehicle speed threshold. cycle execution torque;

The execution torque of the previous cycle is reduced to a preset torque, and the preset torque is used 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, Through the high-speed torque control strategy, the torque reduction ratio table is inquired according to the current slip ratio and the current driving wheel speed to obtain the current torque reduction ratio, wherein the torque reduction ratio table records the slip ratio, the driving wheel speed and Corresponding relationship of the corresponding torque drop ratio;

The torque to be adjusted is dynamically adjusted according to the current torque reduction ratio to obtain an execution torque.

Optionally, the control module 30 is also used for real-time monitoring of the slip rate and the change of the driving wheel speed;

When the changed slip ratio and the torque reduction ratio corresponding to the driving wheel speed are changed, torque reduction is performed 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 proposes an anti-skid control device, the anti-skid control device includes: a memory, a processor, and an anti-skid control program stored in the memory and executable on the processor, so The anti-skid control program is configured to implement the anti-skid control method as described above.

In addition, an embodiment of the present invention further provides a storage medium, where an anti-skid control program is stored on the storage medium, and when the anti-skid control program is executed by a processor, the above-mentioned anti-skid control method is implemented.

Since the storage medium adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or system comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or system. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system that includes the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

From the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general hardware platform, and of course hardware can also be used, but in many cases the former is better implementation. Based on such understanding, the technical solutions of the present invention can be embodied in the form of software products that are essentially or contribute to the prior art, and the computer software products are stored in the above-mentioned computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk), including several instructions to make an intelligent terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the methods described in the various embodiments of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields , are similarly included in the scope of patent protection 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.

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