CN116252807A - Driving device control method, electronic device, driving device, and storage medium - Google Patents
Driving device control method, electronic device, driving device, and storage medium Download PDFInfo
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- CN116252807A CN116252807A CN202310446721.4A CN202310446721A CN116252807A CN 116252807 A CN116252807 A CN 116252807A CN 202310446721 A CN202310446721 A CN 202310446721A CN 116252807 A CN116252807 A CN 116252807A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention relates to the technical field of intelligent driving, in particular to a driving equipment control method, electronic equipment, driving equipment and a storage medium, and aims to solve the problem of how to independently control the stability of the driving equipment under the working condition of tire burst. To this end, the method of the invention comprises: in response to a tire burst occurring in the driving apparatus, driving information of the driving apparatus including at least dynamic parameters of the driving apparatus is acquired, and based on the driving information, controlling the driving apparatus to reduce the driving torque or to shift the driving torque is selectively performed. Through the embodiment, the stability of the driving equipment can be controlled independently under the tire burst working condition, the potential defect of the existing driving equipment stability control program can be supplemented, the driving torque is reduced or the driving torque is transferred, so that the wheel end is not severely yawed due to the asymmetry of the driving torque, the instability trend of the driving equipment is restrained, and the driving equipment can be ensured to be safer to run to a certain extent.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a driving device control method, electronic equipment, driving device and storage medium.
Background
In the driving process of the driving equipment, tire burst is a very dangerous working condition, and the tire pressure of the tire changes after the tire burst, so that the mechanical characteristics of the tire change, and the driving performance of the driving equipment also changes, and the tire is easy to run away.
For the four-wheel drive driving equipment, if tire burst occurs in the process of linear acceleration driving, yaw driving of the driving equipment can be generated due to the fact that driving forces of four wheels act, particularly driving forces of wheels on two coaxial sides are asymmetric, and large yaw can be generated by the driving equipment; for the driving device in the process of accelerating in a curve, if tire burst occurs, the steering radius of the driving device can be reduced rapidly, and the stability of the driving device is insufficient.
Therefore, under the working condition of tire burst of the driving equipment, the stability of the driving equipment is independently controlled, and the driving safety can be ensured to a certain extent.
Accordingly, there is a need in the art for a new solution to the above-mentioned problems.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks, the present invention is directed to a driving device control method, an electronic device, a driving device and a storage medium, which solve or at least partially solve the technical problem of how to individually control the stability of the driving device under a tire burst condition.
In a first aspect, there is provided a driving apparatus control method, the method including:
in response to tire burst of driving equipment, acquiring driving information of the driving equipment, wherein the driving information at least comprises dynamic parameters of the driving equipment;
selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the running information.
In one aspect of the above driving apparatus control method, the driving information further includes steering information of the driving apparatus; the selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the running information includes:
judging whether the dynamic parameter of the driving equipment is larger than a first preset threshold value or not;
if yes, executing control of the driving equipment to reduce the driving torque; otherwise, controlling the driving apparatus to transfer the driving torque is selectively performed based on the steering information.
In one aspect of the above driving apparatus control method, the controlling the driving apparatus to reduce the driving torque includes:
and controlling the driving equipment to reduce the total driving torque or controlling the driving equipment to reduce the driving torque of the tire burst wheel.
In one aspect of the above driving apparatus control method, the selectively performing control of the driving apparatus to shift the driving torque based on the steering information includes:
judging whether to execute control of the driving equipment to transfer driving torque or not based on the road surface adhesion coefficient, the position of the tire burst wheel, steering information of the driving equipment and information of a motor corresponding to the position of the non-tire burst wheel.
In one aspect of the above driving apparatus control method, the steering information of the driving apparatus includes understeer and oversteer; judging whether to execute the driving device transferring driving torque based on the steering information of the driving device and the information of the motor corresponding to the position of the non-tire-burst wheel comprises the following steps:
if the road surface adhesion coefficient meets a preset adhesion coefficient threshold value and the tire burst wheel is a front wheel, when the steering information of the driving equipment is steering deficiency and the rear wheel corresponding motor is not limited in capacity, controlling the front wheel corresponding motor to transfer the driving torque to the rear wheel corresponding motor;
and if the road surface adhesion coefficient meets the preset adhesion coefficient threshold value and the tire burst wheel is a rear wheel, controlling the rear wheel corresponding motor to transfer the driving torque to the front wheel corresponding motor when steering information of the driving equipment is oversteer and the front wheel corresponding motor is incapable of limiting.
