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

Abstract

The present 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 equipment. The method monitors the current wheel signal and the reference speed of the whole vehicle in real time, and calculates the drive wheel speed difference based on the current wheel signal; when the drive wheel speed difference meets a specific condition and the reference speed of the whole vehicle 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 drive wheel whose current wheel speed is too fast and may cause slipping, thereby enhancing the stability of the vehicle; releasing the torque limiting signal is to increase the speed of the flying drive wheel by removing the torque limit, optimize power distribution, thereby achieving 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 of the four-wheel drive system due to its high cost.

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 relates to a new energy two-wheel drive vehicle escape control method and related equipment. Background Art

[0002] New energy vehicles are also categorized as two-wheel drive (2WD) and four-wheel drive (4WD). 2WD, a common configuration for family cars, offers advantages in cost-effectiveness and system stability. Compared to complex 4WD systems, 2WD's structure is simpler, resulting in relatively low manufacturing and maintenance costs. This low cost advantage has made 2WD vehicles popular in the market, particularly for those seeking affordable options. Furthermore, 2WD vehicles are also renowned for their system stability. Due to their relatively simple structure, they typically have a low failure rate, providing drivers with more reliable travel.

[0003] However, the limitations of two-wheel drive vehicles become apparent when faced with complex and ever-changing driving environments. This is especially true on unpaved roads, such as snow and mud, where their maneuverability is significantly reduced. Since only two wheels provide power, if one wheel gets stuck in mud or snow, it can easily cause the vehicle to spin, preventing it from moving forward. In such situations, drivers often rely on external forces, such as tow trucks or rescue vehicles, to free themselves. This limitation not only impacts the driver's driving experience but also poses a safety hazard. In contrast, four-wheel drive systems offer greater maneuverability. Both part-time and full-time four-wheel drive systems can adjust power distribution in real time based on road conditions, ensuring adequate traction for each wheel. This feature makes four-wheel drive vehicles more capable of handling complex road conditions, from snow and mud to rugged mountain roads. However, the relatively high cost of four-wheel drive systems has limited their popularity in the family car market. Therefore, improving the maneuverability of two-wheel drive new energy vehicles is crucial.

[0004] It can be seen that the existing two-wheel drive escape control measures have limited escape ability when facing complex road conditions, 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 are limited in escape ability when facing complex road conditions, resulting in poor passability and seriously affecting the driving experience and driving safety.

[0006] In order to meet the above objectives, the present invention adopts the following technical solutions:

[0007] A new energy two-wheel drive vehicle escape control method, comprising:

[0008] Based on the escape switch signal, obtain the current wheel signal and the reference speed of the vehicle;

[0009] Obtaining a driving wheel speed difference based on current wheel signals;

[0010] 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 highest current wheel speed according to the wheel clamping control signal, so as to realize the escape of the new energy two-wheel drive vehicle;

[0011] When the speed difference of the driving wheels 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 flying wheel speed of the driving wheels according to the release torque limit signal, so as to enable the new energy two-wheel drive vehicle to escape from trouble.

[0012] 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 vehicle according to the escape switching signal.

[0013] Furthermore, the specific steps of obtaining the driving wheel speed difference based on the current wheel signal are as follows:

[0014] Filter and amplify the received current wheel signal;

[0015] Calculate the wheel speeds of the two driving wheels based on the filtered and amplified current wheel signals;

[0016] Obtaining a driving wheel speed difference based on the wheel speeds of the two driving wheels;

[0017] The specific formula is as follows:

[0018] n=f / z

[0019] Where n is the rotational speed, f is the signal frequency, and z is the number of teeth on the ring gear.

[0020] Furthermore, the vehicle reference speed is equal to the non-driven wheel speed.

[0021] 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 can clamp the driving wheel with the higher speed according to the wheel clamping control signal.

[0022] 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 according to the release torque limit signal, and the motor executes the release of the torque limit.

