CN115556593A - Antiskid management method and system for electric four-wheel drive automobile, vehicle-mounted equipment and vehicle - Google Patents

Antiskid management method and system for electric four-wheel drive automobile, vehicle-mounted equipment and vehicle Download PDF

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Publication number
CN115556593A
CN115556593A CN202211295554.XA CN202211295554A CN115556593A CN 115556593 A CN115556593 A CN 115556593A CN 202211295554 A CN202211295554 A CN 202211295554A CN 115556593 A CN115556593 A CN 115556593A
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Prior art keywords
wheel
slip
slipping
control mode
wheels
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丁健
谢锡春
李进伟
付邦璀
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Dongfeng Off Road Vehicle Co Ltd
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Dongfeng Off Road Vehicle Co Ltd
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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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • 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
    • B60L2240/463—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
    • B60L2240/465—Slip
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application discloses anti-skid management method, system, on-board equipment and vehicle of electric four-wheel drive automobile, and the method comprises the following steps: acquiring the number and positions of slipping wheels of the electric four-wheel drive automobile; activating a corresponding slip control mode according to the number of slipping wheels, wherein the slip control mode comprises a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode; and performing anti-skid management on the wheels of the electric four-wheel drive automobile according to the skid control mode and the skid wheel position. On one hand, the slip control mode is divided into four modes according to the number of slipping wheels, so that the slip condition of the electric four-wheel drive automobile is adjusted in a targeted manner; on the other hand, the wheel position that combines to skid carries out the adaptability regulation and control to the control mode that skids, can effectively improve anti-skidding effect, guarantees the steady operation of electronic four-wheel drive car.

Description

Antiskid management method and system for electric four-wheel drive automobile, vehicle-mounted equipment and vehicle
Technical Field
The invention relates to the technical field of automobile control, in particular to an anti-skid management method and system for an electric four-wheel drive automobile, vehicle-mounted equipment and a vehicle.
Background
The anti-skid driving system of automobile is to prevent the driving wheel from skidding during running, ensure the safe and stable running of automobile and raise the utilization of automobile power. A good drive anti-skid system should have two advantages: on the one hand, the vehicle has the best possible acceleration, and on the other hand, the vehicle does not have an unnecessarily strong influence on the driving stability of the vehicle while accelerating.
For a traditional electric four-wheel drive automobile, the problem of inconsistent driving between a front axle and a rear axle is solved by a central differential, the problem of inconsistent running between coaxial wheels is solved by an inter-wheel differential, the power output of an engine is generally adjusted, braking is applied to a driving wheel, and the central differential and the inter-wheel differential are used for driving and preventing skidding. However, for an electric vehicle with independent driving of the front and rear axles, the anti-slip treatment by the center differential and the inter-wheel differential is no longer applicable. That is to say, the electric four-wheel drive automobile which is independently driven by the front axle and the rear axle is driven to prevent skidding by adopting a central differential mechanism and an inter-wheel differential mechanism, and the target antiskid effect is difficult to achieve, so that the electric four-wheel drive automobile continuously skids in the running process and is difficult to keep stable.
Therefore, the prior art electric four-wheel drive automobile has the problem that the operation stability is difficult to keep due to continuous slipping during the operation process.
Disclosure of Invention
In view of the above, there is a need to provide an anti-skid management method and system for an electric four-wheel drive vehicle, a vehicle-mounted device and a vehicle, so as to solve the problem that in the prior art, during the operation of the electric four-wheel drive vehicle, the operation effect is difficult to keep stable due to continuous skidding.
In order to solve the above problems, the present invention provides an anti-skid management method for an electric four-wheel drive vehicle, comprising:
acquiring the number and positions of slipping wheels of the electric four-wheel drive automobile;
activating a corresponding slip control mode according to the number of slipping wheels, wherein the slip control mode comprises a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode;
and performing anti-skid management on the wheels of the electric four-wheel drive automobile according to the skid control mode and the skid wheel position.
Further, the method for acquiring the number and the positions of the slipping wheels of the electric four-wheel drive automobile comprises the following steps:
respectively acquiring the slip rate of a front left wheel, the slip rate of a front right wheel, the slip rate of a rear left wheel and the slip rate of a rear right wheel of the electric four-wheel drive automobile;
and respectively comparing the slip rate of the front left wheel, the slip rate of the front right wheel, the slip rate of the rear left wheel and the slip rate of the rear right wheel with the slip rate threshold preset values to determine the number and the positions of the slipping wheels.
Further, activating a corresponding slip control mode based on the number of slipping wheels, including:
judging whether the number of the slipping wheels is one, if so, activating a first slipping control mode;
if not, judging whether the number of the slipping wheels is two, and if so, activating a second slipping control mode;
if not, judging whether the number of the slipping wheels is three, and if so, activating a third slipping control mode;
if not, the fourth slip control mode is activated.
