New energy two-wheel-drive vehicle escape control method and related equipment

Abstract

The invention belongs to the field of new energy two-wheel-drive vehicles, and discloses a new energy two-wheel-drive vehicle escape control method and related device.According to the method, current wheel signals and the whole vehicle reference speed are monitored in real time, and the wheel speed difference of driving wheels is calculated based on the current wheel signals; when the wheel speed difference of the driving wheels meets the specific condition and the reference speed of the whole vehicle is also within the preset range, the method can intelligently output a wheel clamping control signal or a torque limiting releasing signal; the wheel clamping control signal is used for clamping a driving wheel which is too high in current wheel speed and possibly slips, so that the stability of the vehicle is enhanced; and when the torque limit signal is released, the rotating speed of the flying driving wheel is increased by releasing the torque limit, and power distribution is optimized, so that the new energy two-wheel drive vehicle is released. By adopting the method, the trafficability and the escape ability of the new energy two-wheel drive vehicle under complex road conditions are remarkably improved, so that the driving experience is improved, the driving safety is enhanced, and meanwhile, the problem that popularization is limited due to high cost of a four-wheel drive system is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy two-wheel drive vehicles, specifically to the technical field of new energy two-wheel drive vehicle escape and off-road, and in particular to a new energy two-wheel drive vehicle escape control method and related equipment. Background Art

[0002] In the field of new energy vehicles, there are also two-wheel drive (2WD) and four-wheel drive (4WD). As a common configuration for family cars, the advantages of two-wheel drive are cost-effectiveness and system stability. Compared with the complex four-wheel drive system, the two-wheel drive structure is simpler, so the manufacturing cost and maintenance cost are relatively low. This low-cost advantage makes two-wheel drive vehicles have a wide audience in the market, especially for those consumers who pursue economical and affordable. In addition, the system stability of two-wheel drive vehicles is also commendable. Due to the relatively simple structure, its failure rate is usually low, providing drivers with more reliable travel protection.

[0003] However, the limitations of two-wheel drive vehicles are also revealed when facing complex and changeable driving environments. Especially in unpaved roads, such as snow, mud and other harsh conditions, the passability of two-wheel drive vehicles is significantly reduced. Since only two wheels provide power, when one of the wheels is stuck in mud or snow, it is easy to slip on the spot, causing the vehicle to be unable to move forward. In this case, the driver can only rely on external forces, such as tow trucks or rescue vehicles, to passively get out of trouble. This limitation not only affects the driver's travel experience, but also may bring safety hazards. In contrast, the four-wheel drive system has higher passability. Whether it is timely four-wheel drive or full-time four-wheel drive, the power distribution can be adjusted in real time according to the road conditions to ensure that each wheel can obtain sufficient traction; this feature makes four-wheel drive vehicles more comfortable in the face of complex road conditions, whether it is snow, mud or rugged mountain roads, they can easily cope with it. However, the cost of the four-wheel drive system is also relatively high, which to a certain extent limits its popularity in the family car market. Therefore, it is very important to improve the ability of two-wheel drive new energy vehicles to get out of trouble.

[0004] It can be seen that the existing two-wheel drive escape control measures have limited escape ability when facing complex roads, resulting in poor passability, which seriously affects the driving experience and driving safety. Summary of the invention

[0005] The purpose of the present invention is to provide a new energy two-wheel drive vehicle escape control method and related equipment to solve the technical problem that the existing two-wheel drive escape control measures have limited escape ability when facing complex roads, resulting in poor passability, which seriously affects the driving experience and driving safety.

[0006] In order to meet the above purpose, the present invention adopts the following technical solutions: A new energy two-wheel drive vehicle escape control method, comprising: Based on the escape switch signal, obtain the current wheel signal and the reference speed of the vehicle; Obtaining a driving wheel speed difference based on a current wheel signal; When the speed difference of the driving wheels meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, a wheel clamping control signal is output to clamp the driving wheel with the higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; When the drive wheel speed difference meets the second wheel speed difference condition and the vehicle reference speed meets the second reference speed condition, a release torque limit signal is output to increase the drive wheel speed according to the release torque limit signal, thereby enabling the new energy two-wheel drive vehicle to escape from trouble.

