The invention relates to a deceleration anti-skid control method, device, medium and equipment and a vehicle in the technical field of vehicles. According to the deceleration anti-skid control method, the current road condition of the vehicle is recognized, and a corresponding torque recovery control strategy is executed according to the road condition recognition result; the recovery rates of the electric feedback torque in the torque recovery control strategies corresponding to different road condition recognition results are different, if the road condition recognition result is that the road adhesion coefficient is increased, the vehicle enters the high-adhesion road surface from the low-adhesion road surface, that is, the vehicle drives out of the low-adhesion road surface, and the vehicle is driven out of the high-adhesion road surface. The electric feedback torque in the corresponding torque recovery control strategy is recovered to the driver target demand torque at a relatively high recovery rate; if the road condition recognition result shows that the road adhesion coefficient is not increased, the vehicle still runs on the low-adhesion road surface, and the electric feedback torque in the corresponding torque recovery control strategy is recovered to the target required torque of the driver at a relatively low recovery rate; therefore, the stability of the vehicle on the low-adhesion road surface and the deceleration performance after the vehicle enters the high-adhesion road surface from the low-adhesion road surface are both considered.
本公开涉及车辆技术领域的减速防滑控制方法、装置、介质、设备及车辆,该减速防滑控制方法通过对车辆当前路况进行识别,根据路况识别结果执行对应的扭矩恢复控制策略,不同路况识别结果对应的扭矩恢复控制策略中电回馈扭矩的恢复速率不同,若路况识别结果为路面附着系数增大,则表明车辆由低附路面进入高附路面,即车辆从低附路面驶出,对应的的扭矩恢复控制策略中电回馈扭矩以较大恢复速率恢复至驾驶员目标需求扭矩;若路况识别结果为路面附着系数未增大,则表明车辆仍在低附路面行驶,对应的的扭矩恢复控制策略中电回馈扭矩以较小恢复速率恢复至驾驶员目标需求扭矩,如此兼顾了车辆在低附路面的稳定性和由低附路面进入高附路面后的减速性能。
Deceleration antiskid control method and device, medium, equipment and vehicle
减速防滑控制方法、装置、介质、设备及车辆
2024-09-03
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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