Further, the first slip control mode includes:
judging whether the slipping wheel is a front wheel, if so, reducing the driving torque of the slipping front wheel and increasing the driving torque of the other front wheel;
if not, the wheel speeds of the two front wheels are adjusted to be equal, and the driving torque of the slipping rear wheel is reduced.
Further, the second slip control mode includes:
judging whether the slipping wheels are front wheels, if so, reducing the driving torque of the front left wheel and the front right wheel, and adjusting the wheel speeds of the front left wheel and the front right wheel to be equal to the average wheel speed of the rear left wheel and the rear right wheel;
if not, judging whether the slipping wheels are rear wheels, if so, reducing the driving torque of the rear left wheel and the rear right wheel, and respectively adjusting the slip rates of the rear left wheel and the rear right wheel to slip rate threshold values;
if not, acquiring the vehicle speed, judging whether the vehicle speed is within the vehicle speed threshold value and whether the slipping wheels are on the same side, if so, respectively adjusting the slip rates of the front left wheel and the front right wheel to a preset slip rate, and adjusting the slip rates of the rear left wheel and the rear right wheel to the preset slip rate;
if not, adjusting the wheel speed of the slipping front wheel to the wheel speed of the non-slipping front wheel, and adjusting the rotating speed and the torque of the rear wheel to enable the wheel speeds of the left and right rear wheels to be equal to the wheel speed of the non-slipping front wheel.
Further, the third slip control mode includes:
judging whether the non-skid wheel is a front wheel, if so, adjusting the wheel speeds of the rear left wheel and the rear right wheel to the wheel speed of the non-skid front wheel, and adjusting the wheel speed of the skid front wheel to the wheel speed of the non-skid front wheel;
if not, adjusting the wheel speeds of the front left wheel and the front right wheel to the wheel speed of the non-slip rear wheel, and adjusting the wheel speed of the slip rear wheel to the wheel speed of the non-slip rear wheel.
Further, the fourth slip control mode includes:
acquiring the vehicle speed, judging whether the vehicle speed is within a vehicle speed threshold value, if so, adjusting the slip rate of the left wheel and the right wheel to a preset slip rate, and adjusting the wheel speed of the left wheel and the right wheel to the average wheel speed of the left wheel and the right wheel;
if not, adjusting the slip rate of the left wheel and the right wheel to the slip rate threshold value, and adjusting the wheel speed of the left wheel and the right wheel to the average wheel speed of the left wheel and the right wheel.
In order to solve the above problems, the present invention further provides an anti-skid management system for an electric four-wheel drive vehicle, comprising:
the device comprises a slipping wheel acquisition module, a data acquisition module and a data acquisition module, wherein the slipping wheel acquisition module is used for acquiring the number of slipping wheels and the positions of the slipping wheels of the electric four-wheel drive automobile;
the device comprises a slip control mode activating module, a data processing module and a data processing module, wherein the slip control mode activating module is used for activating corresponding slip control modes according to the number of slipping wheels, and the slip control modes comprise a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode;
and the anti-skid management module is used for carrying out anti-skid management on the wheels of the electric four-wheel drive automobile according to the skid control mode and the skid wheel position.
In order to solve the above problem, the present invention further provides an on-board device, which includes a processor and a memory, where the memory stores a computer program, and when the computer program is executed by the processor, the anti-skid management method for an electric four-wheel drive vehicle as described above is implemented.
In order to solve the above problem, the present invention also provides a vehicle including the in-vehicle apparatus as described above.
The beneficial effect of adopting above-mentioned technical scheme is: the invention provides an anti-skid management method and system for an electric four-wheel drive automobile, vehicle-mounted equipment and a vehicle, wherein the method comprises the following steps: acquiring the number and positions of slipping wheels of the electric four-wheel drive automobile; activating a corresponding slip control mode depending on the number of slipping wheels, wherein the slip control mode includes a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode; and performing anti-skid management on the wheels of the electric four-wheel-drive automobile according to the skid control mode and the skid wheel position. On one hand, the slip control mode is divided into four modes according to the number of slipping wheels, so that the slip condition of the electric four-wheel drive automobile is adjusted in a targeted manner; on the other hand, the wheel position that combines to skid carries out the adaptability regulation and control to the control mode that skids, can effectively improve anti-skidding effect, guarantees the steady operation of electronic four-wheel drive car.
Drawings
Fig. 1 is a schematic flow chart illustrating an anti-skid management method for an electric four-wheel drive vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating an embodiment of activating a corresponding slip control mode according to the present invention;
fig. 3 is a flowchart illustrating an embodiment of a second slip control mode according to the present invention;
FIG. 4 is a schematic structural diagram of an embodiment of an anti-skid management system for an electric four-wheel drive vehicle according to the present invention;
fig. 5 is a block diagram of an embodiment of an in-vehicle device provided in the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Before the embodiments are set forth, a limited slip differential, an electric four-wheel drive vehicle, an open differential will be explained:
the Limited Slip Differential is called Limited Slip Differential, LSD for short. The limited slip differential is an improved differential for limiting wheel slip, means that the difference value of the rotating speeds of driving wheels at two sides is allowed to be within a certain range so as to ensure the driving performance of normal turning and the like, is a non-electric control type, and can realize limited torque distribution ratio between limit wheels.