In one aspect of the above driving apparatus control method, the dynamic parameters of the driving apparatus include at least a yaw rate, a centroid slip angle, and a wheel impact; the selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the running information includes:
judging whether at least one dynamic parameter of the yaw rate, the centroid slip angle and the wheel impact degree is larger than a corresponding second preset threshold value or not;
if yes, controlling the driving equipment to reduce the total driving torque; otherwise, controlling the driving device to reduce the driving torque of the tire burst wheel.
In one aspect of the above driving apparatus control method, the controlling the driving apparatus to reduce the driving torque of the puncture wheel includes:
respectively acquiring dynamic parameters of the tire burst wheel and dynamic parameters of the non-tire burst wheel;
acquiring a difference value between the dynamic parameters of the tire burst wheel and the dynamic parameters of the non-tire burst wheel;
and controlling the corresponding motor of the tire burst wheel to reduce the driving torque of the tire burst wheel based on the difference value.
In a second aspect, there is provided an electronic device comprising a processor and a storage device, the storage device being adapted to store a plurality of program codes, the program codes being adapted to be loaded and executed by the processor to perform the driving device control method according to any one of the above-mentioned driving device control methods.
In a third aspect, a driving apparatus is provided, which includes a driving apparatus body and the electronic apparatus according to the technical solution of the electronic apparatus described above.
In a fourth aspect, there is provided a computer-readable storage medium having stored therein a plurality of program codes adapted to be loaded and executed by a processor to perform the driving apparatus control method according to any one of the above-described technical aspects of the driving apparatus control method.
One or more of the above technical solutions of the present invention at least has one or more of the following
The beneficial effects are that:
in the technical scheme of implementing the invention, in response to tire burst of the driving equipment, the driving information of the driving equipment is acquired, the form information at least comprises dynamic parameters of the driving equipment, and the driving equipment is selectively controlled to reduce the driving torque or transfer the driving torque based on the driving information. Through the embodiment, the stability of the driving equipment can be controlled independently under the working condition of tire burst, and the potential defects of the existing stability control program of the driving equipment can be supplemented. Reducing the driving torque or transferring the driving torque can ensure that the wheel ends do not generate severe yaw due to the asymmetry of the driving torque, thereby inhibiting the instability trend of the driving equipment and ensuring the driving equipment to run more safely to a certain extent.
Drawings
The present disclosure will become more readily understood with reference to the accompanying drawings. As will be readily appreciated by those skilled in the art: the drawings are for illustrative purposes only and are not intended to limit the scope of the present invention. Moreover, like numerals in the figures are used to designate like parts, wherein:
fig. 1 is a flow chart showing main steps of a driving apparatus control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating the main steps for selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the traveling information according to an embodiment of the present invention;
fig. 3 is a flow chart showing main steps of a driving apparatus control method according to another embodiment of the present invention;
FIG. 4 is a flow chart of the main steps of controlling a driving apparatus to reduce the driving torque of a blowout wheel according to one embodiment of the present invention;
fig. 5 is a main structural diagram of an embodiment of an electronic device according to the present invention.
List of reference numerals:
501: a processor; 502: a storage device.
Detailed Description
Some embodiments of the invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, a "module," "processor" may include hardware, software, or a combination of both. A module may comprise hardware circuitry, various suitable sensors, communication ports, memory, or software components, such as program code, or a combination of software and hardware. The processor may be a central processor, a microprocessor, an image processor, a digital signal processor, or any other suitable processor. The processor has data and/or signal processing functions. The processor may be implemented in software, hardware, or a combination of both. Non-transitory computer readable storage media include any suitable medium that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, and the like. The term "a and/or B" means all possible combinations of a and B, such as a alone, B alone or a and B. The term "at least one A or B" or "at least one of A and B" has a meaning similar to "A and/or B" and may include A alone, B alone or A and B. The singular forms "a", "an" and "the" include plural referents.
Some terms related to the present invention will be explained first.
Road adhesion coefficient: is the ratio of adhesion to the normal (direction perpendicular to the road surface) pressure of the wheel. In the rough calculation, it can be seen as the coefficient of static friction between the tyre and the road surface, which is determined by the road surface and the tyre, the greater this coefficient, the greater the adhesion available, the less likely the driving device will slip.
