CN117246144A - Vehicle control method and device, electronic equipment and vehicle - Google Patents

Vehicle control method and device, electronic equipment and vehicle Download PDF

Info

Publication number
CN117246144A
CN117246144A CN202311205176.6A CN202311205176A CN117246144A CN 117246144 A CN117246144 A CN 117246144A CN 202311205176 A CN202311205176 A CN 202311205176A CN 117246144 A CN117246144 A CN 117246144A
Authority
CN
China
Prior art keywords
vehicle
speed
drive motor
current
change rate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311205176.6A
Other languages
Chinese (zh)
Inventor
冉涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Great Wall Motor Co Ltd
Original Assignee
Great Wall Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Great Wall Motor Co Ltd filed Critical Great Wall Motor Co Ltd
Priority to CN202311205176.6A priority Critical patent/CN117246144A/en
Publication of CN117246144A publication Critical patent/CN117246144A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application provides a vehicle control method, a device, electronic equipment and a vehicle, wherein the method comprises the following steps: the rotation speed and the current request torque of the driving motor of the vehicle are obtained, so that a data basis is provided for the subsequent judgment of whether the low adhesion phenomenon of the vehicle occurs. And determining the motor rotating speed change rate according to the rotating speed of the driving motor, and determining a corresponding preset rotating speed change rate threshold according to the current request torque. And responding to the fact that the change rate of the motor rotating speed exceeds the preset rotating speed change rate threshold value, representing that the current rotating speed of the motor is increased in speed, and determining that the vehicle is in a low attachment working condition after a certain time, immediately adjusting the current request torque, and improving the response speed of the vehicle escaping operation, so that the vehicle is timely separated from the low attachment working condition, normal running of the vehicle is avoided, and driving safety is improved.

Description

Vehicle control method and device, electronic equipment and vehicle
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, an electronic device, and a vehicle.
Background
The electric vehicle is a vehicle which uses a vehicle-mounted power supply as power and drives the vehicle to run through a motor, and has a smaller influence on the environment than a traditional vehicle, so that the electric vehicle has a wide prospect. When judging whether the wheel of the electric vehicle has a low adhesion phenomenon, it is generally judged whether the wheel has the low adhesion phenomenon according to the rotation speed of the driving motor, if the wheel is determined to have the low adhesion phenomenon, a corresponding escaping operation is adopted. The operation of getting rid of poverty is carried out after the slipping phenomenon of the vehicle, and the defect of untimely getting rid of poverty exists, the response speed is slower, and the timeliness of getting rid of poverty of the vehicle is affected.
Disclosure of Invention
In view of the above, the present application is directed to a vehicle control method, a device, an electronic apparatus, and a vehicle, so as to solve the problem of untimely escape when the wheels have low adhesion.
A first aspect of the present application provides a vehicle control method, including:
acquiring the rotating speed and the current request torque of a vehicle driving motor;
performing a first operation on the vehicle as follows:
determining a motor rotation speed change rate according to the rotation speed of the driving motor, and determining a corresponding preset rotation speed change rate threshold according to the current request torque;
and responding to the motor rotating speed change rate exceeding the preset rotating speed change rate threshold, determining that the vehicle is in a low attachment working condition, and adjusting the current request torque so as to enable the vehicle to be separated from the low attachment working condition.
Optionally, the driving motor includes a front shaft driving motor and a rear shaft driving motor; the determining that the vehicle is in a low attachment condition in response to the motor speed change rate exceeding the preset speed change rate threshold, the adjusting the current requested torque includes:
in response to the motor speed change rate of the front axle drive motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring a current request torque of the front axle drive motor to the rear axle drive motor, and setting the current request torque of the front axle drive motor to zero; or,
And in response to the motor speed change rate of the rear axle drive motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring the current request torque of the rear axle drive motor to the front axle drive motor, and setting the current request torque of the rear axle drive motor to zero.
Optionally, before performing the first operation on the vehicle, the method includes:
acquiring the current speed of the vehicle;
determining a corresponding preset wheel speed threshold according to the current vehicle speed;
determining a rotation speed threshold based on the current vehicle speed, the preset wheel speed threshold and a preset transmission ratio;
the first operation is performed on the vehicle in response to the rotational speed of the drive motor not exceeding the rotational speed threshold.
Optionally, the method further comprises: and in response to the rotational speed of the drive motor exceeding the rotational speed threshold, determining that the vehicle is in the low attachment condition, and adjusting the current requested torque to disengage the vehicle from the low attachment condition.
Optionally, the driving motor includes a front shaft driving motor and a rear shaft driving motor;
and in response to the rotational speed of the drive motor exceeding the rotational speed threshold, determining that the vehicle is in a low adhesion condition, adjusting the current requested torque, including:
In response to the rotational speed of the front axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring a current requested torque of the front axle drive motor to the rear axle drive motor, and setting the current requested torque of the front axle drive motor to zero; or,
and in response to the rotational speed of the rear axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring the current requested torque of the rear axle drive motor to the front axle drive motor, and setting the current requested torque of the rear axle drive motor to zero.
Optionally, the acquiring the current speed of the vehicle includes:
acquiring a first vehicle speed, a second vehicle speed and a third vehicle speed, wherein the first vehicle speed is determined according to vehicle information, the second vehicle speed is determined according to satellite data, and the third vehicle speed is determined according to general packet radio service data;
and taking the first vehicle speed, the second vehicle speed or the third vehicle speed as the current vehicle speed according to the corresponding zone bit and the preset priority sequence of each vehicle speed.
Optionally, the step of taking the first vehicle speed, the second vehicle speed or the third vehicle speed as the current vehicle speed according to the zone bit corresponding to each vehicle speed and a preset priority order includes:
Responding to the flag bit corresponding to the first vehicle speed as a valid flag bit, and taking the first vehicle speed as the current vehicle speed;
responding to the condition that the zone bit corresponding to the first vehicle speed is an invalid zone bit and the zone bit corresponding to the second vehicle speed is a valid zone bit, and taking the second vehicle speed as the current vehicle speed;
and responding to the condition that the zone bit corresponding to the second vehicle speed is an invalid zone bit and the zone bit corresponding to the third vehicle speed is a valid zone bit, and taking the third vehicle speed as the current vehicle speed.
A second aspect of the present application provides a vehicle control apparatus including:
an acquisition module configured to acquire a rotation speed of a vehicle drive motor and a current request torque;
performing a first operation on the vehicle as follows:
the determining module is configured to determine a motor rotation speed change rate according to the rotation speed of the driving motor and determine a corresponding preset rotation speed change rate threshold according to the current request torque;
and the adjusting module is configured to respond to the fact that the motor rotating speed change rate exceeds the preset rotating speed change rate threshold value, determine that the vehicle is in a low attachment working condition, and adjust the current request torque so as to enable the vehicle to be separated from the low attachment working condition.
A third aspect of the present application also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable by the processor, the processor implementing the method as described above when executing the computer program.
A fourth aspect of the present application also provides a vehicle comprising an electronic device as described in the third aspect.
From the above, it can be seen that the method and device for controlling a vehicle, the electronic device and the vehicle provided by the application, the method comprises the following steps: the rotation speed and the current request torque of the driving motor of the vehicle are obtained, so that a data basis is provided for the subsequent judgment of whether the low adhesion phenomenon of the vehicle occurs. And determining the motor rotating speed change rate according to the rotating speed of the driving motor, and determining a corresponding preset rotating speed change rate threshold according to the current request torque. And responding to the fact that the change rate of the motor rotating speed exceeds the preset rotating speed change rate threshold value, representing that the current rotating speed of the motor is increased in speed, and determining that the vehicle is in a low attachment working condition after a certain time, immediately adjusting the current request torque, and improving the response speed of the vehicle escaping operation, so that the vehicle is timely separated from the low attachment working condition, normal running of the vehicle is avoided, and driving safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application or related art, the drawings that are required to be used in the description of the embodiments or related art will be briefly described below, and it is apparent that the drawings in the following description are only embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application;
FIG. 2 is a flow chart of a vehicle control method according to another embodiment of the present application;
fig. 3 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present application;
fig. 4 is a schematic hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail below with reference to the accompanying drawings.
It should be noted that unless otherwise defined, technical or scientific terms used in the embodiments of the present application should be given the ordinary meaning as understood by one of ordinary skill in the art to which the present application belongs. The terms "first," "second," and the like, as used in embodiments of the present application, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
The electric vehicle comprises an electric four-wheel drive vehicle, a driving system in the electric four-wheel drive vehicle is a four-wheel drive system which drives front and rear shafts by utilizing an electric motor, different power distribution and differential lock functions can be realized through an electronic control system, and the control performance and the off-road capability of the vehicle are improved. When judging whether or not the vehicle has a low adhesion phenomenon, the judgment can be made by the turning state of the four wheels. The speed of the whole vehicle is generally calculated according to the average rotation speeds of the front axle wheel and the rear axle wheel, and when a large speed difference exists between one wheel and the speed of the whole vehicle, the phenomenon of low adhesion of the vehicle is determined. At the moment, the wheel braking anti-lock system ABS (Antilock Brake System) is controlled by the vehicle body electronic stability system ESP (Electronic Stability Program) to brake or the differential lock is used for locking, so that torque is transferred to the wheels on the other side, and the vehicle is released. However, if the front axle and the rear axle have one-side wheels or three wheels and have low adhesion, the calculated speed of the whole vehicle will be low, so that whether the vehicle has low adhesion cannot be accurately judged, and further the vehicle can not get trapped. To solve the above problem, it is possible to judge whether or not the low adhesion phenomenon occurs in the vehicle by the rotation speed of the driving motor. When the low adhesion phenomenon occurs to the wheels, the rotation speed of the driving motor can be increased, and when the rotation speed of the driving motor exceeds a certain threshold value, the low adhesion phenomenon can be accurately determined to occur to the vehicle. However, only when the rotation speed of the driving motor is judged to have certain defects, the rotation speed of the driving motor is obviously increased after the wheels have low adhesion phenomenon for a certain period of time, that is, when the rotation speed of the driving motor exceeds a certain threshold value, the rotation speed of the driving motor is accumulated for a certain period of time, and at the moment, the vehicle has serious low adhesion phenomenon. Even if the corresponding escaping operation is adopted, the escaping effect is poor. Or, because of getting rid of tired untimely, lead to the vehicle to appear the potential safety hazard, endanger driver's personal safety.
In view of this, the application provides a vehicle control method, in time judges whether the vehicle is likely to have a low adhesion phenomenon, and before the vehicle has a low adhesion phenomenon, timely takes the vehicle to get rid of poverty and operates, improves the response speed of the vehicle to get rid of poverty, avoids influencing the normal running of the vehicle, and improves driving safety.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
The application provides a vehicle control method, which is applied to a whole vehicle controller, and referring to fig. 1, the method comprises the following steps:
step 102, obtaining the rotating speed of a vehicle driving motor and the current request torque.
Specifically, in an electric vehicle, driving force is provided to the vehicle by a driving motor, and when a low adhesion phenomenon occurs to wheels, the rotation speed of the wheels increases due to the decrease of friction force on the ground, so that the rotation speed of the driving motor increases. Therefore, it is necessary to acquire the rotation speed of the drive motor to determine whether or not the low adhesion phenomenon is currently occurring in the vehicle. The current request torque is the request torque sent to the driving motor by the whole vehicle controller so that the driving motor outputs the request torque to drive the vehicle to run. After the rotation speed and the current request torque of the vehicle driving motor are obtained, the following first operation is performed on the vehicle:
And 104, determining a motor rotation speed change rate according to the rotation speed of the driving motor, and determining a corresponding preset rotation speed change rate threshold according to the current request torque.
Specifically, the motor rotation speed change rate is the ratio of the difference between the current rotation speed and the rotation speed of the driving motor at the previous moment to the rotation speed at the previous moment, and the larger the difference is, the larger the motor rotation speed change rate is, the smaller the difference is, and the smaller the motor rotation speed change rate is. The larger the torque output by the driving motor is, the faster the corresponding rotating speed is, and a certain corresponding relation exists between the torque and the change rate of the rotating speed. Accordingly, a corresponding rate of change of rotational speed threshold value may be determined from the current requested torque, the rate of change of rotational speed threshold value being indicative of a corresponding maximum rate of change of rotational speed of the current requested torque.
And 106, determining that the vehicle is in a low attachment working condition in response to the motor rotation speed change rate exceeding the preset rotation speed change rate threshold, and adjusting the current request torque so as to enable the vehicle to be separated from the low attachment working condition.
Specifically, if the calculated motor speed change rate exceeds a preset speed change rate threshold, it indicates that the current motor speed change rate exceeds the maximum speed change rate, and the motor speed is abnormal. The motor rotation speed has a tendency of rapid increase, the friction force of the wheel attaching surface is reduced, a low attaching phenomenon occurs after a period of time, the vehicle is determined to be in a low attaching working condition, the wheel escaping operation is adopted, the current request torque is adjusted, and the torque is transferred to the wheel where the low attaching working condition does not occur, so that the vehicle escaping is realized. By the vehicle control method, when the serious low adhesion phenomenon of the vehicle does not occur, the vehicle escaping operation can be timely executed, the response speed of the vehicle escaping is improved, serious influence on the running of the vehicle is avoided, and the running safety of the vehicle is guaranteed.
Based on the steps 102 to 106, the vehicle control method provided in the present embodiment includes: the rotation speed and the current request torque of the driving motor of the vehicle are obtained, so that a data basis is provided for the subsequent judgment of whether the low adhesion phenomenon of the vehicle occurs. Performing a first operation on the vehicle: and determining the motor rotating speed change rate according to the rotating speed of the driving motor, and determining a corresponding preset rotating speed change rate threshold according to the current request torque. And responding to the fact that the change rate of the motor rotating speed exceeds the preset rotating speed change rate threshold value, representing that the current rotating speed of the motor is increased in speed, and determining that the phenomenon of low adhesion of wheels occurs after a certain time, determining that the vehicle is in a low adhesion working condition, immediately adjusting the current request torque, and improving the response speed of the vehicle escaping operation so as to enable the vehicle to be timely separated from the low adhesion working condition, avoiding affecting the normal running of the vehicle and improving the driving safety.
In some embodiments, the drive motors include a front axle drive motor and a rear axle drive motor; the method for adjusting the current request torque comprises the following steps of:
And in response to the motor speed change rate of the front axle driving motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring the current request torque of the front axle driving motor to the rear axle driving motor, and setting the current request torque of the front axle driving motor to zero.