The active electronic limited slip differential can achieve a torque distribution ratio between limit wheels of up to 0.
The electric four-wheel drive automobile is a pure electric automobile driven by four wheels, and the working principle of the electric four-wheel drive automobile is that the four-wheel drive of power is realized through structures such as single motor + transmission shaft, double-motor all-wheel drive, combination of an engine + a motor and the like. Compared with the traditional fuel vehicle, the electric four-wheel drive vehicle has the advantages that parts such as a gearbox, a transfer case and the like are omitted, so that the structure is simpler, and the transmission efficiency is higher; on the other hand, the power is directly distributed by controlling the motors of the front and rear shafts, so that the response speed is higher and more accurate; however, the electric four-wheel drive vehicle is generally provided with an open differential, and once wheels slip, the power of the motor is greatly reduced, so that the electric four-wheel drive vehicle is difficult to escape.
The open differential is a differential for an automobile, and is a differential that can normally operate without any limitation when the automobile turns. If a four-wheel drive vehicle is equipped with three open front, middle and rear differentials, the entire power of the vehicle is wasted on one wheel if it slips, and the remaining three wheels cannot be split.
That is, when the open differential is mounted to control the running speed during the running of the conventional electric four-wheel drive vehicle, there is a problem that it is difficult to keep the running stable due to continuous slip.
In order to solve the above problems, the present invention provides an antiskid management method and system for an electric four-wheel drive vehicle, a vehicle-mounted device, and a vehicle, which will be described in detail below.
As shown in fig. 1, fig. 1 is a schematic flow chart of an embodiment of an anti-skid management method for an electric four-wheel drive vehicle, which includes:
step S101: and acquiring the number and the positions of the slipping wheels of the electric four-wheel drive automobile.
Step S102: corresponding slip control modes are activated in dependence on the number of slipping wheels, wherein the slip control modes include a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode.
Step S103: and performing anti-skid management on the wheels of the electric four-wheel-drive automobile according to the skid control mode and the skid wheel position.
In the embodiment, firstly, the number of slipping wheels and the positions of the slipping wheels of the electric four-wheel drive automobile are determined according to the running state of the electric four-wheel drive automobile; then, according to the number of the slipping wheels, activating corresponding slipping control modes, wherein the corresponding slipping control modes are four in total because the electric four-wheel drive automobile is provided with four wheels; finally, after the slip control mode is activated, the slip control mode needs to be adaptively adjusted according to the position of a slipping wheel, so that the anti-slip management of the electric four-wheel drive automobile is realized.
In the embodiment, on one hand, the slip control mode is divided into four according to the number of slipping wheels, so that the slip condition of the electric four-wheel drive automobile is adjusted in a targeted manner; on the other hand, the wheel position that combines to skid carries out the adaptability regulation and control to the control mode that skids, can effectively improve anti-skidding effect, guarantees the steady operation of electronic four-wheel drive car.
Firstly, in order to ensure the normal operation of the electric four-wheel drive automobile, the self-checking is firstly carried out on a vehicle control system to ensure that the electric four-wheel drive automobile is in a key on state; in addition, since the present application does not relate to skid prevention during steering, it is necessary to ensure that the front wheel turning angle δ =0.
In one embodiment, the slip ratio of the electric four-wheel drive vehicle is calculated by the following formula:
Figure BDA0003902590280000071
wherein, λ is the slip ratio of the electric four-wheel drive automobile, ω is the wheel speed of the electric four-wheel drive automobile, r is the wheel rolling radius of the electric four-wheel drive automobile, and V is the speed of the electric four-wheel drive automobile.
In one embodiment, vehicle speed is a common vehicle parameter that is received by the drive antiskid control unit via the CAN bus. Wheel speed information for the four wheels is measured by a wheel speed sensor on each wheel and received by the drive slip control unit.
As a preferred embodiment, in step S101, in order to obtain the number of slipping wheels and the position of slipping wheels of the electric four-wheel-drive vehicle, first, the front left wheel slip rate, the front right wheel slip rate, the rear left wheel slip rate and the rear right wheel slip rate of the electric four-wheel-drive vehicle need to be obtained respectively, that is, the slip rate of each wheel needs to be obtained in real time; then, the slip rate of the front left wheel, the slip rate of the front right wheel, the slip rate of the rear left wheel and the slip rate of the rear right wheel are respectively compared with the slip rate threshold preset value, whether the slip rate of each wheel is within the slip rate threshold preset value or not is judged, and the electric four-wheel drive automobile preferentially provides power for the wheel without resistance, so that whether the wheel slips or not can be judged by acquiring the slip rate of each wheel, and the slip rate of each wheel is separately measured, so that the specific slipped wheel position can be determined while the number of the slipped wheels is obtained, namely, the slipped wheel position is determined.
