CN116834740A - Vehicle control method and device based on slip ratio - Google Patents
Vehicle control method and device based on slip ratio Download PDFInfo
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- CN116834740A CN116834740A CN202310787209.6A CN202310787209A CN116834740A CN 116834740 A CN116834740 A CN 116834740A CN 202310787209 A CN202310787209 A CN 202310787209A CN 116834740 A CN116834740 A CN 116834740A
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- 230000001133 acceleration Effects 0.000 claims abstract description 51
- 238000012545 processing Methods 0.000 claims abstract description 49
- 238000005096 rolling process Methods 0.000 claims abstract description 14
- 238000013507 mapping Methods 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims description 20
- 238000001914 filtration Methods 0.000 claims description 20
- 238000005259 measurement Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 3
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- 238000006243 chemical reaction Methods 0.000 description 2
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/101—Side slip angle of tyre
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/20—Sideslip angle
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle control method based on slip rate, which comprises the following steps: acquiring running state information of a target vehicle; calculating reference wheel speed information of each wheel according to the rolling radius and the angular speed, and determining the initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table; and detecting and identifying the target vehicle to obtain vehicle body posture information, and if the vehicle body posture information is steering running information, processing the vehicle body posture information to obtain steering gradient information, transverse acceleration and longitudinal acceleration, and further determining the final slip rate and controlling the vehicle. According to the vehicle control method based on the slip rate, not only is the slip rate data of the vehicle in the straight running state considered, but also the slip data of the target vehicle in the steering process is updated to obtain the slip rate data which is more in line with the actual slip rate, and the slip rate data is provided for the vehicle ECU to accurately control.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control method and device based on slip rate.
Background
At present, the wheel slip rate is an important parameter, which cannot be directly acquired by a sensor, and the signals acquired by the sensors such as a wheel speed sensor, a longitudinal acceleration sensor and the like are required to be analyzed and calculated by software; because of the large number of sensors involved and the need for multiple calculations, there may be some deviation in the results when determining the final results. Therefore, designing a solution capable of accurately calculating the wheel slip ratio is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the defects, the embodiment of the invention discloses a vehicle control method based on a slip ratio, which can provide slip ratio data more in accordance with an actual running state and control the stability of a vehicle.
The first aspect of the embodiment of the invention discloses a vehicle control method based on a slip ratio, which comprises the following steps:
acquiring running state information of a target vehicle, wherein the running state information comprises the running speed, the wheel rolling radius and the wheel angular speed of the target vehicle;
calculating to obtain reference wheel speed information of each wheel according to the wheel rolling radius and the wheel angular speed; determining an initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table;
detecting and identifying the posture of a target vehicle through an inertia measurement unit to obtain vehicle body posture information, and if the vehicle body posture information is straight running information, taking the initial slip rate of each wheel as a final slip rate, and transmitting the final slip rate to a vehicle ECU for processing;
if the vehicle body posture information is steering running information, the vehicle body posture information is processed to obtain steering gradient information, transverse acceleration and longitudinal acceleration;
and calculating corresponding reference slip rate according to the steering gradient information, the transverse acceleration and the initial slip rate of each wheel, and transmitting the reference slip rate as a final slip rate to the vehicle ECU for processing.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the calculating, according to the steering gradient information, the lateral acceleration, and the initial slip rate of each wheel, a corresponding reference slip rate further includes:
performing filtering processing on the reference wheel speed information by adopting self-adaptive Kalman filtering, and comprehensively processing the filtered data by adopting longitudinal acceleration to obtain the wheel acceleration of each wheel;
calculating global slip rate of each wheel according to the reference wheel speed information, the reference vehicle speed of each wheel and the reference slip rate; and transmitting the global slip ratio of each wheel as a final slip ratio to the vehicle ECU for processing.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the transmitting the global slip rate of each wheel to the vehicle ECU as the final slip rate for processing, the method further includes:
and determining the slip state and trend of the target vehicle based on the global slip rate of each wheel, and if the global slip rate of at least one wheel exceeds a set slip rate threshold value and the acceleration of the wheel is positive, sending a control command to control a driving motor or a braking device to adjust the working state.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the reference vehicle speed of each wheel is obtained by:
identifying each wheel information and determining azimuth information of each wheel;
and compensating and updating the reference vehicle speed of each wheel according to the azimuth information, the steering gradient information and the wheel shaft information of each wheel.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after the transmitting the final slip rate to the vehicle ECU for processing, the method further includes:
determining a wheel speed change rate of each wheel based on a motion parameter of the vehicle, and converting the wheel speed;
determining road surface attachment coefficients corresponding to all wheels based on a preset road surface attachment coefficient mapping table according to the final slip rate and the wheel speed change rate of each wheel, and determining vehicle attachment coefficients based on the road surface attachment coefficients of all the wheels;
and adjusting the driving torque gradient according to the vehicle attachment coefficient to obtain a driving torque correction gradient, and determining the final driving torque of the target vehicle according to the driving torque correction gradient.
