US-12623552-B2 - Method, vehicle and storage medium for vehicle acceleration slip regulating

Abstract

The disclosure relates to a method, vehicle and storage medium for vehicle acceleration slip regulating in the technical field of vehicle control, and the method includes: obtaining a vehicle speed, state information of a driving motor, and an accelerator pedal opening degree of the vehicle at a current time; predicting a target wheel torque of the vehicle according to the state information of the driving motor at the current time and state information of the driving motor at a last time of the current time; and performing acceleration slip regulation on the vehicle according to a driving mode, the vehicle speed, the accelerator pedal opening degree, a motor output torque in the state information of the driving motor and the target wheel torque at the current time.

Inventors

• Maolin FENG

Assignees

• XIAOMI EV TECHNOLOGY CO., LTD.

Dates

Publication Date

20260512

Application Date

20240129

Priority Date

20230628

Claims (20)

1. 1 . A method for vehicle acceleration slip regulating comprising: obtaining a vehicle speed, state information of a driving motor, and an accelerator pedal opening degree of the vehicle at a current time; predicting a target wheel torque of the vehicle according to the state information of the driving motor at the current time and state information of the driving motor at a last time of the current time; and performing acceleration slip regulation on the vehicle according to a driving mode, the vehicle speed, the accelerator pedal opening degree, a motor output torque in the state information of the driving motor and the target wheel torque at the current time.
2. 2 . The method for vehicle acceleration slip regulating according to claim 1 , wherein the step of performing acceleration slip regulation on the vehicle according to the driving mode, the vehicle speed, the accelerator pedal opening degree, the motor output torque in the state information of the driving motor, and the target wheel torque at the current time comprises: determining a requested motor torque of the vehicle at the current time according to the vehicle speed of the vehicle and the accelerator pedal opening degree at the current time; determining a torque threshold of the vehicle at the current time according to the vehicle speed and the driving mode of the vehicle at the current time; and performing acceleration slip regulation on the vehicle according to the motor output torque in the state information of the driving motor, the requested motor torque, the target wheel torque, and the torque threshold at the current time.
3. 3 . The method for vehicle acceleration slip regulating according to claim 2 , wherein the step of performing acceleration slip regulation on the vehicle according to the motor output torque in the state information of the driving motor, the requested motor torque, the target wheel torque, and the torque threshold at the current time comprises: determining a torque control value according to the motor output torque in the state information of the driving motor and the target wheel torque at the current time; and performing acceleration slip regulation by reducing the requested motor torque with the target wheel torque as a target in a case where the torque control value is greater than the torque threshold on the vehicle.
4. 4 . The method for vehicle acceleration slip regulating according to claim 3 , wherein the step of performing acceleration slip regulation by reducing the requested motor torque with the target wheel torque as a target in a case where the torque control value is greater than the torque threshold on the vehicle comprises: determining a magnitude relationship between a difference between the torque control value and the torque threshold and a preset difference threshold in the case where the torque control value is greater than the torque threshold; and performing acceleration slip regulation on the vehicle by reducing the requested motor torque to the target wheel torque within a preset period of time in a case where the difference between the torque control value and the torque threshold is greater than or equal to the preset difference threshold.
5. 5 . The method for vehicle acceleration slip regulating according to claim 4 , wherein the method further comprises: performing acceleration slip regulation on the vehicle by reducing the requested motor torque to the target wheel torque according to a preset gradient in a case where the difference between the torque control value and the torque threshold is less than the preset difference threshold.
6. 6 . The method for vehicle acceleration slip regulating according to claim 3 , wherein the step of determining the torque control value according to the motor output torque in the state information of the driving motor and the target wheel torque at the current time comprises: calculating a torque difference value between the motor output torque in the state information of the driving motor and the target wheel torque at the current time, and determining the torque difference value as the torque control value at the current time; or calculating a torque quotient of the motor output torque in the state information of the driving motor and the target wheel torque at the current time, and determining the torque quotient as the torque control value at the current time.
7. 7 . The method for vehicle acceleration slip regulating according to claim 1 , wherein the state information of the driving motor comprises a rotational speed of the driving motor; and the step of predicting the target wheel torque of the vehicle according to the state information of the driving motor at the current time and the state information of the driving motor at the last time of the current time comprises: determining an angular acceleration of the driving motor according to the rotational speed of the driving motor of the vehicle at the current time and a rotational speed of the driving motor at a last time of the current time; predicting a predicted wheel torque of the vehicle according to the angular acceleration, a rotational inertia of the vehicle, a damping coefficient of the driving motor, the rotational speed of the driving motor at the current time, and the motor output torque at the current time; and determining the target wheel torque according to the rotational speed of the driving motor and the predicted wheel torque at the current time.
