WO2022088175A1 - Vehicle drive control method and apparatus, and vehicle - Google Patents
Vehicle drive control method and apparatus, and vehicle Download PDFInfo
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- WO2022088175A1 WO2022088175A1 PCT/CN2020/125844 CN2020125844W WO2022088175A1 WO 2022088175 A1 WO2022088175 A1 WO 2022088175A1 CN 2020125844 W CN2020125844 W CN 2020125844W WO 2022088175 A1 WO2022088175 A1 WO 2022088175A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present application relates to the field of new energy vehicles, and in particular, to a vehicle driving control method, device and vehicle.
- the purpose of the present application is to provide a vehicle driving control method, device and vehicle, which can fully ensure the safety of the vehicle in the over-sill condition.
- the present application discloses a vehicle driving control method, the method includes the following steps:
- the driving parameter information includes motor speed, wheel speed and vehicle speed;
- the motor is controlled to reduce the output torque, and/or the motor is controlled to reduce the wheel speed.
- the obtaining the calculated value of the vehicle driving parameter based on the driving parameter information includes:
- the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is obtained.
- judging whether the vehicle is in a skidding state based on the calculated value of the driving parameter includes:
- the vehicle When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate exceeds a first preset motor speed change rate, and if so, the vehicle is in a skid state; or
- the vehicle When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate exceeds a first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; or
- the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end
- the vehicle speed at the wheel end determines whether the relative speed difference between the wheel speed and the vehicle speed at the wheel end exceeds a second preset relative speed difference, and if so , the vehicle is in a skidding state in the air.
- controlling the motor to reduce the torque output includes:
- the motor When the output torque of the motor is less than the first preset torque, the motor is controlled to output at the first preset torque.
- controlling the motor to reduce the wheel speed includes:
- the output torque of the motor is controlled to reduce the wheel speed.
- controlling the motor to reduce the wheel speed further includes:
- controlling the motor Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, controlling the motor to drive the wheel speed of the front wheel to be consistent with the wheel speed of the rear wheel;
- the motor is controlled to drive the wheel speed of the rear wheel to be consistent with the wheel speed of the front wheel.
- the wheel speed of the rear wheel is driven by the closed-loop control to be consistent with the wheel speed of the front wheel.
- the vehicle when the vehicle is in a skid state in the air, after controlling the motor to reduce the output torque, and/or controlling the motor to reduce the wheel speed, it includes:
- the motor output torque is controlled in response to the driver torque request.
- judging whether the vehicle ends slipping based on the calculated value of the vehicle driving parameter includes:
- the calculated value of the driving parameter is the motor speed change rate
- the calculated value of the driving parameter is the wheel speed change rate
- the method further includes:
- the motor is controlled to output at the second preset torque.
- the present application also discloses a vehicle driving control device, the device is set based on the above method, and the device includes:
- a driving parameter information acquisition module configured to acquire vehicle driving parameter information in real time, the driving parameter information including motor speed, wheel speed and vehicle speed;
- a driving parameter calculation value obtaining module configured to obtain the vehicle driving parameter calculation value based on the driving parameter information
- a skid in the air judging module is used to determine whether the vehicle is in a state of skidding in the air based on the calculated value of the driving parameter;
- the control module is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
- the present application also discloses a vehicle, the vehicle is a pure electric vehicle or a hybrid electric vehicle, the vehicle includes a motor controller, and the motor controller includes the above-mentioned vehicle driving control device.
- the vehicle driving control method, device and vehicle described in this application have the following beneficial effects:
- a vehicle driving control method, device and vehicle described in this application when the vehicle is in overpassing condition, by reducing the output torque on the drive shaft, the landing friction torque on the drive shaft can be reduced, and the whole vehicle can be improved. Institutional stability.
- the vehicle driving control method, device and vehicle described in the present application improve the safety of the vehicle when crossing the threshold through software improvement, avoid directly strengthening the strength of the drive shaft, and reduce vehicle weight and cost.
- the vehicle driving control method, device and vehicle described in this application improve the driving control capability of the vehicle and ensure driving safety by controlling the torque output of the vehicle in different working conditions of the vehicle.