In one embodiment, the slip threshold preset value is set to 0.3.
In other embodiments, the slip ratio preset value can also be set according to actual conditions and determination requirements.
As a preferred embodiment, in step S102, in order to activate the corresponding slip control mode, as shown in fig. 2, fig. 2 is a schematic flowchart of an embodiment of activating the corresponding slip control mode provided by the present invention, and includes:
step S121: it is determined whether the number of slipping wheels is one and if so, a first slip control mode is activated.
Step S122: if not, judging whether the number of the slipping wheels is two, and if so, activating a second slipping control mode.
Step S123: if not, determining whether the number of the slipping wheels is three, and if so, activating a third slipping control mode.
Step S124: if not, the fourth slip control mode is activated.
In this embodiment, by setting the slip control mode corresponding to the number of slipping wheels, after the number of slipping wheels is obtained, the electric four-wheel drive vehicle is activated to enter the corresponding slip control mode according to the number of slipping wheels. The electric four-wheel drive automobile has four wheels in total, so that the slip control mode has four modes in total.
Further, in step S121, when only one slipping wheel exists, the electric four-wheel drive vehicle is activated to enter the first slipping control mode, and first, it is determined whether the slipping wheel is the front wheel, if the slipping wheel is the front wheel, the coordinated control starts the left and right wheel torque distribution function of the front axle active electronic limited slip differential, and adjusts the torque ratio between the front left and right wheels, so as to reduce the driving torque of the slipping front wheel and simultaneously raise the driving torque of the other non-slipping front wheel, thereby achieving the purpose of eliminating the slipping. However, there are also special cases where the above operation does not achieve the elimination of the slip, but instead causes the two front wheels to slip at the same time, and therefore the second slip control mode needs to be activated because the number of slipping wheels is raised to two, and the positions of the slipping wheels are the two front wheels.
In another embodiment, the brakes of the slipping front wheels are controlled in coordination to apply the brakes, and a front slip limiting differential is engaged to reduce the driving torque of the slipping front wheels.
If the slipping wheel is the rear wheel, namely if the judgment result is negative, the coordinated control starts the left and right wheel torque distribution function of the front driving electronic slip limiting differential mechanism to enable the wheel speeds of the two front wheels to be equal, and then the coordinated control starts the left and right wheel torque distribution function of the rear driving electronic slip limiting differential mechanism to reduce the driving torque of the slipping rear wheel. Likewise, the above operation may not only not eliminate the situation when the front and rear wheels slip, but also cause the two rear wheels to slip at the same time, and then since the number of slipping wheels is raised to two, it is necessary to activate the second slip control mode, and the positions of the slipping wheels are the two rear wheels.
In another embodiment, the braking is performed by coordinately controlling the brakes of the front wheels in conjunction with the front slip limiting differential such that the wheel speeds of the two front wheels are equal, where no slipping of the front wheels occurs, and then, the braking is performed by coordinately controlling the brakes of the slipping rear wheels in conjunction with the rear slip limiting differential such that the drive torque of the slipping rear wheels is reduced.
Further, in step S122, since the position of the slipping wheel is uncertain, a plurality of anti-slipping methods are correspondingly provided, as shown in fig. 3, fig. 3 is a flowchart of an embodiment of a second slip control mode provided by the present invention, and includes:
step S1221: and judging whether the slipping wheels are front wheels, if so, reducing the driving torque of the front left wheel and the front right wheel, and adjusting the wheel speeds of the front left wheel and the front right wheel to be equal to the average wheel speed of the rear left wheel and the rear right wheel.
Step S1222: if not, judging whether the slipping wheels are rear wheels, if so, reducing the driving torque of the rear left wheel and the rear right wheel, and respectively adjusting the slip rate of the rear left wheel and the slip rate of the rear right wheel to the slip rate threshold value.
Step S1223: if not, acquiring the vehicle speed, judging whether the vehicle speed is within the vehicle speed threshold value and whether the slipping wheels are on the same side, if so, respectively adjusting the slipping rate of the front left wheel and the front right wheel to a preset slipping rate, and adjusting the slipping rate of the rear left wheel and the rear right wheel to the preset slipping rate.
Step S1224: if not, adjusting the wheel speed of the slipping front wheel to the wheel speed of the non-slipping front wheel, and adjusting the rotating speed and the torque of the rear wheel to enable the wheel speeds of the rear left wheel and the rear right wheel to be equal to the wheel speed of the non-slipping front wheel.