8. 8 . The method for vehicle acceleration slip regulating according to claim 7 , wherein the step of determining the target wheel torque according to the rotational speed of the driving motor and the predicted wheel torque at the current time comprises: repeating the following steps: determining a predicted motor rotational speed corresponding to the predicted wheel torque provided by the driving motor; determining a torque compensation amount according to the predicted motor rotational speed and the rotational speed of the driving motor at the current time; obtaining a deviation rectification wheel torque for compensating the predicted wheel torque according to the torque compensation amount in a case where the torque compensation amount satisfies a torque compensation condition; taking the deviation rectification wheel torque as the motor output torque of the driving motor at the current time, and predicting again a predicted wheel torque of the vehicle according to the angular acceleration, the rotational inertia of the vehicle, the damping coefficient of the driving motor, the rotational speed of the driving motor and the deviation rectification wheel torque at the current time; and taking the predicted wheel torque as the target wheel torque until the torque compensation amount does not satisfy the torque compensation condition.
9. 9 . The method for vehicle acceleration slip regulating according to claim 8 , wherein the predicted wheel torque T load of the vehicle is predicted by the following calculation formula: w a = ( T M - k × w v - T load ) / J wherein w a is the angular acceleration, J is the rotational inertia of the vehicle, k is the damping coefficient of the driving motor, w v is the rotational speed of the driving motor at the current time, and T M is the motor output torque of the driving motor at the current time.
10. 10 . A vehicle comprising: one or more first processors; and a first memory configured to store instructions which can be executed by the first processor; wherein the one or more first processors are collectively configured to: obtain a vehicle speed, state information of a driving motor, and an accelerator pedal opening degree of the vehicle at a current time; predict a target wheel torque of the vehicle according to the state information of the driving motor at the current time and state information of the driving motor at a last time of the current time; and perform acceleration slip regulation on the vehicle according to a driving mode, the vehicle speed, the accelerator pedal opening degree, a motor output torque in the state information of the driving motor and the target wheel torque at the current time.
11. 11 . The vehicle according to claim 10 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: determining a requested motor torque of the vehicle at the current time according to the vehicle speed of the vehicle and the accelerator pedal opening degree at the current time; determining a torque threshold of the vehicle at the current time according to the vehicle speed and the driving mode of the vehicle at the current time; and performing acceleration slip regulation on the vehicle according to the motor output torque in the state information of the driving motor, the requested motor torque, the target wheel torque, and the torque threshold at the current time.
12. 12 . The vehicle according to claim 11 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: determining a torque control value according to the motor output torque in the state information of the driving motor and the target wheel torque at the current time; and performing acceleration slip regulation by reducing the requested motor torque with the target wheel torque as a target in a case where the torque control value is greater than the torque threshold on the vehicle.
13. 13 . The vehicle according to claim 12 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: determining a magnitude relationship between a difference between the torque control value and the torque threshold and a preset difference threshold in the case where the torque control value is greater than the torque threshold; and performing acceleration slip regulation on the vehicle by reducing the requested motor torque to the target wheel torque within a preset period of time in a case where the difference between the torque control value and the torque threshold is greater than or equal to the preset difference threshold.
14. 14 . The vehicle according to claim 13 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: performing acceleration slip regulation on the vehicle by reducing the requested motor torque to the target wheel torque according to a preset gradient in a case where the difference between the torque control value and the torque threshold is less than the preset difference threshold.
15. 15 . The vehicle according to claim 12 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: calculating a torque difference value between the motor output torque in the state information of the driving motor and the target wheel torque at the current time, and determining the torque difference value as the torque control value at the current time; or calculating a torque quotient of the motor output torque in the state information of the driving motor and the target wheel torque at the current time, and determining the torque quotient as the torque control value at the current time.
16. 16 . The vehicle according to claim 10 , wherein the state information of the driving motor includes a rotational speed of the driving motor, and the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: determining an angular acceleration of the driving motor according to the rotational speed of the driving motor of the vehicle at the current time and a rotational speed of the driving motor at a last time of the current time; predicting a predicted wheel torque of the vehicle according to the angular acceleration, a rotational inertia of the vehicle, a damping coefficient of the driving motor, the rotational speed of the driving motor at the current time, and the motor output torque at the current time; and determine the target wheel torque according to the rotational speed of the driving motor and the predicted wheel torque at the current time.
17. 17 . The vehicle according to claim 16 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: repeat the following steps: determining a predicted motor rotational speed corresponding to the predicted wheel torque provided by the driving motor; determining a torque compensation amount according to the predicted motor rotational speed and the rotational speed of the driving motor at the current time; obtaining a deviation rectification wheel torque for compensating the predicted wheel torque according to the torque compensation amount in a case where the torque compensation amount satisfies a torque compensation condition; taking the deviation rectification wheel torque as the motor output torque of the driving motor at the current time, and predicting again a predicted wheel torque of the vehicle according to the angular acceleration, the rotational inertia of the vehicle, the damping coefficient of the driving motor, the rotational speed of the driving motor and the deviation rectification wheel torque at the current time; and taking the predicted wheel torque as the target wheel torque until the torque compensation amount does not satisfy the torque compensation condition.
