CN-116394941-B - Control method, device, medium and electronic equipment for preventing whole vehicle from sliding

CN116394941BCN 116394941 BCN116394941 BCN 116394941BCN-116394941-B

Abstract

The application relates to the technical field of whole vehicle control, and discloses a whole vehicle anti-slip control method, a whole vehicle anti-slip control device, a medium and electronic equipment. The method comprises the steps of obtaining real-time parameter information of the whole vehicle, determining a slope sliding state of the whole vehicle based on the real-time parameter information, calculating motor rotating speed acceleration of the whole vehicle based on the real-time parameter information, determining compensation torque current of the motor based on the slope sliding state and the motor rotating speed acceleration, and determining torque of the motor based on the compensation torque current to control the whole vehicle. The method provided by the application can determine the compensation torque current only through the self motor rotational speed acceleration, so as to control the torque of the motor, and an additional ramp detector is not needed to calculate the auxiliary torque required by the motor, thereby reducing the cost of preventing the motor from sliding down. Meanwhile, the calculated compensation torque current does not need to be estimated, so that the control precision of the anti-slip slope is further improved, and the whole vehicle can be accurately prevented from slipping.

Inventors

CHEN HUAJIN
DING QING
FANG CHENG

Assignees

岚图汽车科技有限公司

Dates

Publication Date: 20260512
Application Date: 20230410

Claims (9)

1. The control method for preventing the whole vehicle from sliding on the slope is characterized by comprising the following steps: acquiring real-time parameter information of the whole vehicle; determining a sliding state of the whole vehicle based on the real-time parameter information, wherein the sliding state comprises a forward sliding state, a backward sliding state and a no-sliding state; Calculating the motor rotational speed and the acceleration of the whole vehicle based on the real-time parameter information; Determining a compensation torque current of the motor based on the hill-slip condition and the motor rotational speed acceleration; determining the torque of the motor based on the compensation torque current so as to control the whole vehicle; the method further comprises the steps of: If the sliding state is switched from the forward sliding state or the backward sliding state to the no-sliding state, acquiring a current torque current value of the motor; If the current torque current value is larger than a preset torque current value, controlling the motor based on the current torque current value; And if the current torque current value is smaller than or equal to the preset torque current value, controlling the motor based on the preset torque current value.
2. The method for controlling the whole vehicle to prevent sliding according to claim 1, wherein the real-time parameter information comprises gear information, motor rotation speed and braking state, and the determining the sliding state of the whole vehicle based on the real-time parameter information comprises: If the gear information is preset first gear information, the motor rotating speed is lower than a preset rotating speed threshold value, the braking state is a brake-free state, and the vehicle sliding state is judged to be the forward sliding state; And if the gear information is preset second gear information, the motor rotating speed is lower than a preset rotating speed threshold value, the braking state is a brake-free state, and the vehicle sliding state is judged to be the backward sliding state.
3. The method for controlling the whole vehicle to avoid sliding down a slope according to claim 2, wherein the calculating the motor rotational speed acceleration of the whole vehicle based on the real-time parameter information comprises: Acquiring the motor rotating speed of the motor in the previous period; acquiring the motor rotation speed in the current period based on the real-time parameter information; and calculating the motor rotating speed acceleration of the whole vehicle based on the motor rotating speed in the previous period and the motor rotating speed in the current period.
4. A control method for preventing a vehicle from running off a slope according to claim 3, wherein said determining the compensation torque current of the motor based on the running off state and the motor rotational speed acceleration includes: If the landslide state is the forward landslide state, calculating the compensation torque current based on a preset first compensation coefficient and the motor rotating speed acceleration; and if the landslide state is the backward landslide state, calculating the compensation torque current based on a preset second compensation coefficient and the motor rotating speed acceleration.
5. The control method for preventing a whole vehicle from sliding down a slope according to claim 1, wherein the determining the torque of the motor based on the compensation torque current includes: generating a torque current control command corresponding to the compensation torque current based on the compensation torque current; A torque of the electric machine is determined based on the torque current control command.
6. The control method for preventing a whole vehicle from sliding down a slope according to claim 2, further comprising: If the sliding state is judged to be the forward sliding state or the backward sliding state, controlling the whole vehicle to run in a preset first control mode; if the whole vehicle runs in the first control mode, acquiring a torque current instruction corresponding to the first control mode; converting the torque current command into integral output of a rotating speed ring and controlling the whole vehicle based on the integral output of the rotating speed ring; if the landslide state is judged to be the non-landslide state, controlling the whole vehicle to run in a preset second control mode; If the whole vehicle runs in the second control mode, acquiring integral output of a rotating speed ring corresponding to the second control mode; And converting the integral output of the rotating speed ring into the torque current command and controlling the whole vehicle based on the torque current command.
7. A control device for preventing a whole vehicle from sliding, the device comprising: the acquisition unit is used for acquiring real-time parameter information of the whole vehicle; the system comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining the sliding state of the whole vehicle based on the real-time parameter information, and the sliding state comprises a forward sliding state, a backward sliding state and a no sliding state; The calculating unit is used for calculating the motor rotating speed acceleration of the whole vehicle based on the real-time parameter information; a second determining unit configured to determine a compensation torque current of the motor based on the slip state and the motor rotational speed acceleration; The control unit is used for determining the torque of the motor based on the compensation torque current so as to control the whole vehicle; The device is also for: If the sliding state is switched from the forward sliding state or the backward sliding state to the no-sliding state, acquiring a current torque current value of the motor; If the current torque current value is larger than a preset torque current value, controlling the motor based on the current torque current value; And if the current torque current value is smaller than or equal to the preset torque current value, controlling the motor based on the preset torque current value.
8. A computer readable storage medium having stored therein at least one program code loaded and executed by a processor to implement operations performed by the method of any of claims 1 to 6.
9. An electronic device comprising one or more processors and one or more memories, the one or more memories having stored therein at least one piece of program code that is loaded and executed by the one or more processors to implement the operations performed by the method of any of claims 1-6.

