Differential protection method for commercial vehicle with double rear drive axles, electronic equipment and vehicle

Abstract

The invention discloses a differential protection method for a double-rear-drive-axle commercial vehicle, electronic equipment and a vehicle. The double-rear-drive-axle commercial vehicle comprises a first rear drive axle and a second rear drive axle. The method comprises the steps that the wheel speed of each wheel of the double-rear-drive-axle commercial vehicle is obtained; calculating a wheel speed difference according to the wheel speed of each wheel of the commercial vehicle with the double rear drive axles; state data of the double-rear-drive-axle commercial vehicle are obtained; determining whether a differential protection function starting condition is met or not according to the wheel speed difference and the state data of the double-rear-drive-axle commercial vehicle; under the condition that the differential protection function starting condition is met, the road condition category is determined; determining a motor torque according to the wheel speed difference and the road condition category; and the commercial vehicle with the double rear drive axles is controlled according to the motor torque. The road condition category is determined after the differential protection function is started, and the motor torque is determined according to the road condition category and the wheel speed difference, so that the motor torque under the differential protection function better conforms to the current road condition, and the differential is effectively protected.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a differential protection method, electronic equipment and a vehicle for a dual rear-drive axle commercial vehicle. Background Art

[0002] With the rapid development of the new energy vehicle industry, there are more and more new energy commercial vehicles. New energy commercial vehicles are widely used in many different industries. However, in the actual working process of new energy commercial vehicles, they often need to drive in various harsh road conditions, which makes the left and right wheels rotate at different speeds, which can easily cause differential failure. Summary of the invention

[0003] An object of the present invention is to provide a differential protection method, electronic equipment and vehicle for a dual rear-drive axle commercial vehicle, which can solve the technical problem in the prior art that new energy commercial vehicles are prone to differential failure when driving in various harsh road conditions.

[0004] According to a first aspect of the present invention, a differential protection method for a dual rear-drive axle commercial vehicle is provided, wherein the dual rear-drive axle commercial vehicle comprises a first rear-drive axle and a second rear-drive axle, and the method comprises:

[0005] Obtaining the wheel speed of each wheel of the dual rear-drive axle commercial vehicle, wherein the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes the wheel speed of the wheels on both sides of the first rear-drive axle and the wheel speed of the wheels on both sides of the second rear-drive axle;

[0006] Calculating a wheel speed difference according to the wheel speeds of the wheels of the dual rear-drive axle commercial vehicle, wherein the wheel speed difference includes a wheel speed difference between the wheels on both sides of the first rear-drive axle and a wheel speed difference between the wheels on both sides of the second rear-drive axle;

[0007] Acquiring status data of the dual rear-drive axle commercial vehicle, wherein the status data of the dual rear-drive axle commercial vehicle includes operating condition category data, wheel speed sensor fault data, and inter-wheel differential lock status data;

[0008] determining whether a differential protection function activation condition is met according to the wheel speed difference and the status data of the dual rear-drive axle commercial vehicle;

[0009] When the differential protection function activation condition is met, determining a road condition category, wherein the road condition category includes a good road surface, a bumpy road surface, and a split road surface;

[0010] determining a motor torque according to the wheel speed difference and the road condition category;

[0011] The dual rear-drive axle commercial vehicle is controlled according to the motor torque.

[0012] Optionally, when the differential protection function activation condition is met, determining the road condition category includes:

[0013] Obtain the number of interventions of the differential protection function within a preset time;

[0014] The road condition category is determined according to the number of interventions of the differential protection function.

[0015] Optionally, determining the road condition category according to the number of interventions of the differential protection function includes:

[0016] When the number of interventions of the differential protection function is less than a first threshold, determining that the road condition category is a good road condition;

[0017] When the number of interventions of the differential protection function is greater than the first threshold and less than the second threshold, determining that the road condition category is a bumpy road;

[0018] When the number of interventions of the differential protection function is greater than the second threshold and less than the third threshold, it is determined that the road condition category is an open road.

[0019] Optionally, determining the motor torque according to the wheel speed difference and the road condition category includes:

[0020] Determining a speed difference level corresponding to the wheel speed difference, wherein the greater the wheel speed difference, the greater the speed difference level;

[0021] determining the motor torque according to the speed difference level and the road condition category;

[0022] Among them, under the same speed difference level, the worse the road condition, the greater the limit of the motor torque; under the same road condition category, the greater the speed difference level, the greater the limit of the motor torque.

[0023] Optionally, the wheel speed sensor of the dual rear-drive axle commercial vehicle includes a first wheel speed sensor and a second wheel speed sensor, the first wheel speed sensor is installed on a first wheel of the first rear-drive axle, the second wheel speed sensor is installed on a second wheel of the second rear-drive axle, and the first wheel and the second wheel are wheels on different sides.

[0024] Optionally, the dual rear-drive axle commercial vehicle is a central drive type, and the first rear-drive axle and the second rear-drive axle are driven by the same motor;

[0025] The obtaining of the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes:

[0026] Get the motor speed, gearbox ratio and final reduction ratio;

[0027] Calculate the average wheel speed according to the motor speed, the gearbox speed ratio and the final reduction ratio;

[0028] Acquire a first wheel speed of a wheel of the first rear-drive axle detected by the first wheel speed sensor;

[0029] Calculating a second wheel speed of another wheel of the first rear-drive bridge according to the average wheel speed and the first wheel speed;

[0030] acquiring a third wheel speed of one wheel of the second rear-drive axle detected by the second wheel speed sensor;

[0031] A fourth wheel speed of another wheel of the second rear-drive axle is calculated according to the average wheel speed and the third wheel speed.

[0032] Optionally, the dual rear-drive axle commercial vehicle is an electric-drive axle type, the first rear-drive axle is driven by a first motor, and the second rear-drive axle is driven by a second motor;

[0033] The obtaining of the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes:

[0034] Obtaining the rotation speed of the first motor, the speed ratio of the first gearbox, and the final reduction ratio;

[0035] Calculating a first average wheel speed of two wheels of the first rear-drive axle according to the rotation speed of the first motor, the speed ratio of the first gearbox, and the final reduction ratio;

[0036] acquiring a fifth wheel speed of one wheel of the first rear-drive bridge detected by the first wheel speed sensor;

[0037] Calculating a sixth wheel speed of another wheel of the first rear-drive bridge according to the first average wheel speed and the fifth wheel speed;

[0038] Obtaining the rotation speed of the second motor and the speed ratio of the second gearbox;

[0039] Calculating a second average wheel speed of two wheels of the second rear-drive axle according to the rotation speed of the second motor, the speed ratio of the second gearbox and the final reduction ratio;

[0040] acquiring a seventh wheel speed of one wheel of the second rear-drive axle detected by the second wheel speed sensor;

[0041] An eighth wheel speed of another wheel of the second rear-drive axle is calculated based on the second average wheel speed and the seventh wheel speed.

[0042] Optionally, determining whether a differential protection function activation condition is met according to the wheel speed difference and the state data of the dual rear-drive axle commercial vehicle includes:

[0043] Determining a speed difference level corresponding to the wheel speed difference;

[0044] Determine a corresponding intervention time according to the speed difference level, wherein the higher the speed difference level, the shorter the intervention time;

[0045] When the duration of the wheel speed difference reaches the intervention duration of the speed difference level, the dual rear-drive axle commercial vehicle is in a driving condition, the wheel speed sensor has no faults, and the inter-wheel differential lock is not opened, it is determined that the start condition of the differential protection function is met.

[0046] According to a second aspect of the present invention, there is provided an electronic device comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a differential protection method for a dual rear-wheel drive axle commercial vehicle as described in the first aspect of the present invention are implemented.

[0047] According to a third aspect of the present invention, a vehicle is provided, comprising an electronic device according to the second aspect of the present invention.

[0048] The beneficial effect of the present invention is that the present invention determines the road condition category after the differential protection function is activated, and determines the motor torque according to the road condition category and the wheel speed difference, so that the motor torque under the differential protection function is more in line with the current road condition, thereby achieving effective protection of the differential. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The present invention is a flowchart of a differential protection method for a dual rear-drive axle commercial vehicle according to an embodiment of the present invention.

[0050] Figure 2 It is a schematic diagram of a centrally driven dual rear-drive axle commercial vehicle according to an embodiment of the present invention.