[0023] A new energy two-wheel drive vehicle escape control system, comprising:

[0024] A data acquisition module is used to obtain the current wheel signal and the reference speed of the vehicle based on the escape switch signal;

[0025] A driving wheel speed difference calculation module is used to obtain the driving wheel speed difference based on the current wheel signal;

[0026] The escape execution module is used to output a wheel clamping control signal when the drive wheel speed difference meets the first wheel speed difference condition and the vehicle reference speed meets the first reference speed condition, so as to clamp the drive wheel with the highest current wheel speed according to the wheel clamping control signal, thereby realizing 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 vehicle reference speed 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, thereby realizing the escape of the new energy two-wheel drive vehicle.

[0027] A device comprising:

[0028] memory for storing computer programs;

[0029] The processor is used to implement the steps of the new energy two-wheel drive vehicle escape control method when executing the computer program.

[0030] 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.

[0031] 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.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 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 drive wheel speed difference based on the current wheel signal; when the drive 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 limit signal; the wheel clamping control signal is used to clamp the current wheel speed that is too fast and may cause slipping, thereby enhancing the stability of the vehicle; releasing the torque limit signal increases the rotation speed of the spinning drive wheel by removing the torque limit, optimizes power distribution, and thus realizes 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 limited popularization due to the high cost of the four-wheel drive system.

[0034] Preferably, in the present invention, the driver can simply switch the driving mode to the escape mode to trigger the escape control method, making the operation more convenient. At the same time, the ESC controller can obtain necessary information in a timely manner based on the escape switch signal, providing a basis for subsequent control operations.

[0035] 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.

[0036] Preferably, in the present invention, setting the vehicle reference speed to the non-driven wheel speed can more accurately reflect the actual driving speed of the vehicle, especially when abnormal conditions such as driving wheel slippage occur, which helps to ensure the accuracy and effectiveness of control decisions.

[0037] 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.

[0038] 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 controllability when driving at high speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flowchart of a new energy two-wheel drive vehicle escape control method provided by an embodiment of the present invention;

[0040] Figure 2A flow chart of a new energy two-wheel drive vehicle escape control method provided by the present invention;

[0041] Figure 3 This is a structural schematic diagram of a new energy two-wheel drive vehicle escape control system provided by the present invention. DETAILED DESCRIPTION

[0042] Example 1

[0043] 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. The wheels often slip on the spot until the car gets stuck, and it can only rely on external forces to passively escape.

[0044] In order to meet the above-mentioned objectives, the present invention provides a new energy two-wheel drive vehicle escape control method. The use of this 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.

[0045] To facilitate understanding of the new energy two-wheel drive vehicle escape control method provided in this embodiment, the following technical terms are explained:

[0046] 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.

[0047] The VCU hardware utilizes a standardized core module circuit design to support diverse control systems in new energy vehicles. The VCU collects signals from various components, including the motor automatic control system, accelerator pedal, and brake pedal. It then performs comprehensive analysis and response decisions based on the driver's driving intent, overseeing the attitude layer of the next component control panel. The VCU plays a leading role in providing feedback from the braking system for rechargeable battery heating, network security management, fault detection and resolution, and vehicle condition monitoring.

[0048] 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).

[0049] Here's how it works: The ESC system is based on the ABS anti-lock braking system. When the vehicle is fully braked and the tires are about to lock, the ESC system applies the brakes hundreds of times per second, somewhat like a mechanical braking system. This allows the tires to continue rolling under full braking. Rolling friction is more effective than sliding friction after locking, and it can help control the vehicle's direction.

[0050] 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.

[0051] 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.

[0052] 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:

[0053] Step 1: When the driver is driving the vehicle through snow or mud and gets 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 driving wheels and monitor the reference speed of the entire vehicle at the same time.

[0054] In this embodiment, the vehicle reference speed is generally equal to the non-driven wheel speed, which more accurately reflects the actual driving speed of the vehicle, especially when abnormal conditions such as driving wheel slippage occur, which helps to ensure the accuracy and effectiveness of control decisions.

[0055] Step 2: When the speed difference between the drive wheels is ≥ 20% and the vehicle reference speed is ≤ 3 kph, the ESC controller will clamp the drive wheel with the higher speed, that is, apply pressure to one drive wheel, clamping the left or right rear wheel; allowing the other drive wheel to fully utilize the road adhesion coefficient, thereby improving the vehicle's passability;

[0056] 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 based on the received torque limit release signal and transmit it to the motor. The motor will release the torque limit and improve the vehicle's passability on complex roads through high tire rotation.