Yaw rate: the yaw rate is also called as yaw rate, and the yaw rate refers to the deflection of the driving device around a vertical axis, the magnitude of the deflection represents the stability degree of the driving device, and if the yaw angular velocity reaches a threshold value, dangerous working conditions such as sideslip or tail flicking of the driving device are indicated.
Centroid slip angle: the angle between the longitudinal direction and the movement direction of the driving device, namely the angle between the rotation circle tangent line of the driving device, indicates that the automobile is equivalent to the rotation circle gesture in constant-speed circular movement.
Steering information: including Understeer (US), oversteer (OS), and Neutral Steer (NS). With the increase of the running speed of the driving device, the moment of the front wheel is smaller than the moment of the rear wheel, which is called understeer, the moment of the front wheel is larger than the moment of the rear wheel, which is called oversteer, the moment of the front wheel is equal to the moment of the rear wheel, and the situation of maintaining a certain value is called moderate steering, or neutral steering.
During the running of the driving device, a tire burst is a very dangerous condition. After the tire burst, the tire pressure changes, so that the mechanical property changes, and the driving performance of driving equipment also changes, and the running is easy to run away.
For the four-wheel drive driving equipment, if tire burst occurs in the process of linear acceleration driving, yaw driving of the driving equipment can be generated due to the fact that driving forces of four wheels act, particularly driving forces of wheels on two coaxial sides are asymmetric, and large yaw can be generated by the driving equipment; for the driving device in the process of accelerating in a curve, if tire burst occurs, the steering radius of the driving device can be reduced rapidly, and the stability of the driving device is insufficient.
Therefore, the invention provides a driving device control method, electronic equipment, driving device and storage medium, which can independently control the stability of the driving device under the working condition that the driving device bursts.
Referring to fig. 1, fig. 1 is a flow chart illustrating main steps of a driving apparatus control method according to an embodiment of the present invention. As shown in fig. 1, the driving apparatus control method in the embodiment of the invention mainly includes the following steps S101 to S102.
Step S101: and acquiring driving information of the driving equipment in response to the tire burst of the driving equipment.
Wherein the driving information of the driving device comprises at least dynamic parameters of the driving device.
Step S102: controlling the driving apparatus to reduce the driving torque or to shift the driving torque is selectively performed based on the running information.
Based on the method described in the steps S101 to S102, stability control can be performed on the driving device alone under the working condition of tire burst, potential defects of the existing driving device stability control program can be supplemented, and the driving torque is reduced or transferred to ensure that the wheel end does not generate severe yaw due to the asymmetry of the driving torque, so that the instability trend of the driving device is restrained, and safer driving of the driving device can be ensured to a certain extent.
The steps S101 to S102 are further described below.
In some embodiments of step S101, the state of the tire of each wheel may be detected in real time during the driving of the driving apparatus, and if the tire state of at least one wheel is detected as a flat tire, the driving information of the driving apparatus may be acquired.
The driving information of the driving apparatus includes dynamic parameters of the driving apparatus, steering information, and road surface conditions such as road surface adhesion coefficient and the like.
Wherein the dynamic parameters of the driving device at least comprise yaw rate, centroid side slip angle, wheel impact degree and the like.
Specifically, the yaw rate is also called yaw rate, and the yaw rate refers to the deflection of the driving device around a vertical axis, wherein the magnitude of the deflection represents the stability degree of the driving device, and if the yaw rate reaches a threshold value, dangerous working conditions such as sideslip or tail flicking of the driving device are indicated.
The centroid slip angle refers to the included angle between the longitudinal direction and the movement direction of the driving device, namely the tangential line of a rotation circle of the driving device, and represents the corresponding rotation circle gesture of the automobile in constant-speed circular movement.
The steering information includes Understeer (US), oversteer (OS), and Neutral Steering (NS). With the increase of the running speed of the driving device, the moment of the front wheel is smaller than the moment of the rear wheel, which is called understeer, the moment of the front wheel is larger than the moment of the rear wheel, which is called oversteer, the moment of the front wheel is equal to the moment of the rear wheel, and the situation of maintaining a certain value is called moderate steering, or neutral steering.
The following describes how to acquire the travel information of the driving apparatus described above.
Yaw rate: the Yaw rate Yaw-rate is obtained by a Yaw-G sensor, which outputs two accelerations (longitudinal, lateral) and one Yaw rate. The driving apparatus has the outer wheel speeds of the front and rear wheels in the curve greater than the inner wheel speeds, so that the yaw rate of the vehicle can be estimated using the wheel speed difference.
