CN113060124A - Vehicle and adhesion capacity identification method and device thereof - Google Patents
Vehicle and adhesion capacity identification method and device thereof Download PDFInfo
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- CN113060124A CN113060124A CN201911292198.4A CN201911292198A CN113060124A CN 113060124 A CN113060124 A CN 113060124A CN 201911292198 A CN201911292198 A CN 201911292198A CN 113060124 A CN113060124 A CN 113060124A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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Abstract
The invention provides a vehicle and an attachment ability identification method and device thereof, wherein the attachment ability identification method of the vehicle comprises the following steps: acquiring a torque of each driving motor in the vehicle, an actual longitudinal acceleration of the vehicle and a reference vehicle speed corresponding to a wheel speed of each wheel in the vehicle; respectively acquiring the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel; and respectively acquiring the maximum adhesion coefficient of the road where each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel. Therefore, the slip rate of the wheels can be obtained under the condition that the vehicle cannot obtain the actual real vehicle speed, the maximum adhesion capacity of the ground where the wheels are located is further obtained, subsequent power adjustment is facilitated, and stable running of the vehicle under different working conditions is achieved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle and an attachment capacity identification method and device thereof.
Background
In the related art, the vehicle speed of the vehicle is usually calculated from the rotational speeds of four wheels, the slip ratio is calculated from the vehicle speed, and the adhesion coefficients of the roads where the front and rear wheels are located are calculated from the slip ratio.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first object of the present invention is to provide an adhesion capability identification method for a vehicle, which can better utilize the current road condition to control the driving force of the whole vehicle, so as to realize smooth driving of the vehicle under different working conditions.
A second object of the present invention is to provide an attaching ability identifying apparatus for a vehicle.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, a first aspect of the present invention provides an attaching capability identifying method for a vehicle, including: acquiring a torque of each driving motor in the vehicle, an actual longitudinal acceleration of the vehicle and a reference vehicle speed corresponding to a wheel speed of each wheel in the vehicle; respectively acquiring the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel; and respectively acquiring the maximum adhesion coefficient of the road where each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel.
According to the adhesion capability identification method of the vehicle proposed by the embodiment of the invention, the slip ratio of each wheel is respectively obtained by obtaining the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle and the reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle, then, respectively obtaining the maximum adhesion coefficient of the road on which each wheel is positioned according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel, therefore, the slip rate of the wheel can be accurately obtained under the condition that the vehicle can not obtain the actual real vehicle speed, such as the condition that the vehicle slips or slips, and then the maximum adhesive capacity of the ground where the wheels are located is accurately obtained, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can stably run under different working conditions, and the driving performance of the whole vehicle is improved.
In addition, the method for identifying the adhesion capability of the vehicle according to the embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the present invention, the initial slip rate of each wheel is respectively obtained according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel; and respectively correcting the initial slip rate of each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel to obtain the final slip rate of each wheel.
According to an embodiment of the present invention, a theoretical acceleration of the vehicle and a driving force on each wheel are obtained from a torque of each driving motor; respectively acquiring the wheel acceleration generated on each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel; acquiring a wheel acceleration difference value and a wheel acceleration difference value change rate on each wheel according to the wheel acceleration generated on each wheel and the theoretical acceleration of the vehicle; and acquiring the initial slip rate of each wheel according to the driving force on each wheel, the wheel acceleration difference on each wheel and the wheel acceleration difference change rate.
According to one embodiment of the invention, the vehicle comprises a front drive motor and a rear drive motor, the front drive motor being connected to a front drive axle via a front retarder and the rear drive motor being connected to a rear drive axle via a rear retarder, wherein the theoretical acceleration of the vehicle is obtained according to the following formula:
a1＝[(T1×RatioF+T2×RatioR)/Raduim-m×g×sin(slope)]/m
wherein a1 is the theoretical acceleration of the vehicle, T1 is the torque of the front drive motor, ratio f is the speed ratio of the front reducer, T2 is the torque of the rear drive motor, ratio r is the speed ratio of the rear reducer, radius is the radius of the wheel, m is the mass of the vehicle, slope is the slope of the road on which the vehicle is located, and g is the weight acceleration.
According to one embodiment of the present invention, a reference vehicle speed corresponding to the actual longitudinal acceleration and the wheel speed of each wheel is obtained by a chassis brake control system of the vehicle.
According to one embodiment of the present invention, the wheel acceleration generated at each wheel is obtained by differential derivation of the reference vehicle speed corresponding to the wheel speed of each wheel.
According to one embodiment of the present invention, the driving force on each wheel is obtained according to the torque of each driving motor, and the initial maximum adhesion coefficient of the road on which each wheel is located is obtained according to the torque of each motor and the slip ratio of each wheel; and respectively correcting the initial maximum adhesion coefficient of the road where each wheel is located according to the reference vehicle speed corresponding to the wheel speed of each wheel to obtain the final maximum adhesion coefficient of the road where each wheel is located.
According to one embodiment of the invention, an acceleration difference value of the vehicle and an acceleration difference value change rate of the vehicle are obtained according to a theoretical acceleration of the vehicle and an actual longitudinal acceleration of the vehicle; and determining the whole vehicle slip condition of the vehicle according to the acceleration difference value of the vehicle and the acceleration difference value change rate of the vehicle.
In order to achieve the above object, an embodiment of a second aspect of the present invention provides an attachment ability recognition apparatus for a vehicle, the apparatus including: the acquisition module is used for acquiring the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle and a reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle; the slip rate acquisition module is used for respectively acquiring the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel; and the adhesion coefficient acquisition module is used for respectively acquiring the maximum adhesion coefficient of the road where each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel.
According to the adhesion capacity recognition device for the vehicle provided by the embodiment of the invention, the obtaining module obtains the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle and the reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle, then, the slip rate obtaining module obtains the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel respectively, finally, the adhesion coefficient obtaining module obtains the maximum adhesion coefficient of the road where each wheel is located respectively according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip rate of each wheel, thereby, the slip rate of the wheel can be accurately obtained under the condition that the vehicle cannot obtain the actual real vehicle speed, such as the vehicle slips or slips, and further, the maximum adhesion capacity of the ground where the wheel is located can be accurately obtained, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can run stably under different working conditions, and the driving performance of the whole vehicle is improved.
In order to achieve the above object, an embodiment of a third aspect of the present invention proposes a vehicle including the vehicle attachment ability recognition apparatus proposed in the embodiment of the second aspect of the present invention.
According to the vehicle provided by the embodiment of the invention, through the adhesion capability identification device of the vehicle provided by the embodiment of the second aspect, the slip rate of the vehicle wheel can be accurately obtained under the condition that the vehicle cannot obtain the actual real vehicle speed, for example, when the vehicle slips or slips, so that the maximum adhesion capability of the ground where the vehicle wheel is located can be accurately obtained, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can run stably under different working conditions, and the driving performance of the whole vehicle is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an attaching ability identifying method of a vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram of a power system according to one embodiment of the present disclosure;
fig. 3 is a flowchart for acquiring a slip ratio of each wheel in an adhesion capability identification method of a vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart for acquiring an initial slip rate of each wheel in the adhesion capability identifying method of the vehicle according to one embodiment of the present invention;
fig. 5 is a schematic control diagram of an attachment ability recognition method of a vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the control logic of a method for identifying the attachment capability of a vehicle according to one embodiment of the present invention;
fig. 7 is a block diagram schematically illustrating an attachment ability recognition apparatus of a vehicle according to an embodiment of the present invention; and
fig. 8 is a block schematic diagram of a vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
First, the inventor of the present application has found and recognized that, because the data or information available to the entire vehicle control system is limited, the vehicle speed information sent from the chassis brake system to the entire vehicle control system generally includes the vehicle speed of the left front wheel, the vehicle speed of the right front wheel, the vehicle speed of the left rear wheel, the vehicle speed of the right rear wheel, and the reference vehicle speed of the entire vehicle, but these vehicle speed information actually mainly reflects the rotation speed of each wheel. As important information 'the wheel slip rate' for judging the maximum adhesion capacity of the current road, the real speed (based on the ground) of the vehicle is needed in calculation, the reference speed sent to a whole vehicle control system by a chassis brake control system is actually calculated through the rotating speeds of four wheels, and when the vehicle is in a slipping state, the reference speed value is not credible, so that when the vehicle slips or slips, the whole vehicle is difficult to judge the actual slip rate condition of the wheels.
Based on the above, the embodiment of the invention provides a vehicle adhesion capacity identification method, which can obtain the slip rate of the wheel under the condition that the vehicle cannot obtain the actual real vehicle speed, further obtain the maximum adhesion capacity of the ground where the wheel is located, facilitate subsequent power regulation and realize the stable running of the vehicle under different working conditions.
A vehicle and an attachment ability recognition method and apparatus thereof according to an embodiment of the present invention are described below with reference to the drawings.
Fig. 1 is a flowchart of an attaching ability identifying method of a vehicle according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
s101: the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle, and the reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle are obtained.
Wherein, the vehicle can include front drive motor and back drive motor, and front drive motor is connected to the front drive axle through front reduction gear, and back drive motor is connected to the rear drive axle through the rear reduction gear, and front drive axle is including the front differential mechanism who connects the front wheel, and the rear drive axle is including the rear differential mechanism who connects the rear wheel.
