CN116749788A

CN116749788A - Ejection control method and device, electronic equipment and storage medium

Info

Publication number: CN116749788A
Application number: CN202310774365.9A
Authority: CN
Inventors: 陈彦; 姚昂; 吴凡; 刘自凯
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2023-09-15
Anticipated expiration: 2043-06-27
Also published as: CN116749788B

Abstract

The application provides a method, a device, electronic equipment and a storage medium for ejection control, wherein the method comprises the following steps: when a vehicle is in an ejection control mode, acquiring the speed of the vehicle and the wheel speed of a driving wheel of the vehicle; determining a slip ratio of the vehicle based on the vehicle speed and the wheel speed of the drive wheel; and adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio, and performing ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque. According to the scheme, the braking torque and/or the driving torque of the vehicle are/is adjusted through the slip rate to perform ejection control on the vehicle, so that when the vehicle is in an ejection mode, the vehicle is improved in higher acceleration performance, and meanwhile safe running of the vehicle is ensured.

Description

Ejection control method and device, electronic equipment and storage medium

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a method and apparatus for ejection control, an electronic device, and a storage medium.

Background

Along with the rapid development of technology, the battery, the motor and the electric control technology of the electric automobile are rapidly developed, and a great breakthrough is made in the aspect of endurance mileage. Therefore, the need for improvement in acceleration performance of electric vehicles is also increasing. The ejection starting of the automobile is taken as a quick starting mode of the automobile, larger acceleration can be obtained when the automobile starts, quick starting is realized, and the automobile has better acceleration performance when starting, but in the electric automobile, the automobile cannot obtain good acceleration performance like the fuel automobile when the automobile starts in ejection. Therefore, how to improve the acceleration performance of the electric vehicle during the ejection start becomes a problem to be solved.

Disclosure of Invention

In view of the above, the embodiments of the present application provide a method, an apparatus, an electronic device, and a storage medium for ejection control, so as to improve the above-mentioned problems.

According to a first aspect of an embodiment of the present application, there is provided a method of ejection control, the method including: when a vehicle is in an ejection control mode, acquiring the speed of the vehicle and the wheel speed of a driving wheel of the vehicle; determining a slip ratio of the vehicle based on the vehicle speed and the wheel speed of the drive wheel; and adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio, and performing ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

According to a second aspect of an embodiment of the present application, there is provided an apparatus for ejection control, the apparatus including: the acquisition module is used for acquiring the speed of the vehicle and the wheel speed of a driving wheel of the vehicle when the vehicle is in an ejection control mode; a slip ratio determining module for determining a slip ratio of the vehicle based on the vehicle speed and the wheel speed of the drive wheel; and the ejection control module is used for adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio and controlling the ejection of the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

According to a third aspect of an embodiment of the present application, there is provided an electronic apparatus including: a processor; and a memory having stored thereon computer readable instructions which, when executed by the processor, implement a method of determining ejection control as described above.

According to a fourth aspect of embodiments of the present application, there is provided a computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor, implement a method of ejection control as described above.

In the scheme of the application, when the vehicle is in the ejection control mode, the slip rate of the vehicle is determined according to the speed of the vehicle and the wheel speed of the driving wheels of the vehicle, so that the braking torque and/or the driving torque of the vehicle can be adjusted according to the slip rate to carry out ejection control on the vehicle, and when the vehicle is in the ejection mode, the vehicle can be further improved in higher acceleration performance and the safe running of the vehicle is ensured.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a flow chart illustrating a method of ejection control according to an embodiment of the present application.

Fig. 2 is a flow chart illustrating a method of ejection control according to another embodiment of the present application.

FIG. 3 is a flow chart illustrating specific steps of step 240 according to an embodiment of the present application.

Fig. 4 is a graph showing a parameter variation of ejection control of a vehicle according to an embodiment of the present application.

Fig. 5 is a flow chart illustrating specific steps of step 240 according to another embodiment of the present application.

Fig. 6 is a flow chart illustrating a method of ejection control according to an embodiment of the present application.

Fig. 7 is a graph showing a parameter variation of ejection control of a vehicle according to another embodiment of the present application.

Fig. 8 is a flow chart illustrating specific steps following step 307 according to one embodiment of the present application.

Fig. 9 is a flow chart illustrating a method of ejection control according to still another embodiment of the present application.

Fig. 10 is a graph showing a parameter variation of ejection control of a vehicle according to still another embodiment of the present application.

FIG. 11 is a flow chart illustrating specific steps following step 406 according to an embodiment of the present application.

Fig. 12 is a flow chart illustrating a method of ejection control according to still another embodiment of the present application.

Fig. 13 is a flow chart illustrating a method of ejection control according to still another embodiment of the present application.

Fig. 14 is a block diagram illustrating an apparatus for controlling fly-by-shot in accordance with an embodiment of the application.

Fig. 15 is a hardware configuration diagram of an electronic device according to an embodiment of the present application.

There has been shown in the drawings, and will hereinafter be described, specific embodiments of the application with the understanding that the present disclosure is to be considered in all respects as illustrative, and not restrictive, the scope of the inventive concepts being limited to the specific embodiments shown and described.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 illustrates a method of ejection control according to an embodiment of the present application, and in a specific embodiment, the method of ejection control may be applied to an apparatus 600 for ejection control as shown in fig. 13 and an electronic device 700 (fig. 14) configured with the apparatus 600 for ejection control. The specific flow of the present embodiment will be described below, of course, it being understood that the method may be performed by a cloud server having computing processing capabilities. The following will describe the flow shown in fig. 1 in detail, and the method for ejection control may specifically include the following steps:

step 110, when the vehicle is in the ejection control mode, acquiring the speed of the vehicle and the wheel speed of the driving wheels of the vehicle.

In the acceleration control of the vehicle, the ejection starting is realized by the same method, but because the electronic vehicle body stabilizing system (Electronic Stability Program, ESP) is required to be closed when the ejection starting is carried out on the fuel vehicle type, the situation that the vehicle is easy to slip and roll over during the ejection starting is caused. Therefore, in order to avoid the situation that the pure electric vehicle is slipped due to the method of starting the pure electric vehicle by using the fuel oil vehicle, when the pure electric vehicle is in the ejection control mode, the driving torque and/or the braking torque of the driving wheels of the pure electric vehicle are adjusted so that the pure electric vehicle is accelerated and the safety of the pure electric vehicle is ensured.

As one way, the vehicle may be launched in an ejection closing mode, an ejection preparing mode, an ejection activating mode, an ejection controlling mode, and the like, wherein the ejection closing mode is a mode when the vehicle does not need to launch, and the mode can be manually selected by a user; the ejection preparation mode is also called a standby mode, in which the vehicle is loaded with driving torque, and the mode is automatically switched when the vehicle is not in the ejection closing mode and the state of the vehicle meets a first preset state condition; the ejection activating mode is to start ejection based on the driving torque loaded by the ejection preparing mode, and the mode is that the vehicle is in the ejection preparing mode and the state of the vehicle is automatically switched when the state of the vehicle meets the second preset state condition; the ejection control mode is to control the vehicle after the ejection activation mode in order to avoid slipping of the vehicle, and the mode is to automatically switch after the vehicle is started.

Optionally, the first preset state condition may be that the vehicle is currently in a stationary state, the driving gear of the vehicle is in a D gear, an absolute value of a steering wheel angle of the vehicle is smaller than or equal to a preset angle, a tread depth of a brake pedal of the vehicle is larger than a first preset depth, a tread depth of an accelerator pedal of the vehicle is larger than a second preset depth, a residual electric quantity of the vehicle is larger than an electric quantity threshold value, a time of last brake triggering of the vehicle is larger than a time threshold value, and a driving mode of the vehicle is any one of a sport mode, a racing mode and a racing mode, wherein the preset angle may be 10 °, the first preset depth and the second preset depth may be the same and 60%, may be different, the electric quantity threshold value may be 30%, may be set according to actual needs, and is not particularly limited.