Centroid slip angle: firstly, a sliding mode observer is adopted to determine the observed value of the centroid slip angle of the driving equipment, then an inertia measurement unit is adopted to determine the integral value of the centroid slip angle of the driving equipment, and finally, a fuzzy logic method is adopted to determine the centroid slip angle of the driving equipment according to the observed value, the integral value and the vehicle speed.
Wheel impact: the tire pressure of the wheel is obtained through the sensor, and the wheel impact degree when the tire burst is estimated based on the tire pressure.
Steering information: the method comprises the steps of obtaining the current left wheel speed and the current right wheel speed through a sensor, obtaining the left wheel turning radius and the right wheel turning radius through the left wheel speed and the right wheel speed, and obtaining steering information according to the relation between the left wheel turning radius and the right wheel turning radius.
Road adhesion coefficient: mechanical and walking measurements are generally used. The mechanical measurement method adopts mechanical equipment to measure tangential force from the road surface, and calculates the road adhesion coefficient according to the tangential force; the walking measurement method adopts a mode of simulating the running of the automobile and walks at a certain speed to measure the stress condition of the road surface so as to determine the adhesion coefficient of the road.
It should be noted that the above examples of the driving information and the acquiring method of the driving apparatus are only illustrative, and in practical application, those skilled in the art may acquire the driving information of the driving apparatus based on the above method or other methods according to the usage scenario, which is not limited herein.
The above is a further explanation of step S101, and the following further explanation of step S102 is continued.
In some embodiments, referring to fig. 2, fig. 2 is a schematic flow chart of main steps of selectively performing control of a driving apparatus to reduce driving torque or shift driving torque based on traveling information according to an embodiment of the present invention. As shown in fig. 2, step S102 mainly includes the following steps S1021 to S1023:
step S1021: and judging whether the dynamic parameter of the driving equipment is larger than a first preset threshold value.
Specifically, it is determined whether at least one of the yaw rate, the centroid slip angle, and the wheel shock is greater than a corresponding first preset threshold value, respectively.
In some embodiments, if at least one dynamic parameter of the yaw rate, the centroid slip angle and the wheel impact degree is greater than a corresponding first preset threshold, it indicates that the driving device has a certain tendency of instability, and the wheel end may generate an excessive asymmetric driving force due to tire burst, thereby causing yaw instability of the driving device.
The first preset thresholds corresponding to the yaw rate, the centroid slip angle and the wheel impact degree respectively can be set according to the use condition of driving equipment and the actual application scene, and are not limited herein.
Further, if at least one dynamic parameter of the dynamic parameters of the driving apparatus is greater than the first preset threshold, step S1022 is performed, otherwise, step S1023 is performed.
Step S1022: the driving apparatus is controlled to reduce the driving torque.
Because at least one dynamic parameter among the yaw rate, the centroid slip angle and the wheel impact degree is larger than a corresponding first preset threshold, the driving equipment has a tendency of instability at the moment, so that the driving equipment needs to be controlled to reduce driving torque so as to prevent the wheel end from generating excessive asymmetric driving force possibly due to tire burst and avoid yaw instability of the driving equipment.
Step S1023: controlling the driving apparatus to transfer the driving torque is selectively performed based on the steering information.
Since dynamic parameters larger than the corresponding first preset threshold value do not exist in the yaw rate, the centroid slip angle and the wheel impact degree, the driving equipment does not have a tendency of instability or has a small tendency of instability, and the driving equipment can be selectively controlled to transfer driving torque based on steering information, so that yaw instability of the driving equipment is avoided.
Further, in some embodiments, step S1022 includes steps consisting essentially of:
the driving apparatus is controlled to reduce the total driving torque, or the driving apparatus is controlled to reduce the driving torque of the puncture wheel.
Where the total driving torque represents the whole vehicle driving torque, i.e. the sum of the driving torques of all tires (flat and non-flat).
In some embodiments, referring to fig. 3, fig. 3 is a schematic flow chart of main steps of a driving apparatus control method according to another embodiment of the present invention. As shown in fig. 3, the following steps S301 to S303 are mainly included:
step S301: and judging whether at least one dynamic parameter of the yaw rate, the centroid slip angle and the wheel impact degree is larger than a corresponding second preset threshold value.