- a vehicle driving control method, device and vehicle described in the present application by reducing the wheel speed after the vehicle is vacated, the friction force when the vehicle is landed is reduced, the occurrence of dangerous working conditions such as slippage is avoided, and the driving experience of the vehicle is improved. .
- FIG. 1 is a schematic diagram of an electric vehicle transmission system (rear drive) in the embodiment of the present application;
- FIG. 2 is a schematic diagram of the wheel flying and touching the ground in the embodiment of the present application.
- FIG. 3 is a step diagram of a vehicle driving control method in an embodiment of the present specification
- FIG. 4 is a step diagram of the torque output control method in the embodiment of this specification.
- FIG. 5 is a step diagram of the torque output control method in the embodiment of this specification.
- FIG. 6 is a step diagram of a vehicle driving control method in some other embodiments of this specification.
- FIG. 7 is a step diagram of a vehicle driving control method in some other embodiments of this specification.
- FIG. 8 is a flowchart of a vehicle driving control method in an embodiment of the present specification.
- FIG. 9 is a flowchart of a vehicle driving control method in an embodiment of the present specification.
- Fig. 10 is a flowchart of the vehicle driving control method in the embodiment of this specification.
- FIG. 11 is a structural diagram of a vehicle travel control device in an embodiment of the present specification.
- the embodiments of the present specification provide a vehicle driving control method.
- the transmission system is a rear-drive transmission system, which mainly includes a motor 1, an angle sensor 2, a reducer 3, a differential 4, a drive shaft 5, a wheel speed sensor 6 and a wheel 7;
- the angle sensor 2 is connected to the motor 1 for detecting the rotational speed of the output shaft of the motor 1.
- the angle sensor 2 is a resolver angle sensor, and the motor 1 outputs torque to the motor 1 through the output shaft.
- the reducer 3, the reducer 3 outputs torque to the differential 4 according to different transmission paths, and the differential 4 distributes the kinetic energy to the wheels through the drive shaft 5, thereby driving the wheels to drive.
- the wheel speed sensor 6 is arranged on the wheel 7 for detecting the rotational speed of the wheel 7.
- the rotational speed of the wheel 7 represents the linear speed of the wheel rotation
- the vehicle speed represents the speed relative to the ground when the vehicle is running.
- FIG 2 it is a schematic diagram of the wheel vacated state.
- the vehicle wheels do not appear to be slipping.
- the vehicle wheel speed is equal to the vehicle speed, that is, the tangential speed of the wheel is equal to the translational speed of the vehicle.
- V w*R, where V is the speed of the vehicle, w is the angular velocity of the wheel, and R is the radius of the wheel;
- V the speed of the vehicle
- w the angular velocity of the wheel
- R the radius of the wheel
- FIG. 3 is a schematic flowchart of a vehicle driving control method provided by an embodiment of the present invention.
- the operation steps of the method described in the flow chart may include more or less operation steps based on routine or non-creative work.
- the sequence of steps enumerated in the embodiments is only one of the execution sequences of many steps, and does not represent the only execution sequence.
- an actual system or server product is executed, it can be executed sequentially or in parallel (for example, in a parallel processor or multi-threaded processing environment) according to the embodiments or the methods shown in the accompanying drawings.
- the method may include:
- the motor speed can be obtained through the angle sensor, and the motor speed is the speed of the output shaft of the motor.
- the wheel speed is the tangential linear speed of the wheel rotation, and the wheel speed can include the front wheel speed and the rear wheel speed.
- it can be obtained by arranging two sets of wheel speed sensors on the front wheel and the rear wheel; the vehicle speed is The speed of the vehicle relative to the ground can be obtained directly through the instrument panel or the vehicle controller, and in some other embodiments, through the vehicle positioning system and the like.
- one of the sensors can be set to obtain the motor speed or wheel speed, for example, only the motor speed, only the wheel speed, the combination of the motor speed and the vehicle speed, and the combination of the wheel speed and the vehicle speed, etc., Different parameters are obtained according to the composition of different vehicle sensors.
- the vehicle driving parameters can be obtained through the vehicle controller (ECU), and the calculated values of the vehicle driving parameters can be calculated according to the vehicle driving parameters, and then corresponding control instructions are issued to the motor controller.