A second aspect of an embodiment of the present invention discloses a vehicle control device based on a slip ratio, including:
the acquisition module is used for: the method comprises the steps of acquiring running state information of a target vehicle, wherein the running state information comprises the running speed, the wheel rolling radius and the wheel angular speed of the target vehicle;
wheel speed calculation module: the reference wheel speed information of each wheel is obtained through calculation according to the wheel rolling radius and the wheel angular speed; determining an initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table;
the gesture detection module: the system comprises an inertial measurement unit, a vehicle ECU, a vehicle speed sensor and a vehicle speed sensor, wherein the inertial measurement unit is used for detecting and identifying the gesture of a target vehicle to obtain vehicle body gesture information, and if the vehicle body gesture information is straight running information, the initial slip rate of each wheel is used as a final slip rate, and the final slip rate is transmitted to the vehicle ECU for processing;
and a judging module: if the vehicle body posture information is steering running information, the vehicle body posture information is processed to obtain steering gradient information, transverse acceleration and longitudinal acceleration;
slip rate calculation module: and the vehicle ECU is used for calculating corresponding reference slip rate according to the steering gradient information, the transverse acceleration and the initial slip rate of each wheel, and transmitting the reference slip rate as a final slip rate to the vehicle ECU for processing.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, after the calculating, according to the steering gradient information, the lateral acceleration, and the initial slip rate of each wheel, a corresponding reference slip rate further includes:
and the filtering processing module is used for: the self-adaptive Kalman filtering device is used for carrying out filtering processing on the reference wheel speed information, and carrying out comprehensive processing on the data after the filtering processing by adopting longitudinal acceleration to obtain the wheel acceleration of each wheel;
global slip calculation module: the global slip rate of each wheel is calculated according to the reference wheel speed information, the reference vehicle speed of each wheel and the reference slip rate; and transmitting the global slip ratio of each wheel as a final slip ratio to the vehicle ECU for processing.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, after the transmitting the global slip rate of each wheel to the vehicle ECU as the final slip rate for processing, the method further includes:
threshold comparison module: and the control command is sent to control the driving motor or the braking device to adjust the working state if the global slip rate of at least one wheel exceeds the set slip rate threshold value and the acceleration of the wheel is positive.
A third aspect of an embodiment of the present invention discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory for executing the slip rate based vehicle control method disclosed in the first aspect of the embodiment of the present invention.
A fourth aspect of the embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the slip ratio-based vehicle control method disclosed in the first aspect of the embodiment of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the vehicle control method based on the slip rate, not only is the slip rate data of the vehicle in the straight running state considered, but also the slip data of the target vehicle in the steering process is updated to obtain the slip rate data which is more in line with the actual slip rate, and the slip rate data is provided for the vehicle ECU to carry out accurate control.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a slip ratio based vehicle control method disclosed in an embodiment of the present invention;
FIG. 2 is a flow chart of global slip ratio calculation as disclosed in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a driving torque adjustment process based on attachment coefficients according to an embodiment of the present invention;
FIG. 4 is an interactive schematic diagram of a slip ratio-based vehicle control method disclosed in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle control device based on slip ratio according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present invention are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The wheel slip rate is an important parameter, which cannot be directly acquired by a sensor, and the signals acquired by the sensors such as a wheel speed sensor, a longitudinal acceleration sensor and the like are required to be analyzed and calculated by software; because of the large number of sensors involved and the need for multiple calculations, there may be some deviation in the results when determining the final results. Based on the above, the embodiment of the invention discloses a vehicle control method, a device, electronic equipment and a storage medium based on slip rate, which not only consider the slip rate data of a vehicle in a straight running state, but also update the slip data of a target vehicle in the steering process to obtain slip rate data more in line with reality, and provide the slip rate data for a vehicle ECU to perform accurate control.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a vehicle control method based on slip ratio according to an embodiment of the invention. The execution main body of the method described in the embodiment of the invention is an execution main body composed of software or/and hardware, and the execution main body can receive related information in a wired or/and wireless mode and can send a certain instruction. Of course, it may also have certain processing and storage functions. The execution body may control a plurality of devices, such as a remote physical server or cloud server and related software, or may be a local host or server and related software that performs related operations on a device that is located somewhere, etc. In some scenarios, multiple storage devices may also be controlled, which may be located in the same location or in different locations than the devices. As shown in fig. 1 and 4, the slip ratio-based vehicle control method includes the steps of:
s101: acquiring running state information of a target vehicle, wherein the running state information comprises the running speed, the wheel rolling radius and the wheel angular speed of the target vehicle;
s102: calculating to obtain reference wheel speed information of each wheel according to the wheel rolling radius and the wheel angular speed; determining an initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table;
s103: detecting and identifying the posture of a target vehicle through an inertia measurement unit to obtain vehicle body posture information, and if the vehicle body posture information is straight running information, taking the initial slip rate of each wheel as a final slip rate, and transmitting the final slip rate to a vehicle ECU for processing;
s104: if the vehicle body posture information is steering running information, the vehicle body posture information is processed to obtain steering gradient information, transverse acceleration and longitudinal acceleration;
s105: and calculating corresponding reference slip rate according to the steering gradient information, the transverse acceleration and the initial slip rate of each wheel, and transmitting the reference slip rate as a final slip rate to the vehicle ECU for processing.
The slip rate is generally measured fixedly, and is mainly performed according to the running speed of the vehicle, the rolling radius of the wheels and the angular speed of the wheels; however, when the vehicle is turned directly, the slip rate data are not accurate enough, and particularly for an annular mountain road, the slip rate obtained by calculation is not accurate enough because the curve is in a state of frequent turning when the curve is more. In the embodiment of the invention, the slip rate data is updated by combining the vehicle body posture parameters, the wheel acceleration can be corrected by the longitudinal acceleration, and the reference wheel speed is adjusted by the transverse acceleration; the reference wheel speed is insensitive and the reference vehicle speed is easily broken when turning.
More preferably, fig. 2 is a schematic flow chart of global slip ratio calculation disclosed in the embodiment of the present invention, as shown in fig. 2, after the calculation of the corresponding reference slip ratio according to the steering gradient information, the lateral acceleration, and the initial slip ratio of each wheel, the method further includes:
s1051: performing filtering processing on the reference wheel speed information by adopting self-adaptive Kalman filtering, and comprehensively processing the filtered data by adopting longitudinal acceleration to obtain the wheel acceleration of each wheel;
s1052: calculating global slip rate of each wheel according to the reference wheel speed information, the reference vehicle speed of each wheel and the reference slip rate; and transmitting the global slip ratio of each wheel as a final slip ratio to the vehicle ECU for processing.
In order to realize the estimation of the acceleration of a driving vehicle at a wheel, the embodiment of the invention provides a self-adaptive Kalman filtering method, which updates the process noise and the measurement noise of an estimation system in real time according to the fluctuation condition and the estimation error of a measured value in the past historical time on the basis of the traditional wheel speed method, thereby accurately obtaining the estimated value of the wheel speed of the vehicle; according to the embodiment of the invention, the last accurate wheel speed value is taken as an initial value by adopting the self-adaptive Kalman filtering, the wheel speed value of the vehicle is integrated, noise and zero drift in a long-time accumulated measurement signal are prevented, and the estimation accuracy is ensured.
More preferably, after said transmitting the global slip ratio of each wheel to the vehicle ECU as the final slip ratio for processing, the method further comprises:
and determining the slip state and trend of the target vehicle based on the global slip rate of each wheel, and if the global slip rate of at least one wheel exceeds a set slip rate threshold value and the acceleration of the wheel is positive, sending a control command to control a driving motor or a braking device to adjust the working state.
The slip state and the slip region are determined by monitoring the global slip rate and the acceleration direction of each wheel, and if the slip state and the slip state meet the set requirements, the driving motor or the braking device can be controlled to adjust the working state.
More preferably, the reference vehicle speed of each wheel is obtained by the following steps:
identifying each wheel information and determining azimuth information of each wheel;
and compensating and updating the reference vehicle speed of each wheel according to the azimuth information, the steering gradient information and the wheel shaft information of each wheel. Wheels (front/rear, left/right) are identified first, and then steering gradients and axle (front or rear) compensation are performed for the reference vehicle speed.
