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CN-121973760-A - Vehicle slip prediction control method and vehicle

CN121973760ACN 121973760 ACN121973760 ACN 121973760ACN-121973760-A

Abstract

The application discloses a vehicle slip prediction control method and a vehicle, and relates to the field of vehicle control, comprising the steps of obtaining a first operation parameter and an environment parameter in the running process of the vehicle, wherein the first operation parameter comprises a vehicle body dynamic parameter and a driving parameter, and the environment parameter comprises a whole vehicle parameter and a parameter related to the surrounding environment of the vehicle; the method comprises the steps of obtaining stability trend information of a vehicle and predicted slip event information through a prediction model set, determining slip prediction information of the vehicle according to environment parameters, the stability trend information and the predicted slip event information, determining a target torque limiting strategy according to the slip prediction information, and adjusting control parameters of vehicle running according to the target torque limiting strategy to reduce the slip risk of the vehicle. The situation of whether the vehicle is about to slip in the running process is predicted from the integral trend and the slip abrupt change, the accuracy is high, and the safety of the vehicle is improved.

Inventors

  • LI MING

Assignees

  • 长城汽车股份有限公司

Dates

Publication Date
20260505
Application Date
20260408

Claims (10)

  1. 1. A vehicle slip prediction control method characterized by comprising: Acquiring a first operation parameter and an environment parameter in the running process of a vehicle, wherein the first operation parameter comprises a vehicle body dynamic parameter and a driving parameter, and the environment parameter comprises a whole vehicle parameter and a parameter related to the surrounding environment of the vehicle; The first operation parameters are processed through a prediction model group to obtain stability trend information and predicted slip event information of the vehicle; determining a target torque limiting strategy according to the slip prediction information; and adjusting the control parameters of the vehicle running according to the target torque limiting strategy so as to reduce the slip risk of the vehicle.
  2. 2. The method of claim 1, wherein the determining slip prediction information of the vehicle based on the environmental parameter, the stability trend information, and the predicted slip event information comprises: processing the first operation parameter according to a first model in the prediction model group to obtain predicted slip event information, wherein the predicted slip event information comprises a slip mutation perception heat value and predicted residual time, and the slip mutation perception heat value represents whether a slip mutation symptom exists currently; Processing the first operation parameters according to a second model in the prediction model group to obtain stability trend information, wherein the stability trend information comprises a stability trend score and a trend embedded vector, and the stability trend information represents whether a vehicle approaches a slip boundary or not; and processing the environmental parameter, the stability trend information and the predicted slip event information according to a third model in the prediction model group, and determining slip prediction information of the vehicle.
  3. 3. The vehicle slip prediction control method according to claim 2, wherein the processing the operation parameters according to the first model in the prediction model group to obtain predicted slip event information includes: converting the first operating parameter from a time series format to a stream of pulsed events according to a first model; and analyzing the pulse event stream to obtain a slip mutation perceived heat value and predicted residual time.
  4. 4. The vehicle slip prediction control method according to claim 2, wherein the processing the operation parameters according to the second model in the prediction model group to obtain stability trend information includes: dividing the first operation parameters into at least two groups of parameter subsets according to the types of the first operation parameters, wherein the types of the first operation parameters at least comprise a vehicle dynamic response type and a driving behavior type; Processing parameters in each parameter subset according to the second model to obtain corresponding types of features; fusing the features of each type to obtain a trend embedded vector; And obtaining a stability trend score according to the trend embedded vector.
  5. 5. The vehicle slip prediction control method according to claim 2, wherein the processing the environmental parameter, the stability trend information, and the predicted slip event information according to the third model in the prediction model group, determines slip prediction information of the vehicle, includes: splicing the environmental parameters, the stability trend information and the predicted slip event information into information to be input; processing information to be input according to the third model to obtain predicted values of the vehicle in at least two slip types; Triggering a target threshold unit in at least two threshold units in the third model according to the predictive value of each slip type, wherein the predictive value meets the triggering threshold of the target threshold unit; and combining the target threshold units to determine slip prediction information of the vehicle, wherein the slip prediction information comprises slip risk probability, predicted residual time and recommended intervention intensity level.
  6. 6. The vehicle slip prediction control method according to claim 5, characterized in that the determining a target torque limiter strategy according to the slip prediction information includes: determining a target risk level according to the slip risk probability; And determining a first torsion limiting strategy corresponding to the target risk level in at least two torsion limiting strategies according to the predicted remaining time and the recommended intervention intensity level, wherein the first torsion limiting strategy is used as a target torsion limiting strategy, and the degree of intervention of different torsion limiting strategies on the running of the vehicle is different.
  7. 7. The vehicle slip prediction control method according to claim 6, characterized by further comprising, after adjusting the control parameter of vehicle running in accordance with the target torque limiter strategy: acquiring second running information in the running process of the vehicle after adjusting the control parameters; determining whether the current control parameter adjustment achieves the target purpose according to the second operation information; and selecting a second torque limiting strategy based on the control parameter adjustment does not reach the target purpose, wherein the degree of the second torque limiting strategy on the vehicle operation intervention is higher than that of the first torque limiting strategy.
  8. 8. The vehicle slip prediction control method according to claim 1, characterized in that the acquiring the first operating parameter and the environmental parameter during the running of the vehicle includes: acquiring a first operation parameter, a driving parameter and a first environment parameter in the running process of the vehicle from a plurality of sensors of the vehicle, wherein the first environment parameter is a related parameter of the surrounding environment of the vehicle; obtaining a second environmental parameter from the vehicle configuration information, wherein the second environmental parameter is a whole vehicle parameter of the vehicle; Synchronizing time stamps of the operation parameters, the driving parameters and the first environment parameters, and carrying out normalization processing to obtain a multi-channel time sequence tensor; determining an information mutation precursor mark according to the difference of front and rear wheel speeds in the operation parameters; Determining coupling information according to the operation parameters and the driving parameters, wherein the coupling information represents the coupling degree of a manual intervention signal of a driver and a wheel slip signal, and the wheel slip signal is the deviation of the wheel speed and the vehicle speed; And combining the multi-channel time sequence tensor structure, the second environment parameter, the information mutation precursor mark and the coupling information to obtain target information, wherein the target information is used as input information of a prediction model group.
  9. 9. The vehicle slip prediction control method according to claim 1, characterized in that the acquiring the first operating parameter and the environmental parameter during the running of the vehicle includes: Acquiring wheel speeds of all wheels in the running process of the vehicle according to a set period and determining the change rate of all the wheel speeds; And acquiring a first operation parameter and an environment parameter in the running process of the vehicle according to the fact that the change rate of any wheel speed is larger than an event trigger threshold.
  10. 10. A vehicle, comprising: A body; The sensors are arranged on the body and are used for respectively acquiring dynamic parameters of the vehicle body, driving parameters and parameters related to the surrounding environment of the vehicle; the vehicle-mounted controller is arranged on the body and is used for acquiring first operation parameters and environment parameters in the running process of the vehicle, wherein the first operation parameters comprise vehicle dynamic parameters and driving parameters, the environment parameters comprise parameters related to the whole vehicle parameters and the surrounding environment of the vehicle, the first operation parameters are processed through a prediction model group to obtain stability trend information and predicted slip event information of the vehicle, slip prediction information of the vehicle is determined according to the environment parameters, the stability trend information and the predicted slip event information, a target torque limiting strategy is determined according to the slip prediction information, and control parameters of the running of the vehicle are adjusted according to the target torque limiting strategy so as to reduce the slip risk of the vehicle.