Specifically, as shown in fig. 2, the vehicle power system may include a front driving motor 1, a front reducer 2, a front differential 3, a rear driving motor 4, a rear reducer 5, and a rear differential 6, wherein the front driving motor 1 is connected to the front reducer 2, the front reducer 2 is connected to the front differential 3, the front differential 3 is connected to the left and right front wheels, and the left and right front wheels are driven by the front driving motor 1 through the front reducer 2 and the front differential 3; the rear driving motor 4 is connected with a rear speed reducer 5, the rear speed reducer 5 is connected with a rear differential mechanism 6, and the rear differential mechanism 6 is connected with the left rear wheel and the right rear wheel, so that the rear driving motor 4 drives the left rear wheel and the right rear wheel through the rear speed reducer 5 and the rear differential mechanism 6.
The vehicle control unit may obtain a torque of each driving motor, for example, a torque of the front driving motor and a torque of the rear driving motor in fig. 2. In addition, the actual longitudinal acceleration may be obtained by a chassis brake control system of the vehicle, specifically, the actual longitudinal acceleration of the vehicle may be an acceleration in a vehicle traveling direction, and the chassis brake control system of the vehicle may send the obtained actual longitudinal acceleration to the vehicle control unit.
The reference vehicle speed corresponding to the wheel speed of each wheel may be obtained by a chassis brake control system of the vehicle. Specifically, the chassis brake control system may obtain a wheel speed of each wheel, and calculate a corresponding vehicle speed from the wheel speed of each wheel, i.e., a reference vehicle speed corresponding to the wheel speed of each wheel, for example, a reference vehicle speed corresponding to a left front wheel may be calculated from the wheel speed of the left front wheel in fig. 2, and similarly, reference vehicle speeds corresponding to a right front wheel, a left rear wheel, and a right rear wheel may be calculated from the wheel speed of a right front wheel, the rotation speed of the left rear wheel, and the rotation speed of the right rear wheel in fig. 2, where Vfl, Vfr, Vrl, and Vrr respectively represent the reference vehicle speeds of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel of the vehicle.
It will be appreciated that the speed of each wheel does not truly reflect the actual speed of the vehicle (ground-based) when the vehicle is slipping.
It should be noted that the calculation method for obtaining the vehicle speed according to the wheel rotation speed is well known in the art and will not be described in detail herein.
S102: and respectively acquiring the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel.
S103: and respectively obtaining the maximum adhesion coefficient of the road where each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel.
It can be understood that the acceleration information sent to the vehicle control unit by the chassis brake control system includes an actual longitudinal acceleration and an actual lateral acceleration, the acceleration information can reflect the current acceleration condition of the vehicle (based on the ground) more truly, when the vehicle slips or slips, the chassis brake control system cannot obtain the actual vehicle speed and the vehicle slip rate of the vehicle, at this time, the slip rate condition of each wheel can be obtained through the reference vehicle speed, the actual longitudinal acceleration, the output condition of the front and rear driving motors, and the like corresponding to each wheel, and then the maximum adhesion capability condition of the road where each wheel is located is finally judged.
Thus, the adhesion capability identification method for a vehicle according to the embodiment of the present invention obtains the slip ratio of each wheel by obtaining the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle, and the reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle, and obtains the maximum adhesion coefficient of the road on which each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel, and the slip ratio of each wheel, so as to obtain the slip ratio of the wheel when the vehicle cannot obtain the actual vehicle speed, obtain the slip ratio of each wheel in the vehicle by determining the current driving state of the vehicle (for example, the reference vehicle speed corresponding to each wheel, the actual longitudinal acceleration value, etc.), the output condition of the power system (the torque output condition of the front and rear driving motors), and finally determine the maximum adhesion capability condition of the road on which the front and rear wheels are located, therefore, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can run stably under different working conditions, and the driving performance of the whole vehicle is improved.
According to an embodiment of the present invention, as shown in fig. 3, the slip ratio of each wheel is respectively obtained according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel, that is, step S102 includes:
s201: respectively acquiring the initial slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel;
s202: and respectively correcting the initial slip rate of each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel so as to obtain the final slip rate of each wheel.
That is, in acquiring the slip ratio of each wheel, first, the initial slip ratio of each wheel may be individually acquired by looking up a table according to the torque of each driving motor, the actual longitudinal acceleration, and the reference vehicle speed corresponding to the wheel speed of each wheel, wherein the looked-up table may be stored in the vehicle in advance. And then, respectively correcting the initial slip rate of each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel, so as to obtain the final slip rate of each wheel.