- the vehicle driving parameters can also be obtained through the motor controller, and the vehicle driving parameters can be calculated, and the corresponding calculated values of the vehicle driving parameters can be sent to the vehicle controller, and then the vehicle controller can send control instructions;
- the motor controller can also directly send or obtain the original data of the driving parameters of the vehicle to the vehicle controller, and the vehicle controller can process data and issue instructions.
- the calculated value of the driving parameter is a value that can be compared after the processing of the driving parameter information, which may be the rate of change of the motor speed, the rate of change of the wheel speed, the relative speed of the motor speed and the vehicle speed at the wheel end The difference or the relative rotational speed difference between the wheel speed and said vehicle speed at the wheel end.
- the driving parameter information is the motor speed
- the motor speed change rate can be obtained from the motor speed. Average rate of change within a segment. From the time the wheel is vacated to the ground, the motor speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the vacant to the ground.
- the driving parameter information is the wheel speed
- the motor speed change rate can be obtained from the wheel speed. Average rate of change within a segment.
- the wheel speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel flying to the ground.
- the driving parameter information is the motor speed and the vehicle speed, which can be obtained by calculating the motor speed and the vehicle speed.
- the trigger may be the average rotational speed difference between the motor speed and the vehicle speed within a preset time period. From the time the wheel is vacated to the ground, the motor speed is in the stage of rapid increase, and different preset time can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel vacated to the ground.
- the driving parameter information is the wheel rotational speed and the vehicle speed, which can be obtained by calculating the wheel rotational speed and the vehicle speed.
- It may be the average rotational speed difference between the wheel rotational speed and the vehicle speed within a preset time period.
- the wheel speed is in the stage of rapid increase, and different preset times can be calibrated according to different vehicle speed segments, and the preset time is lower than the time from the wheel flying to the ground.
- the above at least two sets of calculation values of driving parameters can be arbitrarily selected as the calculation values of driving parameters in actual work, which can improve the accuracy of judgment and reduce the probability of false triggering of functions.
- S105 Based on the calculated value of the driving parameter, determine whether the vehicle is in a skidding state in the air;
- the motor speed change rate When the calculated value of the driving parameter is the motor speed change rate, it is determined whether the motor speed change rate exceeds the first preset motor speed change rate, and if so, the vehicle is in a skid state; It is assumed that the motor speed change rate can be 10000rpm/s 2 .
- the wheel speed change rate When the calculated value of the driving parameter is the wheel speed change rate, it is determined whether the wheel speed change rate exceeds the first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; for example, the first preset The wheel speed change rate may be 1000 rpm/s 2 .
- the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end
- the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end
- the embodiment of this specification reduces the output torque of the motor to reduce the rotational torque of the drive shaft. , thereby reducing the torque on the drive bearing, or by reducing the rotational speed of the wheel to reduce the frictional resistance when the wheel touches the ground, or the above two methods are performed simultaneously.
- a vehicle skidding in the air generally means that the front or rear wheels of the vehicle are in the air, and in some other working conditions, the entire vehicle may be aired out.
- S7013 Acquire motor output torque information in real time, and determine whether the motor output torque is less than a first preset torque
- the state of the whole vehicle can be adjusted by reducing the output torque of the motor, so that the torque transmitted by the output shaft of the motor to the drive shaft is also reduced, which can reduce the wheel after the wheel touches the ground. friction torque, thus protecting the drive shaft.
- FIG. 8 it is a flow chart of protecting the drive shaft by controlling the motor to reduce the output torque in the embodiment of the present specification.
- the reduction of the motor output torque can be reduced by a preset rule, such as linear reduction, in order to avoid the motor Too low torque affects the normal output of the vehicle, and the first preset torque, that is, the minimum torque, can be set, so that when the motor torque is reduced to the minimum torque, the minimum torque can be maintained for output. In this way, while ensuring the normal output of the vehicle torque, the drive shaft is protected and the safety performance of the vehicle is improved.
- the embodiments of this specification can also reduce the frictional resistance of the wheel after the wheel touches the ground by reducing the speed of the wheel in the air, which specifically includes the following steps:
- FIG. 9 a working flow chart of reducing the wheel speed by reducing the output torque of the motor.