Specifically, the drive system of the electric four-wheel drive vehicle includes a front axle drive motor for driving the front wheels and a rear axle drive motor for driving the rear wheels. When the rotation speed of the driving motor is acquired, the rotation speed of the front shaft driving motor and the rotation speed of the rear shaft driving motor are acquired at the same time. Inquiring a corresponding preset rotating speed change rate threshold value of the front axle motor in a pre-built calibration table according to the current request torque sent to the front axle driving motor by the whole vehicle controller, and inquiring a corresponding preset rotating speed change rate threshold value of the rear axle motor in the pre-built calibration table according to the current request torque sent to the rear axle driving motor by the whole vehicle controller. If the motor speed change rate of the front axle driving motor exceeds a corresponding preset speed change rate threshold value, indicating that the front wheels of the vehicle are in a low attachment working condition, and that the front wheel speed is abnormal, in order to help the front wheels get rid of poverty, transferring the current request torque of the front axle driving motor to the rear axle driving motor so as to increase the driving torque output by the rear axle driving motor, setting the current request torque of the front axle driving motor to be zero, and driving the vehicle to get rid of poverty through the rear wheels.
If the front wheels do not have a low adhesion phenomenon and the rear wheels have a low adhesion phenomenon, the following operations are performed:
and in response to the motor speed change rate of the rear axle drive motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring the current request torque of the rear axle drive motor to the front axle drive motor, and setting the current request torque of the rear axle drive motor to zero.
Specifically, if the motor speed change rate of the rear axle driving motor exceeds a corresponding preset speed change rate threshold value, indicating that the rear wheels of the vehicle are in a low attachment working condition, the rear wheel speed is abnormal, in order to help the rear wheels get rid of poverty, transferring the current request torque of the rear axle driving motor to the front axle driving motor so as to increase the driving torque output by the front axle driving motor, setting the current request torque of the rear axle driving motor to be zero, and driving the vehicle to get rid of poverty through the front wheels.
The vehicle control method provided by the embodiment can position the wheels with low adhesion phenomena in time, and further can rapidly execute corresponding escaping operation. If the front wheels have a low adhesion phenomenon, the current request torque is transferred to the rear axle driving motor, the driving force of the rear axle driving motor is increased, and the front wheels are helped to get rid of the fatigue. If the rear wheels have a low adhesion phenomenon, the current request torque is transferred to the front axle driving motor, the driving force of the front axle driving motor is increased, and the rear wheels are helped to get rid of the fatigue. And the response speed of the vehicle getting rid of the trapping operation is improved, so that the vehicle is timely separated from the low-adhesion working condition, the normal running of the vehicle is prevented from being influenced, and the driving safety is improved.
In some embodiments, referring to fig. 2, prior to performing the first operation on the vehicle, the method comprises the steps of:
step 202, obtaining the current speed of the vehicle.
Specifically, the current vehicle speed in this step is determined according to the average rotation speeds of the front and rear axle wheels, and a person skilled in the art can know the determination method of the vehicle speed, which is not described herein.
And 204, determining a corresponding preset wheel speed threshold according to the current vehicle speed.
Specifically, a certain corresponding relation exists between the vehicle speed and the wheel speed, and the larger the wheel speed is, the faster the vehicle speed is. The corresponding preset wheel speed threshold value can be determined in a pre-established calibration table according to the current vehicle speed, wherein the preset wheel speed threshold value represents the maximum wheel speed under the current vehicle speed, and the calibration table is determined through actual driving experience.
Step 206, determining a rotation speed threshold based on the current vehicle speed, the preset wheel speed threshold and a preset transmission ratio.
Specifically, through the corresponding relation between the vehicle speed and the wheel speed: vehicle speed v=wheel circumference r×wheel rotation speed n 0 And converting the current vehicle speed into the current wheel speed through the corresponding relation. And determining a rotation speed threshold value according to the following formula:
n 0 ＝(V 0 +V safe )*i 0
wherein n is 0 Indicating the rotation speed threshold value, V 0 Represents the current wheel speed, V safe Indicating a preset wheel speed threshold, i 0 Indicating a preset gear ratio.
Step 208, performing the first operation on the vehicle in response to the rotational speed of the drive motor not exceeding the rotational speed threshold.
Specifically, if the current rotation speed of the driving motor does not exceed the rotation speed threshold calculated in step 206, which indicates that the current rotation speed of the driving motor is within the normal range, it is determined that the low adhesion phenomenon does not occur in the vehicle. In order to further determine whether the vehicle is currently prone to low adhesion, a first operation is then performed on the vehicle, i.e. by determining whether the vehicle is about to suffer from low adhesion through the rate of change of the rotational speed of the drive motor. If the tendency of the low adhesion phenomenon occurs, corresponding escaping operation is timely adopted, the vehicle is helped to escape, and driving safety is improved.
It should be noted that, under different road conditions, the judging periods of the two judging modes can be reasonably selected and adjusted. For example, under normal road conditions, the probability of occurrence of a low adhesion phenomenon of a vehicle is low, and even if the low adhesion phenomenon occurs, the vehicle is easy to get rid of the trapping after the trapping operation is adopted, so that the driving safety is not seriously affected. Therefore, the whole vehicle controller can judge whether the vehicle has a low adhesion phenomenon or not only by judging whether the rotating speed of the driving motor exceeds a rotating speed threshold value according to a longer preset period, and if so, the vehicle is helped to get rid of the passengers by adopting corresponding escaping operation. Under the road conditions with smooth pavement, such as ice and snow pavement, the probability of low adhesion phenomenon of the vehicle is high, and the vehicle is difficult to get rid of after the low adhesion phenomenon occurs, so that the driving safety can be seriously influenced. Therefore, the whole vehicle controller can judge whether the vehicle is or is about to have a low adhesion phenomenon or not through the rotating speed and the rotating speed change rate of the driving motor according to a short preset period so as to ensure the response speed of the lift-off operation, timely execute the lift-off operation on the vehicle and ensure the driving safety of the vehicle and a user to the greatest extent.
In some embodiments, the method further comprises:
and in response to the rotational speed of the drive motor exceeding the rotational speed threshold, determining that the vehicle is in the low attachment condition, and adjusting the current requested torque to disengage the vehicle from the low attachment condition.
Specifically, if the current rotation speed of the driving motor exceeds the calculated rotation speed threshold value, the phenomenon of low adhesion of the vehicle is indicated, the current rotation speed exceeds the normal rotation speed range, the friction force of the wheel adhesion surface is reduced, and the rotation speed of the motor is abnormal. At this time, the operation of getting rid of the trapping of the wheels should be immediately adopted, the current request torque is adjusted, and the torque is transferred to the wheels where the low attaching working condition does not appear, so as to realize the getting rid of the trapping of the vehicle, avoid the serious influence on the running of the vehicle and ensure the running safety of the vehicle.
In some embodiments, the drive motors include a front axle drive motor and a rear axle drive motor;
and in response to the rotational speed of the drive motor exceeding the rotational speed threshold, determining that the vehicle is in a low adhesion condition, adjusting the current requested torque, including:
and in response to the rotational speed of the front axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring the current requested torque of the front axle drive motor to the rear axle drive motor, and setting the current requested torque of the front axle drive motor to zero.
