阅读说明：本技术 控制方法、控制模块、车辆执行系统和车辆 (Control method, control module, vehicle execution system and vehicle ) 是由 邱亚东 于 2020-05-27 设计创作，主要内容包括：本发明提供了一种控制方法、控制模块、车辆执行系统、车辆、存储介质和计算机设备,其中,控制方法用于车辆的目标滑移率,其中,控制方法包括如下步骤：S101：获取车辆的轮胎公差补偿的目标滑移率以及车辆的ESP控制的目标滑移率,S102：在所述ESP被触发的情况下,S103：判断轮胎公差补偿的目标滑移率是否大于ESP控制的目标滑移率,如否,则执行S105：选取ESP控制的和轮胎公差补偿的目标滑移率之中较大的目标滑移率作为车辆的目标滑移率；如是,则执行S104：降低轮胎公差补偿的目标滑移率,使得轮胎公差补偿的目标滑移率低于ESP控制的目标滑移率,并且执行S105：选取ESP控制的和轮胎公差补偿的目标滑移率之中较大的目标滑移率作为车辆的目标滑移率。(The invention provides a control method, a control module, a vehicle execution system, a vehicle, a storage medium and a computer device, wherein the control method is used for the target slip ratio of the vehicle, and the control method comprises the following steps: s101: acquiring a target slip ratio of tire tolerance compensation of the vehicle and a target slip ratio of ESP control of the vehicle, S102: in case the ESP is triggered, S103: judging whether the target slip rate of the tire tolerance compensation is larger than the target slip rate of the ESP control, if not, executing S105: selecting a larger target slip rate from ESP-controlled and tire tolerance-compensated target slip rates as a target slip rate of the vehicle; if yes, executing S104: reducing the target slip rate of the tire tolerance compensation so that the target slip rate of the tire tolerance compensation is lower than that of the ESP control, and performing S105: the larger of the ESP controlled and tire tolerance compensated target slip rates is selected as the target slip rate for the vehicle.)

1. A control method for a target slip ratio of a vehicle, characterized by comprising the steps of:

s101: obtaining a target slip rate for tire tolerance compensation of the vehicle and a target slip rate for ESP control of the vehicle,

s102: in the case where the ESP is triggered,

s103: judging whether the target slip ratio of the tire tolerance compensation is larger than the target slip ratio of the ESP control, if not (203), executing S105: selecting a larger target slip rate from ESP-controlled and tire tolerance-compensated target slip rates as the target slip rate of the vehicle; if yes (202), executing S104: reducing the target slip rate of the tire tolerance compensation so that the target slip rate of the tire tolerance compensation is lower than that of the ESP control, and performing S105: selecting the larger target slip ratio of the ESP controlled and tire tolerance compensated target slip ratios as the target slip ratio of the vehicle.

2. The control method according to claim 1, wherein step S101 further comprises obtaining a current driving mode of the vehicle and a current vehicle speed of the vehicle, and step S103 further comprises determining whether the driving mode is switched to an off-road mode, if so, determining whether the current vehicle speed is less than a vehicle speed threshold, and if so, successively executing S104 and S105; if not, S105 is executed.

3. The control method according to claim 2, characterized in that the vehicle speed threshold is 20kph-40 kph.

4. A control module (1) for a target slip ratio of a vehicle, the control module (1) is configured to execute the control method according to any one of claims 1 to 3, wherein the control module (1) is provided with a receiving module (11), a judging module (12) and an output module (13) which are connected with each other in a communication way, the receiving module (11) obtains a target slip rate of a tire tolerance compensation of the vehicle and a target slip rate of an ESP control of the vehicle, the judging module (12) judges whether the ESP is triggered, if so, it is determined whether the target slip rate of the tire tolerance compensation is greater than the target slip rate of the ESP control, and if not, the output module (13) selects the larger of the ESP controlled and tire tolerance compensated target slip rates as the target slip rate of the vehicle; if so, the output module (13) reduces the target slip rate of the tire tolerance compensation so that the target slip rate of the tire tolerance compensation is lower than that of the ESP control, and selects the larger one of the ESP control and the tire tolerance compensation as the target slip rate of the vehicle.