In this embodiment, first, the slipping condition needs to be divided into four types according to the position of the slipping wheel, which are: two front wheels slip, two rear wheels slip, one front wheel and one rear wheel slip on the same side, and one front wheel and one rear wheel slip on different sides; then, for the four cases, parameters such as driving torque, wheel speed, slip rate and the like of the wheels are respectively adjusted to realize the situation of eliminating the slip.
In step S1221, when it is determined that the two front wheels are slipping, the coordinated control starts the torque distribution function of the left and right wheels of the front active electronic limited slip differential and controls the output rotation speed and torque of the front axle motor, so as to reduce the driving torque of the front left wheel and the front right wheel, and adjust the wheel speeds of the front left wheel and the front right wheel to be equal to the average wheel speed of the rear left wheel and the rear right wheel.
In another embodiment, the brakes of the two front wheels are coordinately controlled to implement braking and control the output rotating speed and torque of the front axle motor, and the front limited slip differential is matched to realize the reduction of the driving torque of the front left wheel and the front right wheel, and the wheel speeds of the front left wheel and the front right wheel are equal to the average wheel speed of the rear left wheel and the rear right wheel.
In step S1222, when it is determined that the two rear wheels are slipping, the left and right wheel torque distribution function of the rear driving electronic limited slip differential is turned on and the output rotation speed and torque of the rear axle motor are controlled in a coordinated manner, so as to reduce the driving torque of the rear left wheel and the rear right wheel, and adjust the slip rates of the rear left wheel and the rear right wheel to the slip rate threshold respectively.
In a specific embodiment, the slip rate threshold is set to 0.02.
In another embodiment, the brakes of the two slipping rear wheels are coordinately controlled to brake and control the output rotating speed and torque of the rear axle motor, and the rear slip limiting differential is matched to reduce the driving torque of the rear left wheel and the rear right wheel and adjust the slip ratio of the rear left wheel and the rear right wheel to the slip ratio threshold value.
In step S1223, when it is determined that one front wheel and one rear wheel located on the same side slip, the variable of the vehicle speed needs to be considered, first, the vehicle speed is obtained, and it is determined whether the vehicle speed is within a vehicle speed threshold, and if so, it indicates that the electric four-wheel drive vehicle is in a low-speed operation state.
In another embodiment, firstly, the brake of the slipping front wheel is coordinately controlled to implement braking and control the output rotating speed and torque of the front axle motor, and the front slip limiting differential is matched to realize that the slip ratio of the front right wheel is equal to the slip ratio of the front left wheel and is also equal to the preset slip ratio; then, the brake of the slipping rear wheel is coordinately controlled to brake and control the output rotating speed and torque of the rear axle motor, and the slip rate of the rear left wheel is adjusted to be equal to the slip rate of the rear right wheel and also equal to the preset slip rate by matching with the rear slip limiting differential.
In step S1224, when it is determined that the vehicle speed is not within the vehicle speed threshold, that is, the electric four-wheel-drive vehicle is in a high-speed operation state, or it is determined that one front wheel and one rear wheel located on different sides are slipping, on one hand, the coordinated control starts the left and right wheel torque distribution function of the front active electronic limited slip differential and controls the output rotation speed and torque of the front axle motor, and the wheel speed of the slipping front wheel is adjusted to be equal to the wheel speed of the non-slipping front wheel; on the other hand, the torque distribution function of the left wheel and the right wheel of the rear driving electronic limited slip differential is started through coordination control, and the output rotating speed and the torque of the rear axle motor are controlled, so that the wheel speeds of the left rear wheel and the right rear wheel are equal to the wheel speed of the non-slip front wheel.
In another embodiment, the brake for coordinately controlling the slipping front wheel can also be used for braking and controlling the output rotating speed and torque of the front axle motor, and the adjustment of the wheel speed of the slipping front wheel to be equal to that of the non-slipping front wheel is realized by matching with the front slip limiting differential; and then, the brakes of the slipping rear wheels are coordinately controlled to implement braking and control the output rotating speed and torque of the rear axle motor, and the rear slip limiting differential is matched, so that the wheel speeds of the two rear wheels are equal to the wheel speed of the non-slipping front wheel.
In the embodiment, firstly, the two slipping wheels are divided into four conditions, and then the related parameters are adaptively adjusted according to each specific condition, so that the slipping condition of the electric four-wheel drive automobile is finally eliminated, and the stable operation is ensured.
Further, in step S123, for the case that all three wheels slip, that is, only one wheel does not slip, first, it is determined whether the wheel that does not slip is the front wheel, if so, then, first, the left and right wheel torque distribution function of the rear electronic limited slip differential is turned on and the output rotation speed and torque of the rear axle motor are controlled in a coordinated manner, so as to adjust the wheel speeds of the rear left wheel and the rear right wheel to the wheel speed of the wheel that does not slip, that is, adjust the wheel speeds of the two rear wheels to the wheel speed of the wheel that does not slip; then, the wheel speed of the slipping front wheel is adjusted to the wheel speed of the non-slipping front wheel, thereby achieving the goal of eliminating the slip.
In another embodiment, the brake of the slipping rear wheel can be coordinately controlled to implement braking and control the output rotating speed and torque of the rear axle motor, and the wheel speed of the two rear wheels can be adjusted to the wheel speed of the non-slipping wheel by matching with the rear slip limiting differential; and then, the brake of the slipping front wheel is coordinated and controlled to implement braking, the output torque of the front axle motor is reduced in cooperation with the front slip limiting differential, and the wheel speed of the slipping front wheel is equal to that of the non-slipping wheel.
In addition, when the non-skid wheel is the rear wheel, that is, the determination result is no, firstly, the left and right wheel torque distribution function of the front driving electronic limited slip differential is started through coordinated control, and the output rotating speed and torque of the front axle motor are controlled, so that the wheel speeds of the front left wheel and the front right wheel are adjusted to the wheel speed of the non-skid rear wheel, that is, the wheel speeds of the two front wheels are adjusted to the wheel speed of the non-skid rear wheel; and then, adjusting the wheel speed of the slipping rear wheel to the wheel speed of the non-slipping rear wheel, thereby achieving the aim of eliminating the slipping.
In another embodiment, the brake for coordinately controlling the slipping front wheel can also be used for braking and controlling the output rotating speed and torque of the front axle motor, and the front slip limiting differential is matched to realize the adjustment of the wheel speed of the front left wheel and the wheel speed of the front right wheel to the wheel speed of the non-slipping rear wheel; and then, the brake of the slipping rear wheel is coordinated and controlled to implement braking, the rear slip limiting differential is matched, and the output torque of the rear axle motor is reduced, so that the wheel speed of the slipping rear wheel is equal to that of the non-slipping rear wheel.
In this embodiment, at first, adjust the fast wheel speed to the fast wheel speed of the rear wheel of not skidding rear wheel/front wheel that is in the state of skidding, realize that three wheel can normal operating, then adjust the fast wheel speed of the last wheel that skids to the fast wheel speed of the wheel that does not skid, not only can eliminate fast and skid, realize the steady operation of electric four-wheel drive car, can also reduce the energy of electric four-wheel drive car as soon as possible because the waste that the wheel that provides skids caused.
Further, in step S124, for the case that all four wheels are slipping, that is, all the wheels are slipping, first, the vehicle speed is obtained, and it is determined whether the vehicle speed is within the vehicle speed threshold, if so, it is determined that the electric four-wheel drive vehicle is in the low-speed operation state, therefore, first, the left and right wheel torque distribution function of the rear active electronic limited slip differential is coordinately controlled to be turned on, the output rotation speed and torque of the rear axle motor are controlled, the slip rates of the left and right slipping wheels are adjusted to the preset slip rate, then, the left and right wheel torque distribution function of the front active electronic limited slip differential is coordinately controlled to be turned on, and the output rotation speed and torque of the front axle motor are controlled, and the wheel speeds of the left and right slipping wheels are adjusted to be equal to the average wheel speed of the left and right non-slipping wheels.
In another embodiment, the brake of the slipping rear wheel can be coordinately controlled to implement braking and control the output rotation speed and torque of the rear axle motor, and the slip rates of the slipping rear left wheel and the slipping rear right wheel are adjusted to the preset slip rate in cooperation with the rear slip limiting differential, and then the brake of the slipping front wheel coordinately controlled to implement braking and control the output rotation speed and torque of the front axle motor, and the wheel speeds of the slipping front left wheel and the slipping front right wheel are adjusted to be equal to the average wheel speed of the non-slipping rear left wheel and the non-slipping rear right wheel in cooperation with the front slip limiting differential.
In a specific embodiment, there is a case that all four wheels slip when starting to accelerate, at which time, the center of gravity of the vehicle moves backwards, and the rear axle load becomes larger, so that the slip of the rear wheel should be controlled first, so that the slip ratio of the rear wheel is controlled to be close to an optimal value, that is, the wheels have both large longitudinal adhesion and large lateral adhesion, and at this time, the vehicle has both good stability and good traction, for example, the optimal value range is 0.1-0.2, so that the control is to accelerate the vehicle stably and rapidly, and save energy.
In one embodiment, the slip rate threshold is set to 0.1 to 0.2.
If not, namely the vehicle speed exceeds the vehicle speed threshold value, the electric four-wheel drive vehicle is in a high-speed running state, firstly, the torque distribution function of the left and right wheels of the front driving electronic limited slip differential is coordinately controlled to be started, the output rotating speed and the torque of the front axle motor are controlled, the slip rate of the slipping front left wheel is respectively adjusted to be equal to the slip rate threshold value, then, the torque distribution function of the left and right wheels of the rear driving electronic limited slip differential is coordinately controlled to be started, the output rotating speed and the torque of the rear axle motor are controlled, the wheel speed of the slipping rear left wheel is adjusted to be equal to the wheel speed of the slipping rear right wheel, and the wheel speeds are equal to the average wheel speed of the non-slipping front left wheel and the non-slipping front right wheel.