- the wheel speed can be adjusted in a certain proportion according to the actual vehicle speed, such as reaching 100%-200% of the wheel speed, so that the vehicle can be driven when the wheel touches the ground.
- the fast passing through high sill conditions can optionally be 100%-150%, wherein the preferred values are 120% and 150%.
- the embodiments of this specification further include:
- the speed of the vacated wheel is consistent with the speed of the vehicle, after the wheel touches the ground, the tangential linear speed of the wheel rotation can be consistent with the speed of the vehicle, thereby avoiding the driver's feeling of frustration and improving the driving experience.
- the wheel speed and vehicle speed can be kept consistent through closed-loop control.
- the torque PI controller can be used to adjust.
- step S705 includes:
- S7053 Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, control the wheel speed of the front wheel driven by the motor to be consistent with the wheel speed of the rear wheel;
- S7057 Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, control the wheel speed of the rear wheel driven by the motor to be consistent with the wheel speed of the front wheel.
- the front and rear wheels of the vehicle are controlled to have the same rotation speed to avoid the difference in rotation speed between the front and rear wheels when they touch the ground, which reduces the driving experience, avoids driving risks, and improves safety.
- the motor can drive the front wheel speed to be consistent with the rear wheel speed through closed-loop control; and/or drive the motor to drive the rear wheel speed to be consistent with the front wheel speed through closed-loop control.
- the motor speed can also be controlled to synchronize with the wheel speed. Specifically, after the front wheel slips in the air, the closed-loop speed controls the speed of the front drive axle motor to synchronize with the speed of the rear wheel. After the rear wheel slips in the air, the closed-loop speed controls the rear drive. The axle motor speed is synchronized with the front wheel speed.
- some other embodiments may further include the following steps:
- step S105 judging whether the vehicle has ended skidding is similar to the aforementioned step S105, specifically:
- the motor speed change rate When the calculated value of the driving parameter is the motor speed change rate, it is judged whether the motor speed change rate is lower than the second preset motor speed change rate, and if so, the vehicle ends slipping, for example, the second preset motor
- the rotational speed change rate was 3000 rpm/s 2 .
- the wheel speed change rate it is determined whether the wheel speed change rate is lower than the second preset wheel speed change rate, and if so, the vehicle ends slipping, such as the second preset wheel speed change rate
- the rotational speed change rate was 300 rpm/s 2 .
- the calculated value of the driving parameter is the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end. If so, the vehicle ends slipping, for example, the third preset relative speed difference is 25 rpm/s.
- the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end. If so, the vehicle ends slipping, for example, the fourth preset relative rotational speed difference is 25 rpm/s.
- the timing when the vehicle can be normally controlled can be accurately grasped, the smoothness of vehicle control and the sense of driving experience are improved, the control efficiency of the vehicle is improved, and energy consumption is saved.
- step S105 the following steps may be included:
- the vehicle controller When the vehicle is in a normal driving state, the vehicle controller sends control commands to the motor controller by receiving the driving demand of the driver, and the motor controller performs torque vector control.
- PWM pulse width modulation
- S108 Obtain output torque information in real time, and determine whether the output torque exceeds a second preset torque
- the vehicle speed In order to ensure the stability of the overall vehicle condition and avoid vehicle speeding or excessive vehicle speed affecting the driving stability of the vehicle, it is necessary to control the vehicle speed. Specifically, it can be controlled by controlling the output torque of the motor, wherein the second preset torque is the maximum torque of the vehicle, which can be Optionally, different second preset torques may be set under different working conditions to ensure normal running of the vehicle.
- the motor can be controlled to output according to the maximum torque to ensure driving safety.
- the embodiments of this specification also provide a vehicle driving control device, as shown in Figure 11, the device includes:
- the driving parameter information acquisition module 10 is used to acquire the driving parameter information of the vehicle in real time, and the driving parameter information includes the motor speed, the wheel speed and the vehicle speed;
- a driving parameter calculation value obtaining module 20 configured to obtain a vehicle driving parameter calculation value based on the driving parameter information
- a skid in the air judging module 30 is used to determine whether the vehicle is in a skid in the air based on the calculated value of the driving parameter;
- the control module 40 is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
- an embodiment of the present specification further provides a vehicle, the vehicle is a pure electric vehicle or a hybrid electric vehicle, the vehicle includes a motor controller, and the motor controller includes the above-mentioned one Vehicle travel control device.