[0051] Figure 3 Schematic diagram of an electric drive axle type dual rear drive axle commercial vehicle according to an embodiment of the present invention.

[0052] Figure 4 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0054] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0055] The techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and devices should be considered as part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0056] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0057] In the specification and claims of the present invention, if the term "first" or "second" is involved, it may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0058] like Figure 1 As shown, this embodiment introduces a differential protection method for a dual rear-drive axle commercial vehicle, wherein the dual rear-drive axle commercial vehicle includes a first rear-drive axle and a second rear-drive axle, and the method includes steps 1100-1700.

[0059] Step 1100: Obtain the wheel speed of each wheel of the dual rear-drive axle commercial vehicle, wherein the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes the wheel speed of the wheels on both sides of the first rear-drive axle and the wheel speed of the wheels on both sides of the second rear-drive axle.

[0060] In this embodiment, the wheel speed of each wheel of the dual rear-drive axle commercial vehicle refers to the wheel speed of the drive wheel, that is, the wheel speed of the wheels on both sides of the first rear-drive axle and the wheel speed of the wheels on both sides of the second rear-drive axle. For example, the wheel speed of each wheel can be obtained through a wheel speed sensor.

[0061] Step 1200: Calculate the wheel speed difference according to the wheel speed of each wheel of the dual rear-drive axle commercial vehicle, wherein the wheel speed difference includes the wheel speed difference of the wheels on both sides of the first rear-drive axle and the wheel speed difference of the wheels on both sides of the second rear-drive axle.

[0062] The wheel speed difference is the wheel speed difference of the wheels on both sides of the same rear-drive axle, including the wheel speed difference of the wheels on both sides of the first rear-drive axle and the wheel speed difference of the wheels on both sides of the second rear-drive axle.

[0063] Step 1300: Acquire status data of the dual rear-drive axle commercial vehicle, wherein the status data of the dual rear-drive axle commercial vehicle includes operating condition category data, wheel speed sensor fault data, and inter-wheel differential lock status data.

[0064] The working condition category data indicates the current working condition of the dual rear-drive axle commercial vehicle, such as the driving working condition, the parking working condition, or other working conditions. The wheel speed sensor fault data is used to indicate whether the wheel speed sensor of the dual rear-drive axle commercial vehicle is faulty. The inter-wheel differential lock status data indicates whether the differential lock is open. For dual rear-drive axle commercial vehicles, it includes the differential of the first rear-drive axle and the differential of the second rear-drive axle.

[0065] Step 1400: Determine whether a differential protection function activation condition is met based on the wheel speed difference and the status data of the dual rear-drive axle commercial vehicle.

[0066] When the differential protection function activation conditions are met, the differential protection function is activated. Specifically, the differential protection function activation conditions include that the dual rear-drive axle commercial vehicle is in a driving condition, the wheel speed sensor is fault-free, the inter-wheel differential lock is not opened, and the wheel speed difference reaches a certain speed difference level and lasts for a corresponding time.

[0067] The step 1400 includes steps 1410 - 1430 .

[0068] Step 1410: Determine the speed difference level corresponding to the wheel speed difference.

[0069] Step 1420: Determine the corresponding intervention time according to the speed difference level, wherein the higher the speed difference level is, the shorter the intervention time is.

[0070] Step 1430: When the duration of the wheel speed difference reaches the intervention duration of the speed difference level, the dual rear-drive axle commercial vehicle is in a driving condition, the wheel speed sensor has no faults, and the inter-wheel differential lock is not opened, it is determined that the start condition of the differential protection function is met.

[0071] In the present invention, multiple speed differential levels are set, and the larger the wheel speed difference, the larger the speed differential level. A corresponding intervention time is preset for each speed differential level. When the wheel speed difference reaches a certain speed differential level and the duration reaches the intervention time of the speed differential level, and the vehicle state also meets the start-up conditions of the differential protection function, the differential protection function is started. The higher the speed differential level, the shorter the intervention time. When judging whether the start-up conditions of the differential protection are met, the wheel speed difference of the wheels on both sides of any rear drive axle can be used, and one of them meets the conditions.

[0072] For example, there are three speed difference levels, recorded as L1, L2, and L3. The intervention time corresponding to speed difference level L1 is t1, the intervention time corresponding to speed difference level L2 is t2, and the intervention time corresponding to speed difference level L3 is t3, among which t1 is the smallest and t3 is the largest.

[0073] If the wheel speed difference between the wheels on both sides of the first rear-drive axle corresponds to a speed difference level of L1, the wheel speed difference duration reaches t1, and other conditions are met, the differential protection function is activated.

[0074] Step 1500: When the differential protection function activation condition is met, determine the road condition category, wherein the road condition category includes a good road surface, a bumpy road surface, and a split road surface.

[0075] Step 1600: Determine the motor torque according to the wheel speed difference and the road condition category.

[0076] Step 1700: Control the dual rear-drive axle commercial vehicle according to the motor torque.

[0077] In the process of controlling the vehicle according to the motor torque, if the start conditions of the differential protection function are not met, the differential protection function will be exited. For example, if the inter-wheel differential lock is turned on, or the wheel speed difference is reduced to a certain speed difference level and lasts for a certain period of time, the differential protection function will be turned off.

[0078] The present invention determines the road condition category after the differential protection function is activated, and determines the motor torque according to the road condition category and the wheel speed difference, so that the motor torque under the differential protection function is more in line with the current road condition, thereby achieving effective protection of the differential.

[0079] In this embodiment, step 1500 includes steps 1510-1520.

[0080] Step 1510: Obtain the number of interventions of the differential protection function within a preset time.

[0081] Step 1520: Determine the road condition category according to the number of interventions of the differential protection function.

[0082] In the present invention, the road condition category is determined according to the number of interventions of the differential protection function. The more times the differential protection function intervenes within a preset time, the worse the road condition is, and the closer it is to an open road.

[0083] In the present invention, the road condition category is determined according to the number of interventions of the differential protection function. On the one hand, no additional sensors are needed, which can save vehicle cost. On the other hand, only one parameter, the number of interventions of the differential protection function, is needed, and complex calculations are not required, which can improve efficiency.

[0084] Specifically, the step 1520 includes steps 1521-1523.

[0085] Step 1521: When the number of interventions of the differential protection function is less than a first threshold, determine that the road condition category is a good road surface.

[0086] Step 1522: When the number of interventions of the differential protection function is greater than the first threshold and less than the second threshold, determine that the road condition category is a bumpy road.

[0087] Step 1523: When the number of interventions of the differential protection function is greater than the second threshold and less than the third threshold, determine that the road condition category is an open road.

[0088] After obtaining the number of interventions of the differential protection function within the preset time, the road condition category can be determined by looking up the table. As shown in Table 1, when the number of interventions is within the range of 0 to C1, the corresponding road condition category is good road surface. When the number of interventions is within the range of C1 to C2, the corresponding road condition category is bumpy road surface. When the number of interventions is within the range of C2 to C3, the corresponding road condition category is split road surface.

[0089] Table 1 Correspondence between the number of interventions of the differential protection function within the preset time and the road condition category

[0090]

[0091] The present invention determines the road condition category according to the number of interventions of the differential protection function within a preset time, without the need to use other hardware, thereby reducing the cost of the entire vehicle. At the same time, only one parameter, the number of interventions of the differential protection function within a preset time, is required, and the road condition category can be quickly determined by looking up a table, so as to quickly start the differential protection function.

[0092] In this embodiment, step 1600 includes steps 1610-1620.

[0093] Step 1610: Determine the speed difference level corresponding to the wheel speed difference, wherein the greater the wheel speed difference, the greater the speed difference level.

[0094] Step 1620: Determine the motor torque according to the speed difference level and the road condition category.

[0095] Among them, under the same speed difference level, the worse the road condition, the greater the limit of the motor torque; under the same road condition category, the greater the speed difference level, the greater the limit of the motor torque.

[0096] After obtaining the speed difference level and road condition category, the motor torque can be determined by looking up a table, as shown in Table 2, where Tq represents the motor torque. The specific value of the motor torque can be calibrated on a real vehicle.

[0097] The present invention calibrates the motor torque corresponding to various road conditions and speed difference levels in advance, and obtains the motor torque by looking up the table, without the need for complex calculations, and can quickly protect the differential. At the same time, the motor torque is more in line with the current state of the vehicle and road conditions, and can better protect the differential.

[0098] Table 2 Correspondence between speed difference level, road condition category and motor torque

[0099]

[0100] In this embodiment, the wheel speed sensor of the dual rear-drive axle commercial vehicle includes a first wheel speed sensor and a second wheel speed sensor, the first wheel speed sensor is installed on the first wheel of the first rear-drive axle, and the second wheel speed sensor is installed on the second wheel of the second rear-drive axle, and the first wheel and the second wheel are wheels on different sides.

[0101] For a dual rear-drive axle commercial vehicle, each rear-drive axle has a wheel on each side, for a total of four drive wheels. Since the wheel speed of each drive wheel needs to be obtained, if the wheel speed of each drive wheel is obtained through a wheel speed sensor, four wheel speed sensors are required, which will increase the cost of the entire vehicle.

[0102] In the present invention, only two wheel speed sensors are provided to obtain the wheel speeds of all driving wheels. The two wheel speed sensors are provided on different sides. For example, the first wheel speed sensor is provided on the left wheel of the first rear drive axle, and the second wheel speed sensor is provided on the right wheel of the second rear drive axle. Alternatively, the first wheel speed sensor is provided on the right wheel of the first rear drive axle, and the second wheel speed sensor is provided on the left wheel of the second rear drive axle.

[0103] In the actual working process of the vehicle, it may be driven in various complex road conditions. For example, when the vehicle is driving on a split road, one side of the road is a high adhesion coefficient road surface, and the other side is a low adhesion coefficient road surface. At this time, the wheels on both sides of the vehicle are on roads with different adhesion coefficients. By setting two wheel speed sensors on wheels on different sides, it is possible to detect the wheel speed of the wheel on the high adhesion coefficient road surface, and the wheel speed of the wheel on the low adhesion coefficient road surface, so that the wheel speed calculation results of each wheel are more accurate.

[0104] like Figure 2 As shown, the dual rear-drive axle commercial vehicle is a central drive type, and the first rear-drive axle and the second rear-drive axle are driven by the same motor. The step 1100 includes steps 1111-1116.

[0105] Step 1111: Obtain the motor speed, gearbox ratio and main reduction ratio.

[0106] Step 1112: Calculate the average wheel speed according to the motor speed, the gearbox ratio and the final reduction ratio.

[0107] Since the first rear-drive axle and the second rear-drive axle are driven by the same motor, the average wheel speed N1 of the two wheels of the first rear-drive axle is the same as the average wheel speed N2 of the two wheels of the second rear-drive axle. The specific calculation formula is as follows:

[0108] .

[0109] Among them, ω is the motor speed, i1 is the gearbox ratio, and i2 is the main reduction ratio.

[0110] Step 1113: Obtain a first wheel speed of a wheel of the first rear-drive axle detected by the first wheel speed sensor.

[0111] Step 1114: Calculate a second wheel speed of another wheel of the first rear-drive axle according to the average wheel speed and the first wheel speed.

[0112] The first wheel speed of a wheel of the first rear drive axle detected by the first wheel speed sensor is denoted by n 11 , calculate the second wheel speed n of the other wheel of the first rear drive axle according to the following formula 12 .

[0113] .

[0114] Step 1115: Obtain a third wheel speed of a wheel of the second rear-drive axle detected by the second wheel speed sensor.

[0115] Step 1116: Calculate a fourth wheel speed of another wheel of the second rear-drive axle according to the average wheel speed and the third wheel speed.

[0116] The third wheel speed of one wheel of the second rear drive axle detected by the second wheel speed sensor is denoted by n 21 , calculate the fourth wheel speed n of the other wheel of the second rear drive axle according to the following formula 22 .

[0117] .

[0118] like Figure 3 As shown, the dual rear-drive axle commercial vehicle is an electric drive axle type, the first rear-drive axle is driven by a first motor, and the second rear-drive axle is driven by a second motor. For an electric drive axle type dual rear-drive axle commercial vehicle, two rear-drive axles are driven by two motors respectively.

[0119] The step 1100 includes steps 1121-1128.

[0120] Step 1121: Obtain the rotation speed of the first motor, the speed ratio of the first gearbox, and the final reduction ratio.

[0121] Step 1122: Calculate a first average wheel speed of two wheels of the first rear-drive axle according to the rotation speed of the first motor, the speed ratio of the first gearbox, and the final reduction ratio.

[0122] The first average wheel speed of the two wheels of the first rear drive axle is denoted as N 11 , the calculation formula is as follows:

[0123] .

[0124] Among them, ω1 is the speed of the first motor, i 11 is the speed ratio of the first gearbox, and i2 is the main reduction ratio.

[0125] Step 1123: Obtain a fifth wheel speed of a wheel of the first rear-drive axle detected by the first wheel speed sensor.

[0126] Step 1124: Calculate a sixth wheel speed of another wheel of the first rear-drive axle according to the first average wheel speed and the fifth wheel speed.

[0127] The fifth wheel speed of a wheel of the first rear drive axle detected by the first wheel speed sensor is recorded as n 13 , calculate the sixth wheel speed n of the other wheel of the first rear drive axle according to the following formula 14 .

[0128] .

[0129] Step 1125: Obtain the rotation speed of the second motor and the speed ratio of the second gearbox.

[0130] Step 1126: Calculate the second average wheel speed of the two wheels of the second rear-drive axle according to the rotation speed of the second motor, the speed ratio of the second gearbox and the final reduction ratio.

[0131] The second average wheel speed of the two wheels of the second rear drive axle is denoted by N 21 , the calculation formula is as follows:

[0132] .

[0133] Among them, ω2 is the speed of the second motor, i 12 is the speed ratio of the second gearbox, and i2 is the main reduction ratio.

[0134] Step 1127: Obtain a seventh wheel speed of a wheel of the second rear-drive axle detected by the second wheel speed sensor.

[0135] Step 1128: Calculate an eighth wheel speed of another wheel of the second rear-drive axle according to the second average wheel speed and the seventh wheel speed.

[0136] The seventh wheel speed of a wheel of the second rear drive axle detected by the second wheel speed sensor is recorded as n 23 , calculate the eighth wheel speed n of the other wheel of the second rear drive axle according to the following formula 24 .

[0137] .

[0138] The present invention obtains the wheel speed of each wheel on two rear drive axles through two wheel speed sensors, and calculates the wheel speed of the other wheel on the two rear drive axles respectively. The wheel speeds of four wheels can be obtained through the two wheel speed sensors, and there is no need to set a wheel speed sensor for each wheel, thereby reducing costs.

[0139] like Figure 4 As shown, this embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a differential protection method for a dual rear-wheel drive axle commercial vehicle as described in any embodiment of the present invention are implemented.

[0140] This embodiment introduces a vehicle, including an electronic device described in the above embodiment of the present invention.

[0141] Although some specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

[0142] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0143] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0145] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0146] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0147] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical disks.

[0148] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0149] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A differential protection method for a dual rear-drive axle commercial vehicle, characterized in that: The dual rear-drive axle commercial vehicle comprises a first rear-drive axle and a second rear-drive axle, and the method comprises: Obtaining the wheel speed of each wheel of the dual rear-drive axle commercial vehicle, wherein the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes the wheel speed of the wheels on both sides of the first rear-drive axle and the wheel speed of the wheels on both sides of the second rear-drive axle; Calculating a wheel speed difference according to the wheel speeds of the wheels of the dual rear-drive axle commercial vehicle, wherein the wheel speed difference includes a wheel speed difference between the wheels on both sides of the first rear-drive axle and a wheel speed difference between the wheels on both sides of the second rear-drive axle; Acquiring status data of the dual rear-drive axle commercial vehicle, wherein the status data of the dual rear-drive axle commercial vehicle includes operating condition category data, wheel speed sensor fault data, and inter-wheel differential lock status data; determining whether a differential protection function activation condition is met according to the wheel speed difference and the status data of the dual rear-drive axle commercial vehicle; When the differential protection function activation condition is met, determining a road condition category, wherein the road condition category includes a good road surface, a bumpy road surface, and a split road surface; determining a motor torque according to the wheel speed difference and the road condition category; The dual rear-drive axle commercial vehicle is controlled according to the motor torque.

2. The method according to claim 1, characterized in that When the differential protection function activation condition is met, determining the road condition category includes: Obtain the number of interventions of the differential protection function within a preset time; The road condition category is determined according to the number of interventions of the differential protection function.

3. The method according to claim 2, characterized in that The determining of the road condition category according to the number of interventions of the differential protection function includes: When the number of interventions of the differential protection function is less than a first threshold, determining that the road condition category is a good road condition; When the number of interventions of the differential protection function is greater than the first threshold and less than the second threshold, determining that the road condition category is a bumpy road; When the number of interventions of the differential protection function is greater than the second threshold and less than the third threshold, it is determined that the road condition category is an open road.

4. The method according to claim 1, characterized in that: The determining the motor torque according to the wheel speed difference and the road condition category includes: Determining a speed difference level corresponding to the wheel speed difference, wherein the greater the wheel speed difference, the greater the speed difference level; determining the motor torque according to the speed difference level and the road condition category; Among them, under the same speed difference level, the worse the road condition, the greater the limit of the motor torque; under the same road condition category, the greater the speed difference level, the greater the limit of the motor torque.

5. The method according to claim 1, characterized in that The wheel speed sensor of the dual rear-drive axle commercial vehicle includes a first wheel speed sensor and a second wheel speed sensor, wherein the first wheel speed sensor is mounted on a first wheel of the first rear-drive axle, and the second wheel speed sensor is mounted on a second wheel of the second rear-drive axle, and the first wheel and the second wheel are wheels on different sides.

6. The method according to claim 5, characterized in that The dual rear-drive axle commercial vehicle is a central drive type, and the first rear-drive axle and the second rear-drive axle are driven by the same motor; The obtaining of the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes: Get the motor speed, gearbox ratio and final reduction ratio; Calculate the average wheel speed according to the motor speed, the gearbox speed ratio and the final reduction ratio; Acquire a first wheel speed of a wheel of the first rear-drive axle detected by the first wheel speed sensor; Calculating a second wheel speed of another wheel of the first rear-drive bridge according to the average wheel speed and the first wheel speed; acquiring a third wheel speed of one wheel of the second rear-drive axle detected by the second wheel speed sensor; A fourth wheel speed of another wheel of the second rear-drive axle is calculated according to the average wheel speed and the third wheel speed.

7. The method according to claim 5, characterized in that The dual rear-drive axle commercial vehicle is an electric-drive axle type, the first rear-drive axle is driven by a first motor, and the second rear-drive axle is driven by a second motor; The obtaining of the wheel speed of each wheel of the dual rear-drive axle commercial vehicle includes: Obtaining the rotation speed of the first motor, the speed ratio of the first gearbox, and the final reduction ratio; Calculating a first average wheel speed of two wheels of the first rear-drive axle according to the rotation speed of the first motor, the speed ratio of the first gearbox, and the final reduction ratio; acquiring a fifth wheel speed of one wheel of the first rear-drive bridge detected by the first wheel speed sensor; Calculating a sixth wheel speed of another wheel of the first rear-drive bridge according to the first average wheel speed and the fifth wheel speed; Obtaining the rotation speed of the second motor and the speed ratio of the second gearbox; Calculating a second average wheel speed of two wheels of the second rear-drive axle according to the rotation speed of the second motor, the speed ratio of the second gearbox and the final reduction ratio; acquiring a seventh wheel speed of one wheel of the second rear-drive axle detected by the second wheel speed sensor; An eighth wheel speed of another wheel of the second rear-drive axle is calculated based on the second average wheel speed and the seventh wheel speed.

8. The method according to claim 1, characterized in that The determining whether the differential protection function activation condition is met according to the wheel speed difference and the state data of the dual rear-drive axle commercial vehicle includes: Determining a speed difference level corresponding to the wheel speed difference; Determine a corresponding intervention time according to the speed difference level, wherein the higher the speed difference level, the shorter the intervention time; When the duration of the wheel speed difference reaches the intervention duration of the speed difference level, the dual rear-drive axle commercial vehicle is in a driving condition, the wheel speed sensor has no faults, and the inter-wheel differential lock is not opened, it is determined that the start condition of the differential protection function is met.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a differential protection method for a dual rear-drive axle commercial vehicle as described in any one of claims 1 to 8 are implemented.

10. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 9.

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