The second preset thresholds corresponding to the yaw rate, the centroid slip angle and the wheel impact degree respectively may be set according to the use condition of the driving device and the actual application scenario, which is not limited herein.
Further, if at least one dynamic parameter of the yaw rate, the centroid slip angle and the wheel impact is greater than the second preset threshold, step S302 is executed, otherwise step S303 is executed.
Step S302: the driving apparatus is controlled to reduce the total driving torque.
In some embodiments, if at least one dynamic parameter of the yaw rate, the centroid slip angle and the wheel impact degree is greater than the second preset threshold, the tendency of instability of the driving device is severe, and at this time, the driving device should be controlled to reduce the total driving torque, so as to avoid yaw instability of the driving device.
Specifically, motors corresponding to all tires (flat tire and non-flat tire) of the driving apparatus may be controlled to reduce the total driving torque to a torque value at which the driving apparatus can maintain stable running, which may be set according to a specific scene, without limitation.
Step S303: the driving device is controlled to reduce the driving torque of the tire burst wheel.
In some embodiments, if the dynamic parameters of the yaw rate, the centroid slip angle and the wheel impact degree are not greater than the second preset threshold, the driving device is indicated to have a smaller instability trend, and at this time, the driving device can be controlled to reduce the driving torque of the tire burst wheel.
Specifically, referring to fig. 4, fig. 4 is a schematic flow chart of main steps of controlling the driving apparatus to reduce the driving torque of the blowout wheel according to an embodiment of the present invention. As shown in fig. 4, step S303 mainly includes the following steps S3031 to S3033:
step S3031: and respectively acquiring the dynamic parameters of the tire burst wheel and the dynamic parameters of the non-tire burst wheel.
Specifically, the yaw rate, centroid slip angle, and wheel impact of the flat tire and the non-flat tire are obtained, respectively.
Step S3032: and obtaining the difference value between the dynamic parameters of the tire burst wheel and the dynamic parameters of the non-tire burst wheel.
Namely, the difference value of the yaw rate of the tire burst wheel and the yaw rate of the non-tire burst wheel, the difference value of the centroid side deflection angle of the tire burst wheel and the centroid side deflection angle of the non-tire burst wheel and the difference value of the wheel impact degree of the tire burst wheel and the wheel impact degree of the non-tire burst wheel are calculated respectively.
Step S3033: and controlling the corresponding motor of the tire burst wheel to reduce the driving torque of the tire burst wheel based on the difference value.
Specifically, the driving torque of the tire burst wheel corresponding motor is controlled to be reduced based on the difference value of the yaw rate, the difference value of the centroid side deviation angle and the difference value of the wheel impact degree respectively.
In some embodiments, the driving torque of the blowout wheel can be reduced by controlling the blowout wheel corresponding motor to a value capable of maintaining stable running of the driving apparatus, which is not limited herein.
The above is a further explanation of step S1022, and the following further explanation of step S1023 is continued.
In some embodiments, step S1023 includes steps consisting essentially of:
judging whether to execute control of the driving device to transfer driving torque or not based on the road surface adhesion coefficient, the position of the tire burst wheel, steering information of the driving device and information of a motor corresponding to the position of the non-tire burst wheel.
In some embodiments, if the road adhesion coefficient meets a preset adhesion coefficient threshold value and the tire burst wheel is a front wheel, when the steering information of the driving device is understeer and the rear wheel corresponding motor is not limited in capacity, controlling the front wheel corresponding motor to transfer driving torque to the rear wheel corresponding motor;
in other embodiments, if the road adhesion coefficient meets a preset adhesion coefficient threshold, the tire burst wheel is a rear wheel, and the steering information of the driving device is oversteer and the front wheel corresponds to the motor without capacity limitation, the rear wheel corresponds to the motor and is controlled to transfer driving torque to the front wheel corresponds to the motor.
Where the road adhesion coefficient is the ratio of adhesion to the normal (direction perpendicular to the road) pressure of the wheel. In the rough calculation, it can be regarded as the static friction coefficient between the tire and the road surface, which is determined by the road surface and the tire, and the larger the coefficient is, the larger the available adhesive force is, the less easy the driving device is to slip, otherwise, the driving device is easy to slip and unsteady.