- the vehicle driving control method, device and vehicle described in the present application improve the safety of the vehicle when crossing the threshold through software improvement, avoid directly strengthening the strength of the drive shaft, and reduce vehicle weight and cost.
- the vehicle driving control method, device and vehicle described in this application improve the driving control capability of the vehicle and ensure driving safety by controlling the torque output of the vehicle in different working conditions of the vehicle.
- a vehicle driving control method, device and vehicle described in this application by reducing the wheel speed after the vehicle is vacated, the frictional force when the vehicle is landed is reduced, the occurrence of dangerous conditions such as slippage is avoided, and the driving experience of the vehicle is improved.
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Abstract
Description
Claims (13)
- 一种车辆行驶控制方法,其特征在于,包括以下步骤:A vehicle driving control method, comprising the following steps:实时获取车辆行驶参数信息,所述行驶参数信息包括电机转速、车轮转速和车速;Obtaining vehicle driving parameter information in real time, the driving parameter information includes motor speed, wheel speed and vehicle speed;基于所述行驶参数信息,获取车辆行驶参数计算值;Based on the driving parameter information, obtain a calculated value of the driving parameter of the vehicle;基于所述行驶参数计算值,判断车辆是否处于腾空打滑状态;Based on the calculated value of the driving parameter, determine whether the vehicle is in a skidding state in the air;当所述车辆处于腾空打滑状态,控制电机降低输出扭矩,和/或控制电机降低车轮转速。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque, and/or the motor is controlled to reduce the wheel speed.
- 根据权利要求1所述的车辆行驶控制方法,其特征在于,所述基于所述行驶参数信息,获取车辆行驶参数计算值包括:The vehicle driving control method according to claim 1, wherein the obtaining the calculated value of the driving parameter of the vehicle based on the driving parameter information comprises:根据所述电机转速,获得电机转速变化率;或According to the motor speed, obtain the motor speed change rate; or根据所述车轮转速,获得车轮转速变化率;或obtaining a wheel speed change rate based on the wheel speed; or根据所述电机转速和所述车速,获得所述电机转速与所述车速在轮端的相对转速差;或According to the rotational speed of the motor and the speed of the vehicle, obtain the relative rotational speed difference between the rotational speed of the motor and the speed of the vehicle at the wheel end; or根据所述车轮转速和所述车速,获得所述车轮转速与所述车速在轮端的相对转速差。According to the wheel rotational speed and the vehicle speed, the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is obtained.
- 根据权利要求2所述的车辆行驶控制方法,其特征在于,所述基于所述行驶参数计算值,判断车辆是否处于腾空打滑状态包括:The vehicle driving control method according to claim 2, wherein the determining whether the vehicle is in a skidding state based on the calculated value of the driving parameter comprises:当所述行驶参数计算值为电机转速变化率时,判断所述电机转速变化率是否超过第一预设电机转速变化率,若是,则所述车辆处于腾空打滑状态;或When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate exceeds a first preset motor speed change rate, and if so, the vehicle is in a skid state; or当所述行驶参数计算值为车轮转速变化率时,判断所述车轮转速变化率是否超过第一预设车轮转速变化率,若是,则所述车辆处于腾空打滑状态;或When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate exceeds a first preset wheel speed change rate, and if so, the vehicle is in a skid state in the air; or当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时,判断所述电机转速与所述车速在轮端的相对转速差是否超过第一预设相对转速差,若是,则所述车辆处于腾空打滑状态;或When the calculated value of the driving parameter is the relative speed difference between the motor speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the motor speed and the vehicle speed at the wheel end exceeds a first preset relative speed difference, and if so , the vehicle is skidding in the air; or当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时,判断所述车轮转速与所述车速在轮端的相对转速差是否超过第二预设相对转速差,若是,则所述车辆处于腾空打滑状态。When the calculated value of the driving parameter is the relative speed difference between the wheel speed and the vehicle speed at the wheel end, determine whether the relative speed difference between the wheel speed and the vehicle speed at the wheel end exceeds a second preset relative speed difference, and if so , the vehicle is in a skidding state in the air.