[0007] Furthermore, by switching the driving mode to the escape mode, an escape switching signal is generated and output, and the ESC controller obtains the current wheel signal and the reference speed of the whole vehicle according to the escape switching signal.

[0008] Furthermore, the specific steps of obtaining the driving wheel speed difference based on the current wheel signal are as follows: Filter and amplify the received current wheel signal; The wheel speeds of the two driving wheels are calculated based on the current wheel signals after filtering and amplification processing; Obtaining a driving wheel speed difference based on the wheel speeds of the two driving wheels; The specific formula is as follows: n=f / z Where n is the rotational speed, f is the signal frequency, and z is the number of teeth on the gear ring.

[0009] Furthermore, the whole vehicle reference speed is equal to the wheel speed of the non-driven wheels.

[0010] Furthermore, when the speed difference of the driving wheels is ≥20% and the reference vehicle speed is ≤3kph, the ESC controller transmits a wheel clamping control signal to the braking mechanism, so that the braking mechanism clamps the driving wheel with the highest current speed according to the wheel clamping control signal.

[0011] Furthermore, when the drive wheel speed difference is ≥20% and the reference vehicle speed is ≥3kph, the ESC controller outputs a release torque limit signal to the VCU vehicle controller, so that the VCU vehicle controller controls the MCU motor controller to issue a release torque limit instruction and transmit it to the motor, and the motor executes the release of the torque limit.

[0012] A new energy two-wheel drive vehicle escape control system, comprising: A data acquisition module is used to obtain the current wheel signal and the reference speed of the whole vehicle based on the escape switching signal; A driving wheel speed difference calculation module is used to obtain the driving wheel speed difference based on the current wheel signal; The escape execution module is used for outputting a wheel clamping control signal when the drive wheel speed difference meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, so as to clamp the drive wheel with a higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; and when the drive wheel speed difference meets the second wheel speed difference condition and the reference speed of the whole vehicle meets the second reference speed condition, outputting a release torque limit signal, so as to increase the drive wheel speed according to the release torque limit signal, so as to realize the escape of the new energy two-wheel drive vehicle.

[0013] A device comprising: Memory for storing computer programs; The processor is used to implement the steps of the new energy two-wheel drive vehicle escape control method when executing the computer program.

[0014] A computer-readable storage medium stores a computer program, which, when executed by a processor, is used to implement the steps of the above-mentioned new energy two-wheel drive vehicle escape control method.

[0015] A computer program product includes a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned new energy two-wheel drive vehicle escape control method.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a new energy two-wheel drive vehicle escape control method, the control method monitors the current wheel signal and the whole vehicle reference speed in real time, and calculates the driving wheel speed difference based on the current wheel signal; when the driving wheel speed difference meets a specific condition and the whole vehicle reference speed is also within a preset range, the method can intelligently output a wheel clamping control signal or release a torque limiting signal; the wheel clamping control signal is used to clamp the current wheel speed that is too fast and may cause the driving wheel to slip, thereby enhancing the stability of the vehicle; releasing the torque limiting signal is to increase the speed of the flying driving wheel by removing the torque limit, optimize the power distribution, and thus achieve the escape of the new energy two-wheel drive vehicle. The use of this method significantly improves the passability and escape ability of the new energy two-wheel drive vehicle under complex road conditions, thereby improving the driving experience and enhancing driving safety, while avoiding the problem of limiting the popularization due to the high cost of the four-wheel drive system.

[0017] Preferably, in the present invention, the driver can trigger the escape control method by simply switching the driving mode to the escape mode, making the operation more convenient; at the same time, the ESC controller can obtain necessary information in time according to the escape switch signal, providing a basis for subsequent control operations.

[0018] Preferably, in the present invention, the accuracy and stability of the signal can be ensured by filtering and amplifying the wheel signal; then the wheel speed of the driving wheel is calculated based on the processed signal, and the wheel speed difference is obtained to provide accurate data support for subsequent control decisions.

[0019] Preferably, in the present invention, setting the vehicle reference speed as the non-driving wheel speed can more accurately reflect the actual driving speed of the vehicle, especially when the driving wheel slips or other abnormal conditions occur, which helps to ensure the accuracy and effectiveness of the control decision.

[0020] Preferably, in the present invention, when the speed difference of the driving wheels is large and the vehicle speed is low, the stability and escape ability of the vehicle can be effectively improved by clamping the slipping driving wheels. This control strategy can quickly respond to wheel slippage and prevent the vehicle from getting into trouble.

[0021] Preferably, in the present invention, when the vehicle speed is high and the speed difference of the drive wheels is large, the rotation speed of the slipping drive wheels can be increased by releasing the torque limit, thereby optimizing the power distribution and improving the vehicle's ability to escape from difficulties. This control strategy can ensure that the vehicle still has good passability and maneuverability when driving at high speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flow chart of a new energy two-wheel drive vehicle escape control method provided by an embodiment of the present invention; Figure 2 A flow chart of a new energy two-wheel drive vehicle escape control method provided by the present invention; Figure 3 A schematic structural diagram of a new energy two-wheel drive vehicle escape control system provided by the present invention. DETAILED DESCRIPTION

[0023] Example 1 As described in the background technology, although the new energy two-wheel drive has low cost and a stable system, its disadvantage is that when facing some complex unpaved roads, such as snow and mud, its passability is low, and the wheels often slip on the spot until the car gets stuck, and can only be passively escaped by relying on external forces.

[0024] In order to meet the above-mentioned objectives, the present invention provides a new energy two-wheel drive vehicle escape control method. The method can improve the two-wheel drive new energy vehicle's escape and off-road capability. Different escape and off-road control strategies can be adjusted according to monitoring signals to improve the two-wheel drive vehicle's passability on complex roads.

[0025] In order to facilitate understanding of the new energy two-wheel drive vehicle escape control method provided in this embodiment, the following technical terms are explained: VCU vehicle controller, VCU is the abbreviation of Vehicle Control Unit, which is the vehicle control unit, also known as the electronic control system or vehicle controller of new energy vehicles. It is the core control device of pure electric vehicles.

[0026] The working principle is as follows: VCU hardware adopts standardized core module circuit design to support different control systems of new energy vehicles. VCU collects signals from various components such as motor automatic control system signals, accelerator pedal signals, brake pedal signals, etc., conducts comprehensive analysis and response judgment based on the driver's driving intention, and then supervises the attitude layer of the next component control panel. VCU plays a leading role in the braking system feedback of rechargeable battery heating, network security management, fault detection and resolution, and vehicle condition monitoring.

[0027] ESC controller, ESC full name is Electronic Stability Controller, Chinese name is electronic stability controller, is an automobile active safety system, which is a further extension of the anti-lock braking system (ABS) and traction control system (TCS).

[0028] The working principle is as follows: The basis of the ESC system is the ABS anti-lock braking function. When the vehicle is fully braked and the tires are about to lock, the ESC system will brake continuously hundreds of times in one second, which is a bit like a mechanical brake. In this way, when the vehicle is fully braked, the tires can still keep rolling. The effect of rolling friction is better than the sliding friction after locking, and the direction of the vehicle can be controlled.

[0029] MCU motor controller, MCU motor controller is a chip composed of a microprocessor, power circuit and control circuit, mainly used to control various types of motors, such as AC and DC motors.

[0030] The working principle is as follows: to realize the acceleration, deceleration, constant speed, reversal and other motion control of the motor according to specific needs; that is, to monitor and manage the operating status of the battery, battery pack and motor of the electric vehicle, and perform efficient control.

[0031] like Figure 1 As shown, this embodiment provides a new energy two-wheel drive vehicle escape control method, which is particularly suitable for the control scenario of new energy rear-wheel drive vehicles. The specific steps are as follows: Step 1: When the driver is driving the vehicle through snow or mud and the vehicle is stuck, the driver switches the driving mode to escape mode. Since the wheels on both sides slip unevenly, the ESC controller will calculate the speed difference of the drive wheels and monitor the reference speed of the vehicle at the same time.

[0032] In this embodiment, the reference vehicle speed is generally equal to the non-driving wheel speed, which more accurately reflects the actual driving speed of the vehicle, especially when the driving wheel slips or other abnormal conditions occur, which helps to ensure the accuracy and effectiveness of the control decision.

[0033] Step 2: When the speed difference of the driving wheels is ≥20% and the reference speed of the vehicle is ≤3kph, the ESC controller will clamp the driving wheel with the faster speed, that is, pressurize the driving wheel on one side, clamp the left rear wheel or the right rear wheel; let the other driving wheel make full use of the road adhesion coefficient, so as to improve the vehicle's passability; Step 3: When the speed difference of the driving wheels is ≥20% and the reference speed of the vehicle is ≥3kph, the ESC controller sends a torque limit release signal to the VCU vehicle controller. The VCU vehicle controller will cause the MCU motor controller to issue a torque limit release command and transmit it to the motor based on the received torque limit release signal. The motor will release the torque limit and improve the vehicle's passability on complex roads through high tire rotation.

[0034] Another example Figure 1 As shown, this embodiment also provides a new energy two-wheel drive vehicle escape control system, which is used to implement the steps of the above-mentioned new energy two-wheel drive vehicle escape control method. The system includes a driving mode switching switch, a VCU vehicle controller, an ESC controller, an MCU motor controller, a wheel speed sensor, and several CAN lines.

[0035] The wheel speed sensor is used to monitor the wheel speed signal of the driving wheel and the wheel speed signal of the non-driving wheel; the driving mode switch is used to switch the driving mode, such as the escape mode.

[0036] Among them, the MCU motor controller and driving mode switch are connected to the VCU vehicle controller through CAN1, and the ESC controller and wheel speed sensor are connected to the VCU vehicle controller through CAN2.

[0037] In this embodiment, the VCU vehicle controller, the MCU motor controller, the ESC controller, and the wheel speed sensor are connected in series via a number of CAN lines.

[0038] The ESC controller, as the core component of the new energy two-wheel drive vehicle escape control system, obtains the current wheel signal and the vehicle reference speed according to the output escape switching signal; then obtains the drive wheel speed difference by calculating the current wheel signal; continues to compare the drive wheel speed difference and the vehicle reference speed with a preset range, and if both are within the preset range, outputs a wheel clamping control signal or a release torque limit signal, so as to clamp the drive wheel with a high current wheel speed according to the wheel clamping control signal, thereby realizing the escape of the new energy two-wheel drive vehicle, or to increase the drive wheel speed according to the release torque limit signal, thereby realizing the escape of the new energy two-wheel drive vehicle; In this embodiment, the ESC controller transmits a wheel clamping control signal to the brake mechanism, so that the brake mechanism performs a clamping operation on the driving wheel that is currently spinning more rapidly according to the wheel clamping control signal.

[0039] In this embodiment, the ESC controller outputs a release torque limit signal to the VCU vehicle controller, and the VCU vehicle controller controls the MCU motor controller to issue a release torque limit instruction based on the release torque limit signal; the MCU motor controller transmits the release torque limit instruction to the motor, thereby releasing the torque limit.

[0040] It can be seen that this embodiment provides a new energy two-wheel drive vehicle escape control method, which has the following advantages: First, improve the ability to escape from difficulties: By introducing the escape mode, this method can effectively deal with the problem of new energy two-wheel drive vehicles getting stuck in complex road conditions such as snow or mud; when the driver switches to the escape mode, the system can automatically adjust the control strategy of the drive wheels to improve the vehicle's passability in these special road conditions.

[0041] Second, precise control decision-making: By calculating the drive wheel speed difference through the ESC controller and monitoring the vehicle reference speed (generally equal to the non-drive wheel speed), this method can more accurately reflect the actual driving state of the vehicle, especially in abnormal situations such as drive wheel slippage. This monitoring method helps to ensure the accuracy and effectiveness of control decisions, thereby avoiding misoperation or excessive intervention.

[0042] Third, intelligently adjust the driving wheel status: When the speed difference of the driving wheels reaches a certain threshold and the reference speed of the vehicle is low, the ESC controller will clamp the driving wheel with higher speed, allowing the other driving wheel to fully utilize the road adhesion coefficient. This intelligent adjustment method helps to balance the driving force of the wheels on both sides and improve the stability and passability of the vehicle.

[0043] Fourth, dynamically adjust the torque limit: When the speed difference of the driving wheels reaches a certain threshold and the reference speed of the vehicle is high, the ESC controller will send a torque limit signal to the VCU vehicle controller; the VCU then controls the MCU motor controller to release the torque limit based on the signal, so that the motor can output greater torque to cope with complex road conditions. This dynamic adjustment method helps improve the vehicle's power performance and escape ability.

[0044] Fifth, improve driving experience: By adopting this control method, the driver can achieve better escape effect by simply switching driving modes when facing complex road conditions; this not only reduces the difficulty and complexity of driving, but also improves the driving experience and safety.

[0045] Example 2 The present invention provides a new energy two-wheel drive vehicle escape control method, such as Figure 2 As shown, the following steps are included: S1: Based on the escape switch signal, obtain the current wheel signal and the vehicle reference speed; here, the vehicle reference speed is equal to the non-driving wheel speed.

[0046] Among them, by switching the driving mode to the escape mode, an escape switching signal is generated and output, and the ESC controller obtains the current wheel signal and the reference speed of the whole vehicle according to the escape switching signal.

[0047] S2: Obtain the driving wheel speed difference based on the current wheel signal. The specific steps are as follows: Filter and amplify the received current wheel signal; The wheel speeds of the two driving wheels are calculated based on the current wheel signals after filtering and amplification processing; Obtaining a driving wheel speed difference based on the wheel speeds of the two driving wheels; The specific formula is as follows: n=f / z Where n is the rotational speed, f is the signal frequency, and z is the number of teeth on the gear ring.

[0048] S3: When the speed difference of the driving wheels meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, a wheel clamping control signal is output to clamp the driving wheel with the higher current wheel speed according to the wheel clamping control signal, so as to achieve the escape of the new energy two-wheel drive vehicle; or, When the drive wheel speed difference meets the second wheel speed difference condition and the vehicle reference speed meets the second reference speed condition, a release torque limit signal is output to increase the drive wheel speed according to the release torque limit signal, thereby enabling the new energy two-wheel drive vehicle to escape from trouble.

[0049] More specifically: when the drive wheel speed difference is ≥20% and the reference vehicle speed is ≤3kph, the ESC controller transmits a wheel clamping control signal to the braking mechanism, so that the braking mechanism can clamp the drive wheel that is currently spinning faster according to the wheel clamping control signal.

[0050] When the drive wheel speed difference is ≥20% and the reference vehicle speed is ≥3kph, the ESC controller outputs a release torque limit signal to the VCU vehicle controller, so that the VCU vehicle controller controls the MCU motor controller to issue a release torque limit command and transmit it to the motor, and the motor executes the release of the torque limit.

[0051] like Figure 3As shown, the present invention also provides a new energy two-wheel drive vehicle escape control system, including: a data acquisition module, used to obtain the current wheel signal and the reference speed of the whole vehicle based on the escape switching signal; a driving wheel speed difference calculation module, used to obtain the driving wheel speed difference based on the current wheel signal; an escape execution module, used to output a wheel clamping control signal when the driving wheel speed difference meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, so as to clamp the driving wheel with a higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; and when the driving wheel speed difference meets the second wheel speed difference condition and the reference speed of the whole vehicle meets the second reference speed condition, output a release torque limit signal, so as to increase the flying wheel speed of the driving wheel according to the release torque limit signal, so as to realize the escape of the new energy two-wheel drive vehicle.

[0052] The present invention also provides a device, comprising: a memory for storing a computer program; and a processor for implementing the steps of the new energy two-wheel drive vehicle escape control method when executing the computer program.

[0053] When the processor executes the computer program, the steps of the above-mentioned new energy two-wheel drive vehicle escape control are implemented, for example: based on the escape switching signal, the current wheel signal and the reference speed of the whole vehicle are obtained; based on the current wheel signal, the driving wheel speed difference is obtained; when the driving wheel speed difference meets the first wheel speed difference condition, and the reference speed of the whole vehicle meets the first reference speed condition, a wheel clamping control signal is output to clamp the driving wheel with a higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; and when the driving wheel speed difference meets the second wheel speed difference condition, and the reference speed of the whole vehicle meets the second reference speed condition, a release torque limit signal is output to increase the driving wheel speed according to the release torque limit signal, so as to realize the escape of the new energy two-wheel drive vehicle.

[0054] Alternatively, the processor implements the functions of each module in the above system when executing the computer program, for example: a data acquisition module, which is used to obtain the current wheel signal and the reference speed of the whole vehicle based on the escape switching signal; a driving wheel speed difference calculation module, which is used to obtain the driving wheel speed difference based on the current wheel signal; an escape execution module, which is used to output a wheel clamping control signal when the driving wheel speed difference meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, so as to clamp the driving wheel with a higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; and when the driving wheel speed difference meets the second wheel speed difference condition and the reference speed of the whole vehicle meets the second reference speed condition, output a release torque limit signal, so as to increase the driving wheel speed according to the release torque limit signal, so as to realize the escape of the new energy two-wheel drive vehicle.

[0055] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of completing preset functions, and the instruction segments are used to describe the execution process of the computer program in the new energy two-wheel drive vehicle escape control device. For example, the computer program can be divided into a data acquisition module, a drive wheel speed difference calculation module and an escape execution module; the specific functions of each module are as follows: a data acquisition module, used to obtain the current wheel signal and the reference speed of the whole vehicle based on the escape switching signal; a drive wheel speed difference calculation module, used to obtain the drive wheel speed difference based on the current wheel signal; an escape execution module, used to output a wheel clamping control signal when the drive wheel speed difference meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, so as to clamp the drive wheel with a higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; and when the drive wheel speed difference meets the second wheel speed difference condition and the reference speed of the whole vehicle meets the second reference speed condition, output a release torque limit signal, so as to increase the drive wheel speed according to the release torque limit signal, so as to realize the escape of the new energy two-wheel drive vehicle.

[0056] The new energy two-wheel drive vehicle escape control device can be a computing device such as a desktop computer, a notebook, a PDA, and a cloud server. The new energy two-wheel drive vehicle escape control device may include, but is not limited to, a processor and a memory. Those skilled in the art will appreciate that the above is an example of a new energy two-wheel drive vehicle escape control device, and does not constitute a limitation on the new energy two-wheel drive vehicle escape control device, and may include more components than the above, or a combination of certain components, or different components, for example, the new energy two-wheel drive vehicle escape control device may also include input and output devices, network access devices, buses, etc.

[0057] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The processor is the control center of the new energy two-wheel drive vehicle escape control, and uses various interfaces and lines to connect various parts of the entire new energy two-wheel drive vehicle escape control device.

[0058] The memory can be used to store the computer program and / or module, and the processor implements various functions of the new energy two-wheel drive vehicle escape control device by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory.

[0059] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0060] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the new energy two-wheel drive vehicle escape control method are implemented.

[0061] If the module / unit integrated in the new energy two-wheel drive vehicle escape control system is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0062] Based on such understanding, the present invention implements all or part of the processes in the above-mentioned new energy two-wheel drive vehicle escape control method, and can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned new energy two-wheel drive vehicle escape control method can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or preset intermediate form, etc.

[0063] The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0064] It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electrical carrier signals and telecommunication signals.

[0065] The above embodiment is only one of the implementation methods that can realize the technical solution of the present invention. The scope of protection claimed by the present invention is not limited only to this embodiment, but also includes changes, replacements and other implementation methods that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention.

Claims

1. A new energy two-wheel drive vehicle escape control method, characterized in that: include: Based on the escape switch signal, obtain the current wheel signal and the reference speed of the vehicle; Obtaining a driving wheel speed difference based on a current wheel signal; When the speed difference of the driving wheels meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, a wheel clamping control signal is output to clamp the driving wheel with the higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; When the drive wheel speed difference meets the second wheel speed difference condition and the vehicle reference speed meets the second reference speed condition, a release torque limit signal is output to increase the drive wheel speed according to the release torque limit signal, thereby enabling the new energy two-wheel drive vehicle to escape from trouble.

2. The new energy two-wheel drive vehicle escape control method according to claim 1, characterized in that: By switching the driving mode to the escape mode, an escape switching signal is generated and output, and the ESC controller obtains the current wheel signal and the reference speed of the whole vehicle according to the escape switching signal.

3. The new energy two-wheel drive vehicle escape control method according to claim 1, characterized in that: The specific steps of obtaining the driving wheel speed difference based on the current wheel signal are as follows: Filter and amplify the received current wheel signal; The wheel speeds of the two driving wheels are calculated based on the current wheel signals after filtering and amplification processing; Obtaining a driving wheel speed difference based on the wheel speeds of the two driving wheels; The specific formula is as follows: n=f / z Where n is the rotational speed, f is the signal frequency, and z is the number of teeth on the gear ring.

4. The new energy two-wheel drive vehicle escape control method according to claim 1, characterized in that: The whole vehicle reference speed is equal to the non-driven wheel speed.

5. The new energy two-wheel drive vehicle escape control method according to claim 1, characterized in that: When the speed difference of the driving wheels is ≥20% and the reference vehicle speed is ≤3kph, the ESC controller transmits a wheel clamping control signal to the braking mechanism so that the braking mechanism can clamp the driving wheel that is currently spinning faster according to the wheel clamping control signal.

6. The new energy two-wheel drive vehicle escape control method according to claim 5, characterized in that: When the drive wheel speed difference is ≥20% and the reference vehicle speed is ≥3kph, the ESC controller outputs a release torque limit signal to the VCU vehicle controller, so that the VCU vehicle controller controls the MCU motor controller to issue a release torque limit command and transmit it to the motor, and the motor executes the release of the torque limit.

7. A new energy two-wheel drive vehicle escape control system, characterized in that: include: A data acquisition module is used to obtain the current wheel signal and the reference speed of the whole vehicle based on the escape switching signal; A driving wheel speed difference calculation module is used to obtain the driving wheel speed difference based on the current wheel signal; The escape execution module is used for outputting a wheel clamping control signal when the drive wheel speed difference meets the first wheel speed difference condition and the reference speed of the whole vehicle meets the first reference speed condition, so as to clamp the drive wheel with a higher current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle; and when the drive wheel speed difference meets the second wheel speed difference condition and the reference speed of the whole vehicle meets the second reference speed condition, outputting a release torque limit signal, so as to increase the drive wheel speed according to the release torque limit signal, so as to realize the escape of the new energy two-wheel drive vehicle.

8. A device, characterized in that include: Memory for storing computer programs; A processor is used to implement the steps of the new energy two-wheel drive vehicle escape control method as described in any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it is used to implement the steps of the new energy two-wheel drive vehicle escape control method described in any one of claims 1-6.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by the processor, the steps of the new energy two-wheel drive vehicle escape control method described in claims 1-6 are implemented.

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