More preferably, fig. 3 is a schematic diagram of a driving torque adjustment flow based on an adhesion coefficient according to an embodiment of the present invention, and as shown in fig. 3, after the final slip ratio is transmitted to the vehicle ECU for processing, the driving torque adjustment flow further includes:
s106: determining a wheel speed change rate of each wheel based on a motion parameter of the vehicle, and converting the wheel speed;
s107: determining road surface attachment coefficients corresponding to all wheels based on a preset road surface attachment coefficient mapping table according to the final slip rate and the wheel speed change rate of each wheel, and determining vehicle attachment coefficients based on the road surface attachment coefficients of all the wheels;
s108: and adjusting the driving torque gradient according to the vehicle attachment coefficient to obtain a driving torque correction gradient, and determining the final driving torque of the target vehicle according to the driving torque correction gradient.
The scheme of the embodiment of the invention improves the running stability of the whole vehicle on the road surface with low attachment coefficient, calculates the conversion wheel speed by utilizing the vehicle speed, the yaw rate and the steering wheel rotation angle, calculates the actual slip rate based on the conversion wheel speed and the sensor wheel speed, calculates the attachment coefficient based on the slip rate and the wheel speed change rate, establishes an updating mechanism, realizes the axle end torque control by utilizing the axle end attachment coefficient, and ensures the accuracy of the adhesive force of the vehicle under different road surfaces, thereby improving the vehicle stability and avoiding the instability of the vehicle. According to the scheme provided by the embodiment of the invention, the attachment coefficient can be calculated based on the difference of the wheel speed change rate under the same slip rate under different road conditions, and the vehicle stability control is realized more reasonably, so that the stability and the trafficability of the vehicle on a low-attachment road surface are improved, and high-quality driving experience is provided for a driver. In order to configure the adhesion coefficient table during implementation, the scheme of the embodiment of the invention carries out real vehicle matching (namely setting corresponding adhesion coefficients) by counting the rules of the actual slip rate and the wheel speed change rate of wheels based on different road scenes and historical real vehicle test data so as to distinguish the adhesion coefficients of different roads as targets. The adhesion coefficient table can be obtained by establishing the actual slip rate, the wheel speed change rate and the adhesion coefficient mapping relation among the adhesion coefficients of the wheels and presenting the adhesion coefficient mapping relation in a table form.
According to the vehicle control method based on the slip rate, not only is the slip rate data of the vehicle in the straight running state considered, but also the slip data of the target vehicle in the steering process is updated to obtain the slip rate data which is more in line with the actual slip rate, and the slip rate data is provided for the vehicle ECU to carry out accurate control.
Example two
Referring to fig. 5, fig. 5 is a schematic structural diagram of a vehicle control device based on slip ratio according to an embodiment of the invention. As shown in fig. 5, the slip ratio-based vehicle control apparatus may include:
the acquisition module 21: the method comprises the steps of acquiring running state information of a target vehicle, wherein the running state information comprises the running speed, the wheel rolling radius and the wheel angular speed of the target vehicle;
wheel speed calculation module 22: the reference wheel speed information of each wheel is obtained through calculation according to the wheel rolling radius and the wheel angular speed; determining an initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table;
gesture detection module 23: the system comprises an inertial measurement unit, a vehicle ECU, a vehicle speed sensor and a vehicle speed sensor, wherein the inertial measurement unit is used for detecting and identifying the gesture of a target vehicle to obtain vehicle body gesture information, and if the vehicle body gesture information is straight running information, the initial slip rate of each wheel is used as a final slip rate, and the final slip rate is transmitted to the vehicle ECU for processing;
judgment module 24: if the vehicle body posture information is steering running information, the vehicle body posture information is processed to obtain steering gradient information, transverse acceleration and longitudinal acceleration;
slip ratio calculation module 25: and the vehicle ECU is used for calculating corresponding reference slip rate according to the steering gradient information, the transverse acceleration and the initial slip rate of each wheel, and transmitting the reference slip rate as a final slip rate to the vehicle ECU for processing.