[0057] Another example Figure 1As 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.

[0058] The wheel speed sensor is used to monitor the wheel speed signals of the driving wheels and the wheel speed signals of the non-driving wheels; the driving mode switch is used to switch the driving mode, such as the escape mode.

[0059] 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.

[0060] In this embodiment, the VCU vehicle controller, MCU motor controller, ESC controller, and wheel speed sensor are connected in series via several CAN lines.

[0061] The ESC controller, as the core component of the escape control system of new energy two-wheel drive vehicles, obtains the current wheel signal and the reference speed of the vehicle 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 reference speed of the vehicle with a preset range; 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 the highest current wheel speed according to the wheel clamping control signal, thereby realizing the escape of the new energy two-wheel drive vehicle; or increases the drive wheel speed according to the release torque limit signal, thereby realizing the escape of the new energy two-wheel drive vehicle;

[0062] 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.

[0063] 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.

[0064] Thus, this embodiment provides a new energy two-wheel drive vehicle escape control method, which has the following advantages:

[0065] First, improve the ability to escape from difficulties:

[0066] 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, thereby improving the vehicle's passability in these special road conditions.

[0067] Second, precise control decision-making:

[0068] By calculating the drive wheel speed difference and monitoring the vehicle's reference speed (generally equal to the non-drive wheel speed) through the ESC controller, this method can more accurately reflect the vehicle's actual driving state, especially in abnormal situations such as drive wheel slip. This monitoring method helps ensure the accuracy and effectiveness of control decisions, thereby avoiding misoperation or excessive intervention.

[0069] Third, intelligently adjust the driving wheel status:

[0070] When the speed difference between the drive wheels reaches a certain threshold and the vehicle reference speed is low, the ESC controller will clamp the drive wheel with the faster speed, allowing the other drive 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 vehicle's stability and passability.

[0071] Fourth, dynamically adjust the torque limit:

[0072] When the drive wheel speed difference reaches a certain threshold and the vehicle's reference speed is high, the ESC controller sends a torque limit release signal to the VCU vehicle controller. The VCU then controls the MCU motor controller based on this signal to release the torque limit, allowing the motor to output greater torque to cope with complex road conditions. This dynamic adjustment helps improve the vehicle's dynamic performance and escape ability.

[0073] Fifth, improve driving experience:

[0074] By adopting this control method, the driver can achieve better escape results when facing complex road conditions by simply switching the driving mode; this not only reduces the difficulty and complexity of driving, but also improves the driving experience and safety.

[0075] Example 2

[0076] 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:

[0077] 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-driven wheel speed.

[0078] 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 vehicle according to the escape switching signal.

[0079] S2: Obtain the driving wheel speed difference based on the current wheel signal. The specific steps are as follows:

[0080] Filter and amplify the received current wheel signal;

[0081] Calculate the wheel speeds of the two driving wheels based on the filtered and amplified current wheel signals;

[0082] Obtaining a driving wheel speed difference based on the wheel speeds of the two driving wheels;

[0083] The specific formula is as follows:

[0084] n=f / z

[0085] Where n is the rotational speed, f is the signal frequency, and z is the number of teeth on the ring gear.

[0086] S3: When the speed difference of the driving wheels meets the first wheel speed difference condition and the vehicle reference speed meets the first reference speed condition, a wheel clamping control signal is output to clamp the driving wheel with the highest current speed according to the wheel clamping control signal, thereby enabling the new energy two-wheel drive vehicle to escape from trouble;

[0087] or,

[0088] When the speed difference of the driving wheels 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 flying wheel speed of the driving wheels according to the release torque limit signal, so as to enable the new energy two-wheel drive vehicle to escape from trouble.

[0089] More specifically: 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.

[0090] When the speed difference of the driving wheels 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 can control the MCU motor controller to issue a release torque limit instruction and transmit it to the motor according to the release torque limit signal, and the motor will execute the release of the torque limit.