- 根据权利要求1所述的车辆行驶控制方法,其特征在于,所述当所述车辆处于腾空打滑状态,控制电机降低扭矩输出包括:The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the torque output comprises:当所述车辆处于腾空打滑状态,控制电机降低输出扭矩;When the vehicle is in a skid state in the air, controlling the motor to reduce the output torque;实时获取电机输出扭矩信息,判断所述电机输出扭矩是否小于第一预设扭矩;Acquiring motor output torque information in real time, and judging whether the motor output torque is less than a first preset torque;当所述电机输出扭矩小于所述第一预设扭矩,控制所述电机以所述第一预设扭矩输出。When the output torque of the motor is less than the first preset torque, the motor is controlled to output at the first preset torque.
- 根据权利要求1所述的车辆行驶控制方法,其特征在于,所述当所述车辆处于腾空打滑状态,控制电机降低车轮转速包括:The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the wheel speed comprises:当所述车辆处于腾空打滑状态,控制电机降低输出扭矩,以降低车轮转速。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque to reduce the wheel speed.
- 根据权利要求1所述的车辆行驶控制方法,其特征在于,所述当所述车辆处于腾空打滑状态,控制电机降低车轮转速还包括:The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the wheel speed further comprises:当所述车辆处于腾空打滑状态,控制电机降低输出扭矩,以使车轮转速与车速一致。When the vehicle is in a skid state in the air, the motor is controlled to reduce the output torque so that the wheel speed is consistent with the vehicle speed.
- 根据权利要求6所述的车辆行驶控制方法,其特征在于,所述当所述车辆处于腾空打滑状态,控制电机降低输出扭矩,以使车轮转速与车速一致包括:The vehicle driving control method according to claim 6, wherein when the vehicle is in a skid state in the air, controlling the motor to reduce the output torque so that the wheel speed is consistent with the vehicle speed comprises:当所述车辆的前轮处于腾空打滑状态,获取车辆前轮轮速和车辆后轮轮速;When the front wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;基于所述后轮轮速和所述前轮轮速,控制所述电机驱动前轮轮速与所述后轮轮速一致;Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, controlling the motor to drive the wheel speed of the front wheel to be consistent with the wheel speed of the rear wheel;当所述车辆的后轮处于腾空打滑状态,获取车辆前轮轮速和车辆后轮轮速;When the rear wheel of the vehicle is in a skidding state in the air, obtain the wheel speed of the front wheel of the vehicle and the wheel speed of the rear wheel of the vehicle;基于所述后轮轮速和所述前轮轮速,控制所述电机驱动后轮轮速与所述前轮轮速一致。Based on the wheel speed of the rear wheel and the wheel speed of the front wheel, the motor is controlled to drive the wheel speed of the rear wheel to be consistent with the wheel speed of the front wheel.
- 根据权利要求7所述的车辆行驶控制方法,其特征在于,The vehicle driving control method according to claim 7, wherein:通过闭环控制所述电机驱动前轮轮速与所述后轮轮速一致;和The speed of the front wheel is driven by the closed-loop control to be consistent with the wheel speed of the rear wheel; and通过闭环控制所述电机驱动后轮轮速与所述前轮轮速一致。The wheel speed of the rear wheel is driven by the closed-loop control to be consistent with the wheel speed of the front wheel.
- 根据权利要求1所述的车辆行驶控制方法,其特征在于,所述当所述车辆处于腾空打滑状态,控制电机降低输出扭矩,和/或控制电机降低车轮转速之后包括:The vehicle driving control method according to claim 1, wherein when the vehicle is in a skid state in the air, after controlling the motor to reduce the output torque, and/or controlling the motor to reduce the wheel speed, the method comprises:基于所述车辆行驶参数计算值,判断车辆是否结束打滑;judging whether the vehicle ends skidding based on the calculated value of the vehicle driving parameter;当所述车辆结束打滑,响应驾驶员扭矩请求,控制电机输出扭矩。When the vehicle ends slipping, the motor output torque is controlled in response to the driver torque request.