Description

Vehicle slip prediction control method and vehicle Technical Field The application relates to the field of automobile control, in particular to a vehicle slip prediction control method and a vehicle. Background Automobiles are popular, and the safety of the automobiles in the running process is particularly important when the automobiles walk into the life of common people. Vehicle slip is a common traffic hazard that threatens safety during travel. The vehicle slip can cause the vehicle to lose steering and braking control instantly, the situation of lane departure and side turning easily occurs, traffic accidents occur, and the safety of personnel in the vehicle is seriously threatened. A perception model is arranged in a current vehicle stability control system, and the perception model is used for judging whether a vehicle slips or not according to a threshold triggering strategy. For example, the perception model depends on thresholds such as a vehicle speed difference and a yaw rate to judge, cannot adapt to complex road conditions, is difficult to accurately identify potential risks in a window before skidding and generate a matching torsion limiting strategy, so that actual stability control is lagged, and the safety influence on a vehicle is large. Disclosure of Invention The first aspect of the application provides a vehicle slip prediction control method, comprising: Acquiring a first operation parameter and an environment parameter in the running process of a vehicle, wherein the first operation parameter comprises a vehicle body dynamic parameter and a driving parameter, and the environment parameter comprises a whole vehicle parameter and a parameter related to the surrounding environment of the vehicle; The first operation parameters are processed through a prediction model group to obtain stability trend information and predicted slip event information of the vehicle; determining a target torque limiting strategy according to the slip prediction information; and adjusting the control parameters of the vehicle running according to the target torque limiting strategy so as to reduce the slip risk of the vehicle. A second aspect of the application provides a vehicle comprising: A body; The sensors are arranged on the body and are used for respectively acquiring dynamic parameters of the vehicle body, driving parameters and parameters related to the surrounding environment of the vehicle; the vehicle-mounted controller is arranged on the body and is used for acquiring first operation parameters and environment parameters in the running process of the vehicle, wherein the first operation parameters comprise vehicle dynamic parameters and driving parameters, the environment parameters comprise parameters related to the whole vehicle parameters and the surrounding environment of the vehicle, the first operation parameters are processed through a prediction model group to obtain stability trend information and predicted slip event information of the vehicle, slip prediction information of the vehicle is determined according to the environment parameters, the stability trend information and the predicted slip event information, a target torque limiting strategy is determined according to the slip prediction information, and control parameters of the running of the vehicle are adjusted according to the target torque limiting strategy so as to reduce the slip risk of the vehicle. A third aspect of the present application provides a computer program product comprising computer readable instructions which, when run on an on-board controller of a vehicle, cause the on-board controller to implement the vehicle slip predictive control method of the first aspect or any implementation of the first aspect. A fourth aspect of the present application provides an in-vehicle controller comprising at least one processor and a memory coupled to the processor, wherein: The memory is used for storing a computer program; The processor is configured to execute the computer program to cause the in-vehicle controller to implement the vehicle slip prediction control method of the first aspect or any implementation manner of the first aspect. A fifth aspect of the present application provides a computer storage medium carrying one or more computer programs which, when executed by an in-vehicle controller of a vehicle, enable the in-vehicle controller to implement the vehicle slip prediction control method of the first aspect or any one of the implementations of the first aspect. In summary, according to the vehicle slip prediction control method and the vehicle provided by the application, the first operation parameters of the vehicle are processed through the prediction model set to determine the stability trend information and the predicted slip event information of the vehicle, so that whether the situation of the slip is about to occur in the running process of the vehicle can be predicted from two dimensions of overall