CN-115817485-B - Vehicle control method, device, vehicle, electronic device and readable storage medium

CN115817485BCN 115817485 BCN115817485 BCN 115817485BCN-115817485-B

Abstract

The invention provides a vehicle control method, a device, a vehicle, an electronic device and a readable storage medium, wherein the method comprises the steps of obtaining the speed and the wheel speed of the vehicle, and determining the slip rate of wheels in the vehicle according to the speed and the wheel speed; the anti-slip state identification method comprises the steps of carrying out anti-slip state identification on a vehicle according to the slip rate and the vehicle speed to determine an anti-slip state mark value, generating an anti-slip torque instruction according to the vehicle speed, the wheel speed, the anti-slip state mark value and a preset anti-slip control algorithm, and controlling a driving device of the vehicle to correct torque output to wheels in the vehicle according to the anti-slip torque instruction so as to carry out anti-slip control on the vehicle. The torque output to the wheels is directly corrected, so that the response speed of the wheels in the vehicle to the anti-skid control can be improved, the anti-skid control efficiency of the vehicle is further improved, and a better anti-skid control effect can be obtained.

Inventors

WANG QI
CHEN XIAOFENG
LI SONG
XIE PENG
WANG LING

Assignees

蜂巢传动系统(江苏)有限公司
江苏大学

Dates

Publication Date: 20260508
Application Date: 20221219

Claims (9)

1. A vehicle control method, characterized in that the method comprises: Acquiring the speed and the wheel speed of a vehicle, and determining the slip rate of wheels in the vehicle according to the speed and the wheel speed; carrying out anti-skid state identification on the vehicle according to the slip rate and the vehicle speed so as to determine an anti-skid state mark value; Generating an anti-skid torque command according to the vehicle speed, the wheel speed, the anti-skid state mark value and a preset anti-skid control algorithm; Controlling a driving device of the vehicle to correct torque output to wheels in the vehicle according to the anti-skid torque command so as to perform anti-skid control on the vehicle; acquiring an anti-skid control instruction of a whole vehicle controller of the vehicle; After the anti-slip torque command is generated according to the vehicle speed, the wheel speed, the anti-slip state flag value and a preset anti-slip control algorithm, the method further comprises: Checking the anti-skid torque command according to the anti-skid control command to obtain a checking result; the controlling the driving device of the vehicle to correct the torque output to the wheels in the vehicle according to the anti-slip torque command includes: And controlling a driving device of the vehicle to correct the torque output to wheels in the vehicle according to the anti-slip torque command under the condition that the verification result represents that the anti-slip control command and the anti-slip torque command simultaneously indicate anti-slip control of the vehicle.
2. The method of claim 1, wherein said determining a slip ratio of wheels in said vehicle from said vehicle speed and said wheel speed comprises: determining a reference slip ratio of a target wheel in the vehicle according to the vehicle speed, the wheel speed and motor speed information of the vehicle; determining a slip rate limiting parameter of the vehicle according to the current state information of the vehicle; And determining the final slip rate of the target wheel according to the reference slip rate and the slip rate limiting parameter.
3. The method according to claim 2, wherein the status information is climbing status flag information of the vehicle, and the method further comprises, before determining the slip ratio limiting parameter of the vehicle from the current status information of the vehicle: acquiring the opening degree of an accelerator pedal and the angle of a steering wheel from a whole vehicle controller of the vehicle; the determining the slip rate limiting parameter of the vehicle according to the current state information of the vehicle comprises the following steps: Determining working condition information of the vehicle according to the climbing state mark information, the accelerator pedal opening and the steering wheel angle; and determining the slip rate limiting parameter under the current working condition of the vehicle according to the working condition information.
4. The method of claim 1, wherein said identifying the slip status of the vehicle based on the slip ratio and the vehicle speed to determine a slip status flag value comprises: Determining a target vehicle speed interval corresponding to the vehicle speed according to the vehicle speed and a preset vehicle speed interval matrix; Determining a target slip rate enabling threshold value and a target slip rate disabling threshold value corresponding to the target vehicle speed interval according to the target vehicle speed interval, a preset slip rate enabling matrix and a preset slip rate disabling matrix, wherein the slip rate enabling matrix comprises slip rate enabling threshold values corresponding to each vehicle speed interval in the vehicle speed interval matrix, and the slip rate disabling matrix comprises slip rate disabling threshold values corresponding to each vehicle speed interval in the vehicle speed interval matrix; and determining an anti-slip state mark value according to the slip rate, the target slip rate enabling threshold and the target slip rate prohibiting threshold.
5. The method of claim 1, wherein the generating an anti-slip torque command based on the vehicle speed, the wheel speed, the anti-slip status flag value, and a preset anti-slip control algorithm comprises: Calculating a vehicle speed error of the vehicle according to the vehicle speed and the wheel speed; Taking the vehicle speed error as input of a preset anti-skid control algorithm to obtain a reference anti-skid torque output by the anti-skid control algorithm; determining the final anti-skid torque of the vehicle according to the reference anti-skid torque and a preset anti-skid torque threshold value; and generating the anti-skid torque command according to the anti-skid state flag value and the final anti-skid torque.
6. A vehicle control apparatus, characterized in that the apparatus comprises: the determining module is used for acquiring the speed and the wheel speed of a vehicle and determining the slip rate of wheels in the vehicle according to the speed and the wheel speed; the identification module is used for carrying out anti-skid state identification on the vehicle according to the slip rate and the vehicle speed so as to determine an anti-skid state mark value; the generation module is used for generating an anti-skid torque instruction according to the vehicle speed, the wheel speed, the anti-skid state mark value and a preset anti-skid control algorithm; a correction module for controlling a driving device of the vehicle to correct torque output to wheels in the vehicle according to the anti-slip torque command so as to perform anti-slip control on the vehicle; The first acquisition module is used for acquiring an anti-skid control instruction of a whole vehicle controller of the vehicle; The verification module is used for verifying the anti-skid torque command according to the anti-skid control command after the generation module generates the anti-skid torque command according to the vehicle speed, the wheel speed, the anti-skid state mark value and a preset anti-skid control algorithm, so as to obtain a verification result; The correction module is specifically configured to: And controlling a driving device of the vehicle to correct the torque output to wheels in the vehicle according to the anti-slip torque command under the condition that the verification result represents that the anti-slip control command and the anti-slip torque command simultaneously indicate anti-slip control of the vehicle.
7. A vehicle, characterized in that the vehicle is mounted with the vehicle control apparatus according to claim 6 for executing the vehicle control method according to any one of claims 1 to 5.
8. An electronic device comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the vehicle control method of any one of claims 1-5.
9. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the vehicle control method according to any one of claims 1 to 5.