Specifically, the drive system of the electric four-wheel drive vehicle includes a front axle drive motor for driving the front wheels and a rear axle drive motor for driving the rear wheels. When the rotating speed of the driving motor is acquired, the rotating speed of the front shaft driving motor and the rotating speed of the rear shaft driving motor are acquired simultaneously, and a rotating speed threshold corresponding to the front shaft driving motor and a rotating speed threshold corresponding to the rear shaft driving motor are calculated and determined according to the current vehicle speed. If the rotating speed of the front axle driving motor exceeds the corresponding rotating speed threshold value, the front wheels of the vehicle are in a low attachment working condition, the rotating speed of the front wheels is abnormal, the current request torque of the front axle driving motor is transferred to the rear axle driving motor to increase the driving torque output by the rear axle driving motor, the current request torque of the front axle driving motor is set to be zero, and the vehicle is driven to get rid of poverty through the rear wheels.
If the front wheels do not have a low adhesion phenomenon and the rear wheels have a low adhesion phenomenon, the following operations are performed:
and in response to the rotational speed of the rear axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring the current requested torque of the rear axle drive motor to the front axle drive motor, and setting the current requested torque of the rear axle drive motor to zero.
Specifically, if the motor speed of the rear axle driving motor exceeds the corresponding speed threshold, it indicates that the rear wheels of the vehicle are in a low attachment condition, and the rear wheel speed is abnormal, in order to help the rear wheels get rid of poverty, the current request torque of the rear axle driving motor is transferred to the front axle driving motor so as to increase the driving torque output by the front axle driving motor, and the current request torque of the rear axle driving motor is set to zero, and the vehicle is driven to get rid of poverty through the front wheels.
The vehicle control method provided by the embodiment can position the wheels with low adhesion phenomena in time, and further can rapidly execute corresponding escaping operation. If the front wheels have a low adhesion phenomenon, the current request torque is transferred to the rear axle driving motor, the driving force of the rear axle driving motor is increased, and the front wheels are helped to get rid of the fatigue. If the rear wheels have a low adhesion phenomenon, the current request torque is transferred to the front axle driving motor, the driving force of the front axle driving motor is increased, and the front wheels are helped to get rid of the fatigue. And the response speed of the vehicle getting rid of the trapping operation is improved, so that the vehicle is timely separated from the low-adhesion working condition, the normal running of the vehicle is prevented from being influenced, and the driving safety is improved.
In some embodiments, the obtaining the current vehicle speed of the vehicle includes:
Acquiring a first vehicle speed, a second vehicle speed and a third vehicle speed, wherein the first vehicle speed is determined according to vehicle information, the second vehicle speed is determined according to satellite data, and the third vehicle speed is determined according to general packet radio service data;
and taking the first vehicle speed, the second vehicle speed or the third vehicle speed as the current vehicle speed according to the corresponding zone bit and the preset priority sequence of each vehicle speed.
Specifically, the first vehicle speed is determined according to the average wheel speed of the vehicle, the second vehicle speed is determined according to satellite data, and the second vehicle speed can be directly acquired through a cloud platform or a third party platform related to the satellite data. The third vehicle speed is determined according to general packet radio service GPRS (General Packet Radio Service) and may be obtained through a cloud platform or a third party platform associated with GPRS. And determining and selecting one of the priority orders and the corresponding zone bits of each vehicle speed as the current vehicle speed according to the preset priority orders. The priority order determines the priority selection principle of the vehicle speed, the flag bit characterizes the effectiveness of sending communication signals of the vehicle speeds, the flag bit is 1 to indicate good communication signals, and the flag bit is 0 to indicate bad communication signals. Based on the first speed, the second speed and the third speed, the most suitable and the most accurate current speed under the current condition can be selected through the priority order, and an accurate data judgment basis is provided for judging whether the low adhesion phenomenon occurs in the vehicle or not.
In some embodiments, the taking the first vehicle speed, the second vehicle speed or the third vehicle speed as the current vehicle speed according to the flag bit and the preset priority order corresponding to each vehicle speed includes:
responding to the flag bit corresponding to the first vehicle speed as a valid flag bit, and taking the first vehicle speed as the current vehicle speed;
responding to the condition that the zone bit corresponding to the first vehicle speed is an invalid zone bit and the zone bit corresponding to the second vehicle speed is a valid zone bit, and taking the second vehicle speed as the current vehicle speed;
and responding to the condition that the zone bit corresponding to the second vehicle speed is an invalid zone bit and the zone bit corresponding to the third vehicle speed is a valid zone bit, and taking the third vehicle speed as the current vehicle speed.
Specifically, the priority order in the present embodiment is to use the first vehicle speed preferentially, use the second vehicle speed preferentially when the first vehicle speed cannot be acquired or the first vehicle speed may be inaccurate, and use the third vehicle speed when the second vehicle speed cannot be acquired or the second vehicle speed may be inaccurate. In general, the first vehicle speed calculated by the vehicle information is high in accuracy, satellite communication and GPRS may have a dead zone of signals, and the accuracy of the second vehicle speed and the third vehicle speed is lower than the first vehicle speed, so that the first vehicle speed is preferentially used. When the first vehicle speed cannot be acquired, the second vehicle speed or the third vehicle speed is sequentially selected to ensure that the current vehicle speed can be acquired in time so as to judge whether the low adhesion phenomenon occurs to the vehicle.
It should be noted that, the method of the embodiments of the present application may be performed by a single device, for example, a computer or a server. The method of the embodiment can also be applied to a distributed scene, and is completed by mutually matching a plurality of devices. In the case of such a distributed scenario, one of the devices may perform only one or more steps of the methods of embodiments of the present application, and the devices may interact with each other to complete the methods.
It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments described above and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Based on the same inventive concept, the application also provides a vehicle control device corresponding to the method of any embodiment.
Referring to fig. 3, the vehicle control apparatus includes:
an acquisition module 302 configured to acquire a rotation speed of a vehicle drive motor and a current requested torque;
performing a first operation on the vehicle as follows:
a determining module 304 configured to determine a motor rotational speed change rate according to the rotational speed of the driving motor, and determine a corresponding preset rotational speed change rate threshold according to the current requested torque;
an adjustment module 306 is configured to adjust the current requested torque to disengage the vehicle from the low attachment condition in response to the motor speed change rate exceeding the preset speed change rate threshold.
In some embodiments, the drive motors include a front axle drive motor and a rear axle drive motor; the adjustment module 306 is further configured to determine that the vehicle is in a low attachment condition, transfer a current requested torque of the front axle drive motor to the rear axle drive motor, and set the current requested torque of the front axle drive motor to zero in response to a motor speed change rate of the front axle drive motor exceeding a corresponding preset speed change rate threshold; or,