[0091] 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 limiting signal, so as to increase the driving wheel speed according to the release torque limiting signal, so as to realize the escape of the new energy two-wheel drive vehicle.

[0092] 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.

[0093] 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, the 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.

[0094] Alternatively, the processor implements the functions of each module in the above-mentioned system when executing the computer program, for example: a data acquisition module for obtaining 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 for obtaining the driving wheel speed difference based on the current wheel signal; an escape execution module for outputting a wheel clamping control signal when the driving wheel speed difference meets a first wheel speed difference condition and the reference speed of the whole vehicle meets a first reference speed condition, so as to clamp the driving wheel with a higher current wheel speed according to the wheel clamping control signal, thereby enabling the new energy two-wheel drive vehicle to escape; and outputting a release torque limit signal when the driving wheel speed difference meets a second wheel speed difference condition and the reference speed of the whole vehicle meets a second reference speed condition, so as to increase the driving wheel speed according to the release torque limit signal, thereby enabling the new energy two-wheel drive vehicle to escape.

[0095] For example, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement 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, for obtaining 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, for obtaining the drive wheel speed difference based on the current wheel signal; an escape execution module, for outputting a wheel clamping control signal when the drive wheel speed difference meets a first wheel speed difference condition and the reference speed of the whole vehicle meets a first reference speed condition, so as to clamp the drive wheel with a higher current wheel speed according to the wheel clamping control signal, thereby realizing the escape of the new energy two-wheel drive vehicle; and when the drive wheel speed difference meets a second wheel speed difference condition and the reference speed of the whole vehicle meets a second reference speed condition, outputting a release torque limiting signal, so as to increase the speed of the drive wheel according to the release torque limiting signal, thereby realizing the escape of the new energy two-wheel drive vehicle.

[0096] 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 understand 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. It 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.

[0097] 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. The 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 system, and utilizes various interfaces and lines to connect various parts of the entire new energy two-wheel drive vehicle escape control system.

[0098] The memory can be used to store the computer programs and / or modules, and the processor realizes various functions of the new energy two-wheel drive vehicle escape control device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory.

[0099] The memory may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as sound playback or image playback); the data storage area may store data generated based on the use of the mobile phone (such as audio data and a phone book). Furthermore, the memory may include high-speed random access memory (RAM) and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0100] The present invention also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of the new energy two-wheel drive vehicle escape control method.

[0101] 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.

[0102] Based on this understanding, the present invention implements all or part of the process of the above-mentioned new energy two-wheel drive vehicle escape control method, and can also be completed by a computer program to instruct related hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned new energy two-wheel drive vehicle escape control method. The computer program includes computer program code, which can be in source code form, object code form, executable file, or preset intermediate form.

[0103] 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.

[0104] 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 practices in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practices, computer-readable storage media do not include electrical carrier signals and telecommunication signals.

[0105] 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 this 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 current wheel signals; When the speed difference between the driving wheels is ≥20% and the reference vehicle speed is ≤3kph, the ESC controller transmits a wheel clamping control signal to the brake mechanism, so that the brake mechanism clamps the driving wheel with the highest speed according to the wheel clamping control signal. When the speed difference of the driving wheels 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 can control the MCU motor controller to issue a release torque limit instruction and transmit it to the motor according to the release torque limit signal, and the motor will execute the release of the torque limit.

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 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; Calculate the wheel speeds of the two driving wheels based on the filtered and amplified current wheel signals; 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 ring gear.

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

5. 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 vehicle based on the escape switch 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 to, 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 with the higher current wheel speed according to the wheel clamping control signal; and when the speed difference of the driving wheels is ≥20% and the reference vehicle speed is greater than 3kph, the ESC controller outputs a release torque limit signal to the VCU vehicle controller, so that the VCU vehicle controller can control the MCU motor controller to issue a release torque limit instruction and transmit it to the motor according to the release torque limit signal, and the motor will execute the release of the torque limit.

6. A new energy two-wheel drive vehicle escape control 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 according to any one of claims 1 to 4 when executing the computer program.

7. 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 1-4.

8. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the new energy two-wheel drive vehicle escape control method described in any one of claims 1 to 4 are implemented.

Images