For example, when the driving device runs in rain, mud mixed by dust and rainwater is accompanied on the road surface, and the road surface is smooth, so that the friction force between the tire and the road surface is small; when driving equipment runs on muddy roads accompanied with accumulated water, the friction force between tires and the road surface is small, the road surface adhesion coefficient of the two conditions is small, and at the moment, the transfer driving torque is very easy to sideslip, so that the driving equipment is unstable, and the driving safety is influenced.
Therefore, it is necessary to determine whether to perform control of the driving apparatus to transfer the driving torque based on the road surface adhesion coefficient, and in particular, it may be determined whether the road surface adhesion coefficient satisfies a preset adhesion coefficient threshold value.
In some embodiments, the road adhesion coefficient is related to the road material, the road flatness, and the speed of travel, e.g., the road adhesion coefficient is 0.6-0.8 when the dried concrete road is traveling at a speed of 48km/h or less; when the wet and flat ice surface runs at a speed of more than 48km/h, the road adhesion coefficient is 0.05-0.1; when the snow covered road surface with salt is driven at 48km/h, the road surface adhesion coefficient is 0.3-0.4. Therefore, in practical application, the person skilled in the art may set the preset adhesion coefficient threshold according to the practical situation, which is not limited herein.
Further, if the road adhesion coefficient meets the preset adhesion coefficient threshold value, judging whether to execute driving equipment transfer driving torque or not based on the position of the tire burst wheel, steering information of driving equipment and information of a motor corresponding to the position of the tire non-burst wheel.
It should be noted that the driving device control method provided by the invention can be applied to driving devices driven by front and rear double-shaft motors, and can also be applied to driving devices driven by wheel motors for equally dividing torque left and right. Specifically, the front wheel-to-motor may be controlled to transfer the drive torque to the rear wheel-to-motor, or the rear wheel-to-motor may be controlled to transfer the drive torque to the front wheel-to-motor.
The following describes further the control of the driving apparatus to shift the driving torque, taking as an example the driving apparatus driven by the front-rear biaxial motor.
In some embodiments, if the flat tire is a front wheel, when the steering information of the driving apparatus is understeer and the rear wheel corresponding motor is not limited in capacity, the front wheel corresponding motor is controlled to transfer the driving torque to the rear wheel corresponding motor.
Wherein the understeer is manifested in that the steering apparatus requires more steering wheel angle to maintain the desired course of travel, the understeer being caused by the front wheel tires establishing a greater speed than the rear wheel tires establishing a speed with the ground contact surface. Therefore, when the tire burst wheel is a front wheel and steering equipment is not enough and the motor corresponding to the rear wheel is not limited in capacity, the motor corresponding to the front wheel is controlled to transfer driving torque to the motor corresponding to the rear wheel, so that the front wheel is prevented from generating excessive asymmetric force due to tire burst, and yaw instability of the steering equipment is caused.
In other embodiments, if the flat tire is a rear wheel, when the steering information of the driving apparatus is oversteer and the front wheel corresponding motor is not limited in capacity, the rear wheel corresponding motor is controlled to transfer the driving torque to the front wheel corresponding motor.
The oversteer is represented by that the steering device needs to reduce the angle of the steering wheel to keep the required travelling line, under the same magnitude of the wheel slip angle, the lateral force of the front wheel is increased, the lateral force of the rear wheel is reduced, the original balance relation is broken, so that the automobile can run towards the inner side of the curve by the excessive yaw moment, and the automobile has the tendency of oversteer. Therefore, the tire burst wheel is a rear wheel, and when the steering equipment is oversteered and the front wheel corresponds to the motor without capacity limitation, the rear wheel corresponds to the motor and is controlled to transfer driving torque to the front wheel corresponds to the motor, so that the rear wheel is prevented from generating excessive asymmetric force due to tire burst, and yaw instability of the steering equipment is caused.
The above is a further explanation of step S1023.
In some embodiments, after the above situation is satisfied and the driving apparatus is controlled to transfer the driving torque, it is possible to continue to acquire the running data of the cab apparatus and determine whether it is necessary to reduce the driving torque or transfer the driving torque based on the dynamic parameters of the driving apparatus.
According to the driving equipment control method, the stability of the driving equipment can be controlled independently under the tire burst working condition, potential defects of the existing driving equipment stability control program can be supplemented, and the driving equipment stability control method is an important auxiliary for the function of performing direct yaw moment control through braking. Reducing the driving torque or transferring the driving torque can ensure that the wheel ends do not generate severe yaw due to the asymmetry of the driving torque, thereby inhibiting the instability trend of the driving equipment and ensuring the driving equipment to run more safely to a certain extent.