and in response to the motor speed change rate of the rear axle drive motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring the current request torque of the rear axle drive motor to the front axle drive motor, and setting the current request torque of the rear axle drive motor to zero.
In some embodiments, prior to performing the first operation on the vehicle, a determination execution module is included, the determination execution module configured to obtain a current vehicle speed of the vehicle; determining a corresponding preset wheel speed threshold according to the current vehicle speed; determining a rotation speed threshold based on the current vehicle speed, the preset wheel speed threshold and a preset transmission ratio; the first operation is performed on the vehicle in response to the rotational speed of the drive motor not exceeding the rotational speed threshold.
In some embodiments, the determination execution module is further configured to determine that the vehicle is in the low-adhesion condition in response to a rotational speed of the drive motor exceeding the rotational speed threshold, and adjust the current requested torque to disengage the vehicle from the low-adhesion condition.
In some embodiments, the drive motors include a front axle drive motor and a rear axle drive motor;
the judging and executing module is further configured to determine that the vehicle is in a low attachment working condition in response to the rotation speed of the front axle driving motor exceeding a corresponding rotation speed threshold, transfer the current request torque of the front axle driving motor to the rear axle driving motor, and set the current request torque of the front axle driving motor to zero; or,
And in response to the rotational speed of the rear axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring the current requested torque of the rear axle drive motor to the front axle drive motor, and setting the current requested torque of the rear axle drive motor to zero.
In some embodiments, the judgment execution module is further configured to obtain a first vehicle speed, a second vehicle speed and a third vehicle speed, wherein the first vehicle speed is determined according to vehicle information, the second vehicle speed is determined according to satellite data, and the third vehicle speed is determined according to general packet radio service data;
and taking the first vehicle speed, the second vehicle speed or the third vehicle speed as the current vehicle speed according to the corresponding zone bit and the preset priority sequence of each vehicle speed.
In some embodiments, the judgment execution module is further configured to respond to the flag bit corresponding to the first vehicle speed as a valid flag bit, and take the first vehicle speed as the current vehicle speed;
responding to the condition that the zone bit corresponding to the first vehicle speed is an invalid zone bit and the zone bit corresponding to the second vehicle speed is a valid zone bit, and taking the second vehicle speed as the current vehicle speed;
And responding to the condition that the zone bit corresponding to the second vehicle speed is an invalid zone bit and the zone bit corresponding to the third vehicle speed is a valid zone bit, and taking the third vehicle speed as the current vehicle speed.
For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, the functions of each module may be implemented in the same piece or pieces of software and/or hardware when implementing the present application.
The device of the foregoing embodiment is configured to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, the application also provides an electronic device corresponding to the method of any embodiment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor implements the method of any embodiment when executing the program.
Fig. 4 shows a more specific hardware architecture of an electronic device according to this embodiment, where the device may include: a processor 1010, a memory 1020, an input/output interface 1030, a communication interface 1040, and a bus 1050. Wherein processor 1010, memory 1020, input/output interface 1030, and communication interface 1040 implement communication connections therebetween within the device via a bus 1050.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit ), microprocessor, application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing relevant programs to implement the technical solutions provided in the embodiments of the present disclosure.
The Memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory ), static storage device, dynamic storage device, or the like. Memory 1020 may store an operating system and other application programs, and when the embodiments of the present specification are implemented in software or firmware, the associated program code is stored in memory 1020 and executed by processor 1010.
The input/output interface 1030 is used to connect with an input/output module for inputting and outputting information. The input/output module may be configured as a component in a device (not shown) or may be external to the device to provide corresponding functionality. Wherein the input devices may include a keyboard, mouse, touch screen, microphone, various types of sensors, etc., and the output devices may include a display, speaker, vibrator, indicator lights, etc.
Communication interface 1040 is used to connect communication modules (not shown) to enable communication interactions of the present device with other devices. The communication module may implement communication through a wired manner (such as USB, network cable, etc.), or may implement communication through a wireless manner (such as mobile network, WIFI, bluetooth, etc.).
Bus 1050 includes a path for transferring information between components of the device (e.g., processor 1010, memory 1020, input/output interface 1030, and communication interface 1040).
It should be noted that although the above-described device only shows processor 1010, memory 1020, input/output interface 1030, communication interface 1040, and bus 1050, in an implementation, the device may include other components necessary to achieve proper operation. Furthermore, it will be understood by those skilled in the art that the above-described apparatus may include only the components necessary to implement the embodiments of the present description, and not all the components shown in the drawings.
The electronic device of the foregoing embodiment is configured to implement the corresponding vehicle control method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiment, which is not described herein.
Based on the same inventive concept, corresponding to any of the above-described embodiment methods, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to perform the vehicle control method according to any of the above-described embodiments.
The computer readable media of the present embodiments, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device.
The storage medium of the above embodiment stores computer instructions for causing the computer to execute the vehicle control method according to any one of the above embodiments, and has the advantages of the corresponding method embodiments, which are not described herein.
Those of ordinary skill in the art will appreciate that: the discussion of any of the embodiments above is merely exemplary and is not intended to suggest that the scope of the application (including the claims) is limited to these examples; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the present application, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of brevity.
Additionally, well-known power/ground connections to Integrated Circuit (IC) chips and other components may or may not be shown within the provided figures, in order to simplify the illustration and discussion, and so as not to obscure the embodiments of the present application. Furthermore, the devices may be shown in block diagram form in order to avoid obscuring the embodiments of the present application, and this also takes into account the fact that specifics with respect to implementation of such block diagram devices are highly dependent upon the platform on which the embodiments of the present application are to be implemented (i.e., such specifics should be well within purview of one skilled in the art). Where specific details (e.g., circuits) are set forth in order to describe example embodiments of the application, it should be apparent to one skilled in the art that embodiments of the application can be practiced without, or with variation of, these specific details. Accordingly, the description is to be regarded as illustrative in nature and not as restrictive.
While the present application has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of those embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.
The present embodiments are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Accordingly, any omissions, modifications, equivalents, improvements and/or the like which are within the spirit and principles of the embodiments are intended to be included within the scope of the present application.