Further, as shown in fig. 4, the initial slip ratio of each wheel is respectively obtained according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel, that is, step S201 includes:
s301: the theoretical acceleration of the vehicle and the driving force on each wheel are obtained from the torque of each driving motor.
In one embodiment of the invention, the vehicle comprises a front drive motor and a rear drive motor, the front drive motor being connected to the front drive axle via a front retarder and the rear drive motor being connected to the rear drive axle via a rear retarder, the theoretical acceleration of the vehicle being calculated according to the following formula:
a1＝[(T1×RatioF+T2×RatioR)/Raduim-m×g×sin(slope)]/m；
where a1 is the theoretical acceleration of the vehicle, T1 is the torque of the front drive motor, i.e., the actual torque of the front drive motor of the current vehicle, ratio f is the speed ratio of the front retarder, T2 is the torque of the rear drive motor, i.e., the actual torque of the rear drive motor of the current vehicle, ratio r is the speed ratio of the rear retarder, radius is the radius of the wheel, m is the mass of the vehicle, slope is the gradient of the road on which the vehicle is located, and g is the weight acceleration.
It can be understood that, as shown in fig. 5, the vehicle control unit may obtain an actual torque of a front driving motor of the current vehicle, an actual torque of a rear driving motor, an estimated weight of the entire vehicle, and a current road slope, and calculate a theoretical acceleration value a1 that can be realized by the current vehicle, that is, a theoretical longitudinal acceleration of the current vehicle, according to the actual torque of the front driving motor of the current vehicle, the actual torque of the rear driving motor, the estimated weight of the entire vehicle, and the current road slope (S501).
In one embodiment of the present invention, the driving force of the left front wheel is regarded as equal to the driving force of the right front wheel, and the driving force of the left rear wheel is regarded as equal to the driving force of the right rear wheel, where Ffl, Ffr, Frl, Frr are the driving forces of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel of the vehicle, respectively, and the driving forces of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel can be calculated according to the following formulas:
Ffl＝Ffr＝(T1*RatioF)/(2*Raduim)；
Frl＝Frr＝(T2*RatioR)/(2*Raduim)。
it can be understood that, as shown in fig. 5, the vehicle control unit may obtain an actual torque of the current vehicle front driving motor and an actual torque of the rear driving motor, calculate driving forces of the left front wheel and the right front wheel according to the actual torque of the current vehicle front driving motor, and calculate driving forces of the left rear wheel and the right rear wheel according to the actual torque of the current vehicle rear driving motor (S502).
S302: and respectively acquiring the wheel acceleration generated on each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel.
Wherein the wheel acceleration generated on each wheel can be obtained by differential derivation of a reference vehicle speed corresponding to the wheel speed of each wheel, respectively.
It is understood that, as shown in fig. 5, the vehicle control unit may further receive reference vehicle speeds corresponding to four wheels of the vehicle sent by the chassis brake control system, and perform differential derivation on the reference vehicle speed values corresponding to the four wheels respectively to obtain actual wheel accelerations generated on the four wheels, that is, the wheel accelerations generated on the front left wheel, the front right wheel, the rear left wheel and the rear right wheel are afl, afr, arl and arr, respectively (S503).
S303: the wheel acceleration difference value on each wheel and the wheel acceleration difference value change rate are calculated from the wheel acceleration generated on each wheel and the theoretical acceleration of the vehicle.
It is understood that, as shown in fig. 5, the vehicle control unit may further obtain the wheel acceleration difference values and the wheel acceleration difference value change rates on the four wheels according to the wheel accelerations on the four wheels and the theoretical acceleration of the vehicle obtained above (S504).
In particular, the wheel acceleration difference may be a difference between the wheel acceleration and a theoretical acceleration, such as: Δ afl is afl-a1, Δ afr is afr-a1, Δ arl is arl-a1, and Δ arr is arr-a1, wherein afl, afr, arl and arr respectively represent the wheel acceleration of the left front wheel, the right front wheel, the left rear wheel and the right rear wheel of the vehicle; Δ afl, Δ afr, Δ arl, and Δ arr represent wheel acceleration differences of the front left wheel, front right wheel, rear left wheel, and rear right wheel of the vehicle, respectively, and a1 represents a theoretical acceleration of the vehicle.
The differential acceleration change rate of the vehicle wheels may be obtained by differential derivation of differential acceleration of the vehicle wheels, and the differential acceleration change rates of the vehicle wheels of the front left wheel, the front right wheel, the rear left wheel, and the rear right wheel of the vehicle may be represented by Δ afl ', ' Δ afr ', ' Δ arl ', and ' Δ arr '.
S304: an initial slip rate of each wheel is calculated from the driving force on each wheel, the wheel acceleration difference on each wheel, and the rate of change of the wheel acceleration difference.
It can be understood that, as shown in fig. 5, the vehicle control unit may further obtain the initial slip rate of each wheel by looking up a table according to the obtained driving force on each wheel, the wheel acceleration difference value on each wheel, and the wheel acceleration difference value change rate, and then correct the initial slip rate of the corresponding wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel, so as to obtain the final slip rate of each wheel, that is, the final slip rate of the front wheel and the final slip rate of the rear wheel (S505).
Specifically, the preliminary slip ratio of the left front wheel is obtained by table lookup according to the wheel acceleration difference Δ afl, the wheel acceleration difference change rate Δ afl' on the left front wheel and the actual driving force Ffl generated on the left front wheel, which are calculated as above, and the preliminary slip ratio of the left front wheel is corrected according to the reference vehicle speed corresponding to the left front wheel, so that the final slip ratio sfl of the left front wheel is obtained. Similarly, according to the wheel acceleration difference value Δ afr and the wheel acceleration difference value change rate Δ afr' on the right front wheel and the actual driving force Ffr generated on the right front wheel, which are obtained through the calculation, the preliminary slip rate of the right front wheel is obtained through table lookup, and the preliminary slip rate of the right front wheel is corrected according to the reference vehicle speed corresponding to the right front wheel, so that the final slip rate sfr of the right front wheel is obtained; according to the wheel acceleration difference value delta arl and the wheel acceleration difference value change rate delta arl' on the left rear wheel and the actual driving force Frl generated on the left rear wheel, which are obtained through calculation, the preliminary slip rate of the left rear wheel is obtained through table lookup, and the preliminary slip rate of the left rear wheel is corrected according to the reference vehicle speed corresponding to the left rear wheel, so that the final slip rate srl of the left rear wheel is obtained; and obtaining a preliminary slip ratio of the right rear wheel through table lookup according to the wheel acceleration difference delta arr, the wheel acceleration difference change rate delta arr' on the right rear wheel and the actual driving force Frr generated on the right rear wheel which are obtained through calculation, and correcting the preliminary slip ratio of the right rear wheel according to the reference vehicle speed corresponding to the right rear wheel to obtain a final slip ratio srr of the right rear wheel.
Further, according to an embodiment of the present invention, obtaining the maximum adhesion coefficient of the road on which each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel, and the slip ratio of each wheel respectively includes:
obtaining driving force on each wheel according to the torque of each driving motor, and respectively obtaining an initial maximum adhesion coefficient of a road where each wheel is located according to the torque of each motor and the slip ratio of each wheel;
and respectively correcting the initial maximum adhesion coefficient of the road where each wheel is located according to the reference speed corresponding to the wheel speed of each wheel to obtain the final maximum adhesion coefficient of the road where each wheel is located.
That is, as shown in fig. 5, the vehicle control unit may obtain an actual torque of the current vehicle front driving motor and an actual torque of the rear driving motor, calculate driving forces of the left front wheel and the right front wheel according to the actual torque of the current vehicle front driving motor, and calculate driving forces of the left rear wheel and the right rear wheel according to the actual torque of the current vehicle rear driving motor. In addition, the vehicle control unit can also respectively obtain the initial maximum adhesion coefficient of the road where the front wheels are located by looking up a table according to the driving force of the front wheels and the slip ratio of the front wheels (S506), and correct the initial maximum adhesion coefficient of the front wheels according to the reference vehicle speed corresponding to the front wheels to obtain the final maximum adhesion coefficient of the front wheels; and obtaining initial maximum adhesion coefficients of the road where the rear wheels are located respectively through table lookup according to the driving force of the rear wheels and the slip ratio of the rear wheels, and correcting the initial maximum adhesion coefficients of the rear wheels according to the reference vehicle speed corresponding to the rear wheels to obtain final maximum adhesion coefficients of the rear wheels (S507).
Specifically, the maximum adhesion capability that can be achieved on the left front wheel, that is, the maximum adhesion coefficient μ fl, can be obtained by looking up a table and correcting according to the slip ratio sfl of the left front wheel, the driving force Ffl of the left front wheel, and the reference vehicle speed vfl corresponding to the left front wheel. Similarly, the maximum adhesion capability that can be achieved on the right front wheel, that is, the maximum adhesion coefficient μ fr, can be obtained by looking up a table and correcting the table according to the slip ratio sfr of the right front wheel, the driving force Ffr of the right front wheel, and the reference vehicle speed vfr corresponding to the right front wheel; the maximum adhesion capability condition which can be realized on the left rear wheel, namely the maximum adhesion coefficient mu rl can be obtained by looking up a table and correcting according to the slip ratio srl of the left rear wheel, the driving force Frl of the left rear wheel and the reference vehicle speed vrl corresponding to the left rear wheel; the maximum adhesion coefficient μ rr, which is the maximum adhesion capability that can be achieved on the right rear wheel, can be obtained by looking up a table and correcting the table according to the slip ratio srr of the right rear wheel, the driving force Frr of the right rear wheel, and the reference vehicle speed vrr corresponding to the right rear wheel. Wherein the maximum adhesion capability conditions μ fl, μ fr, μ rl, μ rr may eventually be used for subsequent torque control.
Therefore, under the condition that the whole vehicle controller cannot accurately obtain the slip rates of the four wheels and the actual real speed of the vehicle (based on the ground), the slip rate conditions of the four wheels of the four-wheel-drive vehicle are obtained through table lookup by judging the current running state of the vehicle (comprising the reference speed information of the four wheels, the actual longitudinal acceleration, the gradient information and the like), the power system output condition (the torque output condition of the front and rear drive motors, the speed reducer speed ratio, the actual driving force condition of the four vehicles) and the like. And then, looking up a table according to the four-wheel slip rate conditions and the actual driving force conditions of the four wheels, and taking the current reference speeds of the four wheels as correction factors to finally obtain the maximum adhesion capacity condition of the current road where the four wheels are located. Therefore, the method provided by the embodiment of the invention can accurately calculate the slip rate of the wheel, further accurately obtain the maximum adhesion capacity of the ground where the wheel is located, better control the driving force of the whole vehicle by utilizing the current road condition, realize the stable running of the vehicle under different working conditions and improve the driving performance of the whole vehicle.
In addition, according to an embodiment of the present invention, the attaching ability identifying method of a vehicle further includes:
acquiring an acceleration difference value of the vehicle and an acceleration difference value change rate of the vehicle according to the theoretical acceleration of the vehicle and the actual longitudinal acceleration of the vehicle;
and determining the whole vehicle slip condition of the vehicle according to the acceleration difference value of the vehicle and the acceleration difference value change rate of the vehicle.
That is to say, the vehicle control unit may receive the actual longitudinal acceleration value a2 sent by the vehicle chassis braking control system, for example, the chassis braking control system may send the current longitudinal acceleration actually generated by the vehicle to the vehicle control unit through the CAN bus, where the acceleration may truly reflect the actual longitudinal acceleration condition of the vehicle, and then the vehicle control unit may calculate the vehicle acceleration difference Δ a between the vehicle theoretical acceleration value a1 and the longitudinal acceleration value a2 actually generated by the vehicle and the vehicle acceleration difference change rate Δ a ', for example, the vehicle acceleration difference Δ a may be obtained by subtracting the vehicle theoretical acceleration value a1 from the longitudinal acceleration value a2 actually generated by the vehicle, and the vehicle acceleration difference change rate Δ a' may be obtained by differential derivation of the vehicle acceleration difference Δ a. Then, the vehicle controller can calculate the vehicle slip rate through table lookup according to the vehicle acceleration difference value delta a and the vehicle acceleration difference value change rate delta a' obtained through calculation, and the vehicle slip rate can be used for judging the slip condition of the whole vehicle.
Referring to fig. 6, the work flow of the method for identifying the attachment capability of the vehicle according to the embodiment of the present invention is as follows:
s601: a reference vehicle speed (Vfl, Vfr, Vrl, Vrr) corresponding to each wheel speed is obtained by a chassis brake control system of the vehicle.
S602: the differential derivation yields the wheel acceleration (afl, afr, arl, arr) of each wheel.
S603: and acquiring a theoretical acceleration value a1 which can be realized by the current vehicle according to the actual torque of the front driving motor of the vehicle, the actual torque of the rear driving motor, the estimated weight of the whole vehicle and the current road slope.
It should be noted that, this step S603 includes, but is not limited to, being executed after step S602, as long as it is executed before step S604, and for example, step S603 may be executed after step S601 or before step S601.
S604: the wheel acceleration difference value (Δ afl, Δ afr, Δ arl, Δ arr) and the wheel acceleration difference change rate (Δ afl, Δ afr ',. DELTA arl ',. DELTA arr ') of each wheel are obtained from the theoretical acceleration a1 of the vehicle and the wheel acceleration (afl, afr, arl, arr) of each wheel.
S605: the initial slip ratio of each wheel is obtained by a table look-up from the driving force (Ffl, Ffr, Frl, Frr) on each wheel, the difference in acceleration of each wheel (Delta afl, Delta afr, Delta arl, Delta arr), the rate of change of the difference in acceleration of the wheel (Delta afl ',. DELTA afr',. DELTA arl ',. DELTA arr').