It should be noted that, although the foregoing embodiments describe the steps in a specific order, it will be understood by those skilled in the art that, in order to achieve the effects of the present invention, the steps are not necessarily performed in such an order, and may be performed simultaneously (in parallel) or in other orders, and these variations are within the scope of the present invention.
It will be appreciated by those skilled in the art that the present invention may implement all or part of the above-described methods according to the above-described embodiments, or may be implemented by means of a computer program for instructing relevant hardware, where the computer program may be stored in a computer readable storage medium, and where the computer program may implement the steps of the above-described embodiments of the method when executed by a processor. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include: any entity or device, medium, usb disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, software distribution media, and the like capable of carrying the computer program code.
The invention further provides electronic equipment. Referring to fig. 5, fig. 5 is a schematic diagram of the main structure of an embodiment of an electronic device according to the present invention. As shown in fig. 5, the electronic device in the embodiment of the present invention mainly includes a processor 501 and a storage device 502, the storage device 502 may be configured to store a program for executing the driving device control method of the above-described method embodiment, and the processor 501 may be configured to execute the program in the storage device 502, including, but not limited to, the program for executing the driving device control method of the above-described method embodiment. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention.
In some possible embodiments of the invention, the electronic device may comprise a plurality of processors 501 and a plurality of storage means 502. While the program for executing the driving apparatus control method of the above-described method embodiment may be divided into a plurality of sub-programs, each of which may be loaded and executed by the processor 501 to perform the different steps of the driving apparatus control method of the above-described method embodiment, respectively. Specifically, each of the subroutines may be stored in different storage devices 502, respectively, and each of the processors 501 may be configured to execute the programs in one or more storage devices 502 to collectively implement the driving apparatus control method of the above-described method embodiment, that is, each of the processors 501 executes different steps of the driving apparatus control method of the above-described method embodiment, respectively, to collectively implement the driving apparatus control method of the above-described method embodiment.
The plurality of processors 501 may be processors disposed on the same device, for example, the electronic device may be a high-performance device composed of a plurality of processors, and the plurality of processors 501 may be processors configured on the high-performance device. In addition, the plurality of processors 501 may be processors disposed on different devices, for example, the electronic device may be a server cluster, and the plurality of processors 501 may be processors on different servers in the server cluster; the electronic device may be a cluster of driving devices, and the plurality of processors 501 may be processors on different driving devices in the cluster of driving devices.
Further, the invention also provides driving equipment. In an embodiment of the driving device according to the invention, the driving device may comprise a driving device body and the electronic device described in the above-mentioned electronic device embodiments.
Further, the invention also provides a computer readable storage medium. In one embodiment of the computer-readable storage medium according to the present invention, the computer-readable storage medium may be configured to store a program for executing the driving device control method of the above-described method embodiment, which may be loaded and executed by a processor to implement the driving device control method described above. For convenience of explanation, only those portions of the embodiments of the present invention that are relevant to the embodiments of the present invention are shown, and specific technical details are not disclosed, please refer to the method portions of the embodiments of the present invention. The computer readable storage medium may be a storage device including various electronic devices, and optionally, the computer readable storage medium in the embodiments of the present invention is a non-transitory computer readable storage medium.
It should be noted that, the personal information of the relevant user possibly related to each embodiment of the present application is personal information that is strictly according to requirements of laws and regulations, follows legal, legal and necessary principles, and processes the personal information actively provided by the user or generated by using the product/service in the process of using the product/service based on the reasonable purpose of the business scenario, and is obtained by the user through authorization.
The personal information of the user processed by the applicant may vary depending on the specific product/service scenario, and may relate to account information, device information, driving device information or other related information of the user, depending on the specific scenario in which the user uses the product/service. The applicant would treat the user's personal information and its processing with a high diligence.
The applicant has very important consideration to the safety of personal information of users, and has adopted safety protection measures which meet industry standards and are reasonably feasible to protect the information of the users and prevent the personal information from unauthorized access, disclosure, use, modification, damage or loss.
Thus far, the technical solution of the present invention has been described in connection with one embodiment shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (10)
1. A driving apparatus control method, characterized by comprising:
in response to tire burst of driving equipment, acquiring driving information of the driving equipment, wherein the driving information at least comprises dynamic parameters of the driving equipment;
selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the running information.