Description

Control method, device, medium and electronic equipment for preventing whole vehicle from sliding Technical Field The application relates to the technical field of whole vehicle control, in particular to a whole vehicle anti-slip control method, a whole vehicle anti-slip control device, a medium and electronic equipment. Background When the automobile is stopped on a slope to start, in the process of turning an accelerator pedal by a brake pedal, the motor can slide on the slope due to the fact that the forward torque of the motor is not established or the torque is smaller just when being established, so that poor driving experience is brought. The existing method for preventing the automobile from sliding on the slope is generally to take the motor theoretical hill-holding moment calculated based on the gradient detection value and the whole automobile mass estimation as the hill-starting auxiliary torque, the accuracy of the estimated result is not enough, and the purpose of preventing the automobile from sliding on the slope is achieved through the starting auxiliary torque. In the existing anti-slip method, the gradient detection value is difficult to accurately detect, and an additional ramp detector is needed for detection, so that the cost is increased. Therefore, the conventional method has the problems of insufficient control accuracy for preventing the sliding slope and high cost. Disclosure of Invention The application provides a control method, a device, a medium and electronic equipment for preventing a whole vehicle from sliding, which can reduce the cost of preventing sliding and improve the control effect of preventing sliding. Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application. According to one aspect of the embodiment of the application, a control method for preventing a whole vehicle from sliding is provided, and the method comprises the following steps: acquiring real-time parameter information of the whole vehicle; Determining the slope sliding state of the whole vehicle based on the real-time parameter information; Calculating the motor rotational speed and the acceleration of the whole vehicle based on the real-time parameter information; Determining a compensation torque current of the motor based on the hill-slip condition and the motor rotational speed acceleration; and determining the torque of the motor based on the compensation torque current so as to control the whole vehicle. In one embodiment of the present application, based on the foregoing scheme, the real-time parameter information includes gear information, a motor rotation speed, and a braking state, the slip state includes a forward slip state and a backward slip state, and the determining the slip state of the whole vehicle based on the real-time parameter information includes: If the gear information is preset first gear information, the motor rotating speed is lower than a preset rotating speed threshold value, the braking state is a brake-free state, and the vehicle sliding state is judged to be the forward sliding state; And if the gear information is preset second gear information, the motor rotating speed is lower than a preset rotating speed threshold value, the braking state is a brake-free state, and the vehicle sliding state is judged to be the backward sliding state. In an embodiment of the present application, based on the foregoing solution, the calculating the motor rotational speed and the acceleration of the whole vehicle based on the real-time parameter information includes: Acquiring the motor rotating speed of the motor in the previous period; acquiring the motor rotation speed in the current period based on the real-time parameter information; and calculating the motor rotating speed acceleration of the whole vehicle based on the motor rotating speed in the previous period and the motor rotating speed in the current period. In one embodiment of the present application, based on the foregoing, the determining the compensation torque current of the motor based on the slip state and the motor rotational speed acceleration includes: If the landslide state is the forward landslide state, calculating the compensation torque current based on a preset first compensation coefficient and the motor rotating speed acceleration; and if the landslide state is the backward landslide state, calculating the compensation torque current based on a preset second compensation coefficient and the motor rotating speed acceleration. In one embodiment of the present application, based on the foregoing, the determining the torque of the motor based on the compensation torque current includes: generating a torque current control command corresponding to the compensation torque current based on the compensation torque current; A torque of the electric machine is determined based on the torque current control command.