Claims (10)

1. A vehicle control method characterized by comprising:
acquiring the rotating speed and the current request torque of a vehicle driving motor;
performing a first operation on the vehicle as follows:
determining a motor rotation speed change rate according to the rotation speed of the driving motor, and determining a corresponding preset rotation speed change rate threshold according to the current request torque;
and responding to the motor rotating speed change rate exceeding the preset rotating speed change rate threshold, determining that the vehicle is in a low attachment working condition, and adjusting the current request torque so as to enable the vehicle to be separated from the low attachment working condition.
2. The method of claim 1, wherein the drive motor comprises a front axle drive motor and a rear axle drive motor; the determining that the vehicle is in a low attachment condition in response to the motor speed change rate exceeding the preset speed change rate threshold, the adjusting the current requested torque includes:
in response to the motor speed change rate of the front axle drive motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring a current request torque of the front axle drive motor to the rear axle drive motor, and setting the current request torque of the front axle drive motor to zero; or,
and in response to the motor speed change rate of the rear axle drive motor exceeding a corresponding preset speed change rate threshold, determining that the vehicle is in a low attachment condition, transferring the current request torque of the rear axle drive motor to the front axle drive motor, and setting the current request torque of the rear axle drive motor to zero.
3. The method of claim 1, comprising, prior to performing the first operation on the vehicle:
acquiring the current speed of the vehicle;
Determining a corresponding preset wheel speed threshold according to the current vehicle speed;
determining a rotation speed threshold based on the current vehicle speed, the preset wheel speed threshold and a preset transmission ratio;
the first operation is performed on the vehicle in response to the rotational speed of the drive motor not exceeding the rotational speed threshold.
4. A method according to claim 3, characterized in that the method further comprises:
and in response to the rotational speed of the drive motor exceeding the rotational speed threshold, determining that the vehicle is in the low attachment condition, and adjusting the current requested torque to disengage the vehicle from the low attachment condition.
5. The method of claim 4, wherein the drive motor comprises a front axle drive motor and a rear axle drive motor;
and in response to the rotational speed of the drive motor exceeding the rotational speed threshold, determining that the vehicle is in a low adhesion condition, adjusting the current requested torque, including:
in response to the rotational speed of the front axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring a current requested torque of the front axle drive motor to the rear axle drive motor, and setting the current requested torque of the front axle drive motor to zero; or,
And in response to the rotational speed of the rear axle drive motor exceeding a corresponding rotational speed threshold, determining that the vehicle is in a low attachment condition, transferring the current requested torque of the rear axle drive motor to the front axle drive motor, and setting the current requested torque of the rear axle drive motor to zero.
6. A method according to claim 3, wherein said obtaining the current speed of the vehicle comprises:
acquiring a first vehicle speed, a second vehicle speed and a third vehicle speed, wherein the first vehicle speed is determined according to vehicle information, the second vehicle speed is determined according to satellite data, and the third vehicle speed is determined according to general packet radio service data;
and taking the first vehicle speed, the second vehicle speed or the third vehicle speed as the current vehicle speed according to the corresponding zone bit and the preset priority sequence of each vehicle speed.
7. The method according to claim 6, wherein the taking the first vehicle speed, the second vehicle speed, or the third vehicle speed as the current vehicle speed according to the flag bit and the preset priority order corresponding to each vehicle speed comprises:
responding to the flag bit corresponding to the first vehicle speed as a valid flag bit, and taking the first vehicle speed as the current vehicle speed;
Responding to the condition that the zone bit corresponding to the first vehicle speed is an invalid zone bit and the zone bit corresponding to the second vehicle speed is a valid zone bit, and taking the second vehicle speed as the current vehicle speed;
and responding to the condition that the zone bit corresponding to the second vehicle speed is an invalid zone bit and the zone bit corresponding to the third vehicle speed is a valid zone bit, and taking the third vehicle speed as the current vehicle speed.
8. A vehicle control apparatus characterized by comprising:
an acquisition module configured to acquire a rotation speed of a vehicle drive motor and a current request torque;
performing a first operation on the vehicle as follows:
the determining module is configured to determine a motor rotation speed change rate according to the rotation speed of the driving motor and determine a corresponding preset rotation speed change rate threshold according to the current request torque;
and the adjusting module is configured to respond to the fact that the motor rotating speed change rate exceeds the preset rotating speed change rate threshold value, determine that the vehicle is in a low attachment working condition, and adjust the current request torque so as to enable the vehicle to be separated from the low attachment working condition.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the program is executed by the processor.
10. A vehicle comprising the electronic device of claim 9.
CN202311205176.6A 2023-09-18 2023-09-18 Vehicle control method and device, electronic equipment and vehicle Pending CN117246144A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311205176.6A CN117246144A (en) 2023-09-18 2023-09-18 Vehicle control method and device, electronic equipment and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311205176.6A CN117246144A (en) 2023-09-18 2023-09-18 Vehicle control method and device, electronic equipment and vehicle