Alternatively, the second preset state condition may be that the running gear of the vehicle is not in the D gear, the driving mode of the vehicle is not in any one of the sport mode, the racing mode, and the racing mode, the absolute value of the rotation angle of the steering wheel of the vehicle is greater than the preset angle, the tread depth of the accelerator pedal of the vehicle is less than the first preset depth, and the like.

As one way, the driving wheels of the vehicle may be front wheels of the vehicle, rear wheels of the vehicle, or four vehicles of the vehicle, and the wheel speeds of the driving wheels of the corresponding number are obtained according to the actual number of the driving wheels of the vehicle. Alternatively, the wheel speed of the driving wheel may be a wheel speed of the driving wheel of the vehicle obtained by a wheel speed sensor of the vehicle. Alternatively, the vehicle speed may be calculated from the wheel speed of the driven wheel (non-driving wheel) and the wheel circumference, i.e. v=lχv1, where V is the vehicle speed, L is the wheel circumference, and V1 is the wheel speed of the driven wheel. Alternatively, the vehicle speed may be acquired by a vehicle speed sensor of the vehicle.

Step 120, determining a slip ratio of the vehicle according to the vehicle speed and the wheel speed of the driving wheel.

As one way, it can be calculated from the formula sr= (ut-ua)/ut, where Sr is slip ratio, ut is vehicle speed of the vehicle, and ua is wheel speed of driving wheels of the vehicle. Alternatively, in order to facilitate adjustment of the power torque of the vehicle and/or the braking torque of the vehicle when the vehicle is in the ejection control mode, the slip rate may be determined according to the vehicle speed of the vehicle and the wheel speed of the driving wheels, so that whether the vehicle slips or not can be determined according to the slip rate.

And 130, adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio, and performing ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

In one way, when the slip rate is greater than or equal to a threshold value, it may be determined that the vehicle is slipping, and then the braking torque and/or the driving torque of the vehicle need to be adjusted, so as to avoid dangerous situations such as rollover of the vehicle caused by continuous slipping of the vehicle.

Alternatively, the driving torque and/or braking torque of the vehicle may be adjusted according to the slip ratio of each driving wheel of the vehicle, and it is understood that the driving torque of the vehicle may be adjusted only when the difference between the slip ratio and the threshold value is smaller than the difference threshold value, that is, the driving torque of the driving wheel that slips is adjusted to be smaller, so as to ensure that the driving wheel that slips can perform driving control on the vehicle according to the adjusted driving torque. Alternatively, the braking torque of the vehicle may be adjusted according to the slip ratio, and it may be understood that when the difference between the slip ratio and the threshold value is smaller than the difference threshold value, the braking torque of the vehicle may be adjusted only, that is, the braking torque of the slipping driving wheel is increased, so as to provide a greater braking torque for the slipping driving wheel of the vehicle, and the ejection control is performed on the slipping driving vehicle simultaneously by the driving torque and the braking torque of the driving wheel. Alternatively, the braking torque and the driving torque may be adjusted simultaneously according to the slip ratio, and it may be understood that the driving torque and the braking torque of the driving wheel that slip may be adjusted simultaneously when the difference between the slip ratio and the threshold value is smaller than the difference threshold value, and the driving torque of the driving wheel that slip may be adjusted according to the slip ratio while the braking torque of the driving wheel that slip may be adjusted to be larger, so as to perform ejection control on the driving wheel that slips.

In the embodiment of the application, when the vehicle is in the ejection control mode, the slip rate of the vehicle is determined according to the speed of the vehicle and the wheel speed of the driving wheels of the vehicle, so that the braking torque and/or the driving torque of the vehicle can be adjusted according to the slip rate to carry out ejection control on the vehicle, and when the vehicle is in the ejection mode, the vehicle can be further improved in higher acceleration performance and the safe running of the vehicle is ensured.

Referring to fig. 2, fig. 2 illustrates a method for ejection control according to an embodiment of the application. The following will describe the flow shown in fig. 2 in detail, and the method for ejection control may specifically include the following steps:

step 210, obtaining a speed of the vehicle and a wheel speed of a driving wheel of the vehicle when the vehicle is in an ejection control mode.

Step 220, determining the slip ratio of the vehicle according to the vehicle speed and the wheel speed of the driving wheels.

Step 230, determining whether the slip ratio is greater than a slip ratio threshold, and determining whether the vehicle first slips to obtain a slip determination result.

As one way, the slip result may be any one of slip rate greater than a slip rate threshold and slip of the vehicle first occurs, slip rate greater than a slip rate threshold and slip of the vehicle not first occurs, and slip rate less than or equal to a slip rate threshold (slip of the vehicle does not occur). The slip ratio threshold may be set according to actual needs, and is not particularly limited herein.

The specific step descriptions of steps 210-230 can refer to steps 110-130, and are not described herein.

And step 240, if the slip ratio is greater than the slip ratio threshold, adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio and the slip determination result, and performing ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

In the ejection control of the vehicle, when it is determined that the slip rate is greater than the slip rate threshold value, it is determined that the vehicle is slipping, and the driving torque and/or the braking torque of the vehicle need to be adjusted according to the result of whether the vehicle is slipping for the first time, so as to perform the ejection control of the vehicle. Optionally, since the slip rate threshold value corresponding to the ejection control of the vehicle is different between when the vehicle first slips and when the vehicle does not first slip, the ejection control of the vehicle can be performed according to the slip result.

In some embodiments, as shown in fig. 3, the step 240 includes:

and 241, if the slip rate is greater than a first slip rate threshold value and the slip determination result indicates that the vehicle first slips, determining that a first target driving wheel slips.

In one manner, when it is determined that the slip ratio is greater than the first slip ratio threshold value, it may be determined that there is a slip-occurring driving wheel among the plurality of driving wheels of the vehicle, and at this time, it is necessary to determine the slip-occurring driving wheel, so as to facilitate ejection control of the slip-occurring first target driving wheel. When the slip result represents that the vehicle first slips, a first target driving wheel which slips when the vehicle first slips can be determined, so that ejection control is conveniently carried out on the first target driving wheel which slips when the vehicle first slips. Alternatively, the first target drive wheel may be determined based on a slip ratio, and since the slip ratio is determined based on a vehicle speed of the vehicle and a drive wheel speed of the drive wheel, when it is determined that the slip ratio is greater than the first slip ratio threshold value, the first target drive wheel may be determined based on the drive wheel speed corresponding to the slip ratio.

Step 242, obtaining a driving torque adjustment interval of the first target driving wheel and a target slip rate threshold, where the target slip rate threshold is a slip rate threshold for triggering and adjusting the driving torque of the first target driving wheel, the target slip rate threshold is greater than the first slip rate threshold, and the target slip rate threshold is obtained by increasing an initial slip rate threshold.

As one way, the driving torque adjustment section may be an adjustment section corresponding to a maximum torque value and a minimum torque value including the adjustable driving torque corresponding to the first target driving wheel, wherein the maximum torque value and the minimum torque value may be determined according to the surrounding environment in which the vehicle is located and the actual state of the vehicle. Optionally, if the current surrounding of the vehicle is on the ground with a gradient, the maximum torque value and the minimum torque value that can be adjusted by the first target driving wheel need to be determined according to the gradient of the ground, the activation state of the electronic parking system of the vehicle, and the activation state of the automatic parking function. The determined minimum torque value should be greater than a braking torque generated when the electronic parking system is activated or greater than a braking torque generated when the automatic parking function is activated, and the determined maximum torque value should be less than a maximum torque value that the vehicle can load. That is, in the present embodiment, the output of the braking torque of the first target driving wheel is not limited, but the driving torque of the first target driving wheel is adjusted within a certain driving adjustment section, and in the present embodiment, the driving torque and the braking torque of the first target driving wheel are adjusted by adjusting the threshold of the braking torque and the driving torque of the first target driving wheel (i.e., by increasing the initial slip ratio threshold to obtain the target brick change ratio threshold).

