The embodiment of the invention provides a vehicle anti-slip control method which is applied to a vehicle control unit and comprises the following steps: calculating the slip amount of a driving shaft based on the reference vehicle speed of a vehicle, a first rotating speed of a left side driving wheel connected with the driving shaft and a second rotating speed of a right side driving wheel connected with the driving shaft; according to the slippage amount and a preset slippage amount reference value of the driving shaft, the slippage amount difference of the driving shaft is calculated; pID control is carried out on the slip amount difference, and a first anti-slip correction coefficient of the driving shaft is obtained; calculating the acceleration of the driving shaft based on the first rotating speed and the second rotating speed; calculating a second anti-slip correction coefficient of the driving shaft according to the acceleration and a preset acceleration reference value of the driving shaft; and determining the actual driving torque of the driving shaft based on the driver request torque of the driving shaft, the first anti-slip correction coefficient and the second anti-slip correction coefficient.
本说明书实施例提供一种车辆防打滑控制方法,应用于整车控制器,包括:基于所述车辆的参考车速、与所述驱动轴相连的左侧驱动轮的第一转速,以及与所述驱动轴相连的右侧驱动轮的第二转速,计算所述驱动轴的滑移量;根据所述滑移量和预设的所述驱动轴的滑移量参考值,计算所述驱动轴的滑移量差;并针对所述滑移量差进行PID控制,得到所述驱动轴的第一防打滑修正系数;基于所述第一转速和第二转速,计算所述驱动轴的加速度;并根据所述加速度和预设的所述驱动轴的加速度参考值,计算所述驱动轴的第二防打滑修正系数;基于所述驱动轴的驾驶员请求扭矩、所述第一防打滑修正系数和所述第二防打滑修正系数,确定所述驱动轴的实际驱动扭矩。
Vehicle anti-slip control method and device, electronic equipment and storage medium
一种车辆防打滑控制方法、装置、电子设备及存储介质
2022-11-25
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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