- 根据权利要求9所述的车辆行驶控制方法,其特征在于,所述基于所述车辆行驶参数计算值,判断车辆是否结束打滑包括:The vehicle driving control method according to claim 9, wherein the determining whether the vehicle ends skidding based on the calculated value of the vehicle driving parameter comprises:当所述行驶参数计算值为电机转速变化率时,判断所述电机转速变化率是否低于第二预设电机转速变化率,若是,则所述车辆结束打滑;或When the calculated value of the driving parameter is the motor speed change rate, determine whether the motor speed change rate is lower than the second preset motor speed change rate, and if so, the vehicle ends slipping; or当所述行驶参数计算值为车轮转速变化率时,判断所述车轮转速变化率是否低于第二预设车轮转速变化率,若是,则所述车辆结束打滑;或When the calculated value of the driving parameter is the wheel speed change rate, determine whether the wheel speed change rate is lower than a second preset wheel speed change rate, and if so, the vehicle ends slipping; or当所述行驶参数计算值为所述电机转速与所述车速在轮端的相对转速差时,判断所述电机转速与所述车速在轮端的相对转速差是否低于第三预设相对转速差,若是,则所述车辆结束打滑;或When the calculated value of the driving parameter is the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the motor rotational speed and the vehicle speed at the wheel end is lower than a third preset relative rotational speed difference, If so, the vehicle ends skidding; or当所述行驶参数计算值为所述车轮转速与所述车速在轮端的相对转速差时,判断所述车轮转速与所述车速在轮端的相对转速差是否低于第四预设相对转速差,若是,则所述车辆结束打滑。When the calculated value of the driving parameter is the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end, determine whether the relative rotational speed difference between the wheel rotational speed and the vehicle speed at the wheel end is lower than a fourth preset relative rotational speed difference, If so, the vehicle ends skidding.
- 根据权利要求1所述的车辆行驶控制方法,其特征在于,基于所述行驶参数计算值,判断车辆是否处于腾空打滑状态之后还包括:The vehicle driving control method according to claim 1, wherein after judging whether the vehicle is in a skidding state based on the calculated value of the driving parameter, the method further comprises:当所述车辆没有处于腾空打滑状态,响应驾驶员扭矩请求,控制电机输出扭矩;When the vehicle is not in a skid state, controlling the motor output torque in response to the driver's torque request;实时获取输出扭矩信息,判断所述输出扭矩是否超过第二预设扭矩;Obtaining output torque information in real time, and judging whether the output torque exceeds a second preset torque;当所述输出扭矩超过所述第二预设扭矩,控制所述电机以所述第二预设扭矩输出。When the output torque exceeds the second preset torque, the motor is controlled to output at the second preset torque.
- 一种车辆行驶控制装置,其特征在于,所述装置包括:A vehicle driving control device, characterized in that the device comprises:行驶参数信息获取模块,用于实时获取车辆行驶参数信息,所述行驶参数信息包括电机转速、车轮转速和车速;a driving parameter information acquisition module, configured to acquire vehicle driving parameter information in real time, the driving parameter information including motor speed, wheel speed and vehicle speed;行驶参数计算值获取模块,用于基于所述行驶参数信息,获取车辆行驶参数计算值;a driving parameter calculation value obtaining module, configured to obtain the vehicle driving parameter calculation value based on the driving parameter information;腾空打滑判断模块,用于基于所述行驶参数计算值,判断车辆是否处于腾空打滑状态;A skid in the air judging module is used to determine whether the vehicle is in a state of skidding in the air based on the calculated value of the driving parameter;控制模块,用于当所述车辆处于腾空打滑状态,控制电机降低输出扭矩,和/或控制电机降低车轮转速。The control module is configured to control the motor to reduce the output torque and/or control the motor to reduce the wheel speed when the vehicle is in a skid state in the air.
- 一种车辆,所述车辆为纯电动车辆或混合电动车辆,其特征在于,所述车辆包括电机控制器,所述电机控制器包括权利要求12所述的一种车辆行驶控制装置。A vehicle, wherein the vehicle is a pure electric vehicle or a hybrid electric vehicle, characterized in that the vehicle includes a motor controller, and the motor controller includes the vehicle driving control device according to claim 12 .
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