Optionally, obtaining the target slip ratio threshold value can facilitate adjustment of the drive torque and the brake torque of the first target drive wheel when the slip ratio reaches the target slip ratio threshold value. The initial slip rate threshold value refers to a slip rate threshold value for determining that the vehicle slips to control the vehicle when the vehicle is in a non-ejection mode. Optionally, the initial slip rate threshold is increased to obtain the target slip rate threshold, so that the vehicle can be subjected to ejection control after obtaining better acceleration performance when the vehicle is ejected and started.

Step 243 of adjusting the driving torque of the first target driving wheel in the driving torque adjustment section according to the slip ratio and adjusting the braking torque of the first target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the target slip ratio threshold.

As one way, when it is determined that the slip ratio is greater than or equal to the target slip ratio threshold value, it may be determined that the driving torque and the braking torque of the first target driving wheel are to be adjusted at this time, and optionally, the braking torque of the first target driving wheel is adjusted in real time according to the slip ratio of the first target driving wheel. Optionally, the driving torque of the first target driving wheel is adjusted in a driving torque adjustment section according to the slip ratio, and after the driving torque of the first target driving wheel is adjusted to a minimum torque value in the driving torque adjustment section, the driving torque output of the minimum torque value is maintained. As shown in fig. 4, the vehicle is a front-drive vehicle, and the vehicle is in a stationary state between the abscissa 0-3 when the first target drive wheel of the vehicle is the front left drive wheel; in the horizontal coordinate 3-5, the user steps on the accelerator to accelerate so as to launch, and the left front driving wheel starts to slip in the stage 4, wherein the slip rate is larger than the slip rate threshold value; in the stage of the abscissa 5-6, the slip rate of the front left driving wheel is larger than a target slip rate threshold value, at the moment, the driving torque and the braking torque of the front left driving wheel can be determined to be adjusted, and the driving torque of the front left driving wheel can be adjusted in a driving torque adjusting section and the braking torque of the front left driving wheel can be increased; in the abscissa 6-7 stage, the slip rate of the front left drive wheel is gradually reduced, and when the slip rate is smaller than a preset value, the current drive torque is maintained, the drive torque of the front left drive wheel is no longer reduced, and the brake torque of the front left drive wheel is reduced.

And step 244, controlling the first target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to perform ejection control on the vehicle.

In order to timely handle the skidding of the vehicle, the first target driving wheel needs to be controlled according to the regulated braking torque and the regulated driving torque, so that the vehicle can be timely controlled after the ejection starting and when skidding occurs for the first time, and dangerous situations such as rollover of the vehicle are avoided.

In other embodiments, as shown in fig. 5, the step 240 further includes:

and step 245, if the slip rate is greater than a second slip rate threshold value and the slip determination result indicates that the vehicle does not slip for the first time, determining that a second target driving wheel with slip occurs.

In one manner, when it is determined that the slip ratio is greater than the second slip ratio threshold value, it may be determined that there is a slip-occurring driving wheel among the plurality of driving wheels of the vehicle, and at this time, it is necessary to determine the slip-occurring driving wheel, so as to facilitate ejection control of the slip-occurring second target driving wheel. And when the slip result represents that the vehicle does not slip for the first time, determining a second target driving wheel which slips for the first time, so as to conveniently carry out ejection control on the second target driving wheel which does not slip for the first time. Alternatively, the second target drive wheel may be determined based on a slip ratio, and since the slip ratio is determined based on the vehicle speed of the vehicle and the drive wheel speed of the drive wheel, when it is determined that the slip ratio is greater than the second slip ratio threshold value, the second target drive wheel may be determined based on the drive wheel speed corresponding to the slip ratio. Optionally, when the slip result indicates that the vehicle does not slip for the first time, it may be determined that the vehicle is not in an initial stage of ejection starting, so in order to ensure that the vehicle can obtain better acceleration performance during ejection starting but can timely pair in an ejection control mode after starting, the second slip rate threshold may be set smaller than the first slip rate threshold.

Step 246, obtaining a target driving torque of the second target driving wheel and an initial slip rate threshold value, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the driving torque of the second target driving wheel, the initial slip rate threshold value is larger than the second slip rate threshold value, and the target driving torque is smaller than the maximum driving torque of the vehicle.

In one mode, when the slip result is determined to indicate that the vehicle is not slipping for the first time, the vehicle can be determined to obtain better acceleration performance to perform ejection starting, the slip occurs after the starting, and at the moment, the slip rate threshold value of the driving torque of the second target driving wheel and the braking torque of the second target driving wheel is adjusted to be restored to the initial slip rate threshold value, so that the slip of the second target driving wheel can be timely processed. Alternatively, the target driving torque is determined based on the maximum driving torque of the vehicle, and in order to be able to ensure safe running of the vehicle, the target driving torque should be smaller than the maximum driving torque of the vehicle.

And step 247, when the slip ratio is equal to or greater than the initial slip ratio threshold value, adjusting the driving torque of the second target driving wheel in the driving torque adjustment section according to the slip ratio and the target driving torque, and adjusting the braking torque of the second target driving wheel according to the slip ratio.

As one way, when it is determined that the slip ratio is greater than or equal to the initial slip ratio threshold value, it may be determined that the driving torque and the braking torque of the second target driving wheel are to be adjusted at this time, and optionally, the braking torque of the second target driving wheel is adjusted in real time according to the slip ratio of the second target driving wheel. Optionally, the driving torque of the second target driving wheel is adjusted in the driving torque adjustment section according to the slip ratio and the target driving torque, and after the driving torque of the second target driving wheel is adjusted to a torque value corresponding to the target driving torque in the driving torque adjustment section, the driving torque is output by maintaining the torque value corresponding to the target driving torque. Optionally, the target driving torque is located within a driving torque adjustment interval. As shown in fig. 4, at the stage of abscissa 5-6, the slip ratio of the right front drive wheel is greater than the slip ratio threshold; in the stage 6-7 of the abscissa, maintaining the driving torque determined in the stage 5-6 to drive and control the right front driving torque; in the horizontal coordinate 7-8 stage, the slip rate of the front right driving wheel is larger than the target slip rate threshold value, ejection control is needed for the front right driving wheel at the moment, the braking torque of the front right driving wheel can be increased, in the horizontal coordinate 8-9 stage, the slip rate of the front right driving wheel is smaller than the preset slip rate, at the moment, the driving torque of the front right driving wheel is increased, and the braking torque of the front right driving wheel is reduced.

And 248, controlling the second target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to perform ejection control on the vehicle.

In order to timely handle the skidding of the vehicle, the second target driving wheel needs to be controlled according to the regulated braking torque and the regulated driving torque, so that the vehicle can be timely controlled after the ejection starting and when skidding does not occur for the first time, and dangerous situations such as rollover of the vehicle are avoided. Alternatively, if the vehicle subsequently slips again, the corresponding method of adjusting the drive torque and brake torque of the drive wheels is the same as steps 245-248.

In this embodiment, under the condition that it is determined that the vehicle is slipping, ejection control is performed on the driving wheel that is slipping for the first time, or ejection control is performed on the driving wheel that is not slipping for the first time, in this embodiment, the slip rate threshold value for adjusting the torque of the driving wheel that is slipping is increased, so that it is ensured that ejection control is performed on the driving wheel after the vehicle can obtain better acceleration performance, and ejection control is performed by adjusting the braking torque of the driving wheel that is slipping and the driving torque of the driving wheel that is slipping in the driving torque adjustment interval, so that acceleration performance and user experience of the vehicle in ejection start can be improved.