5. The control module (1) according to claim 4, characterized in that the control module (1) is integrated in an ESP of a vehicle.

6. A vehicle execution system, characterized in that it has a control module (1) according to claim 4 or 5 and a central control of the vehicle, wherein the control module (1) and the central control are connected by a bus.

7. A vehicle, characterized in that the vehicle comprises a vehicle actuation system according to claim 6.

8. The vehicle of claim 7, wherein the vehicle is a four-wheel drive electric vehicle.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a control method according to any one of claims 1-3.

10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the control method according to any one of claims 1-3 when executing the computer program.

Technical Field

The invention relates to a control method for a target slip ratio of a vehicle, a control module for a target slip ratio of a vehicle, a vehicle execution system, a vehicle, a computer readable storage medium and a computer device, in particular the invention comprises a performance optimization of the influence of a tire tolerance compensation logic on the vehicle travel.

Background

The vehicle has a tire compensated target slip rate and an ESP controlled target slip rate, the tire compensated target slip rate is larger by default when the vehicle is powered on, and a self-learning process of the vehicle is required to continuously approximate the target slip rate required under the real driving condition. However, this process takes time and, in theory, the self-learning process never stops, it only approaches the real situation more and the real situation changes in real time.

This has the potential for incompatibilities between the still inadequate self-learning process and changing real-time operating conditions. For example, in the existing vehicle, it adopts the target slip ratio of the tire tolerance compensation as the target slip ratio of the whole vehicle, however, if the vehicle is damaged due to a certain working condition (such as a curve), the target slip ratio of the tire tolerance compensation still too high may cause damage.

In addition, the certain operating conditions also include an off-road mode of the all terrain system of the all terrain vehicle.

The all-terrain system has a button that can be used to select the off-road status of the all-terrain system and use the parameters of the all-terrain system to obtain better performance on different roads. Especially when driving at low speeds off-road, the ESP control should be activated immediately as soon as a deviation between the left and right wheel speeds occurs due to the target slip ratio of the ESP control.

For tire tolerance compensation, and in particular the micro spare logic, the micro spare logic initializes and requires self-learning each time the vehicle is not powered up, e.g., waits 300 seconds and then powers up again (again on long standing). During self-learning, the system will set a default target slip rate for tire tolerance compensation.

In current systems, the target slip rate is chosen to be the maximum between the target slip rate for ESP control and the target slip rate for tire tolerance compensation. Typically, the target slip rate of the tire tolerance compensation is greater than that of the ESP control, which improves robustness, avoiding unnecessary controller intervention. When the self-learning of the tire tolerance compensation is sufficient, generally speaking, the target slip rate of the tire tolerance compensation is smaller than that of the ESP control, which does not affect the performance of the ESP control.

When the all-terrain system needs to be adjusted at present, engineers who do the system must firstly manually adjust some parameters to automatically complete the tolerance compensation and self-learning of the tire; for non-engineers, the all terrain system must wait until the tire tolerance compensation completes the self-learning before the performance adjustment can begin. It is necessary for the engineer doing this system to modify the parameters to the previous state after the all terrain system adjustment is completed, so as not to affect the self-learning of the tire tolerance compensation.

If the parameters are forgotten to be changed or the tire tolerance compensation has not yet been self-learned, this means that it will get the target slip rate upper limit of the tire tolerance compensation and usually the target slip rate of the tire tolerance compensation is larger than the target slip rate of the ESP control, whereby the performance of the all terrain system is very poor and even the frequency of damaging the drive train for the vehicle is high. In the prior art, a user can experience better performance of an all-terrain system only by telling the user that self-learning is needed for tire tolerance compensation and then waiting for the tire tolerance compensation to complete the self-learning.

Disclosure of Invention

According to a different aspect, the invention aims to avoid the problem of the deterioration of the performance of the whole vehicle and even the damage of the vehicle or its parts due to a higher target slip rate of the tire tolerance compensation in case the tire tolerance compensation has not yet been given a good self-learning result to enter certain driving conditions (e.g. curves, off-road modes of all terrain systems).