In a specific embodiment, the slip rate threshold is set to 0.02.
In another embodiment, the output rotation speed and torque of the front axle motor can be controlled and braked by coordinately controlling the brake of the slipping front wheel, and the slip rate of the slipping front left wheel and the slip rate of the slipping front right wheel are equal to the slip rate threshold value by matching with the front slip limiting differential, and then the output rotation speed and torque of the rear axle motor are controlled and braked by coordinately controlling the brake of the slipping rear wheel, and the output rotation speed and torque of the slipping rear right wheel are equal to the wheel speed of the slipping rear left wheel by matching with the rear slip limiting differential, and the wheel speed of the slipping rear left wheel is equal to the average wheel speed of the non-slipping front left wheel and the non-slipping front right wheel.
In one embodiment, the speed exceeding the speed threshold is a high speed condition, and therefore, it is important to control the vehicle to run stably, first, to eliminate the front wheel slip, and then to make the rear wheel speed consistent with the front wheel speed.
Through the mode, the slipping control mode of the electric four-wheel drive automobile is correspondingly activated by taking the number of slipping wheels of the electric four-wheel drive automobile as a judgment basis, and then the slipping control mode is correspondingly refined by combining the information such as the wheel speed, the slip rate and the vehicle speed of the electric four-wheel drive automobile, so that the slipping phenomenon of the electric four-wheel drive automobile is accurately eliminated, and the running stability of the electric four-wheel drive automobile is improved.
In order to solve the above problem, the present invention further provides an anti-skid management system for an electric four-wheel drive vehicle, as shown in fig. 4, fig. 4 is a schematic structural diagram of an embodiment of the anti-skid management system for an electric four-wheel drive vehicle provided by the present invention, and the anti-skid management system 400 for an electric four-wheel drive vehicle includes:
the slipping wheel acquiring module 401 is used for acquiring the number of slipping wheels and the positions of the slipping wheels of the electric four-wheel drive automobile;
a slip control mode activation module 402 for activating a corresponding slip control mode depending on the number of slipping wheels, wherein the slip control mode includes a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode;
and the anti-skid management module 403 is configured to perform anti-skid management on the wheels of the electric four-wheel drive vehicle according to the skid control mode and the skid wheel position.
The invention further provides a vehicle-mounted device correspondingly, as shown in fig. 5, fig. 5 is a structural block diagram of an embodiment of the vehicle-mounted device provided by the invention. The in-vehicle device 500 may be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The vehicle-mounted device 500 comprises a processor 501 and a memory 502, wherein the memory 502 stores an anti-skid management program 503 of the electric four-wheel drive vehicle.
The memory 502 may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device, in some embodiments. The memory 502 may also be an external storage device of the computer device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device. Further, the memory 502 may also include both internal storage units and external storage devices of the computer device. The memory 502 is used for storing application software installed on the computer device and various data, such as program codes for installing the computer device. The memory 502 may also be used to temporarily store data that has been output or is to be output. In an embodiment, the anti-skid management program 503 of the electric four-wheel drive vehicle can be executed by the processor 501, so as to implement the anti-skid management method of the electric four-wheel drive vehicle according to the embodiments of the present invention.
The processor 501 may be a Central Processing Unit (CPU), a microprocessor or other data Processing chip in some embodiments, and is used to run program codes stored in the memory 502 or process data, such as executing an anti-skid management program of an electric four-wheel drive vehicle.
The embodiment also provides a computer-readable storage vehicle, which comprises the vehicle-mounted equipment according to any one of the technical schemes.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. An anti-skid management method for an electric four-wheel drive automobile is characterized by comprising the following steps:
acquiring the number and the positions of slipping wheels of the electric four-wheel drive automobile;
activating a corresponding slip control mode according to the number of slipping wheels, wherein the slip control mode comprises a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode;
and performing anti-skid management on the wheels of the electric four-wheel-drive automobile according to the skid control mode and the skid wheel position.
2. The anti-skid management method for the electric four-wheel drive automobile according to claim 1, wherein the acquiring of the number of slipping wheels and the position of slipping wheels of the electric four-wheel drive automobile comprises:
respectively acquiring the slip rate of a front left wheel, the slip rate of a front right wheel, the slip rate of a rear left wheel and the slip rate of a rear right wheel of the electric four-wheel drive automobile;
and respectively comparing the front left wheel slip rate, the front right wheel slip rate, the rear left wheel slip rate and the rear right wheel slip rate with slip rate threshold preset values, and determining the number of the slipping wheels and the positions of the slipping wheels.