Referring to fig. 6, fig. 6 illustrates a method for ejection control according to an embodiment of the application. The following will describe the flow shown in fig. 6 in detail, and the method for ejection control may specifically include the following steps:

step 301, when a vehicle is in an ejection control mode, acquiring a vehicle speed of the vehicle and a driving wheel speed of a driving wheel of the vehicle.

Step 302, determining a slip ratio of the vehicle according to the vehicle speed and the wheel speed of the driving wheels.

Step 303, determining whether the slip ratio is greater than a slip ratio threshold value, and determining whether the vehicle first slips to obtain a slip determination result.

And step 304, if the slip rate is greater than a first slip rate threshold value and the slip determination result indicates that the vehicle first slips, determining that a first target driving wheel slips.

The specific step descriptions of steps 301 to 304 can refer to steps 110 to 130 and 240, and will not be described herein.

Step 305, acquiring a braking torque adjustment section of the first target driving wheel and an initial slip rate threshold value, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the first target driving wheel, and the initial slip rate threshold value is larger than the first slip rate threshold value.

As one way, the braking torque adjustment section may be an adjustment section corresponding to a maximum torque value and a minimum torque value including the adjustable braking torque corresponding to the first target driving wheel, wherein the maximum torque value and the minimum torque value may be determined according to the actual state of the vehicle. Alternatively, the maximum torque value may be a torque value smaller than a corresponding braking torque of the vehicle, and the minimum torque value may be set according to actual needs.

Optionally, obtaining the target slip ratio threshold value can facilitate adjustment of the drive torque and the brake torque of the first target drive wheel when the slip ratio reaches the initial slip ratio threshold value. Alternatively, the driving torque of the first target driving wheel may be adjusted to be increased or decreased according to the slip ratio, but the braking torque of the first target driving wheel may be adjusted only in the braking adjustment section, that is, the output of the driving torque of the first target driving wheel is not limited in the present embodiment, and the braking torque is adjusted only in a certain braking torque adjustment section. As shown in fig. 7, the vehicle is a front-drive vehicle, and the vehicle is in a stationary state between the abscissa 0-3 when the first target drive wheel of the vehicle is the front left drive wheel; in the horizontal coordinate 3-5, the user steps on the accelerator to accelerate so as to launch, and the left front driving wheel starts to slip in the stage 4, wherein the slip rate is larger than the slip rate threshold value; in the horizontal coordinate 5-6 stage, the slip ratio of the front left driving wheel is greater than the first slip ratio threshold value, at this time, it can be determined that the driving torque and the braking torque of the front left driving wheel need to be adjusted, the braking torque of the front left driving wheel can be adjusted by reducing the driving torque of the front left driving wheel and in a preset braking torque adjustment interval (the braking torque of the front left driving wheel is increased and the driving torque of the front left driving wheel is reduced in the adjustment interval), the driving torque of the front left driving wheel is not adjusted any more when the driving torque of the front left driving wheel is maximum, in the horizontal coordinate 6-7 stage, the slip ratio of the front left driving wheel is gradually reduced, the current driving torque is maintained after the slip ratio is smaller than a preset value, and the braking torque of the front left driving wheel is not changed after the braking torque is continuously reduced to the minimum value in the adjustment interval.

Step 306, when the slip ratio is equal to or greater than the initial slip ratio threshold value, adjusting the braking torque of the first target driving wheel in the braking torque adjustment section according to the slip ratio and adjusting the driving torque of the first target driving wheel according to the slip ratio.

As one way, when it is determined that the slip ratio is greater than or equal to the initial slip ratio threshold value, it may be determined that the driving torque and the braking torque of the first target driving wheel are to be adjusted at this time, and optionally, the driving torque of the first target driving wheel is adjusted in real time according to the slip ratio of the first target driving wheel. Optionally, the braking torque of the first target driving wheel is adjusted in a braking torque adjustment section according to the magnitude of the slip ratio. Alternatively, after the braking torque of the first target driving wheel is adjusted to the maximum torque value of the driving torque adjustment section, the driving torque output of the maximum torque value is maintained.

And 307, controlling the first target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to perform ejection control on the vehicle.

In some embodiments, as shown in fig. 8, the method further comprises, after said step 303:

if the slip ratio is greater than a second slip ratio threshold and the slip determination indicates that the vehicle is not slipping for the first time, determining a second target drive wheel that is slipping, step 308.

Step 309, acquiring a braking torque adjustment interval of the second target driving wheel and an initial slip rate threshold, where the initial slip rate threshold is a slip rate threshold for triggering and adjusting the braking torque of the second target driving wheel, and the initial slip rate threshold is greater than the second slip rate threshold.

In one mode, when the slip result is determined to indicate that the vehicle is not slipping for the first time, the vehicle can be determined to obtain better acceleration performance to perform ejection starting, the slip occurs after the starting, and at the moment, the slip rate threshold value of the driving torque of the second target driving wheel and the braking torque of the second target driving wheel is adjusted to be restored to the initial slip rate threshold value, so that the slip of the second target driving wheel can be timely processed.

Step 310 of adjusting the braking torque of the second target driving wheel in the braking torque adjustment section according to the slip ratio and adjusting the driving torque of the second target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the initial slip ratio threshold.

As one way, when it is determined that the slip ratio is greater than or equal to the initial slip ratio threshold value, it may be determined that the driving torque and the braking torque of the second target driving wheel are to be adjusted at this time, and optionally, the driving torque of the second target driving wheel is adjusted in real time according to the slip ratio of the second target driving wheel. Optionally, the braking torque of the second target driving wheel is adjusted in a braking torque adjustment section according to the slip ratio, and when the braking torque of the second target driving wheel is adjusted to a torque value corresponding to the minimum braking torque in the braking torque adjustment section, the braking torque is output by maintaining the torque value corresponding to the minimum braking torque. As shown in fig. 7, at the stage of abscissa 5-6, the slip ratio of the right front drive wheel is greater than the slip ratio threshold; in the stage of the abscissa 6-7, the slip rate of the front right driving wheel is larger than the target slip rate threshold, ejection control is needed to be carried out on the front right driving wheel, torque control is carried out on the front right driving wheel according to the driving torque determined in the stage of the abscissa 5-6, the braking torque of the front right driving wheel can be increased, and in the stage of the abscissa 7-8, the braking torque of the front right driving wheel is continuously increased; in the 8-9 horizontal stage, the slip ratio of the front right drive wheel is smaller than the preset slip ratio, and at this time, the braking torque of the front right drive wheel is reduced.

And 311, controlling the second target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to perform ejection control on the vehicle.

In order to timely handle the skidding of the vehicle, the second target driving wheel needs to be controlled according to the regulated braking torque and the regulated driving torque, so that the vehicle can be timely controlled after the ejection starting and when skidding does not occur for the first time, and dangerous situations such as rollover of the vehicle are avoided. Alternatively, if the vehicle subsequently slips again, as shown in fig. 7, the corresponding method for adjusting the driving torque and braking torque of the driving wheels is the same as steps 308-311.

In this embodiment, under the condition that it is determined that the vehicle is slipping, ejection control is performed on the driving wheel that is slipping for the first time according to the slip result, or ejection control is performed on the driving wheel that is not slipping for the first time, in this embodiment, ejection control is performed by adjusting the driving torque in the driving wheel that is slipping and adjusting the braking torque in the driving wheel that is slipping in the braking torque adjustment interval, so that the acceleration performance and the user experience of the vehicle when ejecting and starting can be improved.

Referring to fig. 9, fig. 9 illustrates a method for ejection control according to an embodiment of the application. The following will describe the flow shown in fig. 9 in detail, and the method for ejection control may specifically include the following steps:

step 401, when a vehicle is in an ejection control mode, acquiring a speed of the vehicle and a wheel speed of a driving wheel of the vehicle.

Step 402, determining a slip ratio of the vehicle according to the vehicle speed and the wheel speed of the driving wheel.