Description

Vehicle control method, device, vehicle, electronic device and readable storage medium Technical Field The present invention relates to the field of vehicle technologies, and in particular, to a vehicle control method, a device, a vehicle, an electronic device, and a readable storage medium. Background In the process of starting, accelerating or braking, under the working conditions of ice and snow, wet skid, muddy road surface and the like, the situation that the driving wheels skid easily occurs, so that the vehicle is deviated to one side, even the failure that the direction of the vehicle is out of control occurs, and the safety of the vehicle and a driver is influenced. Currently, pure electric vehicles can be based on a vehicle controller (Vehicle Control Unit, VCU), and the power of the vehicle is redistributed through sensors and actuators for controlling the vehicle, so that the slip of the vehicle is controlled. However, the VCU is dependent on other sensors and actuators to perform power distribution, and thus, there are problems in that the method of controlling the slip of the vehicle based on the VCU is slow in functional response and poor in control effect. Disclosure of Invention In view of the foregoing, the present invention aims to provide a vehicle control method, apparatus, vehicle, electronic device, and readable storage medium, so as to solve the technical problems of slow function response and poor control effect in performing vehicle slip control based on VCU. In order to achieve the above purpose, the technical scheme of the invention is realized as follows: A vehicle control method, the method comprising: Acquiring the speed and the wheel speed of a vehicle, and determining the slip rate of wheels in the vehicle according to the speed and the wheel speed; carrying out anti-skid state identification on the vehicle according to the slip rate and the vehicle speed so as to determine an anti-skid state mark value; Generating an anti-skid torque command according to the vehicle speed, the wheel speed, the anti-skid state mark value and a preset anti-skid control algorithm; And controlling a driving device of the vehicle to correct the torque output to wheels in the vehicle according to the anti-skid torque command so as to perform anti-skid control on the vehicle. Optionally, the method further comprises: acquiring an anti-skid control instruction of a whole vehicle controller of the vehicle; After the anti-slip torque command is generated according to the vehicle speed, the wheel speed, the anti-slip state flag value and a preset anti-slip control algorithm, the method further comprises: Checking the anti-skid torque command according to the anti-skid control command to obtain a checking result; the controlling the driving device of the vehicle to correct the torque output to the wheels in the vehicle according to the anti-slip torque command includes: And controlling a driving device of the vehicle to correct the torque output to wheels in the vehicle according to the anti-slip torque command under the condition that the verification result represents that the anti-slip control command and the anti-slip torque command simultaneously indicate anti-slip control of the vehicle. Optionally, the determining the slip ratio of the wheels in the vehicle according to the vehicle speed and the wheel speed includes: determining a reference slip ratio of a target wheel in the vehicle according to the vehicle speed, the wheel speed and motor speed information of the vehicle; determining a slip rate limiting parameter of the vehicle according to the current state information of the vehicle; And determining the final slip rate of the target wheel according to the reference slip rate and the slip rate limiting parameter. Optionally, the state information is climbing state flag information of the vehicle, and before determining the slip rate limiting parameter of the vehicle according to the current state information of the vehicle, the method further includes: acquiring the opening degree of an accelerator pedal and the angle of a steering wheel from a whole vehicle controller of the vehicle; the determining the slip rate limiting parameter of the vehicle according to the current state information of the vehicle comprises the following steps: Determining working condition information of the vehicle according to the climbing state mark information, the accelerator pedal opening and the steering wheel angle; and determining the slip rate limiting parameter under the current working condition of the vehicle according to the working condition information. Optionally, the identifying the anti-slip state of the vehicle according to the slip rate and the vehicle speed to determine an anti-slip state flag value includes: Determining a target vehicle speed interval corresponding to the vehicle speed according to the vehicle speed and a preset vehicle speed interval matrix; Determining a target slip rate enab