2. The driving apparatus control method according to claim 1, characterized in that the running information further includes steering information of the driving apparatus; the selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the running information includes:
judging whether the dynamic parameter of the driving equipment is larger than a first preset threshold value or not;
if yes, executing control of the driving equipment to reduce the driving torque; otherwise, controlling the driving apparatus to transfer the driving torque is selectively performed based on the steering information.
3. The driving apparatus control method according to claim 2, characterized in that the controlling the driving apparatus to reduce the driving torque includes:
and controlling the driving equipment to reduce the total driving torque or controlling the driving equipment to reduce the driving torque of the tire burst wheel.
4. The driving apparatus control method according to claim 2, characterized in that the selectively performing control of the driving apparatus to shift driving torque based on the steering information includes:
judging whether to execute control of the driving equipment to transfer driving torque or not based on the road surface adhesion coefficient, the position of the tire burst wheel, steering information of the driving equipment and information of a motor corresponding to the position of the non-tire burst wheel.
5. The driving apparatus control method according to claim 4, characterized in that the steering information of the driving apparatus includes understeer and oversteer; judging whether to execute the driving device transferring driving torque based on the steering information of the driving device and the information of the motor corresponding to the position of the non-tire-burst wheel comprises the following steps:
if the road surface adhesion coefficient meets a preset adhesion coefficient threshold value and the tire burst wheel is a front wheel, when the steering information of the driving equipment is steering deficiency and the rear wheel corresponding motor is not limited in capacity, controlling the front wheel corresponding motor to transfer the driving torque to the rear wheel corresponding motor;
and if the road surface adhesion coefficient meets the preset adhesion coefficient threshold value and the tire burst wheel is a rear wheel, controlling the rear wheel corresponding motor to transfer the driving torque to the front wheel corresponding motor when steering information of the driving equipment is oversteer and the front wheel corresponding motor is incapable of limiting.
6. The driving apparatus control method according to claim 2, characterized in that the dynamic parameters of the driving apparatus include at least a yaw rate, a centroid slip angle, and a wheel impact; the selectively performing control of the driving apparatus to reduce the driving torque or shift the driving torque based on the running information includes:
judging whether at least one dynamic parameter of the yaw rate, the centroid slip angle and the wheel impact degree is larger than a corresponding second preset threshold value or not;
if yes, controlling the driving equipment to reduce the total driving torque; otherwise, controlling the driving device to reduce the driving torque of the tire burst wheel.
7. The driving apparatus control method according to at least one of claims 1 to 6, characterized in that the controlling the driving apparatus to reduce the driving torque of the puncture wheel includes:
respectively acquiring dynamic parameters of the tire burst wheel and dynamic parameters of the non-tire burst wheel;
acquiring a difference value between the dynamic parameters of the tire burst wheel and the dynamic parameters of the non-tire burst wheel;
and controlling the corresponding motor of the tire burst wheel to reduce the driving torque of the tire burst wheel based on the difference value.
8. An electronic device comprising a processor and a storage means, the storage means being adapted to store a plurality of program codes, characterized in that the program codes are adapted to be loaded and executed by the processor to perform the driving device control method of any one of claims 1 to 7.
9. A driving apparatus characterized in that the driving apparatus comprises a driving apparatus body and the electronic apparatus of claim 8.
10. A computer readable storage medium, in which a plurality of program codes are stored, characterized in that the program codes are adapted to be loaded and executed by a processor to perform the driving apparatus control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310446721.4A CN116252807A (en) | 2023-04-23 | 2023-04-23 | Driving device control method, electronic device, driving device, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310446721.4A CN116252807A (en) | 2023-04-23 | 2023-04-23 | Driving device control method, electronic device, driving device, and storage medium |
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| CN116252807A true CN116252807A (en) | 2023-06-13 |
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| CN202310446721.4A Pending CN116252807A (en) | 2023-04-23 | 2023-04-23 | Driving device control method, electronic device, driving device, and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118651212A (en) * | 2024-07-15 | 2024-09-17 | 蔚来汽车科技(安徽)有限公司 | Tire burst control system and vehicle |
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2023
- 2023-04-23 CN CN202310446721.4A patent/CN116252807A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118651212A (en) * | 2024-07-15 | 2024-09-17 | 蔚来汽车科技(安徽)有限公司 | Tire burst control system and vehicle |
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