3. The anti-skid management method for electric four-wheel drive vehicle according to claim 1, wherein activating a corresponding skid control mode according to the number of skid wheels comprises:
judging whether the number of the slipping wheels is one, if so, activating the first slipping control mode;
if not, judging whether the number of the slipping wheels is two, and if so, activating the second slipping control mode;
if not, judging whether the number of the slipping wheels is three, if so, activating the third slipping control mode;
if not, the fourth slip control mode is activated.
4. The method for managing slip of an electric four-wheel drive vehicle according to claim 1, wherein the first slip control mode comprises:
judging whether the slipping wheel is a front wheel, if so, reducing the driving torque of the slipping front wheel and increasing the driving torque of the other front wheel;
if not, adjusting the wheel speeds of the two front wheels to be equal, and reducing the driving torque of the slipping rear wheel.
5. The anti-skid management method for an electric four-wheel drive vehicle according to claim 1, wherein the second slip control mode includes:
judging whether the slipping wheels are front wheels or not, if so, reducing the driving torque of the front left wheel and the front right wheel, and adjusting the wheel speeds of the front left wheel and the front right wheel to be equal to the average wheel speed of the rear left wheel and the rear right wheel;
if not, judging whether the slipping wheels are rear wheels, if so, reducing the driving torque of the rear left wheel and the rear right wheel, and respectively adjusting the slip rates of the rear left wheel and the rear right wheel to slip rate threshold values;
if not, acquiring the vehicle speed, judging whether the vehicle speed is within a vehicle speed threshold value and whether the slipping wheels are on the same side, if so, respectively adjusting the slip rates of the front left wheel and the front right wheel to a preset slip rate, and adjusting the slip rates of the rear left wheel and the rear right wheel to the preset slip rate;
if not, adjusting the wheel speed of the slipping front wheel to the wheel speed of the non-slipping front wheel, and adjusting the rotating speed and the torque of the rear wheel to enable the wheel speeds of the rear left wheel and the rear right wheel to be equal to the wheel speed of the non-slipping front wheel.
6. The anti-skid management method for an electric four-wheel drive vehicle according to claim 1, wherein the third slip control mode includes:
judging whether the non-skid wheel is a front wheel, if so, adjusting the wheel speeds of the rear left wheel and the rear right wheel to the wheel speed of the non-skid front wheel, and adjusting the wheel speed of the skid front wheel to the wheel speed of the non-skid front wheel;
if not, adjusting the wheel speeds of the front left wheel and the front right wheel to the wheel speed of the non-slip rear wheel, and adjusting the wheel speed of the slip rear wheel to the wheel speed of the non-slip rear wheel.
7. The anti-skid management method for an electric four-wheel drive vehicle according to claim 1, wherein the fourth slip control mode includes:
acquiring the vehicle speed, judging whether the vehicle speed is within a vehicle speed threshold value, if so, adjusting the slip rate of a left wheel and a right wheel after slipping to a preset slip rate, and adjusting the wheel speed of the left wheel and the right wheel before slipping to the average wheel speed of the left wheel and the right wheel;
if not, adjusting the slip rate of the left wheel and the right wheel to the slip rate threshold value, and adjusting the wheel speed of the left wheel and the right wheel to the average wheel speed of the left wheel and the right wheel.
8. An antiskid management system of an electric four-wheel drive automobile is characterized by comprising:
the slipping wheel acquisition module is used for acquiring the number and the positions of slipping wheels of the electric four-wheel drive automobile;
the device comprises a slip control mode activating module, a data processing module and a data processing module, wherein the slip control mode activating module is used for activating corresponding slip control modes according to the number of slipping wheels, and the slip control modes comprise a first slip control mode, a second slip control mode, a third slip control mode and a fourth slip control mode;
and the anti-skid management module is used for carrying out anti-skid management on the wheels of the electric four-wheel drive automobile according to the skid control mode and the skid wheel position.
9. An in-vehicle apparatus, characterized by comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to realize the antiskid management method for the electric four-wheel drive vehicle according to any one of claims 1 to 7.
10. A vehicle characterized by comprising the in-vehicle apparatus according to claim 9.
CN202211295554.XA 2022-10-21 2022-10-21 Antiskid management method and system for electric four-wheel drive automobile, vehicle-mounted equipment and vehicle Pending CN115556593A (en)

Priority Applications (1)

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CN202211295554.XA CN115556593A (en) 2022-10-21 2022-10-21 Antiskid management method and system for electric four-wheel drive automobile, vehicle-mounted equipment and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211295554.XA CN115556593A (en) 2022-10-21 2022-10-21 Antiskid management method and system for electric four-wheel drive automobile, vehicle-mounted equipment and vehicle

Publications (1)

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CN115556593A true CN115556593A (en) 2023-01-03

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Country Status (1)

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CN (1) CN115556593A (en)

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