Step 403, determining whether the slip ratio is greater than a slip ratio threshold, and determining whether the vehicle first slips to obtain a slip determination result.

And step 404, if the slip rate is greater than a first slip rate threshold value and the slip determination result indicates that the vehicle first slips, determining that a first target driving wheel slips.

The specific step descriptions of steps 401 to 404 can refer to steps 110 to 130 and 240, and will not be described herein.

Step 405, obtaining a first driving torque threshold value and an initial slip rate threshold value of the first target driving wheel, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the first target driving wheel, and the initial slip rate threshold value is larger than the first slip rate threshold value.

As one way, the driving torque threshold value may be a minimum torque value of the adjustable driving torque corresponding to the first target driving wheel, wherein the minimum torque value may be determined according to an actual state of the vehicle. For example, to ensure a minimum drive torque value at which the vehicle can normally start at the time of launch.

Alternatively, obtaining the initial slip ratio threshold can facilitate driving torque of the vehicle to the first target drive wheel when the slip ratio reaches the initial slip ratio threshold. Alternatively, the driving torque of the first target driving wheel may be adjusted to be increased or decreased according to the slip ratio, and the minimum driving torque of the first target driving wheel is defined, that is, the output of the braking torque is not controlled in the present embodiment, that is, the braking torque is always 0 in the present embodiment, and the ejection control of the first target driving wheel is performed only by adjusting the torque value of the first target driving wheel. As shown in fig. 10, the vehicle is a front-drive vehicle, and the vehicle is in a stationary state between the abscissa 0-3 when the first target drive wheel of the vehicle is the front left drive wheel; in the horizontal coordinate 3-5, the user steps on the accelerator to accelerate so as to launch, and the left front driving wheel starts to slip in the stage 4, wherein the slip rate is larger than the slip rate threshold value; in the stage 5-6 of the abscissa, the slip rate of the front left driving wheel is larger than a first slip rate threshold value, at the moment, the driving torque of the front left driving wheel can be determined to be required to be adjusted, and the driving torque of the front left driving wheel can be reduced; in the stage 6-7 of the abscissa, the slip rate of the front left driving wheel is gradually reduced, and when the slip rate is smaller than a preset value, the current driving torque is maintained, and the driving torque of the front left driving wheel is not reduced any more.

And step 406, when the slip ratio is equal to or greater than the initial slip ratio threshold, adjusting the driving torque of the first target power according to the first driving torque threshold, and controlling the first target driving wheel according to the adjusted driving torque so as to perform ejection control on the vehicle.

As one way, when it is determined that the slip ratio is greater than or equal to the initial slip ratio threshold value, it may be determined that the drive torque of the first target drive wheel is to be adjusted at this time, and optionally, the drive torque of the first target drive wheel is adjusted in real time based on the slip ratio of the first target drive wheel and the drive torque threshold value.

As a way, in order to timely handle the slip of the vehicle, the first target driving wheel needs to be controlled according to the adjusted driving torque, so that the vehicle can be timely controlled after the ejection start and when the slip occurs for the first time, and dangerous situations such as rollover of the vehicle are avoided.

In some embodiments, as shown in fig. 11, the method further comprises, after the step 406:

and step 407, if the slip rate is greater than a second slip rate threshold value and the slip determination result indicates that the vehicle does not slip for the first time, determining that a second target driving wheel with slip occurs.

Step 408, obtaining a first driving torque threshold value and an initial slip rate threshold value of the second target driving wheel, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the second target driving wheel.

In one mode, when the slip result is determined to indicate that the vehicle is not slipping for the first time, the vehicle can be determined to achieve better acceleration performance to perform ejection starting, the slip occurs after the starting, and at the moment, the slip rate threshold value of the driving torque of the second target driving wheel is adjusted to be restored to the initial slip rate threshold value, so that the slip of the second target driving wheel can be timely processed.

And 409, when the slip ratio is equal to or greater than the initial slip ratio threshold, adjusting the driving torque of the second target power according to the first driving torque threshold, and controlling the second target driving wheel according to the adjusted driving torque so as to perform ejection control on the vehicle.

As one way, when it is determined that the slip ratio is greater than or equal to the initial slip ratio threshold value, it may be determined that the driving torque of the second target driving wheel is to be adjusted at this time, and optionally, the driving torque of the second target driving wheel is adjusted in real time according to the slip ratio of the second target driving wheel and the first driving torque threshold value. Optionally, the braking torque of the second target driving wheel is adjusted according to the slip ratio and the first driving torque threshold, that is, after the braking torque of the second target driving wheel is adjusted to the torque value corresponding to the first driving torque threshold, the driving torque output is performed by maintaining the torque value corresponding to the target driving torque. As shown in fig. 10, at the stage of the abscissa 5-6, the slip rate of the right front drive wheel is greater than the slip rate threshold; in the stage of the abscissa 6-7, the slip rate of the right front driving wheel is larger than the target slip rate threshold, ejection control is needed for the right front driving wheel at the moment, torque control can be conducted for the right front driving wheel by increasing the driving torque of the right front driving wheel, and in the stage of the abscissa 7-8, the slip rate of the right front driving wheel is smaller than the preset slip rate, and at the moment, the driving torque of the right front driving wheel is reduced.

As a way, in order to timely handle the slip of the vehicle, the second target driving wheel needs to be controlled according to the adjusted driving torque, so that the vehicle can be timely controlled after the ejection start and when the slip does not occur for the first time, and the dangerous situations such as rollover of the vehicle are avoided. Alternatively, if the vehicle subsequently slips again, as shown in fig. 10, the corresponding method of adjusting the driving torque of the driving wheels is the same as steps 407-409.

In this embodiment, under the condition that it is determined that the vehicle slides, ejection control is performed on the driving wheel that slides for the first time according to the sliding result, or ejection control is performed on the driving wheel that does not slide for the first time, and in this embodiment, ejection control is performed by adjusting the driving torque in the driving wheel that slides, so that the acceleration performance and user experience of the vehicle in ejection starting can be improved.

Referring to fig. 12, fig. 12 illustrates a method for ejection control according to an embodiment of the application. As will be described in detail below with respect to the flowchart shown in fig. 12, the ejection control method specifically may include the following steps:

step 510, if it is determined that the rebound rate of the brake pedal of the vehicle is greater than or equal to the first rebound rate threshold, adjusting the torque loading rate of the vehicle to a loading rate threshold, and loading the driving torque of the vehicle to a second driving torque threshold according to the adjusted torque loading rate.

As a way, when the vehicle enters the ejection activation mode from the ejection preparation mode, the driving torque of the vehicle can be loaded according to the rebound rate of the brake pedal of the vehicle, so that the vehicle can directly perform ejection starting according to the loaded driving torque when in ejection starting. Alternatively, the rebound rate of the brake pedal of the vehicle may be a rate at which the user releases the brake pedal, and the first rebound rate may be a corresponding rebound rate of the brake pedal after the user completely releases the brake pedal. Alternatively, the loading rate threshold may be the maximum rate of loading torque. Alternatively, after determining that the brake pedal of the vehicle is completely released, the loading rate of the driving torque is adjusted to the maximum loading rate, and then the driving torque is loaded at the maximum loading rate, and the driving torque of the vehicle is loaded to the second driving torque threshold value. Wherein the second drive torque threshold may be determined based on an actual state of the vehicle and an ambient environment in which the vehicle is located. Alternatively, the second drive torque threshold may be a minimum or maximum drive torque that ensures that the vehicle is able to launch in the current environment.

And step 520, if it is determined that the depression depth of the brake pedal of the vehicle is smaller than the first depth threshold, adjusting the torque loading rate of the vehicle to the loading rate threshold, and loading the driving torque of the vehicle to the second driving torque threshold according to the adjusted torque loading rate.

As a way, when the vehicle enters the ejection activation mode from the ejection preparation mode, the driving torque of the vehicle can be loaded according to the stepping depth of the brake pedal of the vehicle, so that the vehicle can directly perform ejection starting according to the loaded driving torque when in ejection starting. Optionally, the braking torque corresponding to the first depth threshold is greater than the braking torque currently corresponding to the electronic parking system of the vehicle or greater than the braking torque currently corresponding to the automatic parking function.

Optionally, the loading rate is adjusted to the loading rate threshold value when it is determined that the depression depth of the brake pedal of the vehicle is smaller than the first depth threshold value, and the driving torque starts to be loaded when it is determined that the depression depth of the brake pedal of the vehicle is smaller than the first depth threshold value, and the driving torque is loaded to the second driving torque threshold value according to the loading rate threshold value after the loading rate is adjusted to the loading rate threshold value.

And step 530, if it is determined that the depression depth of the brake pedal of the vehicle is smaller than the second depth threshold and larger than the first depth threshold, determining a target torque loading rate of the vehicle according to the rebound rate and the pre-loading torque threshold of the brake pedal of the vehicle, and loading the driving torque of the vehicle to the second driving torque threshold according to the target torque loading rate.

In one mode, when the vehicle enters the ejection activation mode from the ejection preparation mode, the loading rate can be determined according to the stepping depth of the brake pedal of the vehicle, so that the driving torque of the vehicle can be loaded according to the determined loading rate when the stepping depth of the brake pedal of the vehicle meets the preset condition, and the vehicle can be launched according to the loaded driving torque directly when being launched. Alternatively, the preset condition may be that a stepping depth of a brake pedal of the vehicle is greater than a second depth threshold, and a brake torque threshold corresponding to the second depth threshold is far greater than a brake torque corresponding to the first depth threshold. Alternatively, the target loading rate may be determined according to a rebound rate of a brake pedal of the vehicle and a pre-load torque threshold, and r_bp may be represented by formula a= (TA 2-TA 1), where TA2 is the pre-load torque threshold, TA2 is a brake torque currently corresponding to an electronic parking system of the vehicle, and r_bp is the rebound rate of the brake pedal of the vehicle.

Step 540, if it is determined that the rebound rate of the brake pedal of the vehicle is greater than a second rebound rate threshold, acquiring a torque loading rate of the vehicle, and loading the driving torque of the vehicle to a second driving torque threshold according to the torque loading rate, where the second rebound rate threshold is smaller than the first rebound rate threshold.

As one way, the torque loading rate may be a predetermined value, which may be obtained directly. Alternatively, the second rebound rate threshold may be a rebound rate corresponding to the user just beginning to loosen the brake pedal. Optionally, when it is determined that the rebound rate of the brake pedal of the vehicle is greater than the second rebound rate threshold, the torque loading rate of the vehicle is adjusted to a preset fixed value, and then the second driving torque threshold of the driving torque value is loaded according to the adjusted torque loading rate.

Step 550, if it is determined that the vehicle currently enters the ejection standby mode, a torque loading rate of the vehicle is obtained, and a driving torque of the vehicle is loaded to a second driving torque threshold according to the torque loading rate.

As one way, the torque loading rate may be a predetermined value, which may be obtained directly. Alternatively, the loading of the drive torque may be started when the vehicle enters the ejection standby mode. Alternatively, the second drive threshold may be a maximum drive torque.

In this embodiment, before the vehicle enters the ejection control mode, the acceleration rate for loading the driving torque may be determined according to the stepping depth of the brake pedal of the vehicle and/or the rebound rate of the brake pedal, and the driving torque may be loaded according to the stepping depth of the brake pedal of the vehicle and/or the rebound rate of the brake pedal and the determined loading rate, so as to shorten the loading duration of the driving torque of the vehicle.

Referring to fig. 13, fig. 13 illustrates a method for ejection control according to an embodiment of the application. The flow shown in fig. 13 will be described in detail. The electronic equipment can respond to a request of the vehicle for ejection starting, firstly, whether the ejection starting function of the vehicle is started or not is determined, whether the ejection starting mode of the vehicle is in an ejection closing state or not is determined under the condition that the ejection starting function of the vehicle is started, if the ejection starting mode of the vehicle is in the ejection closing state, current state information of the vehicle is obtained, and whether a first preset condition is met or not is determined according to the current state information. The first preset status condition may refer to the specific description of step 110, and will not be described herein. And when the current state information of the vehicle is determined to meet the requirements, determining that a first preset condition is met, and switching the ejection closing state of the vehicle to an ejection preparation state.

In the ejection preparation state, the electronic equipment acquires the activation state information of the electronic parking system of the vehicle, the activation state information of the automatic parking function and the road adhesion coefficient of the current environment of the vehicle to determine the torque value of the preloaded driving torque of the vehicle, and then the driving torque of the vehicle is preloaded according to the determined torque value. Then, after the predicted loading torque is completed, the electronic parking system and the automatic parking function are exited, and prompt information can be generated at the moment to prompt the user that the ejection mode is ready, and meanwhile, the user can switch the ejection starting mode of the vehicle to an activated state according to the prompt of the brake pedal of the vehicle. The prompt information can be a voice prompt or a text prompt, and the prompt form can be at least one of voice playing, popup window display or vibration prompt.

When the launch mode of the vehicle is in the ready state, the driving torque of the vehicle may be loaded according to the stepping depth of the brake pedal and/or the rebound rate of the brake pedal, wherein the specific loading scheme may refer to the content of fig. 12, which is not described herein.

After the driving torque is loaded, determining whether the current state information of the vehicle meets a second preset condition that the ejection starting mode is switched from the ready state to the closed state, wherein the second preset condition can comprise that the running gear of the vehicle is in a non-D gear, the driving mode of the vehicle is in any one mode of a non-motion mode, a non-racing mode or a non-racing track mode, the absolute value of the steering wheel of the vehicle is larger than a preset angle (which can be 10 degrees), the tread depth of the accelerator pedal of the vehicle is larger than a preset depth (which can be 60 percent tread depth), and when the current state information of the vehicle meets the conditions, switching the ejection mode of the vehicle from the ready state to the closed state and exiting the ejection starting. If any one of the above conditions is not met, determining whether the current state information of the vehicle meets a third preset condition, wherein the third preset condition may include whether the tread depth of the brake pedal of the vehicle is smaller than a depth threshold (may be a tread depth of 5%), and when the third preset condition is not met, determining again whether the current state information of the vehicle meets the second preset condition; and if the third preset condition is met, switching the ejection starting mode of the vehicle to an activated state.

And in the activated state, adjusting the driving torque of the vehicle to a target value, and generating prompt information for prompting a user that the ejection mode of the vehicle is in the activated state and the driving torque is completely loaded. Then, according to the time prompt information, the ejection starting mode of the vehicle is switched to a control state, the vehicle is subjected to ejection control by adjusting the braking torque and/or the driving torque of the vehicle, and the specific method for carrying out ejection control on the vehicle by adjusting the braking torque and/or the driving torque of the vehicle can refer to any one of the embodiments, and details are not repeated here.

And finally, determining whether the ejection starting mode of the vehicle is switched to the closed state according to whether the current state information of the vehicle meets a fourth preset condition, wherein the fourth preset condition can comprise that the running gear of the vehicle is in a non-D gear, the tread depth of an accelerator pedal of the vehicle is smaller than a preset depth, the tread depth of a brake pedal of the vehicle is larger than a depth threshold, the speed of the vehicle is larger than a speed threshold, and the duration that the ejection mode of the vehicle is in an activated state is larger than a duration threshold. If the conditions are not met, continuously performing ejection control on the vehicle, and judging whether a fourth condition is met again; and if the current state information of the vehicle meets the conditions, switching the ejection mode of the vehicle from the control state to the closing state, and ending the ejection starting process of the vehicle. When the ejection starting flow of the vehicle is finished, an ejection starting result can be generated, wherein the result can comprise the maximum acceleration, hundred kilometers of acceleration time, the maximum speed of the vehicle and the like of the ejection starting of the vehicle.

Fig. 14 is a block diagram illustrating an apparatus for ejection control according to an embodiment of the present application, and as shown in fig. 14, the apparatus 600 for ejection control includes: an acquisition module 610, a slip rate determination module 620, and an ejection control module 630.

An acquisition module 610 for acquiring a vehicle speed of the vehicle and a driving wheel speed of a driving wheel of the vehicle when the vehicle is in an ejection control mode; a slip ratio determination module 620 for determining a slip ratio of the vehicle based on the vehicle speed and the wheel speed of the drive wheel; the ejection control module 630 is configured to adjust driving torque and/or braking torque of the vehicle according to the slip ratio, and perform ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

In some embodiments, the ejection control module 630 includes: a slip result determination sub-module for determining whether the slip rate is greater than a slip rate threshold, and determining whether the vehicle first slips to obtain a slip determination result; and the ejection control sub-module is used for adjusting the driving torque and/or the braking torque of the vehicle according to the slip rate and the slip determination result if the slip rate is larger than the slip rate threshold value, and carrying out ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

In some embodiments, the ejection control submodule includes: a first target driving wheel first determining unit configured to determine that a slip occurs to a first target driving wheel if the slip rate is greater than a first slip rate threshold and the slip determination result indicates that the slip occurs to the vehicle for the first time; the first acquisition unit is used for acquiring a driving torque adjustment interval of the first target driving wheel and a target slip rate threshold value, wherein the target slip rate threshold value is a slip rate threshold value for triggering and adjusting the driving torque of the first target driving wheel, the target slip rate threshold value is larger than the first slip rate threshold value, and the target slip rate threshold value is obtained by increasing an initial slip rate threshold value; a first adjustment unit configured to adjust a driving torque of the first target driving wheel in the driving torque adjustment section according to the slip ratio and adjust a braking torque of the first target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the target slip ratio threshold; and the first ejection control unit is used for controlling the first target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to carry out ejection control on the vehicle.

In some embodiments, the ejection control sub-module further comprises: a second target driving wheel first determining unit configured to determine that a second target driving wheel is slipping if the slip ratio is greater than a second slip ratio threshold value and the slip determination result indicates that the vehicle is not slipping for the first time; a second acquisition unit configured to acquire a target driving torque of the second target driving wheel and an initial slip rate threshold value, where the initial slip rate threshold value is a slip rate threshold value for triggering adjustment of the driving torque of the second target driving wheel, and the initial slip rate threshold value is greater than the second slip rate threshold value; a second adjustment unit configured to adjust a driving torque of the second target driving wheel in the driving torque adjustment section according to the slip ratio and the target driving torque, and adjust a braking torque of the second target driving wheel according to the slip ratio, the target driving torque being smaller than a maximum driving torque of the vehicle, when the slip ratio is equal to or greater than the initial slip ratio threshold; and the second ejection control unit is used for controlling the second target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to carry out ejection control on the vehicle.

In other embodiments, the ejection control submodule includes: the first target driving wheel second determining unit is used for determining a first target driving wheel with slipping if the slip rate is larger than a first slip rate threshold value and the slip determining result indicates that the vehicle is slipping for the first time; a third obtaining unit, configured to obtain a braking torque adjustment interval of the first target driving wheel and an initial slip rate threshold, where the initial slip rate threshold is a slip rate threshold for triggering and adjusting a braking torque of the first target driving wheel, and the initial slip rate threshold is greater than the first slip rate threshold; a third adjustment unit configured to adjust a braking torque of the first target driving wheel in the braking torque adjustment section according to the slip ratio and adjust a driving torque of the first target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the initial slip ratio threshold; and the third ejection control unit is used for controlling the first target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to carry out ejection control on the vehicle.

In other embodiments, the ejection control sub-module further comprises: a second target driving wheel second determining unit configured to determine that a slip occurs to a second target driving wheel if the slip rate is greater than a second slip rate threshold value and the slip determination result indicates that the slip does not occur for the first time; a fourth obtaining unit, configured to obtain a braking torque adjustment interval of the second target driving wheel and an initial slip rate threshold, where the initial slip rate threshold is a slip rate threshold for triggering and adjusting a braking torque of the second target driving wheel, and the initial slip rate threshold is greater than the second slip rate threshold; a fourth adjustment unit configured to adjust a braking torque of the second target driving wheel in the braking torque adjustment section according to the slip ratio and adjust a driving torque of the second target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the initial slip ratio threshold; and the fourth ejection control unit is used for controlling the second target driving wheel according to the adjusted driving torque and the adjusted braking torque so as to carry out ejection control on the vehicle.

In still other embodiments, the ejection control sub-module is configured to include: a first target drive wheel third determination submodule for determining a first target drive wheel in which slip occurs if the slip rate is greater than a first slip rate threshold and the slip determination indicates that the vehicle is slipping for the first time; a fifth acquisition unit configured to acquire a first driving torque threshold value and an initial slip ratio threshold value of the first target driving wheel, where the initial slip ratio threshold value is a slip ratio threshold value for triggering adjustment of a braking torque of the first target driving wheel, and the initial slip ratio threshold value is greater than the first slip ratio threshold value; and the fifth ejection control unit is used for adjusting the driving torque of the first target power according to the first driving torque threshold when the slip rate is equal to or greater than the initial slip rate threshold, and controlling the first target driving wheel according to the adjusted driving torque so as to carry out ejection control on the vehicle.

In still other embodiments, the ejection control sub-module further comprises: a second target driving wheel third determining unit configured to determine that a second target driving wheel is slipping if the slip ratio is greater than a second slip ratio threshold value and the slip determination result indicates that the vehicle is not slipping for the first time; a sixth acquisition unit configured to acquire a first driving torque threshold value and an initial slip ratio threshold value of the second target driving wheel, where the initial slip ratio threshold value is a slip ratio threshold value that triggers adjustment of a braking torque of the second target driving wheel; and the sixth ejection control unit is used for adjusting the driving torque of the second target power according to the first driving torque threshold when the slip rate is equal to or greater than the initial slip rate threshold, and controlling the second target driving wheel according to the adjusted driving torque so as to carry out ejection control on the vehicle.

In some embodiments, the ejection control device 600 further includes: the first loading module is used for adjusting the torque loading rate of the vehicle to a loading rate threshold value if the rebound rate of the brake pedal of the vehicle is determined to be greater than or equal to a first rebound rate threshold value, and loading the driving torque of the vehicle to a second driving torque threshold value according to the adjusted torque loading rate; or the second loading module is used for adjusting the torque loading rate of the vehicle to a loading rate threshold value if the tread depth of the brake pedal of the vehicle is smaller than the first depth threshold value, and loading the driving torque of the vehicle to a second driving torque threshold value according to the adjusted torque loading rate; or the third loading module is used for determining a target torque loading rate of the vehicle according to the rebound rate of the brake pedal of the vehicle and a pre-loading torque threshold value if the tread depth of the brake pedal of the vehicle is determined to be smaller than a second depth threshold value and larger than the first depth threshold value, and loading the driving torque of the vehicle to a second driving torque threshold value according to the target torque loading rate; or the fourth loading module is used for acquiring the torque loading rate of the vehicle and loading the driving torque of the vehicle to a second driving torque threshold according to the torque loading rate if the rebound rate of the brake pedal of the vehicle is determined to be larger than a second rebound rate threshold, wherein the second rebound rate threshold is larger than the first rebound rate threshold; or the fifth loading module is used for acquiring the torque loading rate of the vehicle and loading the driving torque of the vehicle to a second driving torque threshold according to the torque loading rate if the vehicle is determined to enter the ejection standby mode currently.

According to an aspect of the embodiment of the present application, there is further provided a cloud server, as shown in fig. 15, where the cloud server 700 includes a processor 710 and one or more memories 720, and the one or more memories 720 are used to store program instructions executed by the processor 710, and the processor 710 executes the program instructions to implement the method of catapulting control described above.

Further, the processor 710 may include one or more processing cores. Processor 710 executes or performs instructions, programs, code sets, or instruction sets stored in memory 720 and invokes data stored in memory 720. Alternatively, the processor 710 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 710 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor and may be implemented solely by a single communication chip.

According to an aspect of the present application, there is also provided a computer-readable storage medium, which may be contained in the cloud server described in the above embodiment; or may exist alone without being assembled into the cloud server. The computer readable storage medium carries computer readable instructions which, when executed by a processor, implement the method of any of the above embodiments.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method of ejection control, the method comprising:

when a vehicle is in an ejection control mode, acquiring the speed of the vehicle and the wheel speed of a driving wheel of the vehicle;

determining a slip ratio of the vehicle based on the vehicle speed and the wheel speed of the drive wheel;

and adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio, and performing ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

2. The method according to claim 1, wherein the adjusting the driving torque and/or the adjusted braking torque of the vehicle according to the slip ratio and the catapulting controlling the vehicle according to the adjusted driving torque and/or braking torque comprises:

determining whether the slip rate is greater than a slip rate threshold value, and determining whether the vehicle first slips to obtain a slip determination result;

and if the slip rate is greater than the slip rate threshold, adjusting the driving torque and/or the braking torque of the vehicle according to the slip rate and the slip determination result, and performing ejection control on the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

3. The method according to claim 2, wherein adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio and the slip determination result and performing ejection control of the vehicle according to the adjusted driving torque and/or the adjusted braking torque if the slip ratio is greater than the slip ratio threshold value comprises:

if the slip rate is greater than a first slip rate threshold value and the slip determination result indicates that the vehicle is slipping for the first time, determining a first target driving wheel with slipping;

Acquiring a driving torque adjustment interval of the first target driving wheel and a target slip rate threshold value, wherein the target slip rate threshold value is a slip rate threshold value for triggering and adjusting the driving torque of the first target driving wheel, the target slip rate threshold value is larger than the first slip rate threshold value, and the target slip rate threshold value is obtained by increasing an initial slip rate threshold value;

adjusting a driving torque of the first target driving wheel in the driving torque adjustment section according to the slip ratio and adjusting a braking torque of the first target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the target slip ratio threshold;

and controlling the first target driving wheel according to the regulated driving torque and the regulated braking torque so as to perform ejection control on the vehicle.

4. A method according to claim 3, characterized in that the method further comprises:

if the slip rate is greater than a second slip rate threshold value and the slip determination result indicates that the vehicle is not slipping for the first time, determining a second target driving wheel with slipping;

acquiring a target driving torque of the second target driving wheel and an initial slip rate threshold value, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the driving torque of the second target driving wheel, and the initial slip rate threshold value is larger than the second slip rate threshold value;

When the slip ratio is equal to or greater than the initial slip ratio threshold value, adjusting a driving torque of the second target driving wheel in the driving torque adjustment section according to the slip ratio and the target driving torque, which is smaller than a maximum driving torque of the vehicle, and adjusting a braking torque of the second target driving wheel according to the slip ratio;

and controlling the second target driving wheel according to the regulated driving torque and the regulated braking torque so as to perform ejection control on the vehicle.

5. The method according to claim 2, wherein adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio and the slip determination result and performing ejection control of the vehicle according to the adjusted driving torque and/or the adjusted braking torque if the slip ratio is greater than the slip ratio threshold value comprises:

acquiring a braking torque adjustment interval and an initial slip rate threshold value of the first target driving wheel, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the first target driving wheel, and the initial slip rate threshold value is larger than the first slip rate threshold value;

Adjusting a braking torque of the first target driving wheel in the braking torque adjustment section according to the slip ratio and adjusting a driving torque of the first target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the initial slip ratio threshold;

6. The method of claim 5, wherein the method further comprises:

acquiring a braking torque adjustment interval and an initial slip rate threshold value of the second target driving wheel, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the second target driving wheel, and the initial slip rate threshold value is larger than the second slip rate threshold value;

adjusting a braking torque of the second target driving wheel in the braking torque adjustment section according to the slip ratio and adjusting a driving torque of the second target driving wheel according to the slip ratio when the slip ratio is equal to or greater than the initial slip ratio threshold;

7. The method according to claim 2, wherein adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio and the slip determination result and performing ejection control of the vehicle according to the adjusted driving torque and/or the adjusted braking torque if the slip ratio is greater than the slip ratio threshold value comprises:

acquiring a first driving torque threshold value and an initial slip rate threshold value of the first target driving wheel, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the first target driving wheel, and the initial slip rate threshold value is larger than the first slip rate threshold value;

and when the slip ratio is equal to or greater than the initial slip ratio threshold, adjusting the driving torque of the first target power according to the first driving torque threshold, and controlling the first target driving wheel according to the adjusted driving torque so as to perform ejection control on the vehicle.

8. The method of claim 7, wherein the method further comprises:

acquiring a first driving torque threshold value and an initial slip rate threshold value of the second target driving wheel, wherein the initial slip rate threshold value is a slip rate threshold value for triggering and adjusting the braking torque of the second target driving wheel;

and when the slip ratio is equal to or greater than the initial slip ratio threshold, adjusting the driving torque of the second target power according to the first driving torque threshold, and controlling the second target driving wheel according to the adjusted driving torque so as to perform ejection control on the vehicle.

9. The method according to any one of claims 1-8, characterized in that before the vehicle speed and the driving wheel speed of the driving wheels of the vehicle are acquired when the vehicle is in the ejection control mode, the method further comprises:

if the rebound rate of the brake pedal of the vehicle is determined to be greater than or equal to a first rebound rate threshold, adjusting the torque loading rate of the vehicle to a loading rate threshold, and loading the driving torque of the vehicle to a second driving torque threshold according to the adjusted torque loading rate; or alternatively

If the tread depth of the brake pedal of the vehicle is smaller than the first depth threshold, adjusting the torque loading rate of the vehicle to a loading rate threshold, and loading the driving torque of the vehicle to a second driving torque threshold according to the adjusted torque loading rate; or alternatively

If the tread depth of the brake pedal of the vehicle is determined to be smaller than a second depth threshold value and larger than the first depth threshold value, determining a target torque loading rate of the vehicle according to the rebound rate of the brake pedal of the vehicle and a pre-loading torque threshold value, and loading the driving torque of the vehicle to a second driving torque threshold value according to the target torque loading rate; or alternatively

If the rebound rate of the brake pedal of the vehicle is determined to be larger than a second rebound rate threshold value, acquiring a torque loading rate of the vehicle, and loading driving torque of the vehicle to a second driving torque threshold value according to the torque loading rate, wherein the second rebound rate threshold value is smaller than the first rebound rate threshold value; or alternatively

And if the vehicle is determined to enter the ejection standby mode currently, acquiring the torque loading rate of the vehicle, and loading the driving torque of the vehicle to a second driving torque threshold according to the torque loading rate.

10. An ejection control device, the device comprising:

the acquisition module is used for acquiring the speed of the vehicle and the wheel speed of a driving wheel of the vehicle when the vehicle is in an ejection control mode;

a slip ratio determining module for determining a slip ratio of the vehicle based on the vehicle speed and the wheel speed of the drive wheel;

and the ejection control module is used for adjusting the driving torque and/or the braking torque of the vehicle according to the slip ratio and controlling the ejection of the vehicle according to the adjusted driving torque and/or the adjusted braking torque.

11. An electronic device, the electronic device comprising:

a processor;

a memory having stored thereon computer readable instructions which, when executed by the processor, implement the method of any of claims 1 to 9.

12. A computer readable storage medium having stored therein program code which is callable by a processor to perform the method of any one of claims 1 to 9.