Furthermore, the present invention is also directed to solve or alleviate other technical problems of the prior art.

The present invention solves the above-mentioned problems by providing a control method for a target slip ratio of a vehicle, a control module for a target slip ratio of a vehicle, a vehicle execution system, a vehicle, a computer-readable storage medium, and a computer apparatus, and specifically, according to an aspect of the present invention, there are provided:

a control method for a target slip ratio of a vehicle, wherein the control method comprises the steps of:

s101: obtaining a target slip rate for tire tolerance compensation of the vehicle and a target slip rate for ESP control of the vehicle,

s102: in the case where the ESP is triggered,

s103: judging whether the target slip rate of the tire tolerance compensation is larger than the target slip rate of the ESP control, if not, executing S105: selecting a larger target slip rate from ESP-controlled and tire tolerance-compensated target slip rates as the target slip rate of the vehicle; if yes, executing S104: reducing the target slip rate of the tire tolerance compensation so that the target slip rate of the tire tolerance compensation is lower than that of the ESP control, and performing S105: selecting the larger target slip ratio of the ESP controlled and tire tolerance compensated target slip ratios as the target slip ratio of the vehicle.

According to another aspect of the present invention, the present invention provides a control module for a target slip ratio of a vehicle, wherein the control module is configured to execute the control method according to the present invention, wherein the control module has a receiving module, a judging module and an output module, the receiving module is communicatively connected with each other, the receiving module obtains the target slip ratio of the tire tolerance compensation of the vehicle and the target slip ratio of the ESP control of the vehicle, the judging module judges whether the ESP is triggered, if so, judges whether the target slip ratio of the tire tolerance compensation is larger than the target slip ratio of the ESP control, if not, the output module selects the larger target slip ratio of the target slip ratios of the ESP control and the tire tolerance compensation as the target slip ratio of the vehicle; if so, the output module reduces the target slip rate of the tire tolerance compensation so that the target slip rate of the tire tolerance compensation is lower than that of the ESP control, and selects the larger one of the ESP control and the tire tolerance compensation as the target slip rate of the vehicle.

According to another aspect of the invention, the invention provides a vehicle execution system, wherein the vehicle execution system is provided with any one of the control modules and a central control of the vehicle, and the control module is connected with the central control through a bus.

According to yet another aspect of the invention, a vehicle is provided, wherein the vehicle comprises a vehicle actuation system according to the invention.

According to yet another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a control method according to the present invention.

According to a further aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the control method according to the present invention when executing the computer program.

Drawings

The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,

FIG. 1 shows a flow chart of an embodiment of a control method according to the invention;

FIG. 2 shows a schematic diagram of one embodiment of a control module according to the present invention.

Detailed Description

It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and descriptive purposes only and not for purposes of indication or implication as to the relative importance of the respective components.

Referring to fig. 1, a flow chart of one embodiment of a control method according to the present invention is shown.

The control method is used for a target slip ratio of a vehicle, wherein the control method comprises the following steps:

s101: a target slip rate for tire tolerance compensation of the vehicle and a target slip rate for ESP control of the vehicle are obtained (e.g. from a body electronics stability system),

s102: in the case where the ESP is triggered,

s103: judging whether the target slip ratio of the tire tolerance compensation is larger than the target slip ratio of the ESP control, if not 203, executing S105: selecting a larger target slip rate from ESP-controlled and tire tolerance-compensated target slip rates as the target slip rate of the vehicle; if 202, executing S104: reducing the target slip rate of the tire tolerance compensation so that the target slip rate of the tire tolerance compensation is lower than that of the ESP control, and performing S105: selecting the larger target slip ratio of the ESP controlled and tire tolerance compensated target slip ratios as the target slip ratio of the vehicle.

