Vehicle active protection control method, device, electronic device and storage medium

Abstract

The present disclosure relates to a vehicle active protection control method and device, electronic equipment and storage medium, comprising: acquiring the differential of the left half shaft and the right half shaft of the decelerator; starting differential protection when the differential of the left half shaft and the right half shaft of the decelerator meets the first preset condition; performing first differential protection or second differential protection according to the relationship between the differential of the left half shaft and the right half shaft of the decelerator and the second preset condition; reducing the motor output torque through the first differential protection or the second differential protection, realizing the active protection of the differential, reducing the risk of differential failure, and saving maintenance cost.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular to a vehicle active protection control method, device, electronic device, and storage medium. Background Art

[0002] An electric axle typically consists of a drive motor, a motor controller, a transmission gear, and a differential. During operation, the drive motor provides torque as needed, which is then transferred by the transmission gear and ultimately to the left and right axles via the differential.

[0003] When the vehicle is traveling in a straight line on a good road, the left and right wheels rotate at the same speed, and the differential planetary gears do not rotate relative to the planetary gear shaft. When the left and right wheels rotate at different speeds, the differential planetary gears rotate relative to the planetary gear shaft. The extreme state is that one wheel is fixed and the other side is off the ground. The wheel on the off-ground side rotates at twice the speed of the differential case, and the planetary gears will rotate at high speed. In this working condition, the differential is prone to failure. The existing technical solutions generally use the TCS (Traction Control System) system to reduce the motor output torque and apply braking force to the slipping wheel to slow down the expansion of the left and right wheel speed difference, so as to achieve a smooth start or escape of the vehicle. The problems are as follows:

[0004] Question 1:

[0005] If the TCS function is turned off or fails, the motor output torque cannot be reduced in time when the vehicle starts or escapes from a slippery road. Once a large difference in wheel speed occurs, the differential planetary gear will rotate at high speed and this situation cannot be effectively suppressed, which can easily cause differential failure and increase maintenance costs.

[0006] Question 2:

[0007] If the TCS functions normally but cannot control the speed difference between the left and right wheels to the safe range of the differential, the motor output torque cannot be adjusted in time, which will still cause the differential to fail and increase maintenance costs. Summary of the Invention

[0008] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a vehicle active protection control method, device, electronic device and storage medium to achieve active protection of the differential, reduce the risk of differential failure, and save maintenance costs.

[0009] In a first aspect, an embodiment of the present disclosure provides a vehicle active protection control method, comprising:

[0010] Get the differential speed between the left and right half shafts of the reducer;

[0011] When the differential speed between the left and right half shafts of the reducer meets a first preset condition, starting the differential speed protection;

[0012] Performing the first differential protection or the second differential protection according to the relationship between the differential speed of the left and right half shafts of the reducer and the second preset condition;

[0013] The torque at the output end of the motor is reduced by the first differential protection or the second differential protection.

[0014] Optionally, obtaining the differential speed between the left and right half shafts of the reducer includes:

[0015] Acquiring operating parameters of the vehicle, and determining a first speed of the left and right half shafts of the reducer when there is no differential according to the operating parameters, wherein the operating parameters include a motor speed and a reduction ratio of the reducer;

[0016] Acquiring a second rotational speed of the left half shaft or the right half shaft detected by a sensor;

[0017] The differential speed between the left half shaft and the right half shaft of the speed reducer is determined according to the first speed and the second speed.

[0018] Optionally, before acquiring the second rotational speed of the left half shaft or the right half shaft detected by the sensor, the method further includes:

[0019] When the motor speed and the first speed meet a third preset condition, a detection function of the differential protection is activated.

[0020] Optionally, the third preset condition includes a preset motor speed and a preset half-shaft speed;

[0021] When the motor speed and the first speed meet a third preset condition, activating the detection function of the differential protection includes:

[0022] When the motor speed is greater than or equal to the preset motor speed, and the first speed is greater than or equal to the preset half-shaft speed, the detection function of the differential protection is activated.

[0023] Optionally, determining the first speed of the left and right half shafts of the reducer when there is no differential according to the operating parameters includes:

[0024] n 轮 =n m / γ

[0025] Among them, n 轮 is the first speed, n m is the motor speed, and γ is the reduction ratio of the reducer.

[0026] Optionally, determining the differential speed between the left and right half shafts of the reducer according to the first speed and the second speed includes:

[0027] n 差 =2*|n 轮 -n 左轮 |

[0028] Among them, n 差 is the speed difference between the left and right half shafts of the reducer, n 轮 is the first speed when there is no differential between the left and right half shafts of the reducer, n 左轮 is the second speed of the left half shaft of the reducer.

[0029] Optionally, the second preset condition includes a differential threshold, a torque threshold, and a power threshold;

[0030] The first differential protection or the second differential protection is performed according to the relationship between the differential speed of the left half shaft and the right half shaft of the reducer and the second preset condition, including:

[0031] When the differential speed between the left and right half shafts of the reducer is greater than the differential speed threshold, and the output torque of the left half shaft of the reducer is greater than or equal to the torque threshold, performing the first differential speed protection;

[0032] When the speed difference between the left and right half shafts of the reducer is less than or equal to the speed difference threshold, and the power difference between the left and right half shafts of the reducer is greater than or equal to the power threshold, the second differential protection is performed.

[0033] Optionally, the output torque of the left half shaft of the reducer is:

[0034]

[0035] Among them, φ is the efficiency of the reducer, T m is the motor torque, and γ is the reduction ratio of the reducer.

[0036] Optionally, the output power of the left half shaft of the reducer is:

[0037]

[0038] The output power of the right half shaft of the reducer is:

[0039]

[0040] The power difference between the left and right half shafts of the reducer is:

[0041]

[0042] Optionally, reducing the torque at the motor output end by using the first differential protection or the second differential protection includes:

[0043] Obtaining a maximum allowable output torque value of the drive motor corresponding to the motor speed;

[0044] The actual maximum allowable output torque value of the drive motor is adjusted according to the maximum allowable output torque value.

[0045] Optionally, after reducing the torque at the motor output end by the first differential protection or the second differential protection, the method further includes:

[0046] When the output torque of the left half shaft of the reducer is less than the torque threshold and satisfies the first time threshold, exiting the first differential protection;

[0047] When the power difference between the left half shaft and the right half shaft of the reducer is less than the power threshold and meets the first time threshold, the second differential protection is exited.

[0048] In a second aspect, an embodiment of the present disclosure provides a vehicle active protection control device, comprising:

[0049] The differential speed acquisition module is used to obtain the differential speed of the left and right half shafts of the reducer;

[0050] A differential protection activation module is configured to activate differential protection when the differential speed between the left and right half shafts of the reducer meets a first preset condition;

[0051] A differential protection module, configured to perform a first differential protection or a second differential protection according to a relationship between the differential speed of the left and right half shafts of the reducer and a second preset condition;

[0052] The torque adjustment module is used to reduce the torque at the output end of the motor through the first differential protection or the second differential protection.

[0053] In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

[0054] one or more processors;

[0055] a storage device for storing one or more programs,

[0056] When the one or more programs are executed by the one or more processors, the one or more processors implement the data query method as described in any one of the first aspects.

[0057] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the data query method as described in any one of the first aspects.

[0058] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0059] The active protection control method, device, electronic device and storage medium provided by the embodiments of the present disclosure obtain the differential speed of the left and right half shafts of the reducer; when the differential speed of the left and right half shafts of the reducer meets the first preset condition, the differential protection is activated; the first differential protection or the second differential protection is performed according to the relationship between the differential speed of the left and right half shafts of the reducer and the second preset condition; and the torque at the output end of the motor is reduced by the first differential protection or the second differential protection. By judging whether the activation conditions of the differential protection function of the differential are met, when the wheel speed difference between the left and right wheels is large, that is, the differential speed of the left and right half shafts of the reducer is large, there is a risk of failure of the differential. At this time, the differential protection function of the differential is activated, and the drive motor is controlled to reduce the torque, thereby reducing the wheel speed difference between the left and right wheels, and further reducing the self-propagation speed of the differential planetary gear, thereby realizing active protection of the differential, reducing the risk of differential failure, and saving maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0061] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0062] Figure 1 This is a flow chart of a vehicle active protection control method provided by an embodiment of the present disclosure;

[0063] Figure 2 is a relationship diagram between power difference and differential speed, and torque and differential speed provided by an embodiment of the present disclosure;

[0064] Figure 3 is a flow chart of another vehicle active protection control method provided by an embodiment of the present disclosure;

[0065] Figure 4 This is a flow chart of another vehicle active protection control method provided by an embodiment of the present disclosure;

[0066] Figure 5 This is a flow chart of another vehicle active protection control method provided by an embodiment of the present disclosure;

[0067] Figure 6 This is a flow chart of another vehicle active protection control method provided by an embodiment of the present disclosure;

[0068] Figure 7This is a flow chart of another vehicle active protection control method provided by an embodiment of the present disclosure;

[0069] Figure 8 1 is a schematic structural diagram of a vehicle active protection control device provided by an embodiment of the present disclosure;

[0070] Figure 9 It is a structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0071] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0072] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0073] Exemplarily, the present disclosure provides a vehicle active protection control method, device, electronic device and storage medium. The vehicle active protection control method can be applied to actively protect the vehicle differential in a situation where one side of the vehicle is off the ground, and can be executed by the differential active protection control device provided in the embodiment of the present disclosure. The vehicle active protection control device can be implemented in software and / or hardware.

[0074] The vehicle active protection control method disclosed herein is executed by an electronic device or an application, webpage, or public account within the electronic device. The electronic device may be a tablet computer, mobile phone, wearable device, vehicle-mounted device, augmented reality (AR) / virtual reality (VR) device, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), smart TV, smart screen, HDTV, 4K TV, smart speaker, smart projector, or other device. The disclosure does not impose any restrictions on the specific type of electronic device.

[0075] The present disclosure does not limit the type of operating system of the electronic device, for example, Android system, Linux system, Windows system, iOS system, etc.

[0076] Based on the foregoing description, the vehicle active protection control method provided by the present disclosure will be described in detail with the electronic device as an example in the embodiments combined with application scenarios.

[0077] As shown in Figure 1 , the vehicle active protection control method comprises:

[0078] S10, acquiring the differential speed of the left half axle and the right half axle of the reducer.

[0079] The vehicle includes a front drive vehicle and a rear drive vehicle, the two front wheels of the front drive vehicle are drive wheels, the two rear wheels of the rear drive vehicle are drive wheels, and the embodiments of the present disclosure are suitable for the front drive vehicle and the rear drive vehicle.

[0080] TCS (Traction Control System, traction control system), its function is to make the vehicle obtain the best traction in various driving conditions, its working principle is to monitor the working state of the vehicle by installing a speed sensor on the wheel, if a wheel slips (at this time, the speed difference between the left and right wheels is large), control is performed in cooperation with the anti-lock braking system and the vehicle control system to prevent the vehicle from losing control.

[0081] The electric drive system is composed of a drive motor, a drive motor controller and a reducer.

[0082] During vehicle driving, the drive motor controller receives the torque or speed signal required by the vehicle, controls the drive motor to output the corresponding speed or torque, and the speed output by the drive motor is distributed to the left half axle and the right half axle through the reducer (and the internal differential).

[0083] When the vehicle is driving straight on a good road, the speeds of the left and right wheels are the same, the speeds of the left half axle and the right half axle of the reducer are the same, and the differential planetary gear in the reducer does not rotate relative to the planetary gear shaft. When the speeds of the left and right wheels are different, the differential planetary gear in the reducer rotates relative to the planetary gear shaft. The limit state is that one side of the wheel is fixed and the other side is off the ground, the off-the-ground side wheel rotates at twice the speed of the differential housing, and the planetary gear rotates at high speed. At this time, the differential speed of the left half axle and the right half axle of the reducer is determined according to the first speed when the differential speed of the left half axle and the right half axle of the reducer is zero and the second speed detected by the sensor on the left half axle or the right half axle.

[0084] Specifically, the differential speed n 差 of the left half axle and the right half axle of the reducer is calculated according to the following formula:

[0085] n 差 = 2 * |n 轮 -n 左轮 |

[0086] Wherein, n 差is the speed difference between the left and right half shafts of the reducer, n 轮 is the first speed when there is no differential between the left and right half shafts of the reducer, n 左轮 Second speed of the left half shaft.

[0087] S20: When the speed differential between the left and right half shafts of the speed reducer meets a first preset condition, start the differential protection.

[0088] The differential protection function is activated when the speed differential between the left and right half-shafts of the speed reducer meets a first preset condition, namely, when the absolute value of the difference between the first speed of the left and right half-shafts when no differential exists and the second speed of the left half-shaft of the speed reducer meets the first preset condition. Specifically, when the speed difference between the left and right wheels is large, the differential in the speed reducer is at risk of failure. In this case, the differential protection function is activated, controlling the drive motor to reduce torque, thereby reducing the speed difference between the left and right wheels. This in turn reduces the rotational speed of the differential planetary gears in the speed reducer, thus achieving active differential protection and mitigating the risk of differential failure.

[0089] S30: Perform the first differential protection or the second differential protection according to the relationship between the differential speed of the left and right half shafts of the speed reducer and the second preset condition.

[0090] When the differential protection is activated in the reducer, the first differential protection or the second differential protection is performed according to the relationship between the differential speed of the left and right half shafts of the reducer and the preset conditions. Specifically, according to the characteristics of the differential in the reducer, the relationship between the power difference and differential speed, and the relationship between the torque and differential speed allowed by the differential in the reducer is as follows: Figure 2 As shown by Figure 2 It can be seen that when the differential speed between the left and right half-shafts of the reducer is less than or equal to the preset differential value, the differential power of the reducer is constant. When the differential speed between the left and right half-shafts of the reducer is greater than the preset differential value, the output torque of the differential between the left and right half-shafts of the reducer is constant. Therefore, when the differential speed between the left and right half-shafts of the reducer is less than or equal to the preset differential value and the power differential between the left and right half-shafts of the reducer is greater than or equal to the power threshold, the second differential protection is activated. When the differential speed between the left and right half-shafts of the reducer is greater than the preset differential value and the output torque of the left half-shaft of the reducer is greater than or equal to the torque threshold, the first differential protection is activated.

[0091] S40: Reduce the torque at the motor output end through the first differential protection or the second differential protection.

[0092] After performing the first differential protection or the second differential protection, the maximum output torque value of the drive motor corresponding to the motor speed can be obtained, and the actual maximum allowable output torque value of the drive motor can be adjusted according to the maximum allowable output torque value. By reducing the output torque of the motor, the differential of the reducer can be quickly protected.

[0093] The active protection control method provided by the embodiment of the present disclosure obtains the differential speed of the left and right half-axles of the reducer; when the differential speed of the left and right half-axles of the reducer meets the first preset condition, the differential protection is activated; the first differential protection or the second differential protection is performed according to the relationship between the differential speed of the left and right half-axles of the reducer and the second preset condition; and the torque at the output end of the motor is reduced by the first differential protection or the second differential protection. By judging whether the activation conditions of the differential protection function of the differential are met, when the wheel speed difference between the left and right wheels is large, that is, the differential speed of the left and right half-axles of the reducer is large, there is a risk of differential failure. At this time, the differential protection function of the differential is activated, and the drive motor is controlled to reduce the torque, thereby reducing the wheel speed difference between the left and right wheels, and further reducing the self-propagation speed of the differential planetary gear, thereby realizing active protection of the differential, reducing the risk of differential failure, and saving maintenance costs.

[0094] Figure 3 is a flow chart of another vehicle active protection control method provided by an embodiment of the present disclosure, such as Figure 3 As shown, step S10 includes:

[0095] S11. Obtain operating parameters of the vehicle, and determine a first rotational speed of the left and right half shafts of the reducer when there is no differential according to the operating parameters, wherein the operating parameters include a motor speed and a reduction ratio of the reducer.

[0096] Specifically, the operating parameters of the vehicle are the speed of the driving motor in the vehicle and the reduction ratio of the vehicle reducer during stable operation of the vehicle.

[0097] After obtaining the motor speed and the reduction ratio of the reducer, the specific process of determining the first speed of the reducer when there is no differential between the left and right half shafts is as follows:

[0098] n 轮 =n m / γ

[0099] Among them, n 轮 is the first speed, n m is the motor speed, and γ is the reduction ratio of the reducer.

[0100] S12. Acquire a second rotational speed of the left half shaft or the right half shaft detected by a sensor.

[0101] Specifically, a rotation speed sensor is added to the left half shaft of the reducer to detect the second rotation speed of the left half shaft of the reducer.

[0102] It should be noted that the embodiment of the present disclosure exemplarily sets a speed sensor on the left half shaft of the reducer. In other possible implementations, a reduction sensor can also be set on the right half shaft of the reducer. The embodiment of the present disclosure does not specifically limit the position of the speed sensor.

[0103] S13. Determine the speed difference between the left and right half shafts of the speed reducer according to the first speed and the second speed.

[0104] After determining the first speed of the left and right half shafts of the reducer when there is no differential and the second speed of the left or right half shaft detected by the sensor, the differential speed of the left and right half shafts of the reducer is determined by calculating the difference between the first speed and the second speed.

[0105] Figure 4 This is a flow chart of another vehicle active protection control method provided by the embodiment of the present disclosure. Figure 3 Based on the embodiment provided, the method further includes before step S12:

[0106] S111 . When the motor speed and the first speed meet a third preset condition, activate a detection function of the differential protection.

[0107] Specifically, when the motor speed and the first speed meet the third preset condition, activating the detection function of the differential protection includes:

[0108] When the motor speed is greater than or equal to the preset motor speed and the first speed is greater than or equal to the preset half-shaft speed, the detection function of the differential protection is activated.

[0109] After obtaining the vehicle's operating parameters and determining the first speeds of the left and right axles of the speed reducer without differentials based on the vehicle's operating parameters, a determination is made as to whether the motor speed and the first speed meet a third preset condition. Specifically, the third preset condition includes a preset motor speed and a preset axle speed. When the motor speed meets the preset motor speed and the first speed meets the preset axle speed, a detection function for active protection of the differential in the speed reducer is activated. The preset motor speed refers to a minimum detectable motor speed threshold, and the preset axle speed refers to a minimum detectable axle speed threshold. When the motor speed meets the preset motor speed and the first speed meets the preset axle speed, it is determined that the vehicle has begun driving. By activating the differential protection detection function, a second speed of the left or right axle detected by the sensor is obtained while the vehicle is driving.

[0110] The vehicle active protection control method provided by the embodiment of the present disclosure determines the first speed of the left and right half shafts of the reducer when there is no differential based on the acquired vehicle operating parameters, and then activates the detection function of the differential protection when the motor speed and the first speed meet the third preset condition. That is, after confirming that the vehicle has started to drive, the second speed of the left or right half shaft of the reducer detected by the speed sensor is obtained by using the detection function of the differential protection through the detection function of the differential protection, and then when the differential between the left and right half shafts of the reducer meets the first preset condition, the differential protection is started to realize active protection of the differential and reduce the risk of differential failure.

[0111] Figure 5 This is another vehicle active protection control method provided by the embodiment of the present disclosure. This embodiment is based on the above embodiment. Figure 5 As shown, a possible implementation method of step S30 is shown in the figure:

[0112] S31. When the speed differential between the left and right half shafts of the speed reducer is greater than a speed differential threshold, and the output torque of the left half shaft of the speed reducer is greater than or equal to a torque threshold, perform a first differential protection.

[0113] Specifically, the output torque of the left half shaft of the reducer is:

[0114]

[0115] Among them, φ is the efficiency of the reducer, T m is the motor torque, and γ is the reduction ratio of the reducer.

[0116] When the speed difference between the left and right half shafts of the reducer is greater than the speed difference threshold, Figure 2 It can be seen that the output torque of the left and right half shafts of the differential in the reducer is a constant value. When the output torque of the left half shaft of the reducer is greater than or equal to the torque threshold, the first differential protection is performed. According to the formula The motor torque Tm corresponding to the current output torque of the left half shaft of the reducer can be calculated. Therefore, the maximum allowable output torque of the drive motor corresponding to the motor speed can be determined, and then the actual maximum allowable output torque value of the drive motor can be adjusted according to the maximum allowable output torque value.

[0117] At this time, the corresponding step S40 is to reduce the torque at the motor output end through the first differential protection.

[0118] S32: When the speed differential between the left and right half shafts of the reducer is less than or equal to the speed differential threshold, and the power difference between the left and right half shafts of the reducer is greater than or equal to the power threshold, perform the second differential protection.

[0119] Specifically, the output power of the left half shaft of the reducer is:

[0120]

[0121] The output power of the right half shaft of the reducer is:

[0122]

[0123] The power difference between the left and right half shafts of the reducer:

[0124] When the speed difference between the left and right half shafts of the reducer is less than or equal to the speed difference threshold, Figure 2It can be seen that the power difference between the left and right half shafts of the reducer is a constant value. When the power difference between the left and right half shafts of the reducer is greater than or equal to the power threshold, the second differential protection is performed. According to the formula And the formula The motor torque Tm corresponding to the power difference between the left and right half shafts of the reducer can be calculated. Therefore, the maximum allowable output torque of the drive motor corresponding to the motor speed can be determined, and then the actual maximum allowable output torque value of the drive motor can be adjusted according to the maximum allowable output torque value.

[0125] At this time, the corresponding step S40 is to reduce the torque at the motor output end through the second differential protection.

[0126] The active protection control method provided by the embodiment of the present disclosure performs the first differential protection when the differential speed of the left and right half shafts of the reducer is greater than the differential threshold and the output torque of the left half shaft of the reducer is greater than or equal to the torque threshold; performs the second differential protection when the differential speed of the left and right half shafts of the reducer is less than or equal to the differential threshold and the power difference between the left and right half shafts of the reducer is greater than or equal to the power threshold, that is, performs the first differential protection or the second differential protection according to the power difference allowed by the differential in the reducer and the relationship between the differential and the torque, thereby realizing active protection of the differential.

[0127] Figure 6 This is another vehicle active protection control method provided by the embodiment of the present disclosure. Figure 5 Based on the corresponding embodiments, Figure 6 As shown, after step S41 or step S42, the following steps are further included:

[0128] S51. When the output torque of the left half shaft of the speed reducer is less than the torque threshold and satisfies the first time threshold, exit the first differential protection.

[0129] The first differential protection function exit strategy is that when the output torque of the left half shaft of the reducer decreases, the first differential protection is exited when the output torque of the left half shaft of the reducer is less than the torque threshold and the first time threshold is met. The specific first time threshold can be 3S, that is, the first differential protection is exited when the output torque of the left half shaft of the reducer is less than the torque threshold and the first time threshold is met.

[0130] It should be noted that after the output torque of the left half-shaft of the reducer decreases, it is necessary to again determine whether the output torque of the left half-shaft of the reducer is less than the torque threshold. If the output torque of the left half-shaft of the reducer is less than the torque threshold, and the output torque of the left half-shaft of the reducer is less than the torque threshold for a first time threshold, the first differential protection is exited. If the output torque of the left half-shaft of the reducer is greater than or equal to the torque threshold, the torque at the motor output end is further reduced.

[0131] S52: When the power difference between the left and right half shafts of the speed reducer is less than a power threshold and satisfies a first time threshold, exit the second differential protection.

[0132] Similarly, the exit strategy of the second differential protection function is that when the power difference between the left and right half shafts of the reducer decreases, the second differential protection is exited when the power difference between the left and right half shafts of the reducer is less than the power threshold and meets the first time threshold. The specific first time threshold can be 3S, that is, the second differential protection is exited when the power difference between the left and right half shafts of the reducer is less than the power threshold and meets 3S.

[0133] It should be noted that when the power difference between the left and right half shafts of the reducer is less than the power threshold, it is necessary to determine again whether the power difference between the left and right half shafts of the reducer is less than the power threshold. When the power difference between the left and right half shafts of the reducer is less than the power threshold and satisfies the power threshold, and the power difference between the left and right half shafts of the reducer is less than the power threshold and satisfies the first time threshold, the second differential protection is exited. If the power difference between the left and right half shafts of the reducer is less than the power threshold and satisfies the power threshold or is greater than or equal to the power threshold, the torque at the motor output end continues to be reduced.

[0134] The vehicle active protection control method provided by the embodiment of the present disclosure exits the first differential protection when the output torque of the motor is reduced by the first differential protection or the second differential protection and the output torque of the left half shaft of the reducer is less than the torque threshold and meets the first time threshold, or exits the second differential protection when the power difference between the left half shaft and the right half shaft of the reducer is less than the power threshold and meets the first time threshold, thereby realizing exit from the differential protection.

[0135] Figure 7 This is another vehicle active protection control method provided by the embodiment of the present disclosure. This embodiment is based on the above embodiment. Figure 7 As shown, a possible implementation method of step S40 is shown in the figure:

[0136] S401 : Obtain a maximum allowable output torque value of a driving motor corresponding to the motor speed.

[0137] Specifically, the maximum allowable output torque value of the driving motor corresponding to the motor speed can be obtained by looking up the table.

[0138] S402: Adjust the actual maximum allowable output torque value of the drive motor according to the maximum allowable output torque value.

[0139] Specifically, during step S402, the actual maximum allowable output torque value of the drive motor changes, causing the wheel speed differential between the left and right wheels to change. While the primary purpose of the disclosed embodiment is to protect the differential of the speed reducer from damage under extreme conditions, passenger and driver safety is even more important than the differential. Vehicle driving data is regulated at high speeds to ensure the safety of passengers and drivers in the event of danger. Therefore, vehicle speed information needs to be considered when setting the control conditions. Therefore, when the vehicle speed is high or the wheel speed differential decreases to within a preset range, the differential's active protection function is disengaged. At this point, the actual maximum allowable output torque value of the drive motor needs to be adjusted to the drive motor's maximum torque capacity.

[0140] The vehicle active protection control method provided by the embodiment of the present disclosure obtains the maximum allowable output torque value of the drive motor corresponding to the motor speed, and adjusts the actual maximum allowable output torque value of the drive motor according to the maximum allowable output torque value, thereby reducing the torque at the motor output end through the first differential protection or the second differential protection, thereby reducing the self-rotating speed of the differential planetary gear, realizing active protection of the differential, reducing the risk of differential failure, and saving maintenance costs.

[0141] Figure 8 FIG. 1 is a schematic structural diagram of a vehicle active protection control device provided by an embodiment of the present disclosure. Figure 8 As shown, the vehicle active protection control device 001 includes:

[0142] The differential speed acquisition module 730 is used to obtain the differential speed of the left and right half shafts of the reducer;

[0143] The differential protection activation module 740 is configured to activate the differential protection when the differential speed between the left and right half shafts of the reducer meets a first preset condition;

[0144] A differential protection module 750 is configured to perform a first differential protection or a second differential protection according to a relationship between the differential speed of the left and right half shafts of the reducer and a second preset condition;

[0145] The torque adjustment module 760 is configured to reduce the torque at the motor output end through the first differential protection or the second differential protection.

[0146] The device provided by the embodiments of the present disclosure includes a differential acquisition module that acquires the differential of the left half axle and the right half axle of the speed reducer; a differential protection starting module that starts the differential protection when the differential of the left half axle and the right half axle of the speed reducer meets a first preset condition; a first differential or second differential protection module that performs the first differential protection or the second differential protection according to the relationship between the differential of the left half axle and the right half axle of the speed reducer and a second preset condition; and a torque adjustment module that reduces the torque of the motor output end through the first differential protection or the second differential protection. By judging whether the differential protection function activation condition of the differential is met, when the wheel speed difference of the left and right wheels is large, that is, the differential of the left half axle and the right half axle of the speed reducer is large, the differential has a risk of failure. At this time, the differential protection function of the differential is activated, the torque of the driving motor is controlled to be reduced, the wheel speed difference of the left and right wheels is reduced, the self-transmission speed of the differential planetary gear is reduced, the active protection of the differential is realized, the risk of failure of the differential is reduced, and the maintenance cost is saved.

[0147] Optionally, the vehicle active protection control device further includes:

[0148] The differential protection detection module is configured to activate the detection function of the differential protection when the motor speed and the first speed meet a third preset condition.

[0149] Optionally, the differential protection module includes a first differential protection unit and a second differential protection unit.

[0150] The first differential protection unit is configured to perform the first differential protection when the differential of the left half axle and the right half axle of the speed reducer is greater than a differential threshold value and the output torque of the left half axle of the speed reducer is greater than or equal to a torque threshold value.

[0151] The second differential protection unit is configured to perform the second differential protection when the differential of the left half axle and the right half axle of the speed reducer is less than or equal to the differential threshold value and the power difference between the left half axle and the right half axle of the speed reducer is greater than or equal to a power threshold value.

[0152] Optionally, the torque adjustment module includes a maximum torque acquisition unit and a torque adjustment unit.

[0153] The maximum torque acquisition unit is configured to acquire the maximum allowable output torque value of the driving motor corresponding to the motor speed.

[0154] The torque adjustment unit is configured to adjust the actual maximum allowable output torque value of the driving motor according to the maximum allowable output torque value.

[0155] Optionally, the vehicle active protection control device further includes a differential protection exit module, and the differential protection exit module includes a first differential protection exit unit and a second differential protection exit unit.

[0156] The first differential protection exit unit is configured to exit the first differential protection when the output torque of the left half axle of the speed reducer is less than the torque threshold value and a first time threshold value is met.

[0157] The second differential protection exit unit is configured to exit the second differential protection when the power difference between the left half axle and the right half axle of the decelerator is less than the power threshold and the first time threshold is met.

[0158] It is worth noting that in the embodiments of the above device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for easy mutual distinction, and does not serve to limit the protection scope of the present application.

[0159] The device provided by the embodiments of the present application can execute the method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of executing the method.

[0160] Figure 9 is a structural schematic diagram of an electronic device provided by an embodiment of the present disclosure, as Figure 9 shown, the electronic device includes a processor 810, a memory 820, an input device 830 and an output device 840; the number of processors 810 in the electronic device can be one or more, Figure 9 for example, one processor 810; the processor 810, the memory 820, the input device 830 and the output device 840 in the electronic device can be connected through a bus or other means, Figure 9 for example, connected through a bus.

[0161] The memory 820, as a kind of computer readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the method in the embodiments of the present application. The processor 810 executes the various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 820, that is, realizes the method provided by the embodiments of the present application.

[0162] The memory 820 can mainly include a storage program area and a storage data area, wherein the storage program area can store an operating system, at least one application program required by a function; the storage data area can store data created according to the use of the terminal and the like. In addition, the memory 820 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some examples, the memory 820 can further include a memory disposed remotely with respect to the processor 810, which can be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0163] The input device 830 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device, and may include a keyboard, mouse, etc. The output device 840 may include a display device such as a display screen.

[0164] The embodiments of the present disclosure further provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to implement the method provided by the embodiments of the present disclosure.

[0165] Of course, the computer executable instructions of a storage medium containing computer executable instructions provided by an embodiment of the present invention are not limited to the operations of the method described above, and can also execute related operations in the method provided by any embodiment of the present invention.

[0166] The present disclosure further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the method of the application program of the above embodiment.

[0167] In the above embodiments, all or part of the functions can be implemented by software, hardware, or a combination of software and hardware. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid-state drive (SSD)), etc.

[0168] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0169] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle active protection control method, characterized in that: include: Acquiring operating parameters of the vehicle, and determining a first speed of the reducer when there is no differential between the left and right shafts according to the operating parameters, wherein the operating parameters include a motor speed and a reduction ratio of the reducer; Acquiring a second rotational speed of the left half shaft or the right half shaft detected by a sensor; determining a differential speed between the left and right shafts of the speed reducer according to the first speed and the second speed; When the differential speed between the left and right shafts of the reducer meets a first preset condition, starting the differential speed protection; When the differential speed between the left and right shafts of the reducer is greater than a differential speed threshold, and the output torque of the left half shaft of the reducer or the output torque of the right half shaft of the reducer is greater than or equal to a torque threshold, the first differential speed protection is performed, the output torque of the left half shaft of the reducer is equal to the output torque of the right half shaft of the reducer, and the output torque of the left half shaft of the reducer and the output torque of the right half shaft of the reducer are both determined according to the efficiency of the reducer, the motor torque and the reduction ratio of the reducer; When the speed difference between the left and right shafts of the reducer is less than or equal to the speed difference threshold, and the power difference between the left and right shafts of the reducer is greater than or equal to the power threshold, performing the second differential protection; The torque at the output end of the motor is reduced by the first differential protection or the second differential protection.

2. The method according to claim 1, characterized in that Before acquiring the second rotational speed of the left half shaft or the right half shaft detected by the sensor, the method further includes: When the motor speed and the first speed meet a third preset condition, a detection function of the differential protection is activated.

3. The method according to claim 2, characterized in that The third preset condition includes a motor preset speed and a left and right shaft preset speed; When the motor speed and the first speed meet a third preset condition, activating the detection function of the differential protection includes: When the motor speed is greater than or equal to the preset motor speed, and the first speed is greater than or equal to the preset speeds of the left and right shafts, the detection function of the differential protection is activated.

4. The method according to any one of claims 1 to 3, characterized in that The determining, based on the operating parameters, a first speed when there is no differential between the left and right shafts of the speed reducer includes: in, is the first speed, is the motor speed, is the reduction ratio of the reducer.

5. The method according to any one of claims 1 to 3, characterized in that Determining the speed difference between the left and right shafts of the speed reducer according to the first speed and the second speed includes: in, is the differential speed between the left and right shafts of the reducer, It is the first speed when there is no differential between the left and right shafts of the reducer. is the second speed of the left half shaft.

6. The method according to claim 1, characterized in that The output torque of the left half shaft of the reducer is: in, is the efficiency of the reducer, is the motor torque, is the reduction ratio of the reducer.

7. The method according to claim 6, characterized in that The output power of the left half shaft of the reducer is: The output power of the right half shaft of the reducer is: The power difference between the left and right shafts of the reducer is: in, is the second speed of the left half shaft, is the differential speed between the left and right shafts of the reducer.

8. The method according to claim 1, characterized in that The reducing the torque at the motor output end by using the first differential protection or the second differential protection includes: Obtaining a maximum allowable output torque value of the drive motor corresponding to the motor speed; The actual maximum allowable output torque value of the drive motor is adjusted according to the maximum allowable output torque value.

9. The method according to claim 1, characterized in that After reducing the torque at the motor output end by the first differential protection or the second differential protection, the method further includes: When the output torque of the left half shaft of the reducer is less than the torque threshold and satisfies the first time threshold, exiting the first differential protection; When the power difference between the left and right shafts of the reducer is less than the power threshold and meets the first time threshold, the second differential protection is exited.

10. A vehicle active protection control device, characterized in that: include: A vehicle operating parameter acquisition module, configured to acquire operating parameters of the vehicle and determine a first speed of the reducer when there is no differential between the left and right shafts according to the operating parameters, wherein the operating parameters include a motor speed and a reduction ratio of the reducer; A second rotation speed acquisition module, configured to acquire a second rotation speed of the left half shaft or the right half shaft detected by a sensor; a differential speed determining module, configured to determine a differential speed between the left and right shafts of the speed reducer according to the first speed and the second speed; A differential protection activation module, configured to activate differential protection when the differential speed between the left and right shafts of the reducer meets a first preset condition; The first differential protection unit is used to perform the first differential protection when the differential speed between the left and right shafts of the reducer is greater than the differential threshold, and the output torque of the left half shaft of the reducer or the output torque of the right half shaft of the reducer is greater than or equal to the torque threshold, the output torque of the left half shaft of the reducer is equal to the output torque of the right half shaft of the reducer, and the output torque of the left half shaft of the reducer and the output torque of the right half shaft of the reducer are both determined according to the efficiency of the reducer, the motor torque and the reduction ratio of the reducer; The second differential protection unit is used to perform second differential protection when the differential speed between the left and right shafts of the reducer is less than or equal to the differential speed threshold, and the power difference between the left and right shafts of the reducer is greater than or equal to the power threshold; The torque adjustment module is used to reduce the torque at the output end of the motor through the first differential protection or the second differential protection.

11. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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