18. 18 . The vehicle according to claim 17 , wherein the one or more first processors are further collectively configured to execute the instructions stored in the first memory to implement: predicting the predicted wheel torque T load of the vehicle by the following calculation formula: w a = ( T M - k × w v - T load ) / J where w a is the angular acceleration, J is the rotational inertia of the vehicle, k is the damping coefficient of the driving motor, w v is the rotational speed of the driving motor at the current time, and T M is the motor output torque of the driving motor at the current time.
19. 19 . A non-transitory computer-readable storage medium, having computer program instructions stored thereon, wherein when the program instructions are executed by one or more second processors of a vehicle to implement: obtaining a vehicle speed, state information of a driving motor, and an accelerator pedal opening degree of the vehicle at a current time; predicting a target wheel torque of the vehicle according to the state information of the driving motor at the current time and state information of the driving motor at a last time of the current time; and performing acceleration slip regulation on the vehicle according to a driving mode, the vehicle speed, the accelerator pedal opening degree, a motor output torque in the state information of the driving motor and the target wheel torque at the current time.
20. 20 . The non-transitory computer-readable storage medium according to claim 19 , wherein when the program instructions are executed by the one or more second processors to implement: determining a requested motor torque of the vehicle at the current time according to the vehicle speed of the vehicle and the accelerator pedal opening degree at the current time; determining a torque threshold of the vehicle at the current time according to the vehicle speed and the driving mode of the vehicle at the current time; and performing acceleration slip regulation on the vehicle according to the motor output torque in the state information of the driving motor, the requested motor torque, the target wheel torque, and the torque threshold at the current time.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims priority benefits to Chinese Patent Application No. 202310782841.1 filed on Jun. 28, 2023, the contents of which are incorporated herein by reference. BACKGROUND OF THE INVENTION Traction control system (TCS) is a system for suppressing skid of driving wheels of a vehicle, typically, the TCS determines a reference vehicle speed according to the obtained driving wheel speed and an acceleration in an inertial sensor signal, and determines a target slip ratio according to the estimated road adhesion coefficient and a vehicle speed, thus taking the sum of the target slip ratio and the reference vehicle speed as a target drive shaft speed, and if an actual drive shaft speed is greater than the target drive shaft speed, the TCS is activated to reduce the actual drive shaft speed by reducing a driving torque, thus achieving vehicle anti slip driving. SUMMARY OF THE INVENTION The disclosure provides a method, vehicle and storage medium for vehicle acceleration slip regulating. According to a first aspect of the examples of the disclosure, provides a method for vehicle acceleration slip regulating, including: obtaining a vehicle speed, state information of a driving motor, and an accelerator pedal opening degree of the vehicle at a current time;predicting a target wheel torque of the vehicle according to the state information of the driving motor at the current time and state information of the driving motor at a last time of the current time; andperforming acceleration slip regulation on the vehicle according to a driving mode, the vehicle speed, the accelerator pedal opening degree, a motor output torque in the state information of the driving motor and the target wheel torque at the current time. Optionally, the step of performing acceleration slip regulation on the vehicle according to a driving mode, the vehicle speed, the accelerator pedal opening degree, a motor output torque in the state information of the driving motor, and the target wheel torque at the current time includes: determining a requested motor torque of the vehicle at the current time according to the vehicle speed of the vehicle and the accelerator pedal opening degree at the current time;determining a torque threshold of the vehicle at the current time according to the vehicle speed and the driving mode of the vehicle at the current time; andperforming acceleration slip regulation on the vehicle according to the motor output torque in the state information of the driving motor, the requested motor torque, the target wheel torque, and the torque threshold at the current time. Optionally, the step of performing acceleration slip regulation on the vehicle according to the motor output torque in the state information of the driving motor, the requested motor torque, the target wheel torque, and the torque threshold at the current time includes: determining a torque control value according to the motor output torque in the state information of the driving motor and the target wheel torque at the current time; andperforming acceleration slip regulation for reducing the requested motor torque with the target wheel torque as a target in a case where the torque control value is greater than the torque threshold on the vehicle. Optionally, the step of performing acceleration slip regulation for reducing the requested motor torque with the target wheel torque as a target in a case where the torque control value is greater than the torque threshold on the vehicle includes: determining a magnitude relationship between a difference between the torque control value and the torque threshold and a preset difference threshold in the case where the torque control value is greater than the torque threshold;performing acceleration slip regulation on the vehicle by reducing the requested motor torque to the target wheel torque within a preset period of time in a case where the difference between the torque control value and the torque threshold is greater than or equal to the preset difference threshold; orperforming acceleration slip regulation on the vehicle by reducing the requested motor torque to the target wheel torque according to a preset gradient in a case where the difference between the torque control value and the torque threshold is less than the preset difference threshold. Optionally, the step of determining the torque control value according to the motor output torque in the state information of the driving motor and the target wheel torque at the current time includes: calculating a torque difference value between the motor output torque in the state information of the driving motor and the target wheel torque at the current time, and determining the torque difference value as the torque control value at the current time; orcalculating a torque quotient of the motor output torque in the state information of the driving motor and the target wheel torque at the current time, and