More preferably, after the calculating the corresponding reference slip rate according to the steering gradient information, the lateral acceleration and the initial slip rate of each wheel, the method further includes:
and the filtering processing module is used for: the self-adaptive Kalman filtering device is used for carrying out filtering processing on the reference wheel speed information, and carrying out comprehensive processing on the data after the filtering processing by adopting longitudinal acceleration to obtain the wheel acceleration of each wheel;
global slip calculation module: the global slip rate of each wheel is calculated according to the reference wheel speed information, the reference vehicle speed of each wheel and the reference slip rate; and transmitting the global slip ratio of each wheel as a final slip ratio to the vehicle ECU for processing.
More preferably, after said transmitting the global slip ratio of each wheel to the vehicle ECU as the final slip ratio for processing, the method further comprises:
threshold comparison module: and the control command is sent to control the driving motor or the braking device to adjust the working state if the global slip rate of at least one wheel exceeds the set slip rate threshold value and the acceleration of the wheel is positive.
According to the vehicle control method based on the slip rate, not only is the slip rate data of the vehicle in the straight running state considered, but also the slip data of the target vehicle in the steering process is updated to obtain the slip rate data which is more in line with the actual slip rate, and the slip rate data is provided for the vehicle ECU to carry out accurate control.
Example III
Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device may be a computer, a server, or the like, and of course, may also be an intelligent device such as a mobile phone, a tablet computer, a monitor terminal, or the like, and an image acquisition device having a processing function. As shown in fig. 6, the electronic device may include:
a memory 510 storing executable program code;
a processor 520 coupled to the memory 510;
wherein the processor 520 invokes the executable program code stored in the memory 510 to perform some or all of the steps in the slip ratio based vehicle control method of embodiment one.
An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute some or all of the steps in the slip ratio-based vehicle control method in the first embodiment.
The embodiment of the invention also discloses a computer program product, wherein when the computer program product runs on a computer, the computer is caused to execute part or all of the steps in the vehicle control method based on the slip ratio in the first embodiment.
The embodiment of the invention also discloses an application release platform, wherein the application release platform is used for releasing a computer program product, and the computer is caused to execute part or all of the steps in the vehicle control method based on the slip ratio in the first embodiment when the computer program product runs on the computer.
In various embodiments of the present invention, it should be understood that the size of the sequence numbers of the processes does not mean that the execution sequence of the processes is necessarily sequential, and the execution sequence of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a memory, comprising several requests for a computer device (which may be a personal computer, a server or a network device, etc., in particular may be a processor in a computer device) to execute some or all of the steps of the method according to the embodiments of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a, from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may also determine B from a and/or other information.
Those of ordinary skill in the art will appreciate that some or all of the steps of the various methods of the described embodiments may be implemented by hardware associated with a program that may be stored in a computer-readable storage medium, including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read-Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium capable of being used to carry or store data that is readable by a computer.
The vehicle control method, device, electronic equipment and storage medium based on the slip ratio disclosed in the embodiments of the present invention are described in detail, and specific examples are applied to illustrate the principles and embodiments of the present invention, and the description of the above embodiments is only used to help understand the method and core idea of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (10)
1. A slip ratio-based vehicle control method, characterized by comprising:
acquiring running state information of a target vehicle, wherein the running state information comprises the running speed, the wheel rolling radius and the wheel angular speed of the target vehicle;
calculating to obtain reference wheel speed information of each wheel according to the wheel rolling radius and the wheel angular speed; determining an initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table;
detecting and identifying the posture of a target vehicle through an inertia measurement unit to obtain vehicle body posture information, and if the vehicle body posture information is straight running information, taking the initial slip rate of each wheel as a final slip rate, and transmitting the final slip rate to a vehicle ECU for processing;
if the vehicle body posture information is steering running information, the vehicle body posture information is processed to obtain steering gradient information, transverse acceleration and longitudinal acceleration;
and calculating corresponding reference slip rate according to the steering gradient information, the transverse acceleration and the initial slip rate of each wheel, and transmitting the reference slip rate as a final slip rate to the vehicle ECU for processing.
2. The slip ratio-based vehicle control method according to claim 1, characterized by further comprising, after the calculation of the corresponding reference slip ratio from the steering gradient information, the lateral acceleration, and the initial slip ratio of each wheel:
performing filtering processing on the reference wheel speed information by adopting self-adaptive Kalman filtering, and comprehensively processing the filtered data by adopting longitudinal acceleration to obtain the wheel acceleration of each wheel;
calculating global slip rate of each wheel according to the reference wheel speed information, the reference vehicle speed of each wheel and the reference slip rate; and transmitting the global slip ratio of each wheel as a final slip ratio to the vehicle ECU for processing.
3. The slip ratio-based vehicle control method according to claim 2, characterized by further comprising, after said transmitting the global slip ratio of the respective wheels to the vehicle ECU as a final slip ratio for processing:
and determining the slip state and trend of the target vehicle based on the global slip rate of each wheel, and if the global slip rate of at least one wheel exceeds a set slip rate threshold value and the acceleration of the wheel is positive, sending a control command to control a driving motor or a braking device to adjust the working state.
4. The slip ratio-based vehicle control method according to claim 2, wherein the reference vehicle speed of each wheel is obtained by:
identifying each wheel information and determining azimuth information of each wheel;
and compensating and updating the reference vehicle speed of each wheel according to the azimuth information, the steering gradient information and the wheel shaft information of each wheel.
5. The slip ratio-based vehicle control method according to claim 1, characterized by further comprising, after said transmitting the final slip ratio to a vehicle ECU for processing:
determining a wheel speed change rate of each wheel based on a motion parameter of the vehicle, and converting the wheel speed;
determining road surface attachment coefficients corresponding to all wheels based on a preset road surface attachment coefficient mapping table according to the final slip rate and the wheel speed change rate of each wheel, and determining vehicle attachment coefficients based on the road surface attachment coefficients of all the wheels;
and adjusting the driving torque gradient according to the vehicle attachment coefficient to obtain a driving torque correction gradient, and determining the final driving torque of the target vehicle according to the driving torque correction gradient.
6. A slip ratio-based vehicle control apparatus, characterized by comprising:
the acquisition module is used for: the method comprises the steps of acquiring running state information of a target vehicle, wherein the running state information comprises the running speed, the wheel rolling radius and the wheel angular speed of the target vehicle;
wheel speed calculation module: the reference wheel speed information of each wheel is obtained through calculation according to the wheel rolling radius and the wheel angular speed; determining an initial slip rate of each wheel based on the reference wheel speed information and a wheel speed-slip rate mapping table;
the gesture detection module: the system comprises an inertial measurement unit, a vehicle ECU, a vehicle speed sensor and a vehicle speed sensor, wherein the inertial measurement unit is used for detecting and identifying the gesture of a target vehicle to obtain vehicle body gesture information, and if the vehicle body gesture information is straight running information, the initial slip rate of each wheel is used as a final slip rate, and the final slip rate is transmitted to the vehicle ECU for processing;
and a judging module: if the vehicle body posture information is steering running information, the vehicle body posture information is processed to obtain steering gradient information, transverse acceleration and longitudinal acceleration;
slip rate calculation module: and the vehicle ECU is used for calculating corresponding reference slip rate according to the steering gradient information, the transverse acceleration and the initial slip rate of each wheel, and transmitting the reference slip rate as a final slip rate to the vehicle ECU for processing.
7. The slip ratio-based vehicle control apparatus according to claim 6, further comprising, after the calculation of the respective reference slip ratios from the steering gradient information, the lateral acceleration, and the initial slip ratio of each wheel:
and the filtering processing module is used for: the self-adaptive Kalman filtering device is used for carrying out filtering processing on the reference wheel speed information, and carrying out comprehensive processing on the data after the filtering processing by adopting longitudinal acceleration to obtain the wheel acceleration of each wheel;
global slip calculation module: the global slip rate of each wheel is calculated according to the reference wheel speed information, the reference vehicle speed of each wheel and the reference slip rate; and transmitting the global slip ratio of each wheel as a final slip ratio to the vehicle ECU for processing.
8. The slip ratio-based vehicle control apparatus according to claim 6, characterized by further comprising, after said transmitting the global slip ratio of the respective wheels to the vehicle ECU as a final slip ratio for processing:
threshold comparison module: and the control command is sent to control the driving motor or the braking device to adjust the working state if the global slip rate of at least one wheel exceeds the set slip rate threshold value and the acceleration of the wheel is positive.
9. An electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor invokes the executable program code stored in the memory for performing the slip rate based vehicle control method of any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the slip ratio-based vehicle control method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310787209.6A CN116834740A (en) | 2023-06-29 | 2023-06-29 | Vehicle control method and device based on slip ratio |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310787209.6A CN116834740A (en) | 2023-06-29 | 2023-06-29 | Vehicle control method and device based on slip ratio |
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| CN202310787209.6A Pending CN116834740A (en) | 2023-06-29 | 2023-06-29 | Vehicle control method and device based on slip ratio |
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