A rotation speed rationality verification method, device and system of an electric drive system and a vehicle

Abstract

The present application relates to the technical field of automobile gear driving, and discloses a rotational speed rationality verification method, device and system of an electric drive system and a vehicle, wherein the rotational speed rationality of the electric drive system is verified based on the feedback period value and rotational speed value of the rotational speed sensor corresponding to the in-gear motor rotational speed and gearbox of the target electric drive axle, including rationality monitoring of the feedback period value of the sensor based on different threshold intervals, abnormal zero drop detection of the rotational speed value of the whole vehicle, and in-gear rotational rationality verification, covering the effectiveness monitoring of the whole threshold range and the whole working condition, making the rotational speed rationality determination more intuitive and reliable, improving the accuracy of the rotational speed rationality determination, and reducing the risk of gearbox damage caused by misuse of abnormal values.

Description

Technical Field

[0001] This invention relates to the field of automotive transmission and driving technology, specifically to a method, device, system, and vehicle for verifying the rationality of the rotational speed of an electric drive system. Background Technology

[0002] With the promotion of new energy commercial vehicles, the importance of automated mechanical transmissions (AMT) has increased due to their advantages such as simple structure, high transmission efficiency, and good reliability. Furthermore, its electric control system, which uses an electric motor to drive the shifting mechanism, eliminates the need for complex power supply devices and piping systems required by pneumatic or hydraulic operating mechanisms. It features simple structure, low cost, strong environmental adaptability, and low energy consumption, and has become an important development direction.

[0003] However, this hardware system lacks clutches, synchronizers, and other slip-slip structures; the entire transmission system is rigidly connected, and during gear shifts, it relies entirely on the feedback value from the speed sensor and the actual speed of the motor to control the drive motor to complete the active synchronization action. Therefore, this hardware system is highly dependent on the speed sensor, which can easily lead to the misuse of abnormal values ​​to determine successful synchronization and execute gear shifting, potentially causing damage to the transmission. Summary of the Invention

[0004] In view of this, the present invention provides a method, device, system and vehicle for verifying the reasonableness of the rotational speed of an electric drive system, so as to solve the problem that the hardware system may easily use abnormal values ​​to determine the synchronization success of the electric drive system, which may cause damage to the gearbox.

[0005] In a first aspect, the present invention provides a method for verifying the reasonableness of the rotational speed of an electric drive system. The method includes: acquiring the rotational speed of the motor in gear of a target electric drive axle, the feedback period value of a speed sensor corresponding to the gearbox on the target electric drive axle, and the rotational speed value fed back by the speed sensor; determining a first verification result based on a first duration during which the feedback period value of the speed sensor remains non-zero or a second duration during which the feedback period value of the speed sensor remains less than a second period threshold, and the relationship between the feedback period value of the speed sensor and a normal period interval, wherein the normal period interval is composed of a first period threshold and a second period threshold, and the first period threshold is greater than the second period threshold; determining a second verification result based on a third duration during which the rotational speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state; calculating the offset rate of the rotation of the target electric drive axle based on the rotational speed of the motor in gear of the target electric drive axle, the current gear ratio, and the rotational speed value fed back by the speed sensor, and determining a third verification result based on a fourth duration during which the offset rate is greater than a preset offset rate threshold; and determining the reasonableness verification result of the rotational speed of the electric drive system based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system.

[0006] The synchronization verification method for electric drive systems provided by this invention verifies the rationality of the electric drive system's rotational speed by using the in-gear motor speed of the target electric drive axle, the feedback period value and rotational speed value of the speed sensor corresponding to the gearbox, and includes monitoring the rationality of the sensor's feedback period value based on different threshold ranges, detecting abnormal zero drops in the vehicle's rotational speed value, and verifying the rationality of in-gear rotation. It covers the effectiveness monitoring of the entire threshold range and all operating conditions, making the determination of rotational speed rationality more intuitive and reliable, improving the accuracy of the determination of rotational speed rationality, and reducing the risk of gearbox damage due to misuse of abnormal values.

[0007] In one optional implementation, determining the first verification result based on the second duration during which the feedback period value of the speed sensor is continuously less than the second period threshold and the relationship between the feedback period value of the speed sensor and the normal period range includes: if the feedback period value of the speed sensor is greater than the first period threshold, determining the first verification result is normal; if the feedback period value of the speed sensor is less than the second period threshold, calculating the second duration during which the feedback period value of the speed sensor is continuously less than the second period threshold; if the second duration is less than the second duration threshold, determining the first verification result is normal; if the second duration is not less than the preset second duration threshold, determining the first verification result is abnormal.

[0008] In one optional implementation, determining the first verification result based on the first duration for which the feedback period value of the speed sensor remains a non-zero constant value and the relationship between the feedback period value of the speed sensor and the normal period range includes: if the feedback period value of the speed sensor is within the normal period range, counting the first duration for which the feedback period value of the speed sensor remains a non-zero constant value; if the first duration is not less than a preset first duration threshold, restarting the counting of the first duration for which the feedback period value of the speed sensor remains a non-zero constant value, and counting the number of times the first duration is not less than the preset first duration threshold within a preset time period; if the first duration is not less than... If the first verification result is determined to be abnormal at a preset fifth duration threshold; if the number of times the first duration is not less than the preset first duration threshold within a preset time period is not less than a preset number threshold, the first verification result is determined to be abnormal; if the number of times the first duration is not less than the preset first duration threshold within a preset time period is less than a preset number threshold, and / or, the first duration is less than the preset fifth duration threshold, the first verification result is determined to be normal; if the feedback cycle value of the speed sensor is within the normal cycle range, and the feedback cycle value of the speed sensor is monitored to change in real time, or, if the first duration is less than the preset first duration threshold, the first verification result is determined to be normal.

[0009] This invention monitors the effectiveness of the entire threshold range by monitoring the rationality of the feedback cycle value based on the speed sensor, including the definition of non-diagnostic intervals and overspeed intervals, as well as monitoring the timeout and number of times the non-zero constant value is maintained.

[0010] In one optional implementation, determining the second verification result based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero-state includes: calculating the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero-state; determining the second verification result to be normal when the third duration does not reach a preset third duration threshold; determining the second verification result to be abnormal when the third duration is greater than or equal to the preset third duration threshold; and determining the second verification result to be normal when the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle does not fall to zero.

[0011] In one optional implementation, the step of calculating the offset rate of the target electric drive axle's rotation based on the in-gear motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor, and determining the third verification result based on a fourth duration during which the offset rate is greater than a preset offset rate threshold, includes: dividing the in-gear motor speed of the target electric drive axle by the current gear ratio and the speed value fed back by the speed sensor, and then performing a difference operation with 1 to obtain the offset rate of the target electric drive axle's rotation; counting the fourth duration during which the offset rate is greater than the preset offset rate threshold; determining that the third verification result is normal when the fourth duration is less than the preset fourth duration threshold; and determining that the third verification result is abnormal when the fourth duration is not less than the preset fourth duration threshold.

[0012] In one optional implementation, determining the speed rationality verification result of the electric drive system based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system includes: if the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system are all normal, then it is determined that the speed verification of the electric drive system is normal; if at least one of the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system is abnormal, then it is determined that the speed verification of the electric drive system is abnormal.

[0013] This invention determines multiple verification results by comparing the feedback cycle value and the feedback rotation speed value based on sensors with different thresholds. It includes anomaly checks across the entire threshold range. Only when all the determined verification results are normal can the synchronization of the electric drive system be determined, ensuring comprehensive and accurate identification of abnormal faults.

[0014] In an optional implementation, before determining the first verification result based on the first duration for which the feedback period value of the speed sensor remains a non-zero constant value or the second duration for which the speed value fed back by the speed sensor remains a non-zero constant value, and the relationship between the feedback period value of the speed sensor and the normal period interval, the method further includes: acquiring the on-grip motor speeds of all electric drive axles in the electric drive system, the speeds fed back by the speed sensors corresponding to the gearboxes on the electric drive axles, and the wheel speeds fed back by the vehicle sensors; if at least two acquired speeds satisfy the speed condition that the vehicle is in operation, then the step of determining the first verification result based on the first duration for which the feedback period value of the speed sensor remains a non-zero constant value or the second duration for which the feedback period value of the speed sensor is continuously less than the second period threshold, and the relationship between the feedback period value of the speed sensor and the normal period interval is executed.

[0015] Before determining the verification result based on the sensor's feedback cycle value and rotational speed value, this invention also needs to ensure that the vehicle is in operation to avoid the low-precision false alarm range.

[0016] Secondly, the present invention provides a speed rationality verification device for an electric drive system. The device includes: a data acquisition module for acquiring the on-grip motor speed of a target electric drive axle, the feedback period value of a speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor; a first verification module for determining a first verification result based on a first duration for which the feedback period value of the speed sensor remains non-zero or a second duration for which the speed value fed back by the speed sensor remains non-zero and the relationship between the feedback period value of the speed sensor and the normal period interval; a second verification module for determining a second verification result based on a third duration for which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state; a third verification module for calculating the offset rate of the target electric drive axle rotation based on the on-grip motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor, and determining a third verification result based on a fourth duration for which the offset rate is greater than a preset offset rate threshold; and a speed rationality verification module for determining the speed rationality verification result of the electric drive system based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system.

[0017] Thirdly, the present invention provides a speed rationality verification system for an electric drive system. The verification system for the electric drive system includes a controller, the controller includes a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the speed rationality verification method for the electric drive system described in the first aspect or any corresponding embodiment.

[0018] Fourthly, the present invention provides a vehicle that includes a speed rationality verification system for the electric drive system corresponding to the third aspect. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating a method for verifying the rationality of the rotational speed of an electric drive system according to an embodiment of the present invention.

[0021] Figure 2 This is a flowchart illustrating a method for verifying the rationality of the rotational speed of another electric drive system according to an embodiment of the present invention.

[0022] Figure 3 This is a flowchart illustrating a method for verifying the rationality of the rotational speed of another electric drive system according to an embodiment of the present invention.

[0023] Figure 4 This is an example diagram illustrating the rationality monitoring of the feedback cycle value based on the speed sensor according to an embodiment of the present invention;

[0024] Figure 5 This is an example diagram showing that the feedback cycle value of the speed sensor exceeds the upper and lower thresholds according to an embodiment of the present invention;

[0025] Figure 6 This is an example diagram illustrating the timeout of the feedback cycle value of the speed sensor according to an embodiment of the present invention.

[0026] Figure 7 This is an example diagram illustrating the number of times the feedback cycle value of the speed sensor remains at a non-zero constant value according to an embodiment of the present invention;

[0027] Figure 8 This is an example diagram of monitoring abnormal zero-drop speed values ​​according to an embodiment of the present invention;

[0028] Figure 9 This is an example diagram illustrating the changes in invalid and fault bits when the rotational speed value abnormally drops to zero according to an embodiment of the present invention;

[0029] Figure 10 This is an example diagram of transmission rationality verification and monitoring according to an embodiment of the present invention;

[0030] Figure 11 This is an example diagram illustrating the changes in invalid and fault positions corresponding to the rotation rationality according to an embodiment of the present invention;

[0031] Figure 12 This is a structural block diagram of a speed rationality verification system for an electric drive system according to an embodiment of the present invention;

[0032] Figure 13 This is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0033] Figure 14 This is a structural block diagram of a speed rationality verification device for an electric drive system according to an embodiment of the present invention;

[0034] Figure 15 This is a schematic diagram of the hardware structure of the controller according to an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] According to an embodiment of the present invention, an embodiment of a method for verifying the reasonableness of the rotational speed of an electric drive system is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] This embodiment provides a method for verifying the reasonableness of the rotational speed of an electric drive system, which can be used in the aforementioned system for verifying the reasonableness of the rotational speed of an electric drive system. Figure 1 This is a flowchart of a method for verifying the reasonableness of the rotational speed of an electric drive system according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0038] Step S101: Obtain the in-gear motor speed of the target electric drive axle, the feedback period value of the speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor.

[0039] The electric drive system of this embodiment of the invention is exemplified by a dual electric drive bridge and a speed sensor at the bridge end, including bridge 1 and bridge 2. This is not a limitation and is merely an example. It is sufficient to ensure that the electric drive system is equipped with at least one electric drive bridge and a speed sensor. The system can obtain the on-grid motor speeds of electric drive bridge 1 and electric drive bridge 2, that is, the output speed of the motor on each electric drive bridge. It can also obtain the periodic value of the speed sensor that collects the output speed of the speed box and the speed value collected and fed back by the speed sensor. In this embodiment of the invention, the initial feedback period value T of the speed sensor can be collected, which is only an example.

[0040] Step S102: Based on the first duration during which the feedback period value of the speed sensor remains at a non-zero constant value or the second duration during which the feedback period value of the speed sensor remains less than the second period threshold, and the relationship between the feedback period value of the speed sensor and the normal period range, determine the first verification result.

[0041] The normal cycle interval consists of a first cycle threshold and a second cycle threshold, with the first cycle threshold being greater than the second cycle threshold.

[0042] In this embodiment of the invention, the initial period value T fed back by the speed sensor refers to the time it takes for the speed sensor to sweep across one complete tooth of the target wheel. As the speed changes, the shorter the initial period value, the higher the speed. T is fed back by the speed sensor and the chip driver. Under normal circumstances, the period value fed back by the speed sensor is calculated based on the rising edge of the high and low level detected by the sensor. Its calculation accuracy is high. Assuming that the sweep time interval is greater than two rulers, the result calculated by the unprocessed initial period value will not be equal in all time periods. Even if it is equal once, it cannot last for a longer time or occur frequently. In order to ensure the normal operation of the electric drive system, the period value fed back by the speed sensor must be within the normal range, and thus the speed also has a corresponding normal speed range.

[0043] This invention can monitor the feedback cycle value and the feedback speed value of the speed sensor in real time, and determine whether the feedback cycle value is within the normal cycle range. The normal cycle range consists of a first cycle threshold and a second cycle threshold. The first cycle threshold represents the low-precision range of the electric drive system, i.e., the non-diagnostic range, where even if the speed is forcibly reduced to 0, it will not affect subsequent control or actions; the hardware can receive this portion of the synchronous speed difference. The second cycle threshold represents the overspeed range that cannot be reached under all operating conditions, defined by a reserved value based on the increase in the vehicle's maximum speed. If the feedback cycle value is within the normal cycle range, it can be statistically compared with the previous sampling value. If the feedback cycle values ​​of the sample points are consistent, the duration for which the feedback cycle value remains unchanged can be counted. If it exceeds a certain time threshold, the first verification result can be determined to be abnormal. The time threshold and other parameters can be set based on the feedback cycle value of the speed sensor and are not limited. When the feedback cycle value is not within the normal cycle range, it can be determined whether the duration for which the speed feedback cycle value is less than the second cycle threshold exceeds a certain duration. If it exceeds a certain duration, the first verification result can be determined to be abnormal. If the feedback cycle value is within the normal cycle range and the feedback cycle value changes over a period of time, the first verification result can be determined to be normal. This is just an example.

[0044] Step S103: Based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state, determine the second verification result.

[0045] In this embodiment of the invention, when the speed value fed back by the speed sensor drops to zero, the duration for which the speed value remains in the zero state is counted. If the duration is greater than a certain duration threshold, the second verification result can be determined to be abnormal. If the duration for which the speed value remains in the zero state is less than a certain duration threshold, it becomes a non-zero value, and the second verification result is determined to be normal.

[0046] Step S104: Calculate the offset rate of the target electric drive axle based on the in-gear motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor. Determine the third verification result based on the fourth duration during which the offset rate is greater than the preset offset rate threshold.

[0047] In this embodiment of the invention, the offset rate can be calculated by the in-gear motor speed of the electric drive bridge, the current gear ratio, and the speed value fed back by the speed sensor. If the calculated offset rate is greater than a certain offset rate threshold, the duration of subsequent offset rates continuously exceeding a certain offset rate threshold is counted. If the duration exceeds a certain threshold, the third verification result can be determined to be abnormal. If the current offset rate is greater than a certain offset rate threshold, but the offset rate calculated at the next sampling point is not greater than the offset rate threshold, the third verification result can be determined to be normal. This is only an example.

[0048] Step S105: Based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system, determine the speed rationality verification result of the electric drive system.

[0049] Based on the above embodiments, after determining the first verification result, second verification result, and third verification result for all electric drive bridges, if all verification result outputs are normal, the speed rationality verification result of the electric drive system can be determined.

[0050] The synchronization verification method for electric drive systems provided by this invention verifies the rationality of the electric drive system's rotational speed by using the in-gear motor speed of the target electric drive axle, the feedback period value and rotational speed value of the speed sensor corresponding to the gearbox, and includes monitoring the rationality of the sensor's feedback period value based on different threshold ranges, detecting abnormal zero drops in the vehicle's rotational speed value, and verifying the rationality of in-gear rotation. It covers the effectiveness monitoring of the entire threshold range and all operating conditions, making the determination of rotational speed rationality more intuitive and reliable, improving the accuracy of the determination of rotational speed rationality, and reducing the risk of gearbox damage due to misuse of abnormal values.

[0051] This embodiment provides a method for verifying the reasonableness of the rotational speed of an electric drive system, which can be used in the aforementioned system for verifying the reasonableness of the rotational speed of an electric drive system. Figure 2 This is a flowchart of a method for verifying the reasonableness of the rotational speed of an electric drive system according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0052] Step S201: Obtain the operating motor speed of the target electric drive axle, the feedback period value of the speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0053] Step S202: Based on the first duration for which the feedback period value of the speed sensor remains at a non-zero constant value or the second duration for which the speed value fed back by the speed sensor remains at a non-zero constant value, and the relationship between the feedback period value of the speed sensor and the normal period range, determine the first verification result.

[0054] Specifically, step S202 includes:

[0055] Step S2021: If the feedback period value of the speed sensor is greater than the first period threshold, the first verification result is determined to be normal.

[0056] This invention can define failure types, including an invalid flag bit and a fault flag bit, which can be represented by Err and Fault, respectively. Err = 1 indicates that the data is invalid or erroneous, Err = 0 indicates that the data is normal, Fault = 1 indicates a fault, and Fault = 0 indicates that there is no fault. When Err = 1, it can be determined whether Fault is equal to 1. Only when the invalid bit Err = 0 and the fault bit Fault = 0 can the verification result be determined to be normal. This invention uses a hierarchical failure response strategy, which is only an example.

[0057] In this embodiment of the invention, when the initial cycle value T fed back by the speed sensor is greater than the first cycle threshold, the speed Spd fed back by the speed sensor is 0, and the invalid bit Err = 0 and the fault bit Fault = 0 can be defined. At this time, the first verification result can be determined to be normal.

[0058] Step S2022: If the feedback period value of the speed sensor is less than the second period threshold, the second duration during which the feedback period value of the speed sensor remains less than the second period threshold is recorded.

[0059] In this embodiment of the invention, when the feedback period value of the speed sensor is determined to be less than the second period threshold, the speed Spd output by the speed sensor is consistent with the speed output at the previous sampling point. That is, the speed output by the current speed sensor and the speed output at the previous sampling point have both reached the highest speed range that is impossible to reach. At this time, Err = 1 can be defined, and the duration of the feedback period value of the speed sensor being less than the second period threshold can be counted by incrementing the timer.

[0060] Step S2023: When the second duration is less than the second duration threshold, the first verification result is determined to be normal.

[0061] If the duration of the feedback cycle value of the speed sensor being less than the second cycle threshold has not yet reached the preset second duration threshold, the fault bit Fault=0 can be defined first, indicating that the first verification result is normal. The second duration threshold represents the fault reporting debounce time to prevent frequent state jumps. The specific duration can be set according to the feedback cycle value of the speed sensor or other factors, and is not limited. The second duration can be represented by the set value a, which is only an example.

[0062] Step S2024: If the second duration is not less than the preset second duration threshold, then the first verification result is determined to be abnormal.

[0063] In this embodiment of the invention, if the duration of the feedback cycle value of the speed sensor being less than the second cycle threshold is determined to have reached the second duration threshold, a fault bit Fault = 1 can be set to indicate that the first verification result is abnormal.

[0064] Step S203: Based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state, determine the second verification result.

[0065] Specifically, step S203 includes:

[0066] Step S2031: Calculate the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state.

[0067] Step S2032: If the third duration does not reach the preset third duration threshold, the second verification result is determined to be normal.

[0068] Step S2033: If the third duration is greater than or equal to the preset third duration threshold, then the second verification result is determined to be abnormal.

[0069] Step S2034: If the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle does not drop to zero, then the second verification result is determined to be normal.

[0070] This embodiment of the invention takes a dual electric drive axle + speed sensor system at the axle end as an example. It can monitor the speed values ​​fed back by the speed sensors corresponding to the gearboxes on electric drive axle 1 and electric drive axle 2 in real time. If the speed value fed back by the speed sensor on electric drive axle 1 becomes zero, it indicates that there is a problem with the speed data. An invalid bit Err = 1 can be defined first. At this time, the duration of the electric drive axle 1 speed value remaining in the zero state can be counted by incrementing the timer. A third duration threshold can be set, which also represents the fault reporting debounce time, to prevent frequent state jumps. When the duration of the electric drive axle 1 speed value remaining in the zero state is not greater than the third duration threshold, the fault bit Fault = 0 can be set first. When it is detected that the duration of the electric drive axle 1 speed value remaining in the zero state is greater than the third duration threshold, the fault bit Fault = 1 is defined, indicating that the second verification result is abnormal. Electric drive axle 2 can also determine the second verification result according to the above description, which will not be repeated here.

[0071] In this embodiment of the invention, if the speed value fed back by the speed sensor on the electric drive bridge in real time is not zero, it means that the speed value is normal. Then Err = 0 and Fault = 0 can be defined to indicate that the second verification result is normal.

[0072] Step S204: Calculate the offset rate of the target electric drive axle based on the in-gear motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor. Determine the third verification result based on the fourth duration during which the offset rate is greater than the preset offset rate threshold.

[0073] Specifically, step S204 includes:

[0074] Step S2041: Divide the rotational speed of the motor in gear of the target electric drive bridge by the current gear ratio and the rotational speed value fed back by the speed sensor, and then perform difference processing with 1 to obtain the offset rate of the target electric drive bridge rotation.

[0075] Step S2042: Calculate the fourth duration when the offset rate is greater than the preset offset rate threshold;

[0076] Step S2043: When the fourth duration is less than the preset fourth duration threshold, the third verification result is determined to be normal.

[0077] Step S2044: If the fourth duration is not less than the preset fourth duration threshold, then the third verification result is determined to be abnormal.

[0078] In this embodiment of the invention, the offset rate of the electric drive axle rotation can be calculated by Abs(motor speed / current gear ratio / axle speed - 1)*100%. It is then determined whether the calculated offset rate is greater than a preset offset rate threshold. This preset threshold indicates that an offset rate higher than this limit suggests a problem such as gear disengagement or an incorrect gear ratio setting. If the offset rate is not greater than the preset threshold, Err = 0 and Fault = 0 can be defined, indicating a normal third verification result. If the offset rate is greater than the preset threshold, an invalid bit Err = 1 can be defined. A fourth duration for the offset rate greater than the preset threshold can be counted by incrementing a timer. If the fourth duration is not greater than the fourth duration threshold, a fault bit Fault = 0 can be defined, indicating a normal third verification result. The fourth duration threshold represents the debounce time for fault reporting, preventing frequent state jumps. When the fourth duration is detected to be greater than the fourth duration threshold, a fault bit Fault = 1 can be defined, indicating an abnormal third verification result.

[0079] Step S205: Based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system, determine the speed rationality verification result of the electric drive system.

[0080] Specifically, step S205 includes:

[0081] Step S2051: If the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system are all normal, then it is determined that the speed verification of the electric drive system is normal.

[0082] Step S2052: If at least one of the first verification result, second verification result and third verification result corresponding to all electric drive bridges in the electric drive system is abnormal, then the speed verification of the electric drive system is determined to be abnormal.

[0083] This embodiment of the invention takes a system equipped with dual electric drive bridges and a speed sensor at the bridge end as an example, including electric drive bridge 1 and electric drive bridge 2. Based on the above embodiment, the first verification result, the second verification result, and the third verification result corresponding to electric drive bridge 1 and electric drive bridge 2 can be calculated respectively. If all verification results corresponding to all electric drive bridges in the electric drive system output a normal indicator, it can be determined that the speed verification of the electric drive system is normal and gear shifting can be performed. If at least one verification result corresponding to all electric drive bridges in the electric drive system outputs an abnormal indicator, it is determined that the speed verification of the electric drive system is abnormal. This is only an example.

[0084] This embodiment provides a method for verifying the reasonableness of the rotational speed of an electric drive system, which can be used in the aforementioned system for verifying the reasonableness of the rotational speed of an electric drive system. Figure 3This is a flowchart of a method for verifying the reasonableness of the rotational speed of an electric drive system according to an embodiment of the present invention, such as... Figure 3 As shown, the process includes the following steps:

[0085] Step S301: Obtain the on-grip motor speeds of all electric drive axles in the electric drive system, the speeds fed back by the speed sensors corresponding to the gearboxes on the electric drive axles, and the wheel speeds fed back by the vehicle sensors; if at least two of the obtained speeds meet the speed conditions for the vehicle to be in operation, then execute the step of determining the first verification result based on the first duration of the feedback period value of the speed sensor remaining non-zero constant or the second duration of the feedback period value of the speed sensor remaining less than the second period threshold, and the relationship between the feedback period value of the speed sensor and the normal period interval.

[0086] This invention takes a system equipped with dual electric drive axles and speed sensors at the axle end as an example. It acquires the on-grip motor speeds of electric drive axles 1 and 2, the speed values ​​fed back by the speed sensors on electric drive axles 1 and 2 respectively, and the wheel speeds fed back by the vehicle's sensors. A preset value is set for each speed to indicate that the vehicle is in operation. In a specific embodiment, the following are the speed conditions that satisfy the vehicle's operation status:

[0087] Abs(electric drive bridge 1 motor speed in gear) ≥ preset value 1;

[0088] Abs(motor speed in gear 2 of electric drive bridge) ≥ preset value 2;

[0089] Abs(feedback value of speed sensor of electric drive bridge 1) ≥ preset value 3;

[0090] Abs(feedback value of speed sensor of electric drive bridge 2) ≥ preset value 3;

[0091] Vehicle speed ≥ preset value 4;

[0092] When any two speeds are detected to meet the corresponding speed conditions mentioned above, it can be determined that the vehicle is in operation. Then, the following implementation method can be executed. In this method, preset value 1, preset value 2, preset value 3, and preset value 4 are all defined to characterize the vehicle in operation. They need to be calibrated and defined on a real vehicle to avoid low-precision false alarm ranges. They are only used as examples.

[0093] Step S302: Obtain the operating speed of the motor in gear on the target electric drive axle, the feedback period value of the speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor. For details, please refer to [link to relevant documentation]. Figure 1 Step S201 of the illustrated embodiment will not be described again here.

[0094] Step S303: Based on the first duration during which the feedback period value of the speed sensor remains at a non-zero constant value, or the second duration during which the speed value fed back by the speed sensor remains at a non-zero constant value, and the relationship between the feedback period value of the speed sensor and the normal period range, determine the first verification result.

[0095] Specifically, step S303 includes:

[0096] Step S3031: If the feedback cycle value of the speed sensor is within the normal cycle range, calculate the first duration for which the feedback cycle value of the speed sensor remains at a non-zero constant value.

[0097] Step S3032: If the first duration is not less than the preset first duration threshold, restart the counting of the first duration during which the feedback cycle value of the speed sensor remains at a non-zero constant value, and count the number of times the first duration is not less than the preset first duration threshold within the preset time period.

[0098] Step S3033: If the first duration is not less than the preset fifth duration threshold, determine that the first verification result is abnormal;

[0099] Step S3034: If the number of times the first duration is not less than the preset first duration threshold is not less than the preset number threshold within the preset time period, the first verification result is determined to be abnormal.

[0100] Step S3035: If the number of times the first duration is not less than the preset first duration threshold is less than the preset number threshold within the preset time period, and / or the first duration is less than the preset fifth duration threshold, then the first verification result is determined to be normal.

[0101] Step S3036: If the feedback cycle value of the speed sensor is within the normal cycle range and the feedback cycle value of the speed sensor is monitored to change in real time, or if the first duration is less than the preset first duration threshold, the first verification result is determined to be normal.

[0102] In this embodiment of the invention, if it is determined that the feedback period value of the speed sensor is within the normal period range, and the feedback period value of the speed sensor is different from the feedback period value of the previous sampling point, that is, the speed value fed back by the speed sensor is inconsistent with the speed value fed back by the previous sampling point, then Err = 0 and Fault = 0 can be defined to indicate that the first verification result is normal.

[0103] In this embodiment of the invention, if it is determined that the feedback period value of the speed sensor is within the normal period range, but the monitored feedback period value of the speed sensor is consistent with the feedback period value of the previous sampling point, then the duration for which the feedback period value of the speed sensor remains consistent with the feedback period value of the previous sampling point can be counted. If the duration of consistency is less than a preset first duration threshold, then Err = 0 and Fault = 0 can be defined, indicating that the first verification result is normal. However, if the duration for which the feedback period value of the speed sensor remains consistent with the feedback period value of the previous sampling point is greater than the preset first duration threshold, then an invalid bit Err = 1 can be defined, and the timer incrementing method can be used to re-count the duration for which the feedback period value of the speed sensor remains consistent with the feedback period value of the previous sampling point. The duration of consistency is defined as follows: when the duration during which the feedback cycle value of the re-statisticated speed sensor remains consistent with the feedback cycle value of the previous sampling point is not greater than the preset fifth duration threshold, the fault bit Fault = 0 can be preset. When the duration during which the feedback cycle value of the re-statisticated speed sensor remains consistent with the feedback cycle value of the previous sampling point is greater than the preset fifth duration threshold, the fault bit Fault = 1 can be set, indicating that the first verification result is abnormal. The first duration threshold and the fifth duration threshold both represent the fault reporting debounce time to prevent frequent state jumps. However, the first duration threshold and the fifth duration threshold can be set according to the feedback cycle value of the speed sensor and the actual operating scenario, and the settable duration thresholds are different.

[0104] In this embodiment of the invention, when the invalid bit Err = 1, the counter can be incremented by 1 each time the invalid bit Err changes from 0 to 1. This means that when the feedback period value of the speed sensor remains consistent with the feedback period value of the previous sampling point for a duration greater than a preset first duration threshold, Err becomes 1. However, if the duration of the next period of consistency is not greater than the preset first duration threshold, Err becomes 0 again. Then, if the duration of the next period of consistency is greater than the preset first duration threshold, Err becomes 1 again. This allows for the counting of the number of times the invalid bit Err changes from 0 to 1 within a preset time period. If the invalid bit... When the number of times the value changes from 0 to 1 exceeds the preset threshold, a fault bit Fault = 1 can be defined, indicating that the first verification result is abnormal. The preset time period and the preset threshold are related to the feedback cycle value of the speed sensor and the first duration threshold. In a specific embodiment, assuming that T = 3000μs = 3ms, the first duration threshold b = 15ms > 2T can be set. The preset time interval d can be set to 150ms, and the preset threshold e can be set to 5 times. Where d = 10 * b, e = 5, and 5 / 10 = 50%, that is, when the failure rate reaches 50%, a fault is determined. This is just an example.

[0105] Step S304: Based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero-value state, determine the second verification result. For details, please refer to [link to relevant documentation]. Figure 1 Step S203 of the illustrated embodiment will not be described again here.

[0106] Before determining the second verification result, this embodiment of the invention can pre-determine whether the vehicle is in operation according to the above embodiment. Only when it is determined that the vehicle is in operation can the second verification result be determined based on the third duration of the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remaining in the zero state. This is just an example.

[0107] Step S305: Calculate the offset rate of the target electric drive axle based on the in-gear motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor. Determine the third verification result based on the fourth duration during which the offset rate is greater than the preset offset rate threshold.

[0108] Before determining which electric drive axle corresponds to the third verification result, this embodiment of the invention can pre-obtain the rotational speed value fed back by the speed sensor on that electric drive axle and the wheel speed fed back by the vehicle controller. The rotational speed value fed back by the speed sensor is compared with a preset value 5, and the wheel speed fed back by the vehicle controller is compared with a preset value 6. Here, preset values ​​5 and 6 are defined to characterize the vehicle's operating state and require calibration on a real vehicle to avoid low-precision false alarm ranges. The calibration will differ depending on the scenario. Only when Abs (electric drive axle 1 / 2 speed sensor feedback value) ≥ preset value 5 and vehicle speed ≥ preset value 6 can the offset rate of the target electric drive axle's rotation be calculated based on the in-gear motor speed, the current gear ratio, and the rotational speed value fed back by the speed sensor. This is only an example. For details, please refer to [link to relevant documentation]. Figure 1 Step S204 of the illustrated embodiment will not be described again here.

[0109] Step S306: Based on the first, second, and third verification results corresponding to all electric drive axles in the electric drive system, determine the speed rationality verification result of the electric drive system. For details, please refer to [link to relevant documentation]. Figure 1 Step S205 of the illustrated embodiment will not be described again here.

[0110] In specific embodiments, such as Figure 4 As shown, the rationality monitoring is based on the feedback of the initial cycle value T from the speed sensor:

[0111] The diagnostic interval is defined as T > threshold 1. In this case, the output speed Spd = 0, the invalid bit Err = 0, and the fault bit Fault = 0. Physically, this means that the speed monitoring system has low accuracy in this interval, and since the speed in this interval is forcibly set to 0, it will not affect gear shifting. The hardware can receive this portion of the synchronization speed difference.

[0112] The overspeed range is defined as follows: when T < threshold 2, the output speed Spd remains at the previous value, the invalid bit Err = 1, the fault bit Fault = 0, and the timer increments. When it reaches or exceeds the set value a, the fault bit Fault = 1. Its physical meaning is that it is defined based on a reserved value for the increase in the vehicle's maximum speed, meaning that theoretically, T cannot reach this range.

[0113] The monitoring function maintains a non-zero constant value of _1, i.e., threshold 2 ≤ T ≤ threshold 1, and T = the value of the previous sampling point. When the holding time is ≥ the set value b, which is the first duration threshold b, the invalid bit Err = 1, the timer increments, and when it is ≥ the set value c, the fault bit Fault = 1.

[0114] The monitoring function maintains a non-zero constant value (_2), where threshold 2 ≤ T ≤ threshold 1, and T = the value of the previous sampling point. When the holding time is ≥ the set value b, the invalid bit Err = 1. The counter increments by 1 each time Err changes from 0 to 1. Within the set time interval d, when the counter increment is ≥ the set value e, the fault bit Fault = 1. Physically, the periodic value fed back by the speed sensor under normal conditions is calculated based on the rising edges of the high and low levels scanned by the sensor. Its calculation accuracy is high, theoretically ensuring that the initial periodic value, without processing, is not always equal within this time period. Even if it is equal once, it cannot last longer or occur more frequently.

[0115] Note: T represents the initial cycle value of the speed sensor feedback, indicating the time it takes for the sensor to scan a complete length of the target wheel, which is the interval between the rising edges of the two detected pulses. Sometimes this is expressed as frequency. Spd represents the speed sensor feedback value, calculated based on T and the number of teeth on the target wheel. Err is the speed invalidation flag, one level lower than a fault. It can be used to suppress shifting, prevent successful synchronous gear engagement, etc. Fault is the fault reporting flag, one level higher than invalid. This is equivalent to considering the speed sensor completely faulty, and can be used to force neutral, limit vehicle power, report a fault on the instrument panel, etc. Threshold 1 identifies the low-precision range of the speed monitoring system, and even if the speed in this range is forcibly reduced to 0, it will not affect subsequent control or actions. Threshold 2 is based on theoretical calculations, considering all operating conditions, and represents the high-speed range that the speed cannot reach. The setpoint 'a' is the fault reporting debounce time to prevent frequent state transitions. The setpoint 'b' is the threshold for maintaining a non-zero constant value for the duration of the Err report, and its setting process must ensure >2T. The setpoint 'c' is also the fault reporting debounce time to prevent frequent state transitions. The setpoint time interval 'd' and the setpoint 'e' are defined together and are related to the T value and the setpoint 'b'. The definition method is as follows: assuming T = 3000μs = 3ms, b = 15ms > 2T, d is set to 150ms, and e is set to 5 times, where d = 10 * b, e = 5, and 5 / 10 = 50%, that is, when the fault rate reaches approximately 50%, a fault is determined.

[0116] For example, such as Figure 5 As shown, the periodic value exceeds the upper and lower thresholds:

[0117] ①When T is in the non-diagnostic interval, Spd outputs 0;

[0118] ②T is in the normal range, Spd = SpdRaw, Err = 0, Fault = 0;

[0119] ③When T is in the overspeed range, Spd maintains the previous output value, Err = 1, and timer 1 increments;

[0120] ④ When T is in the overspeed range, Spd maintains the previous output value, Err = 1, timer 1 exceeds the set fault debounce time, fault is reported, Fault = 1.

[0121] like Figure 6 As shown, the periodic value remains a non-zero constant value for a timeout period.

[0122] ① The T value changes normally and is within the normal range;

[0123] ②The T value remains a non-zero constant value, and timer 2 increments. Before reaching the threshold value for reporting Err, Err = 0 and Fault = 0.

[0124] ③ The T value remains a non-zero constant value. Timer 2 increments until it reaches the threshold limit for reporting Err. At this time, Err = 1. Timer 3 increments until it reaches the threshold limit for reporting Fault. Fault = 0.

[0125] ④ The T value remains a non-zero constant value. Timer 2 increments until it reaches the threshold limit for reporting Err. At this time, Err = 1. Timer 3 increments until it reaches the threshold limit for reporting Fault. Fault = 1.

[0126] like Figure 7 As shown, the periodic value remains a non-zero constant value for an extended period of time:

[0127] ① If the T value remains non-zero multiple times and triggers Err=1, and the cumulative number of times the counter increases within a specified time does not exceed the threshold limit for reporting a Fault, then Fault=0;

[0128] ② If the cumulative number of times the counter increases within a specified time exceeds the threshold for reporting a Fault, Fault = 1.

[0129] For example, such as Figure 8 As shown, the system equipped with dual electric drive bridges and a speed sensor at the bridge end is taken as an example;

[0130] Define the vehicle's operating status:

[0131] Abs(bridge 1 in gear motor speed) ≥ preset value 1;

[0132] Abs(bridge 2 in gear motor speed) ≥ preset value 2;

[0133] Abs (bridge 1 speed sensor feedback value) ≥ preset value 3;

[0134] Abs (bridge 2 speed sensor feedback value) ≥ preset value 3;

[0135] Vehicle speed ≥ preset value 4;

[0136] If any two of them are true, the vehicle is defined as being in operation. When the speed of axle 1 or axle 2 drops to zero, the invalid bit Err = 1, the timer increments, and when it is greater than or equal to the set value f, the fault bit Fault = 1.

[0137] Note: Preset values ​​1, 2, 3, and 4 are defined to represent the vehicle's operating state and need to be calibrated on a real vehicle to avoid low-precision false alarm ranges. The set value f is the fault reporting debounce time to prevent frequent state jumps.

[0138] For example, such as Figure 9 As shown, the speed value abnormally drops to 0 during monitoring:

[0139] ① The vehicle is running dynamically, the speed is normal, Err=0, Fault=0;

[0140] ② During dynamic operation of the vehicle, if the speed value abnormally drops to 0, Err = 1, timer 1 increments, and the threshold limit for reporting a fault is not reached, so Fault = 0;

[0141] ③ When the vehicle is running dynamically, the speed value drops abnormally to 0. At this time, Err = 1, timer 1 increments, and reaches the threshold limit for reporting a fault, so Fault = 1.

[0142] For example, such as Figure 10 As shown, transmission rationality verification and monitoring:

[0143] Taking a system equipped with dual electric drive bridges and a speed sensor at the bridge end as an example;

[0144] Abs (bridge 1 / 2 speed sensor feedback value) ≥ preset value 5, vehicle speed ≥ preset value 6;

[0145] Abs(motor speed / 1st gear ratio / bridge speed - 1)*100%>preset value 7, invalid bit Err=1, timer increments, and when it is ≥ set value g, fault bit Fault=1;

[0146] Note: Preset values ​​5 and 6 are defined to represent the vehicle's operating state and need to be calibrated on a real vehicle to avoid low-precision false alarm ranges. The calibration will be different for different scenarios. Preset value 7 represents the offset rate threshold. If it is higher than this limit, it indicates that the gear has disengaged or the gear ratio is set incorrectly. Setting value g is the fault reporting debounce time to prevent frequent state jumps.

[0147] For example, such as Figure 11 As shown, transmission calibration and monitoring:

[0148] ① The vehicle is running dynamically, the speed is normal, the offset rate is lower than the invalid judgment reporting threshold, Err=0, Fault=0;

[0149] ② When the vehicle is running dynamically, if the deviation rate reaches the invalid judgment reporting threshold, Err = 1, timer 1 increments, and if the threshold limit for reporting Fault is not reached, Fault = 0;

[0150] ③ During dynamic vehicle operation, if the offset rate reaches the invalidation reporting threshold, Err = 1, timer 1 increments, and when it reaches the threshold for reporting a Fault, Fault = 1. This is just an example.

[0151] This embodiment also provides a speed rationality verification system for an electric drive system, such as Figure 12As shown, the verification system of the electric drive system includes a controller, which includes a memory and a processor. The memory and the processor are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the speed rationality verification method of the electric drive system described in the above embodiment. For detailed description, please refer to the above embodiment, which will not be repeated here.

[0152] This embodiment also provides a vehicle, such as Figure 13 As shown, the vehicle includes a speed rationality verification system for the electric drive system described in the above embodiment.

[0153] This embodiment also provides a speed rationality verification device for an electric drive system. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0154] This embodiment provides a device for verifying the speed rationality of an electric drive system, such as... Figure 14 As shown, it includes:

[0155] The data acquisition module 1401 is used to acquire the in-gear motor speed of the target electric drive axle, the feedback period value of the speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor.

[0156] The first verification module 1402 is used to determine the first verification result based on the first duration of the feedback period value of the speed sensor being kept at a non-zero constant value or the second duration of the feedback period value of the speed sensor being continuously less than the second period threshold and the relationship between the feedback period value of the speed sensor and the normal period interval. The normal period interval is composed of the first period threshold and the second period threshold, and the first period threshold is greater than the second period threshold.

[0157] The second verification module 1403 is used to determine the second verification result based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state.

[0158] The third verification module 1404 is used to calculate the offset rate of the target electric drive axle based on the in-gear motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor, and to determine the third verification result based on the fourth duration when the offset rate is greater than the preset offset rate threshold.

[0159] The speed rationality verification module 1405 is used to determine the speed rationality verification result of the electric drive system based on the first verification result, the second verification result and the third verification result corresponding to all electric drive bridges in the electric drive system.

[0160] In some optional implementations, the first verification module 1402 includes: a first result determination unit, configured to determine that the first verification result is normal if the feedback period value of the speed sensor is greater than a first period threshold; a duration statistics unit, configured to calculate a second duration during which the feedback period value of the speed sensor is continuously less than a second period threshold if the feedback period value of the speed sensor is less than a second period threshold; a second result determination unit, configured to determine that the first verification result is normal if the second duration is less than a second duration threshold; and a third result determination unit, configured to determine that the first verification result is abnormal if the second duration is not less than a preset second duration threshold.

[0161] In some optional implementations, the first verification module 1402 includes: a first duration statistics unit, used to count the first duration for which the feedback period value of the speed sensor remains non-zero if the feedback period value of the speed sensor is within the normal period range; a count unit, used to restart the counting of the first duration for which the feedback period value of the speed sensor remains non-zero if the first duration is not less than a preset first duration threshold, and to count the number of times the first duration is not less than the preset first duration threshold within a preset time period; a fourth result determination unit, used to determine that the first verification result is abnormal if the first duration is not less than a preset fifth duration threshold; and a fifth... The result determination unit is used to determine the first verification result is abnormal if the number of times the first duration is not less than the preset first duration threshold within a preset time period is not less than the preset number threshold; and to determine the first verification result is normal if the number of times the first duration is not less than the preset first duration threshold within a preset time period is less than the preset number threshold, and / or the first duration is less than the preset fifth duration threshold; the sixth result determination unit is used to determine the first verification result is normal if the feedback cycle value of the speed sensor is within the normal cycle range and the feedback cycle value of the speed sensor is monitored to change in real time, or if the first duration is less than the preset first duration threshold.

[0162] In some optional implementations, the second verification module 1403 includes: a third duration statistics unit for a third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state; a seventh result determination unit for determining that the second verification result is normal when the third duration does not reach a preset third duration threshold; an eighth result determination unit for determining that the second verification result is abnormal if the third duration is greater than or equal to the preset third duration threshold; and a ninth result determination unit for determining that the second verification result is normal if the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle does not drop to zero.

[0163] In some optional implementations, the third verification module 1404 includes: an offset rate calculation unit, used to divide the rotational speed of the target electric drive axle in gear by the current gear ratio and the rotational speed value fed back by the speed sensor, and then perform difference processing with 1 to obtain the offset rate of the target electric drive axle rotation; a fourth duration statistics unit, used to count the fourth duration when the offset rate is greater than a preset offset rate threshold; and to determine that the third verification result is normal when the fourth duration is less than the preset fourth duration threshold; and a tenth result determination unit, used to determine that the third verification result is abnormal if the fourth duration is not less than the preset fourth duration threshold.

[0164] In some optional implementations, the speed rationality verification module 1405 includes: a synchronization determination unit, used to determine that the speed verification of the electric drive system is normal if the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system are all normal; and a synchronization failure determination unit, used to determine that the speed verification of the electric drive system is abnormal if at least one of the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system is abnormal.

[0165] In some optional embodiments, the speed rationality verification device for the electric drive system further includes: a speed acquisition module, used to acquire the on-grip motor speeds of all electric drive axles in the electric drive system, the speeds fed back by the speed sensors corresponding to the gearboxes on the electric drive axles, and the wheel speeds fed back by the vehicle sensors; and an operating state determination module, used to determine the first verification result by executing a first verification result based on the first duration of the feedback period value of the speed sensor remaining non-zero or the second duration of the feedback period value of the speed sensor remaining less than a second period threshold, and the relationship between the feedback period value of the speed sensor and the normal period interval, if at least two acquired speeds meet the speed conditions for the vehicle to be in operation.

[0166] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0167] In this embodiment, the speed rationality verification device of the electric drive system is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0168] This invention also provides a controller having the above-described features. Figure 14 The device shown is for verifying the reasonableness of the rotational speed of the electric drive system.

[0169] Please see Figure 15 , Figure 15 This is a schematic diagram of the structure of a controller provided in an optional embodiment of the present invention, such as... Figure 15 As shown, the controller includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise as required. The processors can process instructions executed within the controller, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple controllers can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 15 Take a processor 10 as an example.

[0170] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0171] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0172] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the vehicle's usage. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0173] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0174] The vehicle also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 15 Taking the example of a connection between China and Israel via a bus.

[0175] Input device 30 can receive input digital or character information and generate signal inputs related to user settings and function control at the vehicle end, such as a touch screen, keypad, mouse, trackpad, touchpad, indicator, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some optional embodiments, the display device may be a touch screen.

Claims

1. A method for verifying the rationality of the rotational speed of an electric drive system, characterized in that, The method includes: The speed of the motor in gear of the target electric drive axle, the feedback period value of the speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor are obtained. Based on the first duration during which the feedback period value of the speed sensor remains a non-zero constant value or the second duration during which the feedback period value of the speed sensor remains less than the second period threshold, and the relationship between the feedback period value of the speed sensor and the normal period interval, a first verification result is determined. The normal period interval consists of the first period threshold and the second period threshold, and the first period threshold is greater than the second period threshold. The determination of the first verification result based on the first duration during which the feedback period value of the speed sensor remains at a non-zero constant value and the relationship between the feedback period value of the speed sensor and the normal period range includes: If the feedback period value of the speed sensor is within the normal period range, the first duration for which the feedback period value of the speed sensor remains at a non-zero constant value is recorded. If the first duration is not less than the preset first duration threshold, the first duration for which the feedback cycle value of the speed sensor remains non-zero is counted again, and the number of times the first duration is not less than the preset first duration threshold within the preset time period is counted. If the first duration is not less than the preset fifth duration threshold, the first verification result is determined to be abnormal; If the number of times the first duration is not less than the preset first duration threshold within the preset time period is not less than the preset number threshold, the first verification result is determined to be abnormal. If the number of times the first duration is not less than the preset first duration threshold is less than the preset number threshold within the preset time period, and / or the first duration is less than the preset fifth duration threshold, the first verification result is determined to be normal. If the feedback period value of the speed sensor is within the normal period range, and the feedback period value of the speed sensor is monitored to change in real time, or if the first duration is less than the preset first duration threshold, the first verification result is determined to be normal. Before determining the first verification result based on the first duration during which the feedback period value of the speed sensor remains non-zero or the second duration during which the speed value fed back by the speed sensor remains non-zero and the relationship between the feedback period value of the speed sensor and the normal period range, the method further includes: acquiring the on-grip motor speeds of all electric drive axles in the electric drive system, the speeds fed back by the speed sensors corresponding to the gearboxes on the electric drive axles, and the wheel speeds fed back by the vehicle sensors; if at least two acquired speeds meet the speed conditions for the vehicle to be in operation, then the step of determining the first verification result based on the first duration during which the feedback period value of the speed sensor remains non-zero or the second duration during which the feedback period value of the speed sensor remains less than the second period threshold and the relationship between the feedback period value of the speed sensor and the normal period range is executed. The second verification result is determined based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state. The offset rate of the target electric drive axle is calculated based on the in-gear motor speed, the current gear ratio, and the speed value fed back by the speed sensor. The third verification result is determined based on the fourth duration during which the offset rate is greater than a preset offset rate threshold. The offset rate of the target electric drive axle is calculated based on the in-gear motor speed, the current gear ratio, and the speed value fed back by the speed sensor. A third verification result is determined based on a fourth duration during which the offset rate exceeds a preset offset rate threshold, including: The offset rate of the target electric drive axle is obtained by dividing the speed of the motor in gear by the current gear ratio and the speed value fed back by the speed sensor, and then taking the difference from 1. The fourth duration during which the offset rate is greater than a preset offset rate threshold is recorded; When the fourth duration is less than a preset fourth duration threshold, the third verification result is determined to be normal. If the fourth duration is not less than the preset fourth duration threshold, then the third verification result is determined to be abnormal. Based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system, the speed rationality verification result of the electric drive system is determined. The determination of the speed rationality verification result of the electric drive system based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system includes: If the first, second, and third verification results for all electric drive bridges in the electric drive system are normal, then it is determined that the speed verification of the electric drive system is normal. If at least one of the first, second, and third verification results corresponding to all electric drive bridges in the electric drive system is abnormal, then the speed verification of the electric drive system is determined to be abnormal.

2. The method according to claim 1, characterized in that, The determination of the first verification result based on the second duration during which the feedback period value of the speed sensor is continuously less than the second period threshold and the relationship between the feedback period value of the speed sensor and the normal period range includes: If the feedback period value of the speed sensor is greater than the first period threshold, the first verification result is determined to be normal. If the feedback period value of the speed sensor is less than the second period threshold, the second duration during which the feedback period value of the speed sensor remains less than the second period threshold is recorded. When the second duration is less than the second duration threshold, the first verification result is determined to be normal; If the second duration is not less than the preset second duration threshold, then the first verification result is determined to be abnormal.

3. The method according to claim 1, characterized in that, The second verification result is determined based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state, including: The third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero-state state; If the third duration does not reach the preset third duration threshold, the second verification result is determined to be normal. If the third duration is greater than or equal to the preset third duration threshold, then the second verification result is determined to be abnormal. If the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle does not drop to zero, then the second verification result is determined to be normal.

4. A device for verifying the rationality of rotational speed in an electric drive system, characterized in that, The device includes: The data acquisition module is used to acquire the in-gear motor speed of the target electric drive axle, the feedback period value of the speed sensor corresponding to the gearbox on the target electric drive axle, and the speed value fed back by the speed sensor. The first verification module is used to determine the first verification result based on the first duration for which the feedback period value of the speed sensor remains at a non-zero constant value or the second duration for which the feedback period value of the speed sensor is continuously less than the second period threshold and the relationship between the feedback period value of the speed sensor and the normal period interval. The normal period interval is composed of the first period threshold and the second period threshold, and the first period threshold is greater than the second period threshold. The first verification module includes: The first duration statistics unit is used to count the first duration for which the feedback period value of the speed sensor remains a non-zero constant value if the feedback period value of the speed sensor is within the normal period range. The count unit is used to restart the count of the first duration of the feedback cycle value of the speed sensor remaining at a non-zero constant value if the first duration is not less than a preset first duration threshold, and to count the number of times the first duration is not less than the preset first duration threshold within a preset time period. The fourth result determination unit is used to determine that the first verification result is abnormal if the first duration is not less than a preset fifth duration threshold. The fifth result determination unit is used to determine that the first verification result is abnormal if the number of times the first duration is not less than the preset first duration threshold is not less than the preset number threshold within the preset time period. If the number of times the first duration is not less than the preset first duration threshold is less than the preset number threshold within the preset time period, and / or the first duration is less than the preset fifth duration threshold, the first verification result is determined to be normal. The sixth result determination unit is used to determine that the first verification result is normal if the feedback period value of the speed sensor is within the normal period range and the feedback period value of the speed sensor is monitored to change in real time, or if the first duration is less than the preset first duration threshold. Before determining the first verification result based on the first duration during which the feedback period value of the speed sensor remains non-zero or the second duration during which the speed value fed back by the speed sensor remains non-zero and the relationship between the feedback period value of the speed sensor and the normal period range, the device further includes: a speed acquisition module, used to acquire the on-grid motor speeds of all electric drive axles in the electric drive system, the speeds fed back by the speed sensors corresponding to the gearboxes on the electric drive axles, and the wheel speeds fed back by the vehicle sensors; and an operating state determination module, used to execute the step of determining the first verification result based on the first duration during which the feedback period value of the speed sensor remains non-zero or the second duration during which the feedback period value of the speed sensor remains less than the second period threshold and the relationship between the feedback period value of the speed sensor and the normal period range if at least two acquired speeds meet the speed conditions for the vehicle to be in an operating state. The second verification module is used to determine the second verification result based on the third duration during which the speed value fed back by the speed sensor corresponding to the gearbox on the target electric drive axle remains in a zero state. The third verification module is used to calculate the offset rate of the target electric drive axle based on the in-gear motor speed of the target electric drive axle, the current gear ratio, and the speed value fed back by the speed sensor. Based on the fourth duration when the offset rate is greater than the preset offset rate threshold, the third verification result is determined. The third verification module includes: The offset rate calculation unit is used to divide the speed of the motor in gear of the target electric drive axle by the current gear ratio and the speed value fed back by the speed sensor, and then perform difference processing with 1 to obtain the offset rate of the target electric drive axle rotation. The fourth duration statistics unit is used to count the fourth duration when the offset rate is greater than a preset offset rate threshold; When the fourth duration is less than a preset fourth duration threshold, the third verification result is determined to be normal. The tenth result determination unit is used to determine that the third verification result is abnormal if the fourth duration is not less than a preset fourth duration threshold. The speed rationality verification module is used to determine the speed rationality verification result of the electric drive system based on the first verification result, the second verification result, and the third verification result corresponding to all electric drive axles in the electric drive system. The rotational speed rationality verification module includes: The synchronization determination unit is used to determine that the speed verification of the electric drive system is normal if the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system are all normal. The synchronization failure determination unit is used to determine that the speed verification of the electric drive system is abnormal if at least one of the first verification result, the second verification result, and the third verification result corresponding to all electric drive bridges in the electric drive system is abnormal.

5. A speed rationality verification system for an electric drive system, characterized in that, The verification system of the electric drive system includes a controller, which includes a memory and a processor. The memory and the processor are interconnected. The memory stores computer instructions. The processor executes the computer instructions to perform the speed rationality verification method of the electric drive system according to any one of claims 1 to 3.

6. A vehicle, characterized in that, The vehicle includes the speed rationality verification system for the electric drive system as described in claim 5.

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