It should be understood that ESP is an Electronic Stability Program, referred to as a body Electronic Stability system, and is a generic term for a system or process that is intended to effectively prevent a vehicle from going out of control when it reaches its dynamic limits while improving the handling performance of the vehicle. The electronic stabilization program can improve the safety and the controllability of the vehicle. The System helps the vehicle maintain dynamic balance by analyzing the vehicle running state information transmitted from each sensor and then sending a deviation rectifying instruction to an ABS (anti-lock Brake System) and an ASR (Acceleration Slip Regulation) System. ESP can maintain optimal vehicle stability under various conditions, with more pronounced effects in over-steer or under-steer situations.

Further, the target slip ratio of the ESP control includes a target slip ratio of the brake torque control and a target slip ratio of the drive torque control, and thus, the target slip ratio of the ESP control mentioned herein may refer to both or one of them according to actual circumstances.

The triggering of an ESP or the intervention of an ESP during the driving of a vehicle is often intended to prevent or suppress the skidding/skidding of the vehicle in order to prevent the tires of the vehicle from losing grip on the ground. The triggering situations of the ESP include, for example, a sharp turn at high speed, a sharp steering wheel at low speed, an imbalance in road adhesion of left and right tires (particularly in the presence of water on the road surface), and when the all-terrain vehicle enters an off-road mode and the vehicle speed is low.

Therefore, by the design scheme of the invention, the target slip rate of the vehicle is set as the target slip rate of the ESP control under the condition that the vehicle is subjected to the running working condition, namely, the ESP is adopted to take over or assist the control of the vehicle, and the potential hidden danger of damaging the vehicle under the condition that the self-learning process/initialization process of the vehicle is insufficient is eliminated.

In particular, the control method is for a target slip ratio for an all terrain system of an all terrain vehicle, it being understood that an all terrain vehicle or all terrain off-road vehicle is equipped with an all terrain system, tire tolerance compensation, and ESP control. All terrain systems can include, among other things, normal mode (i.e., mode of travel over the terrain in which the vehicle is typically located, including highways, hills, and generally default mode) and off-road mode.

The off-road mode should be widely understood, and the road conditions involved include bumpy roads, roads with more obstacles that can be crossed, and the like, including, for example, grass gravel snow mode, mud and rut mode, sand mode, rock mode, and the like, and these modes are not completely unrelated, but can have an overlapping or even replacing relationship with each other according to the definition of the vehicle model or manufacturer; the reason for tire tolerance compensation is that wheel speed is different from other wheel speed due to tire wear, air pressure variation, replacement of spare tire, etc., and the wheel speed of the tire needs to be compensated, and the tire is self-learned/self-trained after each power-on (start-up) of the vehicle, that is, an initialization process is performed, usually showing that the target slip rate changes from high to low, and the setting of the tire tolerance compensation affects the all-terrain system, and particularly, in the case that the tire tolerance compensation is not sufficiently self-learned, the performance of the all-terrain system in a non-normal mode (e.g., in an off-road mode) is poor, and even parts (e.g., a transmission and a gearbox) of the vehicle are damaged; ESP control is to control the driving or braking torque of the driving wheels, including torque control according to the wheel speed difference between the driving wheels at two sides, so as to reduce the wheel speed of the driving wheels and reduce the target vehicle speed; the slip ratio is a ratio of a slip component of a tire in a relative motion with respect to the ground when the tire receives a traction force or a braking force.

Thus, for the all-terrain vehicle, step S101 further includes obtaining a driving mode in which the vehicle is currently located and a current vehicle speed of the vehicle, and step S103 further includes determining whether the driving mode is switched to an off-road mode, if so, determining whether the current vehicle speed is less than a vehicle speed threshold (e.g., 20kph-40 kph), and if so, successively executing S104 and S105; if not, S105 is executed. Therefore, the technical scheme of the invention can be well applied to all-terrain vehicles and can also realize the technical effects.

The main reasons for considering the current vehicle speed of the vehicle include: the main working condition of the all-terrain is at medium and low speed, and the medium and low speed has high requirements on slip rate control; it is also possible that while in all terrain mode, the driver drives the vehicle to a high speed, at which time it is necessary to return to the normal state of tire tolerance compensation. Of course, other criteria can optionally be added in addition to the mode of the all terrain system and the vehicle speed.

It should be understood that there is no absolute sequence relationship between the steps mentioned herein, and the numerical size corresponding to the steps does not represent the sequence of the steps, but is merely for ease of reference. Unless otherwise apparent from the context of conflict or obvious terms indicating sequences, those skilled in the art will be able to modify the order of execution of the above-described steps or even the objects (including numerical values) without departing from the technical concept of the present invention.

The traversal frequency of the control method can also be set according to specific situations. For example, the vehicle performs the acquiring and determining steps of the present solution in real time and continuously, and completes the corresponding performing steps.

Referring to fig. 2, a schematic diagram of one embodiment of the control module 1 according to the present invention is shown.

It should be understood that, since the specific shape and connection of the various components are not the subject of the present invention, all of these components are schematically shown in the form of structural modules for the sake of clarity and conciseness, and that the appropriate module shapes, connection modes, etc. may be selected by those skilled in the art in light of the simplified structural diagrams. In addition, the structural diagram is given as an embodiment of the invention, and those skilled in the art can make various modifications without departing from the spirit of the invention after referring to the diagram, and the modifications are also within the scope of the invention.

The control method can also be executed by a control module 1, the control module 1 is used for a target slip ratio of a vehicle, wherein the control module 1 is used for executing the control method according to the invention, the control module 1 is provided with a receiving module 11, a judging module 12 and an output module 13 which are in communication connection with each other, the receiving module 11 is used for acquiring the target slip ratio of the tire tolerance compensation of the vehicle and the target slip ratio of the ESP control of the vehicle, the judging module 12 is used for judging whether the ESP is triggered, if so, judging whether the target slip ratio of the tire tolerance compensation is larger than the target slip ratio of the ESP control, and if not, the output module 13 selects the larger target slip ratio from the target slip ratios of the ESP control and the tire tolerance compensation as the target slip ratio of the vehicle; if so, the output module 13 reduces the target slip ratio of the tire tolerance compensation so that the target slip ratio of the tire tolerance compensation is lower than that of the ESP control, and selects the larger one of the ESP control and tire tolerance compensation as the target slip ratio of the vehicle.

For the specific implementation and features of the control module 1, please refer to the description of the control method above, which is not described herein again.

Optionally, the control module 1 is integrated into a vehicle body Electronic Stability Program (ESP), or even the control method may be written into the ESP as software or algorithm logic, thereby saving floor space and improving compatibility and adaptability of the control module 1 or the control method. In this case, the output module 13 can output the result to the vehicle body electronic stabilizing system, and the vehicle body electronic stabilizing system completes the actual execution process.

It should be understood that the invention furthermore relates to a vehicle actuating system, wherein the vehicle actuating system has any one of the control modules 1 described above and a central control of the vehicle, wherein the control module 1 is connected to the central control via a bus.

The central Control Unit of the Vehicle may be understood as a main controller of the Vehicle (e.g. VCU for electric vehicles), which collects signals and data of a body controller (e.g. BCM) via a bus and sends execution decisions to the respective controller (e.g. motor controller). The control module 1 is thus able to exchange data with the central control via the bus, including the acquisition of the various data mentioned above, and to output the final target slip rate to the central control, so that the central control then sends out the corresponding execution decision. The bus CAN be a CAN bus so as to obtain high-performance, reliable and real-time data transmission.

In addition, the vehicle execution system can be installed on various vehicles, including cars, trucks, buses, hybrid vehicles, pure electric vehicles and the like. The subject matter of the invention is therefore also intended to protect various vehicles equipped with the vehicle actuation system of the invention. The vehicle can be, for example, a four-wheel drive electric vehicle, in order to gallop better in off-road conditions.

Similarly, the present invention also relates to a computer-readable storage medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements any of the above-described control methods; and a computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements any of the above-described control methods when executing the computer program.

It should be understood that all of the above preferred embodiments are exemplary and not restrictive, and that various modifications and changes in the specific embodiments described above, which would occur to persons skilled in the art upon consideration of the above teachings, are intended to be within the scope of the invention.