The invention provides a driving wheel locked road surface state recognition method and device, a controller and a vehicle, and the method comprises the steps: determining a slippage threshold value of a left driving wheel and a slippage threshold value of a right driving wheel of a target vehicle on a current road surface based on a pre-trained slippage threshold value model; when the average slippage threshold value of the target vehicle on the current road surface is smaller than the left and right driving wheel slippage average value of the target vehicle at the current moment, the target vehicle is triggered to enter an anti-lock state; the method is based on a slippage difference value of left and right driving wheels within a target time period after a target vehicle enters an anti-lock state, a slippage difference value preset threshold value of low-attached road surface left and right driving wheels, the slippage of the left driving wheels, the slippage of the right driving wheels and a slippage preset threshold value of the low-attached road surface driving wheels. And identifying the road surface state of the target vehicle in the target time period. According to the invention, the road surface state of the vehicle can be accurately identified.

    本发明提供驱动轮抱死的路面状态识别方法、装置、控制器及车辆,该方法包括:基于预先训练的滑移量阈值模型,确定目标车辆在当前路面的左驱动轮的滑移量阈值和右驱动轮的滑移量阈值;当目标车辆在当前路面的平均滑移量阈值小于目标车辆在当前时刻的左右驱动轮滑移量平均值时,触发目标车辆进入防抱死状态;基于目标车辆进入防抱死状态后在目标时段内的左右驱动轮的滑移量差值、低附路面左右驱动轮的滑移量差值预设阈值、左驱动轮的滑移量、右驱动轮的滑移量以及低附路面驱动轮滑移量预设阈值,识别目标车辆在目标时段所处的路面状态。本发明可以准确地识别车辆所处的路面状态。


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    Titel :

    Road surface state recognition method and device with driving wheels locked, controller and vehicle


    Weitere Titelangaben:

    驱动轮抱死的路面状态识别方法、装置、控制器及车辆


    Beteiligte:
    XU XIANJIE (Autor:in) / QI JIAN (Autor:in) / PAN CHEN (Autor:in)

    Erscheinungsdatum :

    07.05.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion