The invention relates to the field of new energy vehicles, in particular to a vehicle anti-slip control method and device and a vehicle. Comprising the following steps that when a vehicle is in a slope parking state, if the vehicle meets torque compensation conditions, basic torque and rolling resistance weighted torque are added to obtain motor target compensation torque, and torque adjustment control is carried out; the updating mode of the rolling resistance weighted torque comprises the steps that an initial value of the rolling resistance weighted torque is set and stored, torque control is obtained and switched into rotating speed control motor torque Tg1, when the rotating speed of the motor is kept to be zero, time difference tdiff is calculated, the current motor torque Tg2 is obtained, when the time difference is larger than a preset time difference tdiff1, the rolling resistance weighted torque is (tdiff-tdiff1)/tdiff1 * (Tg2-Tg1), and when the time difference is larger than the preset time difference tdiff1, the current motor torque Tg2 is obtained. If the absolute value of the difference value between the calculated rolling resistance weighted torque and the stored rolling resistance weighted torque is larger than or equal to a rolling resistance weighted torque difference value preset threshold value, updating is carried out, and otherwise, updating is not carried out; if the current vehicle meets the rotating speed control condition, rotating speed control is conducted, and the motor is controlled to be zero in rotating speed. The vehicle is prevented from sliding backwards and the safety of the vehicle is guaranteed.

    本发明涉及新能源汽车领域,具体为一种车辆防溜坡控制方法、装置及车辆。包括如下步骤:车辆处于驻坡状态时,若车辆满足扭矩补偿条件,将基础扭矩和滚阻加权扭矩相加得到电机目标补偿扭矩,进行扭矩调节控制;滚阻加权扭矩的更新方式为:设定滚阻加权扭矩初始值并存储,获取扭矩控制切换为转速控电机扭矩T_g1,在电机转速保持为零时,计算时间差t_diff,并得到当前电机扭矩T_g2,当时间差大于预设时间差t_diff1,滚阻加权扭矩为:(t_diff‑t_diff1)/t_diff1*(T_g2‑T_g1),若计算得到的滚阻加权扭矩与存储的滚阻加权扭矩的差值绝对值大于等于滚阻加权扭矩差值预设阈值,则更新,反之,不更新;若当前车辆满足转速控制条件,进行转速控制,控制电机零转速。避免车辆后溜,保障车辆的安全。


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    Title :

    Control method and device for preventing vehicle from sliding on slope and vehicle


    Additional title:

    一种车辆防溜坡控制方法、装置及车辆


    Contributors:
    ZHANG QIANG (author) / GUO JINSHAN (author) / SHENG MINGLEI (author) / WANG FUSHENG (author) / WANG DOUDOU (author) / WANG JIANAN (author)

    Publication date :

    2023-06-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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