Publications (1)

Publication Number Publication Date
CN117246144A true CN117246144A (en) 2023-12-19

Family

ID=89134269

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311205176.6A Pending CN117246144A (en) 2023-09-18 2023-09-18 Vehicle control method and device, electronic equipment and vehicle

Country Status (1)

Country Link
CN (1) CN117246144A (en)

Similar Documents

Publication Publication Date Title
WO2023284787A1 (en) Crawling control method and apparatus, vehicle, and storage medium
CN107161271B (en) Moped Scooter based on acceleration detection brakes anti-skidding method
CN108215936A (en) A kind of drive control method and apparatus of pure electric vehicle
CN113734171B (en) Anti-slip control method and device based on whole vehicle controller and electronic equipment
CN110271555B (en) Whole vehicle weight determining method, device, equipment and storage medium
CN113561993A (en) Vehicle speed planning method and device and electronic equipment
CN110962840B (en) Vehicle driving antiskid control method and related equipment
CN113479208B (en) Automobile starting control method, device, equipment and storage medium
CN114834408B (en) Automobile braking method and system
CN112477830A (en) Automatic vehicle control method for railway vehicle and terminal equipment
CN106809055B (en) Motor output torque control method and device
CN109808698B (en) Speed calculation method and device and vehicle-mounted equipment
WO2024055671A1 (en) Vehicle control unit, motor control unit, and related device
CN117246144A (en) Vehicle control method and device, electronic equipment and vehicle
CN117227506A (en) Driving control method and device, electronic equipment and vehicle
CN114987442A (en) Vehicle control method, vehicle control device, vehicle, and storage medium
CN113815621A (en) Gradient calculation method and device, vehicle and computer-readable storage medium
CN115571131A (en) Anti-slip method and device for vehicle and vehicle
CN114148327B (en) Vehicle anti-skid method and device and electronic equipment
Zhang et al. Distributed drive electric vehicle longitudinal velocity estimation with adaptive kalman filter: Theory and experiment
JP2022007678A (en) Vehicle weight estimation device and vehicle
CN107757585B (en) Electronic control system for dynamic balance of automobile braking force and control method thereof
US20230415715A1 (en) Methods and apparatus to reduce end of stop jerk
CN115973112B (en) Anti-lock control method and device for four-wheel scooter
CN103592136A (en) Method and system for determining sedan braking force coefficient and sliding ratio curve

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination