A method and device for determining state information of a transmission disengagement mechanism

Abstract

The embodiment of the present application discloses a method and device for determining the state information of a transmission disengagement mechanism, including obtaining lever movement information, motor operation information, and wheel end operation information, determining first difference information according to the lever movement information and the motor operation information, determining second difference information and third difference information according to the motor operation information and the wheel end operation information, and determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information, and the third difference information. Based on the embodiment of the present application, by constructing three detection loops, and when at least two of the three detection loops reach the safety level corresponding to the design safety level decomposition, determining that the state information of the transmission disengagement mechanism is a safe state, the accuracy of determining the system state information can be improved, thereby ensuring the safe transmission of the torque state.

Description

Technical Field

[0001] The present invention relates to the field of safe driving technology, and in particular to a method and device for determining state information of a transmission disengagement mechanism. Background Art

[0002] In new energy vehicles, power disconnection and power transmission can be performed based on the transmission disengagement mechanism. The motor torque is first transmitted to the motor reducer, and then the power is transmitted to the wheels through the mechanical structure. The ISO 26262 standard divides automobile safety levels into four types: ASIL A, ASIL B, ASIL C, and ASIL D. ASIL A represents the lowest level of automobile danger, and ASIL D represents the highest level of automobile danger. In order to ensure the safe driving of the vehicle, during the detection of the transmission disengagement mechanism, it is necessary to ensure that the safety level of the transmission disengagement mechanism reaches ASIL D. Summary of the invention

[0003] The embodiments of the present application provide a method and device for determining status information of a transmission disengagement mechanism, which can improve the accuracy of determining system status information, thereby ensuring safe transmission of torque status.

[0004] The embodiment of the present application provides a method for determining status information of a transmission disengagement mechanism, comprising:

[0005] Obtain lever movement information, motor operation information and wheel end operation information;

[0006] Determining first difference information according to the lever movement information and the motor operation information;

[0007] Determining second difference information and third difference information according to the motor operation information and the wheel end operation information;

[0008] The state information of the transmission disengagement mechanism is determined according to the first difference information, the second difference information and the third difference information.

[0009] Further, determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information includes:

[0010] If at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding preset difference information, it is determined that the state information of the transmission disengagement mechanism is a safe state.

[0011] Further, the lever movement information includes movement stroke information;

[0012] The motor operation information includes the motor rotation angle information, the motor terminal speed information, the motor torque information and the motor acceleration information;

[0013] The wheel end operation information includes wheel end speed information, wheel end torque information and wheel end acceleration information.

[0014] Further, determining first difference information according to the lever movement information and the motor operation information includes:

[0015] The first difference information is determined according to the movement stroke information and the motor rotation angle information.

[0016] Further, according to the motor operation information and the wheel end operation information, second difference information is determined, including:

[0017] The second difference information is determined according to the motor end speed information and the wheel end speed information.

[0018] Further, according to the motor operation information and the wheel end operation information, third difference information is determined, including:

[0019] Determining first ratio information according to the motor torque information and the motor acceleration information;

[0020] Determining second ratio information according to the wheel end torque information and the wheel end acceleration information;

[0021] The third difference information is determined according to the first ratio information and the second ratio information.

[0022] Furthermore, before determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information, the method further includes:

[0023] Obtain vehicle steering information;

[0024] If the steering information is greater than the preset steering information, based on the tolerance information and the preset difference information corresponding to the first difference information, the second difference information, and the third difference information, respectively, determine the tolerance difference information corresponding to the first difference information, the second difference information, and the third difference information, respectively;

[0025] Determining state information of the transmission disengagement mechanism according to the first difference information, the second difference information, and the third difference information includes:

[0026] If at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding tolerance difference information, it is determined that the state information of the transmission disengagement mechanism is a safe state.

[0027] Accordingly, an embodiment of the present application further provides a device for determining state information of a transmission disengagement mechanism, comprising:

[0028] A first acquisition module is used to acquire lever movement information, motor operation information and wheel end operation information;

[0029] A first determination module, used for determining first difference information according to the lever movement information and the motor operation information;

[0030] A second determination module is used to determine the second difference information and the third difference information according to the motor operation information and the wheel end operation information;

[0031] The third determination module is used to determine the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information.

[0032] Furthermore, the third determination module is used to determine that the state information of the transmission disengagement mechanism is a safe state if at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding preset difference information.

[0033] Further, the lever movement information includes movement stroke information;

[0034] The motor operation information includes the motor rotation angle information, the motor terminal speed information, the motor torque information and the motor acceleration information;

[0035] The wheel end operation information includes wheel end speed information, wheel end torque information and wheel end acceleration information.

[0036] Furthermore, the first determination module is used to determine first difference information according to the movement stroke information and the motor rotation angle information.

[0037] Furthermore, the second determination module is used to determine the second difference information according to the motor end speed information and the wheel end speed information.

[0038] Furthermore, the second determining module is used to

[0039] Determining first ratio information according to the motor torque information and the motor acceleration information;

[0040] Determining second ratio information according to the wheel end torque information and the wheel end acceleration information;

[0041] The third difference information is determined according to the first ratio information and the second ratio information.

[0042] Furthermore, the above device also includes:

[0043] A second acquisition module is used to acquire the steering information of the vehicle before determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information;

[0044] a fourth determination module, configured to determine tolerance difference information corresponding to the first difference information, the second difference information, and the third difference information respectively based on the tolerance information and the preset difference information corresponding to the first difference information, the second difference information, and the third difference information respectively if the steering information is greater than the preset steering information;

[0045] The third determination module is used to determine that the state information of the transmission disengagement mechanism is a safe state if at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding tolerance difference information.

[0046] Correspondingly, an embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned method for determining the status information of the transmission disengagement mechanism.

[0047] Correspondingly, an embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned method for determining the state information of the transmission disengagement mechanism.

[0048] The embodiments of the present application have the following beneficial effects:

[0049] The embodiment of the present application discloses a method and device for determining the state information of a transmission disengagement mechanism, including obtaining lever movement information, motor operation information, and wheel end operation information, determining first difference information according to the lever movement information and the motor operation information, determining second difference information and third difference information according to the motor operation information and the wheel end operation information, and determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information, and the third difference information. Based on the embodiment of the present application, by constructing three detection loops, and when at least two of the three detection loops reach the safety level corresponding to the design safety level decomposition, determining that the state information of the transmission disengagement mechanism is a safe state, the accuracy of determining the system state information can be improved, thereby ensuring the safe transmission of the torque state. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0052] Figure 2 It is a flow chart of a method for determining state information of a transmission disengagement mechanism provided in an embodiment of the present application;

[0053] Figure 3 is a schematic diagram of a functional safety level decomposition provided by an embodiment of the present application;

[0054] Figure 4 It is a structural schematic diagram of a state information determination device of a transmission disengagement mechanism provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiment is only one embodiment of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0056] "Embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present application. In the description of the embodiment of the present application, it should be understood that the terms "first", "second" and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second" and "third" may include one or more of the features explicitly or implicitly. Moreover, the terms "first", "second" and "third" etc. are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiment of the present application described here can be implemented in an order other than illustrated or described here. In addition, the terms "including", "having" and "for" and any of their variations are intended to cover non-exclusive inclusions.

[0057] See also Figure 1, which is a schematic diagram of an application environment provided by an embodiment of the present application, including a processor, a transmission disengagement mechanism, a motor and a drive wheel. The transmission disengagement structure, i.e., the main reduction unit, can be arranged between the motor and the drive wheel, the motor controller and the motor can be arranged in two-in-one, the processor can obtain the lever movement information, the motor operation information and the wheel end operation information, determine the first difference information according to the lever movement information and the motor operation information, determine the second difference information and the third difference information according to the motor operation information and the wheel end operation information, and determine the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information.

[0058] In an embodiment of the present application, by constructing three detection loops and determining that the state information of the transmission disengagement mechanism is a safe state when at least two of the three detection loops reach the safety level corresponding to the design safety level decomposition, the accuracy of determining the system state information can be improved, thereby ensuring the safe transmission of the torque state.

[0059] The following describes a specific embodiment of a method for determining state information of a transmission disengagement mechanism of the present application. Figure 2 This is a flow chart of a method for determining the state information of a transmission disengagement mechanism provided in an embodiment of the present application. This specification provides method operation steps as shown in the embodiment or flow chart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one of many execution orders and does not represent the only execution order. In actual execution, the method sequence shown in the embodiment or the accompanying drawings may be executed or executed in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0060] In new energy vehicles, power disconnection and power transmission can be performed based on the transmission disengagement mechanism. The motor torque is first transmitted to the motor reducer, and then the power is transmitted to the wheels through the mechanical structure. The ISO 26262 standard divides automobile safety levels into four types: ASIL A, ASIL B, ASIL C, and ASIL D, where ASIL A represents the lowest level of automobile danger and ASIL D represents the highest level of automobile danger. In order to ensure the safe driving of the car, during the detection of the transmission disengagement mechanism, it is necessary to ensure that the safety level of the transmission disengagement mechanism reaches ASIL D. In an optional implementation, the safety level of the transmission disengagement mechanism can be achieved by safety level decomposition to achieve ASIL D.

[0061] Figure 3It is a schematic diagram of a functional safety level decomposition provided in an embodiment of the present application. In an optional implementation, three detection loops can be constructed. When the safety level of at least two of the three detection loops reaches ASIL C, it can be considered that the safety level of the transmission disengagement mechanism reaches ASIL D.

[0062] Specific as Figure 2 As shown, the method may include:

[0063] S201: Obtain lever movement information, motor operation information, and wheel end operation information.

[0064] In the embodiment of the present application, the lever movement information may include movement stroke information. The motor operation information may include motor rotation angle information, motor end speed information, motor torque information and motor acceleration information. The wheel end operation information may include wheel end speed information, wheel end torque information and wheel end acceleration information.

[0065] In an optional implementation, after the transmission disengagement mechanism receives and executes the disengagement instruction sent by the control system, the position data of the lever can be detected to obtain the movement information of the lever. Optionally, the initial position data of the lever and the current position data of the lever during the operation of the transmission disengagement mechanism can be obtained, and then the movement stroke information of the lever can be determined based on the initial position data and the current position data of the lever.

[0066] In an optional implementation, the motor may be a brushless direct current motor (BLDC), and the motor rotation angle, motor terminal speed, motor torque, and motor acceleration slope of the brushless direct current motor may be obtained. The motor may also be other rotating motors controlled by position, which is not specifically limited in the embodiments of the present application.

[0067] In an optional implementation, wheel end speed information, wheel end torque information and wheel end acceleration information may be acquired based on the vehicle-mounted sensing device. Optionally, wheel speed, wheel end torque and wheel end acceleration slope may be acquired.

[0068] S203: Determine first difference information according to the lever movement information and the motor operation information.

[0069] In the embodiment of the present application, a first detection loop can be constructed to determine the first difference information according to the movement stroke information and the motor rotation angle information, that is, to determine the error of the first detection loop according to the movement stroke of the lever and the motor rotation angle.

[0070] S205: Determine second difference information and third difference information according to the motor operation information and the wheel end operation information.

[0071] In the embodiment of the present application, a second detection loop can be constructed to determine the second difference information according to the motor end speed information and the wheel end speed information, that is, to determine the error of the second detection loop according to the motor speed and the wheel end speed.

[0072] In the embodiment of the present application, a third detection loop can be constructed, and the third difference information can be determined according to the motor torque information, the motor acceleration information, the wheel end torque information and the wheel end acceleration information. In an optional implementation, the first ratio information can be determined according to the motor torque information and the motor acceleration information, and the second ratio information can be determined according to the wheel end torque information and the wheel end acceleration information, and then the third difference information can be determined according to the first ratio information and the second ratio information. That is, the error of the third detection loop can be determined according to the ratio of the motor torque and the motor acceleration slope, and the ratio of the wheel end torque and the wheel end acceleration slope.

[0073] S207: Determine the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information.

[0074] In an embodiment of the present application, after determining the first difference information of the first detection circuit, the second difference information of the second detection circuit, and the third difference information of the third circuit, the size of the first difference information, the second difference information, and the third difference information respectively relative to the corresponding preset difference information can be judged. If it is determined that at least two of the first difference information, the second difference information, and the third difference information are respectively smaller than the corresponding preset difference information, it can be determined that the state information of the transmission disengagement mechanism is safe state information.

[0075] In an optional implementation, when the first difference information is less than the corresponding preset difference information, and the second difference information is less than the corresponding preset difference information, it can be determined that the state information of the transmission disengagement mechanism is safe state information, that is, the safety level of the transmission disengagement mechanism reaches ASIL D. That is, when the difference between the movement stroke of the lever and the rotation angle of the motor is within the allowable error range, it can be determined that the first detection circuit reaches the functional level C, and when the difference between the motor speed and the wheel end speed is within the allowable error range, it can be determined that the second detection circuit reaches the functional level C. At this time, it can be considered that the transmission disengagement mechanism reaches the functional level D.

[0076] In another optional implementation, when the first difference information is less than the corresponding preset difference information, and the third difference information is less than the corresponding preset difference information, it can be determined that the state information of the transmission disengagement mechanism is safe state information, that is, the safety level of the transmission disengagement mechanism reaches ASIL D. That is, when the difference between the movement stroke of the lever and the rotation angle of the motor is within the allowable error range, it can be determined that the first detection loop reaches functional level C, and when the difference between the ratio of the motor torque and the motor acceleration slope and the ratio of the wheel end torque and the wheel end acceleration slope is within the allowable error range, it can be determined that the third detection loop reaches functional level C. At this time, it can be considered that the transmission disengagement mechanism reaches functional level D.

[0077] In another optional implementation, when the second difference information is less than the corresponding preset difference information, and the third difference information is less than the corresponding preset difference information, it can be determined that the state information of the transmission disengagement mechanism is safe state information, that is, the safety level of the transmission disengagement mechanism reaches ASIL D. That is, when the difference between the motor speed and the wheel end speed is within the allowable error range, it can be determined that the second detection loop reaches functional level C, and when the difference between the ratio of the motor torque and the motor acceleration slope and the ratio of the wheel end torque and the wheel end acceleration slope is within the allowable error range, it can be determined that the third detection loop reaches functional level C. At this time, it can be considered that the transmission disengagement mechanism reaches functional level D.

[0078] In another optional implementation, when the first difference information is less than the corresponding preset difference information, and the second difference information is less than the corresponding preset difference information, and the third difference information is less than the corresponding preset difference information, it can be determined that the state information of the transmission disengagement mechanism is safe state information, that is, the safety level of the transmission disengagement mechanism reaches ASIL D. That is, when the difference between the movement stroke of the lever and the rotation angle of the motor is within the allowable error range, it can be determined that the first detection circuit reaches the functional level C, when the difference between the motor speed and the wheel end speed is within the allowable error range, it can be determined that the second detection circuit reaches the functional level C, and when the difference between the ratio of the motor torque and the motor acceleration slope and the ratio of the wheel end torque and the wheel end acceleration slope is within the allowable error range, it can be determined that the third detection circuit reaches the functional level C. At this time, it can be considered that the transmission disengagement mechanism reaches the functional level D.

[0079] In the embodiment of the present application, before determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information, the steering information of the vehicle can be obtained, and the magnitude of the steering information and the preset steering information can be determined. If it is determined that the steering information is greater than the preset steering information, that is, the vehicle has a large steering condition, the tolerance difference information corresponding to the first difference information, the second difference information and the third difference information can be determined based on the tolerance information and the preset difference information corresponding to the first difference information, the second difference information and the third difference information. That is, when the vehicle has a large steering condition, the error allowable range of the difference between the moving stroke of the lever and the rotation angle of the motor can be appropriately increased, the error allowable range of the difference between the motor speed and the wheel end speed can be increased, and the error allowable range of the difference between the ratio of the motor torque and the motor acceleration slope and the ratio of the wheel end torque and the wheel end acceleration slope can be increased.

[0080] In an embodiment of the present application, after determining the tolerance difference information corresponding to the first difference information, the second difference information, and the third difference information, respectively, the size of the first difference information, the second difference information, and the third difference information and the corresponding tolerance difference information can be judged. If the first difference information is smaller than the corresponding tolerance difference information, the second difference information is smaller than the corresponding tolerance difference information, and the third difference information is smaller than the corresponding tolerance difference information, it can be determined that the status information of the transmission disengagement mechanism is in a safe state.

[0081] By adopting the method for determining the status information of the transmission disengagement mechanism provided in the embodiment of the present application, three detection loops are constructed, and when at least two of the three detection loops reach the safety level corresponding to the design safety level decomposition, it is determined that the status information of the transmission disengagement mechanism is a safe state. This can improve the accuracy of determining the system status information, thereby ensuring the safe transmission of the torque state.

[0082] The embodiment of the present application also provides a device for determining status information of a transmission disengagement mechanism, Figure 4 is a schematic diagram of a structure of a device for determining state information of a transmission disengagement mechanism provided in an embodiment of the present application, such as Figure 4 As shown, the device 4 may include:

[0083] The first acquisition module 401 is used to acquire lever movement information, motor operation information and wheel end operation information;

[0084] The first determination module 403 is used to determine first difference information according to the lever movement information and the motor operation information;

[0085] The second determination module 405 is used to determine the second difference information and the third difference information according to the motor operation information and the wheel end operation information;

[0086] The third determination module 407 is used to determine the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information.

[0087] In the embodiment of the present application, the third determination module is used to determine that the state information of the transmission disengagement mechanism is a safe state if at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding preset difference information.

[0088] In the embodiment of the present application, the lever movement information includes movement stroke information;

[0089] The motor operation information includes the motor rotation angle information, the motor terminal speed information and the motor acceleration information;

[0090] The wheel end operation information includes wheel end speed information and wheel end acceleration information.

[0091] In the embodiment of the present application, the first determination module is used to determine the first difference information according to the movement stroke information and the motor rotation angle information.

[0092] In the embodiment of the present application, the second determination module is used to determine the second difference information according to the motor end speed information and the wheel end speed information.

[0093] In the embodiment of the present application, the second determination module is used to

[0094] Determining first ratio information according to motor end speed information and motor acceleration information;

[0095] Determining second ratio information according to the wheel end speed information and the wheel end acceleration information;

[0096] The third difference information is determined according to the first ratio information and the second ratio information.

[0097] In the embodiment of the present application, the above device further includes:

[0098] A second acquisition module is used to acquire the steering information of the vehicle before determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information;

[0099] a fourth determination module, configured to determine tolerance difference information corresponding to the first difference information, the second difference information, and the third difference information respectively based on the tolerance information and the preset difference information corresponding to the first difference information, the second difference information, and the third difference information respectively if the steering information is greater than the preset steering information;

[0100] The third determination module is used to determine that the state information of the transmission disengagement mechanism is a safe state if at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding tolerance difference information.

[0101] The device and method embodiments in the embodiments of the present application are based on the same application concept.

[0102] By adopting the state information determination device of the transmission disengagement mechanism provided in the embodiment of the present application, three detection loops are constructed, and when at least two of the three detection loops reach the safety level corresponding to the design safety level decomposition, it is determined that the state information of the transmission disengagement mechanism is a safe state, thereby improving the accuracy of the system state information determination, thereby ensuring the safe transmission of the torque state.

[0103] An embodiment of the present application also provides an electronic device, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a method for determining the status information of a transmission disengagement mechanism in an embodiment of the method. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the memory to implement the above-mentioned method for determining the status information of the transmission disengagement mechanism.

[0104] An embodiment of the present application also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to a method for determining the state information of a transmission disengagement mechanism in an embodiment of the method. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned method for determining the state information of the transmission disengagement mechanism.

[0105] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a mobile hard disk, a magnetic disk, or an optical disk.

[0106] It can be seen from the embodiments of the method, device, electronic device or storage medium for determining the state information of the transmission disengagement mechanism provided by the present application that the method in the present application includes obtaining the lever movement information, the motor operation information and the wheel end operation information, determining the first difference information according to the lever movement information and the motor operation information, determining the second difference information and the third difference information according to the motor operation information and the wheel end operation information, and determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information. Based on the embodiments of the present application, by constructing three detection loops, and when at least two of the three detection loops reach the safety level corresponding to the design safety level decomposition, determining that the state information of the transmission disengagement mechanism is a safe state, the accuracy of the determination of the system state information can be improved, thereby ensuring the safe transmission of the torque state.

[0107] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connection" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be a connection between two elements or an interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0108] It should be noted that the order of the above embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. The above description describes specific embodiments, and other embodiments are also within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in the order of different embodiments and can achieve the expected results. In addition, the processes depicted in the drawings do not necessarily require a specific order or connection order to achieve the desired results. In some embodiments, multi-task parallel processing is also possible or may be advantageous.

[0109] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is based on a method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0110] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for determining state information of a transmission disengagement mechanism, It is characterized in that include: Acquire lever movement information, motor operation information and wheel end operation information, wherein the lever movement information includes movement stroke information; The motor operation information includes motor rotation angle information, motor end speed information, motor torque information and motor acceleration information; the wheel end operation information includes wheel end torque information, wheel end speed information and wheel end acceleration information; Determining first difference information according to the moving stroke information and the motor rotation angle information; Determining second difference information according to the motor end speed information and the wheel end speed information; Determining first ratio information according to the motor torque information and the motor acceleration information; Determining second ratio information according to the wheel end torque information and the wheel end acceleration information; Determining third difference information according to the first ratio information and the second ratio information; The state information of the transmission disengagement mechanism is determined according to the first difference information, the second difference information and the third difference information.

2. The method according to claim 1, It is characterized in that Determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information includes: If at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding preset difference information, it is determined that the state information of the transmission disengagement mechanism is a safe state.

3. The method according to claim 2, It is characterized in that Before determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information, the method further includes: Obtain vehicle steering information; If the steering information is greater than the preset steering information, determining the tolerance difference information corresponding to the first difference information, the second difference information, and the third difference information respectively based on the tolerance information and the preset difference information corresponding to the first difference information, the second difference information, and the third difference information respectively; Determining the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information includes: If at least two of the first difference information, the second difference information and the third difference information are respectively smaller than the corresponding tolerance difference information, it is determined that the state information of the transmission disengagement mechanism is a safe state.

4. A device for determining status information of a transmission disengagement mechanism, It is characterized in that include: A first acquisition module is used to acquire lever movement information, motor operation information and wheel end operation information, wherein the lever movement information includes movement stroke information; The motor operation information includes motor rotation angle information, motor end speed information, motor torque information and motor acceleration information; the wheel end operation information includes wheel end torque information, wheel end speed information and wheel end acceleration information; A first difference determination module, used to determine first difference information according to the movement stroke information and the motor rotation angle information; A second difference determination module, used for determining second difference information according to the motor end speed information and the wheel end speed information; A first determining module, configured to determine first ratio information according to the motor torque information and the motor acceleration information; A second determination module, configured to determine second ratio information according to the wheel end torque information and the wheel end acceleration information; a third difference determination module, configured to determine third difference information according to the first ratio information and the second ratio information; The third determination module is used to determine the state information of the transmission disengagement mechanism according to the first difference information, the second difference information and the third difference information.

5. An electronic device, It is characterized in that The electronic device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the state information determination method of the transmission disengagement mechanism described in any one of claims 1-3.

6. A computer-readable storage medium, It is characterized in that The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the state information determination method of the transmission disengagement mechanism as described in any one of claims 1-3.

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