Wheel speed redundancy detection system and method, computer equipment, storage medium and vehicle

Abstract

The invention relates to a wheel speed redundancy detection system and method, computer equipment, a storage medium and a vehicle. The system comprises four groups of wheel speed detection modules and a first domain controller, the wheel speed detection module comprises a transmission, a driving motor, a rotary transformer sensor and a motor controller; the transmission is connected with wheels of the vehicle; the driving motor is respectively connected with the transmission and the motor controller; the rotary transformer sensor is arranged on the driving motor and is connected with the motor controller; the motor controller is also connected with the first domain controller, and is used for collecting the resolver signal, obtaining a motor rotating speed according to the resolver signal, and obtaining a corresponding wheel rotating speed according to the gear information of the transmission and the motor rotating speed; the first domain controller is used for performing motion control on the vehicle according to the wheel rotating speed. Redundancy of the vehicle wheel speed signals can be achieved based on the rotary transformer sensor, a wheel speed sensor does not need to be used, and a corresponding sensor wire harness does not need to be added, so that the vehicle using cost can be reduced, and the vehicle development period is shortened.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicle control, and in particular to a wheel speed redundancy detection system, method, computer equipment, storage medium and vehicle. Background Art

[0002] Traditional vehicle wheel speed signal collection mostly relies on wheel speed sensors fixed on the wheel ends. The sensors are connected to the vehicle's ESP brake controller through wiring harnesses. If the ESP fails, all wheel speed sensor signals will be lost.

[0003] In order to avoid the loss of all wheel speed sensor signals due to ESP failure, a wheel speed signal redundancy solution is usually adopted. If you want to achieve wheel speed signal redundancy, you generally need to upgrade the dual-channel wheel speed sensor and add a set of sensor wiring harnesses. However, this not only increases the cost of the vehicle, but also prolongs the development cycle. Summary of the invention

[0004] One of the purposes of the present invention is to provide a wheel speed redundant detection system to solve the problems of high vehicle cost and prolonged development cycle in the existing wheel speed signal redundant detection scheme; the second purpose of the present invention is to provide a wheel speed redundant detection method; the third purpose of the present invention is to provide a computer device; the fourth purpose of the present invention is to provide a storage medium; the fifth purpose of the present invention is to provide a vehicle.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides a wheel speed redundant detection system, which includes four groups of wheel speed detection modules and a first domain controller; wherein each group of wheel speed detection modules includes a transmission, a drive motor, a resolver sensor and a motor controller; the transmission is connected to the wheels of the vehicle; the drive motor is respectively connected to the transmission and the motor controller; the resolver sensor is arranged on the drive motor and connected to the motor controller; the motor controller is also connected to the first domain controller, and the motor controller is used to collect the resolver signal and obtain the motor speed according to the resolver signal, and obtain the corresponding wheel speed according to the gear information of the transmission and the motor speed; the first domain controller is used to control the motion of the vehicle according to the wheel speed.

[0007] In the above technical solution, the present invention drives the four wheels of the vehicle through four independent drive motors, and each drive motor is correspondingly provided with a rotary signal, and each rotary sensor is correspondingly connected to a motor controller. The motor controller collects the rotary signal to obtain the motor speed, and further combines the gear information of the transmission to convert the motor speed into the wheel speed. In other words, the rotary signals of the four wheels of the vehicle can be obtained independently, and the wheel speeds of the four wheels can be obtained independently. The first domain controller can estimate the vehicle speed in combination with the inertial sensor information, thereby completing the motion control of the vehicle. It can be seen that the present invention can realize the redundancy of the vehicle wheel speed signal based on the rotary sensor, without the need to use the wheel speed sensor and increase the corresponding sensor wiring harness, thereby reducing the cost of using the vehicle and shortening the vehicle development cycle.

[0008] Furthermore, the wheel speed redundancy detection system also includes a second domain controller; the second domain controller is connected to each of the motor controllers, and is used to control the motion of the vehicle according to the wheel speed when the first domain controller fails.

[0009] In the above technical solution, the second domain controller is used as a redundant domain controller. When one of the domain controllers fails, the backup domain controller can still obtain the status of the four wheels, ensuring the collection of wheel speeds and vehicle control. When the first domain controller or the second domain controller fails, it can be downgraded to the backup mode, and the backup domain controller can realize communication and control of the motor controller.

[0010] Furthermore, the wheel speed redundant detection system further includes a first communication bus and a second communication bus; the first communication bus and the second communication bus are connected between the motor controllers.

[0011] In the above technical solution, the motor controllers and the motor controllers and the first domain controller and the second domain controller communicate with each other using the first communication bus and the second communication bus, so as to realize the backup of the wheel speed signal on the two communication buses through the redundancy of bus communication. When one of the communication buses fails, it can ensure that the domain controller can receive the data of the backup communication bus.

[0012] Furthermore, the wheel speed redundant detection system also includes a first power supply and a second power supply; the first power supply is respectively connected to two motor controllers of the front wheels of the vehicle and the first domain controller; the second power supply is respectively connected to two motor controllers of the rear wheels of the vehicle and the second domain controller.

[0013] In the above technical solution, by making the power supply redundant, that is, using the first power supply to power the motor controller and the first domain controller of the front axle of the vehicle, and using the second power supply to power the motor controller and the second domain controller of the rear axle of the vehicle, independent power supply is achieved, which can ensure that the wheel speeds of at least two wheels can be collected when one of the power supplies fails.

[0014] Furthermore, the first domain controller is a primary controller, and the second domain controller is a redundant controller.

[0015] In the above technical solution, in the default state, the first domain controller is used as the primary domain controller, and the second domain controller is used as the redundant domain controller. The first domain controller and the second domain controller simultaneously receive wheel speed signals of four drive motors, and the motor controller receives the signal sent by the first domain controller when the system is fault-free, and the second domain controller serves as a redundant domain controller.

[0016] Furthermore, the first communication bus is a main communication bus; and the second communication bus is a redundant communication bus.

[0017] In a second aspect, the present invention provides a wheel speed redundancy detection method based on the above-mentioned method, which includes: controlling the motor controller to collect the resolver signal to obtain the motor speed; controlling the motor controller to obtain the gear information of the transmission, and obtaining the wheel speed according to the gear information of the transmission and the motor speed; obtaining the inertial sensor information, and combining the wheel speed to obtain the vehicle speed, so as to control the motion of the vehicle.

[0018] In the above technical solution, the motor controller at each wheel end will collect the corresponding resolver signal of the resolver sensor and calculate the corresponding drive motor speed. The motor controller then further obtains the gear information of the transmission and converts the motor speed into the wheel speed according to the gear information of the transmission. After obtaining the wheel speed, the first domain controller or the second domain controller can estimate the vehicle speed in combination with the inertial sensor information, thereby realizing the motion control of the vehicle. It can be seen that the present invention can realize the redundancy of the vehicle wheel speed signal based on the resolver sensor, without the need to use a wheel speed sensor and increase the corresponding sensor wiring harness, thereby reducing the cost of using the vehicle and shortening the vehicle development cycle.

[0019] Furthermore, the step of controlling the motor controller to obtain the gear information of the transmission and converting the motor speed into the wheel speed according to the gear information of the transmission includes: obtaining the gear information of the transmission to obtain the transmission ratio; and converting the motor speed into the wheel speed according to the transmission ratio.

[0020] In the above technical solution, after the motor controller obtains the gear information of the transmission, the transmission ratio is calculated according to the gear information, and the motor speed is further converted into the wheel speed according to the transmission ratio.

[0021] Furthermore, the conversion expression of the wheel speed is:

[0022] V whl =ω Motor *k*R Tire ;

[0023] Among them, V whl is the wheel speed, ω Motor is the motor angular velocity, k is the transmission ratio from the motor to the wheel end, R Tire is the wheel radius.

[0024] In a fourth aspect, the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it is used to implement the steps in the wheel speed redundancy detection method as described above.

[0025] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, is used to implement the steps in the wheel speed redundancy detection method as described above.

[0026] In a fifth aspect, the present invention provides a vehicle comprising the wheel speed redundant detection system described above.

[0027] Beneficial effects of the present invention:

[0028] (1) Redundancy of vehicle wheel speed signals can be achieved based on resolver sensors, without the need to use wheel speed sensors or add corresponding sensor wiring harnesses, thereby reducing vehicle use costs and shortening vehicle development cycles;

[0029] (2) The second domain controller is used as a redundant domain controller. When one of the domain controllers fails, the backup domain controller can still obtain the status of the four wheels, ensuring the collection of wheel speeds and vehicle control.

[0030] (3) The wheel speed signal is backed up on two communication buses through redundancy of bus communication. When one of the communication buses fails, the domain controller can receive data from the backup communication bus.

[0031] (4) Independent power supply is achieved by providing power redundancy, which ensures that the speeds of at least two wheels can be collected when one of the power supplies fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1It is a principle structure diagram of the wheel speed redundant detection system in the present invention.

[0033] Figure 2 This is a redundancy principle diagram of the first domain controller failure in the present invention.

[0034] Figure 3 This is a redundancy principle diagram of the second motion domain control failure in the present invention.

[0035] Figure 4 This is a redundancy principle diagram of the first communication bus failure in the present invention.

[0036] Figure 5 This is a redundancy principle diagram of the second communication bus failure in the present invention.

[0037] Figure 6 This is a redundancy principle diagram of the first power supply failure in the present invention.

[0038] Figure 7 This is a redundancy principle diagram of the second power supply failure in the present invention.

[0039] Figure 8 It is a flow chart of the wheel speed redundancy detection method in the present invention.

[0040] Among them, 1. transmission; 2. drive motor; 3. resolver sensor; 4. motor controller; 5. first domain controller; 6. second domain controller; 7. first communication bus; 8. second communication bus; 9. first power supply; 10. second power supply. DETAILED DESCRIPTION

[0041] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0042] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0043] See also Figure 1 , this embodiment proposes a wheel speed redundant detection system.

[0044] In some embodiments, Figure 1 As shown, the present invention provides a wheel speed redundant detection system, which includes four groups of wheel speed detection modules and a first domain controller 5; wherein each group of wheel speed detection modules includes a transmission 1, a drive motor 2, a resolver sensor 3 and a motor controller 4; the transmission 1 is connected to the wheels of the vehicle; the drive motor 2 is respectively connected to the transmission 1 and the motor controller 4; the resolver sensor 3 is arranged on the drive motor 2 and connected to the motor controller 4; the motor controller 4 is also connected to the first domain controller 5, and the motor controller 4 is used to collect the resolver signal and obtain the motor speed according to the resolver signal, and obtain the corresponding wheel speed according to the gear information of the transmission 1 and the motor speed; the first domain controller 5 is used to control the motion of the vehicle according to the wheel speed.

[0045] In this embodiment, the drive motor 2 is mechanically connected to the corresponding wheel through the transmission 1. Each set of wheel speed detection modules corresponds to one wheel, and the two front wheels (left front wheel and right front wheel) and two rear wheels (left rear wheel and right rear wheel) of the vehicle are driven by four drive motors 2. Then, the four wheels of the vehicle are driven by four independent drive motors 2, and each drive motor 2 is correspondingly provided with a rotary signal, and each rotary sensor 3 is correspondingly connected to a motor controller 4. The motor controller (MCU) is an integrated circuit that actively controls the motor to work according to the set direction, speed, angle, and response time. The motor controller 4 collects the rotary signal to obtain the motor speed, and further combines the gear information of the transmission 1 to convert the motor speed into the wheel speed, so that the wheel speed of the four wheels can be obtained. That is to say, the four wheel resolver signals of the vehicle can be obtained independently, and the wheel speeds of the four wheels can be obtained independently. The first domain controller 5 can estimate the vehicle speed in combination with the inertial sensor information, thereby completing the motion control of the vehicle. The motion control of the vehicle includes lateral control, longitudinal control and vertical control. This embodiment mainly realizes the longitudinal control of the vehicle, such as accelerating and decelerating the vehicle, and ensuring that the vehicle will not have a large yaw by increasing the torque or braking of the wheel end, thereby ensuring the dynamic stability of the vehicle. It can be seen that the present invention can realize the redundancy of the vehicle wheel speed signal based on the resolver sensor 3, without the need to use a wheel speed sensor and increase the corresponding sensor harness, thereby reducing the cost of using the vehicle and shortening the vehicle development cycle.

[0046] In some embodiments, Figures 1 to 3 As shown, the wheel speed redundancy detection system further includes a second domain controller 6; the second domain controller 6 is connected to each of the motor controllers 4, and is used to control the vehicle motion according to the wheel speed when the first domain controller 5 fails.

[0047] In the above technical solution, the second domain controller 6 is used as a redundant domain controller. When one of the domain controllers fails, the backup domain controller can still obtain the status of the four wheels, thereby ensuring the collection of wheel speeds and vehicle control.

[0048] Specifically, when the first domain controller 5 or the second domain controller 6 fails, it can be downgraded to the backup mode, and the backup domain controller can realize communication and control of the motor controller 4. In the default state, the first domain controller 5 serves as the primary domain controller, and the second domain controller 6 serves as the redundant domain controller. The first domain controller 5 and the second domain controller 6 simultaneously receive the wheel speed signals of the four drive motors 2. The motor controller 4 receives the signal sent by the first domain controller 5 when the system is fault-free, and the second domain controller 6 serves as a redundant domain controller.

[0049] Since the four wheel-end motors collect the resolver signals of the drive motor 2 independently, they are independent of each other, which can ensure that the other wheel-end resolver signals can be collected normally when any resolver sensor 3 fails. Figure 6 and Figure 7 As shown, Figure 6 In response to the failure of the first domain controller 5, the second motion control domain controller and the motor controller 4 enter the backup mode. The second domain controller 6 can ensure that the wheel speed signals of the four wheel-end motor controllers 4 are obtained when the first domain controller 5 fails. In this mode, the wheel-end motor controllers 4 respond to the control commands of the second domain controller 6 first. Figure 7 When the second domain controller 6 fails, the first domain controller 5 can also obtain the wheel speed signals of the four wheels to ensure communication with the motor controllers 4 at the four wheel ends.

[0050] In some embodiments, Figure 1 , Figure 4 and Figure 5 As shown, the wheel speed redundant detection system further includes a first communication bus 7 and a second communication bus 8 ; the first communication bus 7 and the second communication bus 8 are connected between the motor controller 4 .

[0051] In this embodiment, the motor controllers 4 and the motor controllers 4 and the first domain controller 5 and the second domain controller 6 communicate with each other using the first communication bus 7 and the second communication bus 8, so as to realize the backup of the wheel speed signal on the two communication buses through the redundancy of bus communication. When one of the communication buses fails, it can ensure that the domain controller can receive the data of the backup communication bus.

[0052] Specifically, when the first communication bus 7 fails, the first domain controller 5 can receive the wheel speed signals of the four motor controllers 4 through the second communication bus 8, and the motor controller 4 can quickly switch to the second communication bus 8 after determining that the first communication bus 7 fails. Among them, under normal system conditions, the network message of the first communication bus 7 is used by default, so when the second communication bus 8 fails and the first communication bus 7 is normal, there is no need to consider the signal switching, that is, the first communication bus 7 is the main communication bus, and the second communication bus 8 is a redundant communication bus.

[0053] In some embodiments, the first communication bus 7 may be, but is not limited to, a CAN communication bus, an Ethernet communication bus, or a FlexRay communication bus. In some embodiments, the second communication bus 8 may be, but is not limited to, a CAN communication bus, an Ethernet communication bus, or a FlexRay communication bus.

[0054] In some embodiments, Figure 1 , Figure 6 and Figure 7 As shown, the wheel speed redundant detection system also includes a first power supply 9 and a second power supply 10; the first power supply 9 is respectively connected to the two motor controllers 4 of the front wheels of the vehicle and the first domain controller 5; the second power supply 10 is respectively connected to the two motor controllers 4 of the rear wheels of the vehicle and the second domain controller 6.

[0055] In this embodiment, the power supply is redundant, that is, the first power supply 9 is used to power the motor controller 4 and the first domain controller 5 of the front axle of the vehicle, and the second power supply 10 is used to power the motor controller 4 and the second domain controller 6 of the rear axle of the vehicle, thereby achieving independent power supply, which can ensure that the wheel speeds of at least two wheels can be collected when one of the power supplies fails.

[0056] Specifically, Figure 6 As shown, when the first power supply 9 fails, the first motion control domain controller and the front axle motor controller (MCU1, MCU2) also fail, and the rear axle motor controller (MCU3, MCU4) switches to the backup mode after losing communication with the first domain controller 5, responding to the control request of the second domain controller 6. Under the condition that the first power supply 9 fails, the second domain controller 6 can still collect the wheel speed signals of the two wheels of the rear axle, and the system can enter the degraded mode (which can ensure the basic braking function and ensure the safe parking of the vehicle). When the second power supply 10 fails, as Figure 7 As shown, the first domain controller 5 and the front axle motor controller (MCU1, MCU2) work normally, which can ensure that the system can still collect signals from the two wheels of the front axle.

[0057] In some embodiments, Figure 8 As shown, the present invention provides a wheel speed redundancy detection method based on the above, which comprises the steps of:

[0058] S100, controlling the motor controller to collect a resolver signal to obtain a motor speed;

[0059] S200, controlling the motor controller to obtain gear information of the transmission, and obtaining a wheel speed according to the gear information of the transmission and the motor speed;

[0060] S300: Acquire inertial sensor information, and obtain vehicle speed in combination with the wheel speed to control the motion of the vehicle.

[0061] In this embodiment, the motor controller at each wheel end will collect the corresponding resolver signal of the resolver sensor and calculate the corresponding drive motor speed. The motor controller then further obtains the gear information of the transmission and converts the motor speed into the wheel speed according to the gear information of the transmission. After obtaining the wheel speed, the first domain controller or the second domain controller can estimate the vehicle speed in combination with the inertial sensor information, thereby realizing the motion control of the vehicle. It can be seen that the present invention can realize the redundancy of the vehicle wheel speed signal based on the resolver sensor, without the need to use a wheel speed sensor and increase the corresponding sensor wiring harness, thereby reducing the cost of using the vehicle and shortening the vehicle development cycle.

[0062] In some embodiments, the step of controlling the motor controller to obtain the gear information of the transmission and converting the motor speed into the wheel speed according to the gear information of the transmission includes:

[0063] S210, acquiring gear information of the transmission to obtain a transmission ratio; and converting the motor speed into a wheel speed according to the transmission ratio.

[0064] In this embodiment, after the motor controller obtains the gear information of the transmission, the transmission ratio is calculated according to the gear information, and the motor speed is further converted into the wheel speed according to the gear ratio.

[0065] The conversion expression of the wheel speed is:

[0066] V whl =ω Motor *k*R Tire ;

[0067] Among them, V whl is the wheel speed, ω Motor is the motor angular velocity, k is the transmission ratio from the motor to the wheel end, R Tire is the wheel radius.

[0068] In some embodiments, the present invention provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the computer device is used to implement the following steps:

[0069] S100, controlling the motor controller to collect a resolver signal to obtain a motor speed;

[0070] S200, controlling the motor controller to obtain gear information of the transmission, and obtaining a wheel speed according to the gear information of the transmission and the motor speed;

[0071] S300: Acquire inertial sensor information, and obtain vehicle speed in combination with the wheel speed to control the motion of the vehicle.

[0072] In some embodiments, the step of controlling the motor controller to obtain the gear information of the transmission and converting the motor speed into the wheel speed according to the gear information of the transmission includes:

[0073] S210, acquiring gear information of the transmission to obtain a transmission ratio; and converting the motor speed into a wheel speed according to the transmission ratio.

[0074] In some embodiments, the present invention provides a storage medium having a computer program stored thereon, wherein the computer program is used to implement the following steps when executed by a processor:

[0075] S100, controlling the motor controller to collect a resolver signal to obtain a motor speed;

[0076] S200, controlling the motor controller to obtain gear information of the transmission, and obtaining a wheel speed according to the gear information of the transmission and the motor speed;

[0077] S300: Acquire inertial sensor information, and obtain vehicle speed in combination with the wheel speed to control the motion of the vehicle.

[0078] In some embodiments, the step of controlling the motor controller to obtain the gear information of the transmission and converting the motor speed into the wheel speed according to the gear information of the transmission includes:

[0079] S210, acquiring gear information of the transmission to obtain a transmission ratio; and converting the motor speed into a wheel speed according to the transmission ratio.

[0080] In some embodiments, the present invention provides a vehicle, which includes the wheel speed redundant detection system described above. Specific details are as described in an embodiment of the wheel speed redundant detection system, which will not be repeated here.

[0081] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0082] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A wheel speed redundant detection system, characterized in that: It includes four groups of wheel speed detection modules and a first domain controller; wherein, Each wheel speed detection module includes a transmission, a drive motor, a resolver sensor and a motor controller; The transmission is connected to the wheels of the vehicle; The driving motor is connected to the transmission and the motor controller respectively; The resolver sensor is arranged on the drive motor and connected to the motor controller; The motor controller is also connected to the first domain controller, and is used to collect the resolver signal and obtain the motor speed according to the resolver signal, and obtain the corresponding wheel speed according to the gear information of the transmission and the motor speed; The first domain controller is used to control the motion of the vehicle according to the wheel speed.

2. The wheel speed redundant detection system according to claim 1, characterized in that: It also includes a second domain controller; the second domain controller is connected to each of the motor controllers and is used to control the movement of the vehicle according to the wheel speed when the first domain controller fails.

3. The wheel speed redundant detection system according to claim 2, characterized in that: It also includes a first communication bus and a second communication bus; the first communication bus and the second communication bus are connected between the motor controller.

4. The wheel speed redundant detection system according to claim 2, characterized in that: It also includes a first power supply and a second power supply; the first power supply is respectively connected to the two motor controllers of the front wheels of the vehicle and the first domain controller; the second power supply is respectively connected to the two motor controllers of the rear wheels of the vehicle and the second domain controller.

5. The wheel speed redundant detection system according to claim 2, characterized in that: The first domain controller is a primary controller, and the second domain controller is a redundant controller.

6. The wheel speed redundant detection system according to claim 3, characterized in that: The first communication bus is a main communication bus; the second communication bus is a redundant communication bus.

7. A wheel speed redundancy detection method according to any one of claims 1 to 6, characterized in that: include: Control the motor controller to collect the resolver signal to obtain the motor speed; Controlling the motor controller to obtain the gear information of the transmission, and obtaining the wheel speed according to the gear information of the transmission and the motor speed; The inertial sensor information is obtained and combined with the wheel speed to obtain the vehicle speed so as to control the vehicle motion.

8. The wheel speed redundancy detection method according to claim 7, characterized in that: The step of controlling the motor controller to obtain the gear information of the transmission and converting the motor speed into the wheel speed according to the gear information of the transmission comprises: Obtain the gear information of the transmission to obtain the transmission ratio; The motor speed is converted into wheel speed according to the transmission ratio.

9. The wheel speed redundancy detection method according to claim 8, characterized in that: The conversion expression of the wheel speed is: V whl =ω Motor *k*R Tire ; Among them, V whl is the wheel speed, ω Motor is the motor angular velocity, k is the transmission ratio from the motor to the wheel end, R Tire is the wheel radius.

10. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the computer program is executed by the processor, it is used to implement the steps in the wheel speed redundancy detection method according to any one of claims 7 to 9.

11. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it is used to implement the steps in the wheel speed redundancy detection method described in any one of claims 7 to 9.

12. A vehicle, characterized in that: The invention comprises the wheel speed redundant detection system as described in any one of claims 1 to 6.

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