Differential protection method, system, vehicle and electronic equipment

Abstract

The embodiments of the present application provide a differential protection method, system, vehicle and electronic device, the method comprising: obtaining the actual rotation speed of each wheel and the actual rotation speed of the drive motor; when the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor is abnormal, determining the rate of change of the actual rotation speed of the drive motor; when the rate of change of the actual rotation speed of the drive motor is abnormal, setting the requested torque of the drive motor to zero so that the drive motor stops providing driving force to the differential, which can effectively prevent the differential from burning out due to abnormal acceleration.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a differential protection method, system, vehicle and electronic equipment. Background Art

[0002] The car differential enables the left and right drive wheels to rotate at different speeds. When the car turns or drives on uneven roads, the left and right wheels roll at different speeds, thereby adjusting the speed difference between the left and right wheels.

[0003] Since the output shaft of the drive motor is connected to the differential and connected to the wheels through the left and right half shafts of the differential, if the half shaft of the differential suddenly disconnects when the drive motor drives the vehicle, one end of the differential will suddenly lose load, the speed of the drive motor will increase sharply, and the differential will be burned, affecting the safe driving of the vehicle. Summary of the invention

[0004] In view of the above problems, embodiments of the present application provide a differential protection method, system, vehicle, and electronic device to overcome the above problems or at least partially solve the above problems.

[0005] In a first aspect of an embodiment of the present application, a differential protection method is provided, the method comprising: obtaining an actual rotation speed of each wheel and an actual rotation speed of a drive motor;

[0006] When the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor is abnormal, determining the rate of change of the actual rotation speed of the drive motor;

[0007] When the rate of change of the actual speed of the drive motor is abnormal, the requested torque of the drive motor is set to zero, so that the drive motor stops providing driving force to the differential. 5 Optionally, it also includes:

[0008] obtaining a requested torque of the driving motor;

[0009] Determining, according to the requested torque of the drive motor, target rotation speeds of the wheels corresponding to the requested torque of the drive motor;

[0010] When the actual rotation speed of at least one of the wheels is different from the corresponding target rotation speed, determining that the actual rotation speed of each wheel is abnormal;

[0011] When the actual rotation speed of each wheel is the same as the corresponding target rotation speed, it is determined that there is no abnormality in the actual rotation speed of each wheel.

[0012] Optionally, it also includes:

[0013] When the actual rotation speeds of the wheels are normal, detecting whether the actual rotation speed of the driving motor is abnormal;

[0014] When an abnormality occurs in the actual rotation speed of the drive motor or when an abnormality occurs in the actual rotation speed of at least one of the wheels, it is detected whether an abnormality occurs in the rate of change of the actual rotation speed of the drive motor.

[0015] Optionally, the detecting whether a change rate of an actual rotation speed of the driving motor is abnormal includes:

[0016] obtaining a requested torque of the driving motor;

[0017] Querying a second relationship comparison table to determine a safety limit value of a rate of change of a motor speed corresponding to a requested torque of the drive motor, wherein the second relationship comparison table includes a plurality of safety limits of a rate of change of a motor speed corresponding to requested torques;

[0018] When the rate of change of the actual rotational speed exceeds the safety limit of the rate of change of the motor rotational speed, it is determined that the rate of change of the actual rotational speed of the drive motor is abnormal.

[0019] Optionally, the detecting whether the actual rotation speed of the driving motor is abnormal includes:

[0020] Obtaining the current speed of the vehicle;

[0021] Querying a first relationship comparison table to determine a motor speed safety limit value corresponding to the current vehicle speed, wherein the first relationship comparison table includes motor speed safety limits corresponding to a plurality of vehicle speeds;

[0022] According to the safety limit of the motor speed, it is detected whether the actual speed of the drive motor is abnormal.

[0023] Optionally, detecting whether an actual rotation speed of the drive motor is abnormal according to the safety limit of the motor rotation speed includes:

[0024] Determining the average value of the shaft end speed of the driving motor according to the actual speed of each wheel;

[0025] When the actual rotation speed of the drive motor exceeds the sum of the average value of the shaft end rotation speed of the drive motor and the safety limit value of the motor rotation speed, it is determined that the actual rotation speed of the drive motor is abnormal.

[0026] Optionally, determining the average value of the shaft end speed of the drive motor according to the actual speed of each wheel includes:

[0027] Obtaining the tire radius and transmission system speed ratio of the vehicle;

[0028] According to the tire radius and the transmission system speed ratio, the actual rotation speed of each wheel is converted into the shaft end rotation speed relative to the drive motor;

[0029] According to the shaft end rotation speed of the drive motor, an average value of the shaft end rotation speed of the drive motor is determined.

[0030] A second aspect of an embodiment of the present application provides a differential protection system, the system comprising:

[0031] An acquisition module is used to acquire the actual rotation speed of each wheel and the actual rotation speed of the drive motor;

[0032] a determination module, configured to determine a rate of change of the actual rotation speed of the drive motor when an abnormality occurs in the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor;

[0033] The setting module is used for setting the requested torque of the drive motor to zero when the change rate of the actual rotation speed of the drive motor is abnormal, so that the drive motor stops providing driving force to the differential.

[0034] Optionally, it also includes:

[0035] A first acquisition submodule, configured to acquire a requested torque of the drive motor;

[0036] A first determination submodule, configured to determine, according to the requested torque of the drive motor, the target rotation speeds of the wheels corresponding to the requested torque of the drive motor;

[0037] a second determining submodule, configured to determine that an abnormality occurs in the actual rotation speed of each wheel when the actual rotation speed of at least one of the wheels is different from the corresponding target rotation speed;

[0038] The third determining submodule is used to determine that there is no abnormality in the actual rotation speed of each wheel when the actual rotation speed of each wheel is the same as the corresponding target rotation speed.

[0039] Optionally, it also includes:

[0040] A first detection submodule, configured to detect whether an actual rotation speed of the driving motor is abnormal when the actual rotation speeds of the wheels are normal;

[0041] The second detection submodule is used to detect whether the change rate of the actual rotation speed of the drive motor is abnormal when the actual rotation speed of the drive motor is abnormal or when the actual rotation speed of at least one of the wheels is abnormal.

[0042] Optionally, the detecting whether the rate of change of the actual rotational speed of the driving motor is abnormal, the second detecting submodule includes:

[0043] A first acquisition subunit, configured to acquire a requested torque of the drive motor;

[0044] a first determining subunit, configured to query a second relationship comparison table to determine a safety limit value of a rate of change of a motor speed corresponding to a requested torque of the drive motor, wherein the second relationship comparison table includes a plurality of safety limits of a rate of change of a motor speed corresponding to requested torques;

[0045] The second determining subunit is configured to determine that an abnormality occurs in the rate of change of the actual speed of the driving motor when the rate of change of the actual speed exceeds a safety limit value of the rate of change of the motor speed.

[0046] Optionally, the detecting whether the actual rotation speed of the driving motor is abnormal, the first detecting submodule includes:

[0047] A second acquisition subunit is used to acquire the current speed of the vehicle;

[0048] A third determination subunit is used to query a first relationship comparison table to determine the motor speed safety limit value corresponding to the current vehicle speed, wherein the first relationship comparison table includes motor speed safety limit values ​​corresponding to a plurality of vehicle speeds;

[0049] The first detection subunit is used to detect whether the actual rotation speed of the driving motor is abnormal according to the safety limit value of the motor rotation speed.

[0050] Optionally, the detecting whether the actual speed of the driving motor is abnormal according to the safety limit of the motor speed, the first detecting subunit includes:

[0051] a fourth determining subunit, configured to determine an average value of the shaft end speed of the driving motor according to the actual speed of each wheel;

[0052] The fifth determining subunit is used to determine that the actual speed of the drive motor is abnormal when the actual speed of the drive motor exceeds the sum of the average value of the shaft end speed of the drive motor and the safety limit of the motor speed.

[0053] Optionally, the average value of the shaft end speed of the driving motor is determined according to the actual speed of each wheel, and the fourth determining subunit includes:

[0054] A third acquisition subunit is used to acquire the tire radius and the transmission system speed ratio of the vehicle;

[0055] A conversion subunit, used for converting the actual rotation speed of each wheel into a shaft end rotation speed relative to the drive motor according to the tire radius and the transmission system speed ratio;

[0056] The sixth determining subunit is used to determine an average value of the shaft end rotation speed of the drive motor according to the shaft end rotation speed of the drive motor.

[0057] According to a third aspect of the embodiments of the present application, a vehicle is provided, wherein the vehicle includes the differential protection system as described in the second aspect of the embodiments of the present application.

[0058] According to a fourth aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the differential protection method as described in the first aspect of the embodiment of the present application.

[0059] This application has the following advantages:

[0060] The embodiment of the present application provides a differential protection method, the method comprising: obtaining the actual rotation speed of each wheel and the actual rotation speed of the drive motor; in the case that the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor is abnormal, determining the rate of change of the actual rotation speed of the drive motor; in the case that the rate of change of the actual rotation speed of the drive motor is abnormal, setting the requested torque of the drive motor to zero so that the drive motor stops providing driving force to the differential. The embodiment of the present application detects whether the rate of change of the actual rotation speed of the drive motor is abnormal, and in the case that the rate of change of the actual rotation speed of the drive motor is abnormal, sets the requested torque of the drive motor to zero, thereby ensuring that the torque acting on the differential is zero, which can effectively prevent the differential from burning out due to abnormal acceleration. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be 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 paying any creative labor.

[0062] Figure 1It is a flow chart of steps of a differential protection method provided by an embodiment of the present application;

[0063] Figure 2 is a flow chart of a differential protection method applied to a four-wheel drive vehicle provided in an embodiment of the present application;

[0064] Figure 3 is a schematic diagram of a differential protection system provided in an embodiment of the present application;

[0065] Figure 4 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] The exemplary embodiments of the present application will be described in more detail below in conjunction with the accompanying drawings in the embodiments of the present application. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully communicated to those skilled in the art.

[0067] In a first aspect of the embodiment of the present application, a differential protection method is provided, referring to Figure 1 , is a flow chart of steps of a differential protection method provided in an embodiment of the present application, the method comprising:

[0068] Step S101, obtaining the actual rotation speed of each wheel and the actual rotation speed of the driving motor;

[0069] Step S102, when the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor is abnormal, determining the change rate of the actual rotation speed of the drive motor;

[0070] Step S103 : when the rate of change of the actual rotation speed of the drive motor is abnormal, setting the requested torque of the drive motor to zero, so that the drive motor stops providing the drive force to the differential.

[0071] In the embodiment of the present application, the actual rotation speed of each wheel of the vehicle is obtained based on the VCU (Vehicle control unit) of the vehicle. In actual application, the actual rotation speed of each wheel refers specifically to the actual rotation speed of the wheel corresponding to the drive motor. For example, when the vehicle is a two-wheel drive vehicle, there is only one drive motor on the vehicle. At this time, the vehicle may be front-wheel drive or rear-wheel drive. When the vehicle is front-wheel drive, the wheels corresponding to the drive motor are the left front wheel and the right front wheel; when the vehicle is rear-wheel drive, the wheels corresponding to the drive motor are the left rear wheel and the right rear wheel. When the vehicle is a four-wheel drive vehicle, the vehicle has dual drive motors, and the wheels corresponding to the drive motors are the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel of the vehicle.

[0072] Exemplarily, in an embodiment of the present application, the VCU of the vehicle can receive in real time the actual rotation speed of each wheel and the actual rotation speed of the drive motor sent by the chassis controller of the vehicle.

[0073] Furthermore, in the embodiment of the present application, the requested torque of the drive motor obtained by the VCU and the target speed of each wheel corresponding to the drive motor in response to the requested torque can be further determined, and the actual speed of each wheel is compared with the target speed to determine whether the actual speed of each wheel is abnormal.

[0074] When the actual rotation speed of at least one of the wheels is different from the corresponding target rotation speed, determining that the actual rotation speed of each wheel is abnormal;

[0075] When the actual rotation speed of each wheel is the same as the corresponding target rotation speed, it is determined that there is no abnormality in the actual rotation speed of each wheel.

[0076] In a feasible implementation of the present application, when the actual speed of the wheel is the same as the corresponding target speed, that is, when there is no abnormality in the actual speed of the wheel, the effective flag bit of the wheel can be assigned a value of 1; when the actual speed of the wheel is different from the corresponding target speed, that is, when there is an abnormality in the actual speed of the wheel, the effective flag bit of the wheel can be assigned a value of 0.

[0077] Further, when the actual rotation speed of each wheel is normal, detecting whether the actual rotation speed of the driving motor is abnormal;

[0078] When an abnormality occurs in the actual rotation speed of the drive motor or when an abnormality occurs in the actual rotation speed of at least one of the wheels, it is detected whether an abnormality occurs in the rate of change of the actual rotation speed of the drive motor.

[0079] Specifically, the actual rotation speed of each wheel is normal, and it is impossible to determine whether the vehicle has an abnormality by judging the actual rotation speed of the wheel and the target rotation speed. Therefore, it is necessary to further determine whether the drive motor has an abnormality, that is, to further determine whether the actual rotation speed of the drive motor has an abnormality.

[0080] Further, the current speed of the vehicle is obtained through the VCU of the vehicle, and the motor speed safety limit corresponding to the current speed is determined by querying a first relationship comparison table, wherein the first relationship comparison table includes motor speed safety limits corresponding to a plurality of vehicle speeds;

[0081] By judging the relationship between the actual speed of the drive motor and the motor speed safety limit at the current vehicle speed, it can be determined whether the actual speed of the drive motor is abnormal. In practical applications, in order to avoid erroneous judgments caused by abnormal conditions, the present application determines whether the actual speed of the drive motor is abnormal by summing the average value of the shaft end speed of the drive motor and the safety limit of the motor speed.

[0082] Furthermore, when the actual speed of the drive motor is greater than the sum of the average value of the shaft end speed of the drive motor and the safety limit of the motor speed, it can be determined that the actual speed of the drive motor is abnormal;

[0083] When the actual rotation speed of the drive motor is less than or equal to the sum of the average value of the shaft end rotation speed of the drive motor and the safety limit value of the motor rotation speed, it can be determined that the actual rotation speed of the drive motor is not abnormal.

[0084] Specifically, the shaft end speed of the drive motor can be calculated by the actual speed of the corresponding wheel, the radius of the tire and the speed ratio of the transmission system to obtain the shaft end speed corresponding to each wheel of the drive motor. The specific calculation method is existing technology and will not be further elaborated in this application.

[0085] After determining that there is no abnormality in the actual rotation speed of each wheel, that is, the valid flag bit assignment of each wheel is 1, it is necessary to calculate the average value of the shaft end rotation speed of the drive motor, specifically, to calculate the average value of the shaft end rotation speed corresponding to the wheels at both ends of the drive motor.

[0086] Furthermore, if the actual speed of the drive motor is not abnormal, the process returns to the step of continuing to determine the speed of the drive motor; if the actual speed of the drive motor is abnormal, the process continues to determine whether the rate of change of the actual speed of the drive motor is abnormal.

[0087] Specifically, the requested torque of the drive motor is obtained by the VCU of the vehicle, and a second relationship comparison table is queried to determine a safety limit value of a rate of change of the motor speed corresponding to the requested torque of the drive motor, wherein the second relationship comparison table includes a plurality of safety limits of a rate of change of the motor speed corresponding to the requested torque;

[0088] By differentiating the change in the actual speed of the drive motor over a period of time, the change rate of the actual speed of the drive motor over a period of time can be calculated. By comparing the change rate of the actual speed of the drive motor with the safety limit of the change rate of the motor speed corresponding to the current requested torque, it can be determined whether the change rate of the actual speed of the drive motor is abnormal.

[0089] When the rate of change of the actual rotational speed of the drive motor exceeds the safety limit value of the rate of change of the motor rotational speed, it is determined that the rate of change of the actual rotational speed of the drive motor is abnormal.

[0090] If the rate of change of the actual rotational speed of the drive motor does not exceed the safety limit of the rate of change of the motor rotational speed, it is determined that there is no abnormality in the rate of change of the actual rotational speed of the drive motor.

[0091] Furthermore, when the actual speed of the drive motor is abnormal, it indicates that the speed of the drive motor is increasing rapidly, and also indicates that the speed of the differential half-shaft is also increasing rapidly. If no measures are taken, the differential may overheat or even burn out due to the excessive speed. Similarly, the drive motor may also suffer performance degradation due to overheating. At this time, if the requested torque of the drive motor is set to zero, the drive motor will no longer output torque to the differential, and the differential will stop working, which can effectively avoid the risk of overheating and burning of the differential due to excessive speed, and also effectively avoid the performance degradation of the drive motor due to excessive speed.

[0092] In another case, when an abnormality occurs in the actual rotation speed of at least one of the wheels, it is detected whether an abnormality occurs in the rate of change of the actual rotation speed of the drive motor.

[0093] Specifically, when the actual speed of at least one of the wheels is abnormal, it indicates that the wheel can no longer respond normally to the requested torque of the drive motor. At this time, it is necessary to further detect whether the change rate of the actual speed of the drive motor is abnormal.

[0094] Similarly, the requested torque of the drive motor is obtained by the VCU of the vehicle, and a second relationship comparison table is queried to determine a safety limit value of a rate of change of the motor speed corresponding to the requested torque of the drive motor, wherein the second relationship comparison table includes a plurality of safety limits of a rate of change of the motor speed corresponding to the requested torque;

[0095] By differentiating the change in the actual speed of the drive motor over a period of time, the change rate of the actual speed of the drive motor over a period of time can be calculated. By comparing the change rate of the actual speed of the drive motor with the safety limit of the change rate of the motor speed corresponding to the current requested torque, it can be determined whether the change rate of the actual speed of the drive motor is abnormal.

[0096] When the rate of change of the actual rotational speed of the drive motor exceeds the safety limit value of the rate of change of the motor rotational speed, it is determined that the rate of change of the actual rotational speed of the drive motor is abnormal.

[0097] If the rate of change of the actual rotational speed of the drive motor does not exceed the safety limit of the rate of change of the motor rotational speed, it is determined that there is no abnormality in the rate of change of the actual rotational speed of the drive motor.

[0098] Furthermore, when the actual speed of the drive motor is abnormal, it indicates that the speed of the drive motor is increasing rapidly, and also indicates that the speed of the differential half-shaft is also increasing rapidly. If no measures are taken, the differential may overheat or even burn out due to the excessive speed. Similarly, the drive motor may also suffer performance degradation due to overheating. At this time, if the requested torque of the drive motor is set to zero, the drive motor will no longer output torque to the differential, and the differential will stop working, which can effectively avoid the risk of overheating and burning of the differential due to excessive speed, and also effectively avoid the performance degradation of the drive motor due to excessive speed.

[0099] In a preferred embodiment of the present application, refer to Figure 2 , is a flow chart of a differential protection method for a four-wheel drive vehicle provided in an embodiment of the present application. Figure 2 As shown:

[0100] When the vehicle is a four-wheel drive vehicle, the vehicle has two front and rear drive motors, and the vehicle's VCU receives in real time the actual rotation speeds of the vehicle's front and rear four wheels and the actual rotation speeds of the two front and rear drive motors sent by the vehicle's chassis controller.

[0101] Furthermore, in the embodiment of the present application, the requested torque of the front and rear two drive motors is obtained by the VCU, and the target speed of the front and rear four wheels corresponding to the drive motors in response to the requested torque can be further determined through the requested torque of the front and rear two drive motors, and the actual speed of the four wheels is compared with the target speed corresponding to each of the four wheels, so as to determine whether the actual speed of the four wheels is abnormal.

[0102] When the actual rotation speed of at least one of the four wheels is different from the corresponding target rotation speed, determining that the actual rotation speed of the wheel is abnormal;

[0103] When the actual rotation speeds of the four wheels are all the same as the corresponding target rotation speeds, it is determined that there is no abnormality in the actual rotation speeds of the respective wheels.

[0104] Further, when the actual rotation speeds of the four wheels are normal, detecting whether the actual rotation speeds of the front and rear drive motors are abnormal;

[0105] When the actual rotation speed of the front and rear drive motors is abnormal, or when the actual rotation speed of at least one of the four wheels is abnormal, it is detected whether the change rate of the actual rotation speed of each of the front and rear drive motors is abnormal.

[0106] The current speed of the vehicle is obtained through the vehicle's VCU, and the motor speed safety limit values ​​corresponding to the front and rear drive motors are determined by querying the first relationship comparison table. It should be noted that the motor speed safety limit values ​​corresponding to the front and rear motors obtained based on the current vehicle speed table may be the same or different, and this application does not limit this.

[0107] Furthermore, the shaft end speeds of the corresponding drive motors are calculated based on the actual rotational speeds of the four wheels, and the average shaft end speeds of the front and rear drive motors are calculated based on the shaft end speeds corresponding to the four wheels. The actual speed of the drive motor is determined to be abnormal by adding the average shaft end speeds of the front and rear drive motors and the safety limit of the motor speed.

[0108] Furthermore, when the actual speed of the drive motor is greater than the sum of the average value of the shaft end speed of the drive motor and the safety limit of the motor speed, it can be determined that the actual speed of the drive motor is abnormal;

[0109] When the actual rotation speed of the drive motor is less than or equal to the sum of the average value of the shaft end rotation speed of the drive motor and the safety limit value of the motor rotation speed, it can be determined that the actual rotation speed of the drive motor is not abnormal.

[0110] Furthermore, when the actual rotation speed of the front and rear drive motors is abnormal, or when the actual rotation speed of at least one of the four wheels is abnormal, it is detected whether the change rate of the actual rotation speed of each of the front and rear drive motors is abnormal.

[0111] Specifically, the requested torque of the driving motor is obtained by the VCU of the vehicle, and the second relationship comparison table is queried to determine the safety limit value of the rate of change of the motor speed corresponding to the requested torque of the driving motor.

[0112] The change rate of the actual speed of the driving motor obtained by calculation for abnormal actual speed is compared with the safety limit of the change rate of the motor speed obtained by looking up the table, so as to determine whether the change rate of the actual speed of the driving motor is abnormal.

[0113] When the rate of change of the actual rotational speed of the drive motor exceeds the safety limit of the rate of change of the motor rotational speed, it is determined that the rate of change of the actual rotational speed of the drive motor is abnormal.

[0114] At this time, setting the requested torque of the drive motor with abnormal actual speed change rate to zero can effectively avoid the problem of overheating and damage of the differential due to excessive speed. For the drive motor without abnormality, it can continue to work to drive the vehicle.

[0115] The embodiment of the present application provides a differential protection method, the method comprising: obtaining the actual rotation speed of each wheel and the actual rotation speed of the drive motor; in the case that the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor is abnormal, determining the change rate of the actual rotation speed of the drive motor; when the change rate of the actual rotation speed of the drive motor exceeds the speed change rate safety limit of the drive motor, setting the request torque of the drive motor to zero, so that the drive motor stops providing driving force to the differential. The embodiment of the present application detects whether the change rate of the actual rotation speed of the drive motor exceeds the speed change rate safety limit, and when it is determined that the change rate of the actual rotation speed of the drive motor exceeds the speed change rate safety limit, sets the request torque of the drive motor to zero, thereby ensuring that the torque acting on the differential is zero, which can effectively prevent the differential from burning out due to abnormal acceleration.

[0116] Based on the same inventive concept, the present application embodiment also provides a differential protection system, referring to Figure 3 , Figure 3 : is a schematic diagram of a differential protection system provided in an embodiment of the present application, the system comprising:

[0117] An acquisition module 201 is used to acquire the actual rotation speed of each wheel and the actual rotation speed of the drive motor;

[0118] A determination module 202, configured to determine a rate of change of the actual speed of the drive motor when an abnormality occurs in the actual speed of each wheel and / or the actual speed of the drive motor;

[0119] The setting module 203 is configured to set the requested torque of the drive motor to zero when an abnormal change rate of the actual rotation speed of the drive motor occurs, so that the drive motor stops providing driving force to the differential.

[0120] Optionally, it also includes:

[0121] A first acquisition submodule, configured to acquire a requested torque of the drive motor;

[0122] A first determination submodule, configured to determine, according to the requested torque of the drive motor, the target rotation speeds of the wheels corresponding to the requested torque of the drive motor;

[0123] a second determining submodule, configured to determine that an abnormality occurs in the actual rotation speed of each wheel when the actual rotation speed of at least one of the wheels is different from the corresponding target rotation speed;

[0124] The third determining submodule is used to determine that there is no abnormality in the actual rotation speed of each wheel when the actual rotation speed of each wheel is the same as the corresponding target rotation speed.

[0125] Optionally, it also includes:

[0126] A first detection submodule, configured to detect whether an actual rotation speed of the driving motor is abnormal when the actual rotation speeds of the wheels are normal;

[0127] The second detection submodule is used to detect whether the change rate of the actual rotation speed of the drive motor is abnormal when the actual rotation speed of the drive motor is abnormal or when the actual rotation speed of at least one of the wheels is abnormal.

[0128] Optionally, the detecting whether the rate of change of the actual rotational speed of the driving motor is abnormal, the second detecting submodule includes:

[0129] A first acquisition subunit, configured to acquire a requested torque of the drive motor;

[0130] a first determining subunit, configured to query a second relationship comparison table to determine a safety limit value of a rate of change of a motor speed corresponding to a requested torque of the drive motor, wherein the second relationship comparison table includes a plurality of safety limits of a rate of change of a motor speed corresponding to requested torques;

[0131] The second determining subunit is configured to determine that an abnormality occurs in the rate of change of the actual speed of the driving motor when the rate of change of the actual speed exceeds a safety limit value of the rate of change of the motor speed.

[0132] Optionally, the detecting whether the actual rotation speed of the driving motor is abnormal, the first detecting submodule includes:

[0133] A second acquisition subunit is used to acquire the current speed of the vehicle;

[0134] A third determination subunit is used to query a first relationship comparison table to determine the motor speed safety limit value corresponding to the current vehicle speed, wherein the first relationship comparison table includes motor speed safety limit values ​​corresponding to a plurality of vehicle speeds;

[0135] The first detection subunit is used to detect whether the actual rotation speed of the driving motor is abnormal according to the safety limit value of the motor rotation speed.

[0136] Optionally, the detecting whether the actual speed of the driving motor is abnormal according to the safety limit of the motor speed, the first detecting subunit includes:

[0137] a fourth determining subunit, configured to determine an average value of the shaft end speed of the driving motor according to the actual speed of each wheel;

[0138] The fifth determining subunit is used to determine that the actual speed of the drive motor is abnormal when the actual speed of the drive motor exceeds the sum of the average value of the shaft end speed of the drive motor and the safety limit of the motor speed.

[0139] Optionally, the average value of the shaft end speed of the driving motor is determined according to the actual speed of each wheel, and the fourth determining subunit includes:

[0140] A third acquisition subunit is used to acquire the tire radius and the transmission system speed ratio of the vehicle;

[0141] A conversion subunit, used for converting the actual rotation speed of each wheel into a shaft end rotation speed relative to the drive motor according to the tire radius and the transmission system speed ratio;

[0142] The sixth determining subunit is used to determine an average value of the shaft end rotation speed of the drive motor according to the shaft end rotation speed of the drive motor.

[0143] An embodiment of the present application also provides a vehicle, which includes the differential protection system as described above.

[0144] The present application also provides an electronic device 100, referring to Figure 4 As shown, it includes a memory 110, a processor 120 and a computer program stored in the memory, and the processor 120 executes the computer program to implement the differential protection method as described in the first aspect of the embodiment of the present application.

[0145] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0146] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the embodiments of the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0147] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0148] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0149] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0150] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0151] Finally, it should be noted that in this article, relational terms such as first and second, etc., are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require

[0152] Or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device that includes a list of elements includes not only those elements,

[0153] It also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or terminal device. In the absence of more restrictions, an element defined by the sentence "including a ..." does not exclude the existence of other identical elements in the process, method, article or terminal device including the element.

[0154] The above provides a differential protection method, system, vehicle and electronic equipment.

[0155] The invention is introduced in detail, and the principle and implementation mode of the present application are explained by using specific examples in this paper. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application; at the same time,

[0156] A person skilled in the art may make changes in the specific implementation manner and application scope according to the concept of the present application. In summary, the content of this specification should not be construed as limiting the present application.

Claims

1. A differential protection method, It is characterized in that The method comprises: Get the actual speed of each wheel and the actual speed of the drive motor; When the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor is abnormal, determining the rate of change of the actual rotation speed of the drive motor; When an abnormality occurs in the rate of change of the actual rotation speed of the drive motor, setting the requested torque of the drive motor to zero so that the drive motor stops providing the drive force to the differential; The method further comprises: When the actual rotation speeds of the wheels are normal, detecting whether the actual rotation speed of the driving motor is abnormal; The detecting whether the actual rotation speed of the driving motor is abnormal includes: Get the current speed of the vehicle; Querying a first relationship comparison table to determine a motor speed safety limit value corresponding to the current vehicle speed, wherein the first relationship comparison table includes motor speed safety limits corresponding to a plurality of vehicle speeds; Detecting whether the actual speed of the drive motor is abnormal according to the safety limit of the motor speed; The detecting whether the actual rotation speed of the driving motor is abnormal according to the safety limit of the motor rotation speed comprises: Determining the average value of the shaft end speed of the driving motor according to the actual speed of each wheel; When the actual rotation speed of the drive motor exceeds the sum of the average value of the shaft end rotation speed of the drive motor and the safety limit value of the motor rotation speed, it is determined that the actual rotation speed of the drive motor is abnormal.

2. The differential protection method according to claim 1, It is characterized in that Also includes: obtaining a requested torque of the driving motor; Determining, according to the requested torque of the drive motor, the target rotation speeds of the wheels corresponding to the requested torque of the drive motor; When the actual rotation speed of at least one of the wheels is different from the corresponding target rotation speed, determining that the actual rotation speed of each wheel is abnormal; When the actual rotation speed of each wheel is the same as the corresponding target rotation speed, it is determined that there is no abnormality in the actual rotation speed of each wheel.

3. The differential protection method according to claim 1, It is characterized in that Also includes: When an abnormality occurs in the actual rotation speed of the drive motor or when an abnormality occurs in the actual rotation speed of at least one of the wheels, it is detected whether an abnormality occurs in the rate of change of the actual rotation speed of the drive motor.

4. The differential protection method according to claim 3, It is characterized in that The detecting whether the change rate of the actual rotation speed of the driving motor is abnormal includes: obtaining a requested torque of the driving motor; Querying a second relationship comparison table to determine a safety limit value of a rate of change of a motor speed corresponding to a requested torque of the drive motor, wherein the second relationship comparison table includes a plurality of safety limits of a rate of change of a motor speed corresponding to requested torques; When the rate of change of the actual rotational speed exceeds the safety limit of the rate of change of the motor rotational speed, it is determined that the rate of change of the actual rotational speed of the drive motor is abnormal.

5. The differential protection method according to claim 1, It is characterized in that Determining the average value of the shaft end speed of the drive motor according to the actual speed of each wheel includes: Obtaining the tire radius and transmission system speed ratio of the vehicle; According to the tire radius and the transmission system speed ratio, the actual rotation speed of each wheel is converted into the shaft end rotation speed relative to the drive motor; According to the shaft end rotation speed of the drive motor, an average value of the shaft end rotation speed of the drive motor is determined.

6. A differential protection system, It is characterized in that The system comprises: An acquisition module is used to acquire the actual rotation speed of each wheel and the actual rotation speed of the drive motor; a determination module, configured to determine a rate of change of the actual rotation speed of the drive motor when an abnormality occurs in the actual rotation speed of each wheel and / or the actual rotation speed of the drive motor; a setting module, configured to set the requested torque of the drive motor to zero when an abnormality occurs in the rate of change of the actual rotation speed of the drive motor, so that the drive motor stops providing driving force to the differential; The system further comprises: A first detection submodule, configured to detect whether an actual rotation speed of the driving motor is abnormal when the actual rotation speeds of the wheels are normal; The first detection submodule includes: A second acquisition subunit is used to acquire the current speed of the vehicle; A third determination subunit is used to query a first relationship comparison table to determine the motor speed safety limit value corresponding to the current vehicle speed, wherein the first relationship comparison table includes motor speed safety limit values ​​corresponding to a plurality of vehicle speeds; A first detection subunit, configured to detect whether an actual rotation speed of the drive motor is abnormal according to a safety limit value of the motor rotation speed; The first detection subunit comprises: a fourth determining subunit, configured to determine an average value of the shaft end speed of the driving motor according to the actual speed of each wheel; The fifth determining subunit is used to determine that the actual speed of the drive motor is abnormal when the actual speed of the drive motor exceeds the sum of the average value of the shaft end speed of the drive motor and the safety limit of the motor speed.

7. A vehicle, It is characterized in that The vehicle includes the differential protection system of claim 6.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, It is characterized in that The processor executes the computer program to implement the differential protection method according to any one of claims 1 to 5.

Images