S606: and correcting the initial slip rate of each wheel through the reference vehicle speed (Vfl, Vfr, Vrl, Vrr) of the corresponding wheel to obtain the final slip rate (Sfl, Sfr, Srl, Srr) of each wheel.
S607: and obtaining the initial maximum adhesion coefficient of the road surface on which each wheel is positioned by looking up a table according to the final slip ratio (Sfl, Sfr, Srl, Srr) of each wheel and the driving force (Ffl, Ffr, Frl, Frr) of each wheel.
S608: after the initial maximum adhesion coefficient of the road surface on which each wheel is located is corrected by the reference vehicle speed (Vfl, Vfr, Vrl, Vrr) of each wheel, the final maximum adhesion coefficient (μ fl, μ fr, μ rl, μ rr) of each wheel can be obtained.
S609: receives the actual longitudinal acceleration value a2 sent by the vehicle chassis brake control system.
S610: and acquiring the acceleration difference value of the vehicle and the acceleration difference value change rate of the vehicle according to the theoretical acceleration of the vehicle and the actual longitudinal acceleration of the vehicle.
S611: and determining the whole vehicle slip condition of the vehicle by looking up a table according to the acceleration difference value of the vehicle and the acceleration difference value change rate of the vehicle, namely judging whether the vehicle is in a slip state.
It should be noted that, the steps S609-S611 include, but are not limited to, being executed after the step S608, for example, the step S609 may be executed before any step from the step S601 to the step S608, and the steps S610-S611 may be executed before any step from the step S604 to the step S608.
In summary, according to the adhesion capability identifying method of the vehicle proposed by the embodiment of the invention, the slip ratio of each wheel is respectively obtained by obtaining the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle and the reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle, then, respectively obtaining the maximum adhesion coefficient of the road on which each wheel is positioned according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel, therefore, the slip rate of the wheel can be accurately acquired under the condition that the vehicle can not obtain the actual real vehicle speed, such as the condition that the vehicle slips or slips, and then the maximum adhesive capacity of the ground where the wheels are located is accurately obtained, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can run stably under different working conditions, and the driving performance of the whole vehicle is improved.
Corresponding to the method for identifying the vehicle attachment ability of the embodiment, the invention also provides a device for identifying the vehicle attachment ability.
Fig. 7 is a block diagram schematically illustrating an attachment capability recognition apparatus of a vehicle according to an embodiment of the present invention. As shown in fig. 7, the adhesion capability identification device 201 includes an acquisition module 202, a slip ratio acquisition module 203, and an adhesion coefficient acquisition module 204.
The obtaining module 202 is configured to obtain a torque of each driving motor in the vehicle, an actual longitudinal acceleration of the vehicle, and a reference vehicle speed corresponding to a wheel speed of each wheel in the vehicle; the slip rate obtaining module 203 is configured to obtain a slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration, and a reference vehicle speed corresponding to the wheel speed of each wheel; the adhesion coefficient obtaining module 204 is configured to obtain a maximum adhesion coefficient of a road on which each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel, and the slip ratio of each wheel.
It should be noted that the foregoing explanations of the method embodiments also apply to the present apparatus embodiment, and are not repeated herein.
According to the adhesion capacity recognition device for the vehicle provided by the embodiment of the invention, the obtaining module obtains the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle and the reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle, then, the slip rate obtaining module obtains the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel respectively, finally, the adhesion coefficient obtaining module obtains the maximum adhesion coefficient of the road where each wheel is located respectively according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip rate of each wheel, thereby, the slip rate of the wheel can be accurately obtained when the vehicle can not obtain the actual real vehicle speed, for example, the vehicle slips or slips, and further, the maximum adhesion capacity of the ground where the wheel is located can be accurately obtained, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can run stably under different working conditions, and the driving performance of the whole vehicle is improved.
Based on the device for identifying the attachment ability of the vehicle in the embodiment, the invention further provides the vehicle.
Fig. 8 is a vehicle according to an embodiment of the present invention. As shown in fig. 8, the vehicle 301 includes an attachment capability recognition device 201.
According to the vehicle provided by the embodiment of the invention, the slip rate of the wheels can be accurately obtained under the condition that the vehicle cannot obtain the actual real vehicle speed, for example, when the vehicle slips or slips, so that the maximum adhesion capacity of the ground where the wheels are located can be accurately obtained, the driving force of the whole vehicle can be better controlled by utilizing the current road condition, the vehicle can run stably under different working conditions, and the driving performance of the whole vehicle is improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An attaching ability recognizing method of a vehicle, characterized by comprising the steps of:
acquiring a torque of each driving motor in the vehicle, an actual longitudinal acceleration of the vehicle and a reference vehicle speed corresponding to a wheel speed of each wheel in the vehicle;
respectively acquiring the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel;
and respectively acquiring the maximum adhesion coefficient of the road where each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel.
2. The adhesion capability identification method of a vehicle according to claim 1, wherein the obtaining of the slip ratio of each wheel from the torque of each drive motor, the actual longitudinal acceleration, and a reference vehicle speed corresponding to the wheel speed of each wheel, respectively, comprises:
respectively acquiring the initial slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel;
and respectively correcting the initial slip rate of each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel to obtain the final slip rate of each wheel.
3. The adhesion capability identification method of a vehicle according to claim 2, wherein the obtaining of the initial slip ratio of each wheel separately from the torque of each drive motor, the actual longitudinal acceleration, and the reference vehicle speed corresponding to the wheel speed of each wheel includes:
acquiring a theoretical acceleration of the vehicle and a driving force on each wheel according to the torque of each driving motor;
respectively acquiring the wheel acceleration generated on each wheel according to the reference vehicle speed corresponding to the wheel speed of each wheel;
acquiring a wheel acceleration difference value and a wheel acceleration difference value change rate on each wheel according to the wheel acceleration generated on each wheel and the theoretical acceleration of the vehicle;
and acquiring the initial slip rate of each wheel according to the driving force on each wheel, the wheel acceleration difference on each wheel and the wheel acceleration difference change rate.
4. The adhesion capability identification method of a vehicle according to claim 3, wherein the vehicle includes a front drive motor and a rear drive motor, the front drive motor is connected to a front drive axle through a front retarder, the rear drive motor is connected to a rear drive axle through a rear retarder, wherein the theoretical acceleration of the vehicle is obtained according to the following formula:
a1＝[(T1×RatioF+T2×RatioR)/Raduim-m×g×sin(slope)]/m
wherein a1 is the theoretical acceleration of the vehicle, T1 is the torque of the front drive motor, ratio f is the speed ratio of the front reducer, T2 is the torque of the rear drive motor, ratio r is the speed ratio of the rear reducer, radius is the radius of the wheel, m is the mass of the vehicle, slope is the slope of the road on which the vehicle is located, and g is the weight acceleration.
5. The adhesion capability identification method of a vehicle according to claim 1, wherein a reference vehicle speed corresponding to the actual longitudinal acceleration and the wheel speed of each wheel is acquired by a chassis brake control system of the vehicle.
6. The method of identifying an attachment ability of a vehicle according to claim 3, wherein the wheel acceleration generated at each wheel is obtained by differential derivation of a reference vehicle speed corresponding to the wheel speed of each wheel, respectively.
7. The method for identifying the adhesion capability of a vehicle according to claim 1, wherein the obtaining the maximum adhesion coefficient of the road on which each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel, and the slip ratio of each wheel comprises:
obtaining driving force on each wheel according to the torque of each driving motor, and respectively obtaining an initial maximum adhesion coefficient of a road where each wheel is located according to the torque of each motor and the slip ratio of each wheel;
and respectively correcting the initial maximum adhesion coefficient of the road where each wheel is located according to the reference vehicle speed corresponding to the wheel speed of each wheel to obtain the final maximum adhesion coefficient of the road where each wheel is located.
8. The attaching capability identifying method of a vehicle according to claim 3, characterized by further comprising:
acquiring an acceleration difference value of the vehicle and an acceleration difference value change rate of the vehicle according to the theoretical acceleration of the vehicle and the actual longitudinal acceleration of the vehicle;
and determining the whole vehicle slip condition of the vehicle according to the acceleration difference value of the vehicle and the acceleration difference value change rate of the vehicle.
9. An attachment ability recognition device of a vehicle, characterized by comprising:
the acquisition module is used for acquiring the torque of each driving motor in the vehicle, the actual longitudinal acceleration of the vehicle and a reference vehicle speed corresponding to the wheel speed of each wheel in the vehicle;
the slip rate acquisition module is used for respectively acquiring the slip rate of each wheel according to the torque of each driving motor, the actual longitudinal acceleration and the reference vehicle speed corresponding to the wheel speed of each wheel;
and the adhesion coefficient acquisition module is used for respectively acquiring the maximum adhesion coefficient of the road where each wheel is located according to the torque of each driving motor, the reference vehicle speed corresponding to the wheel speed of each wheel and the slip ratio of each wheel.
10. A vehicle characterized by comprising the attaching ability identifying device of the vehicle according to claim 9.
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