Vehicle dual-motor assembly out-of-gear detection method and device, electronic equipment and vehicle

Abstract

The invention provides a vehicle dual-motor assembly out-of-gear detection method and device, electronic equipment and a vehicle, and can be applied to the technical field of vehicle control. The method comprises the following steps: acquiring a first motor rotating speed of a first motor and a second motor rotating speed of a second motor in the vehicle dual-motor assembly; acquiring a first rotating speed change rate of the first motor based on the first motor rotating speed, and acquiring a second rotating speed change rate of the second motor based on the second motor rotating speed; based on the ratio of the first motor rotation speed to the second motor rotation speed, obtaining a first rotation speed ratio of the first motor to the second motor; and if the first rotating speed ratio is not inquired in the pre-stored rotating speed ratio list and the first rotating speed change rate or the second rotating speed change rate is greater than a preset change rate threshold value, determining that the vehicle dual-motor assembly is in an out-of-gear state. According to the method, whether motor out-of-gear occurs or not is detected by obtaining the rotating speeds of the two motors in the dual-motor assembly, the detection misjudgment phenomenon can be effectively reduced, and the out-of-gear detection reliability is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, electronic equipment and vehicle for detecting a gear disengagement of a dual-motor assembly for a vehicle. Background Art

[0002] The automotive dual-motor assembly is an advanced automotive drive system that consists of two motors, corresponding transmission devices, control systems, and auxiliary facilities. The power output by the two drive motors is coupled through a power coupling mechanism to form a variety of drive modes, and the power is transmitted to the drive wheels through the transmission system. This system can provide stable driving force under different terrains and road conditions, improving the vehicle's passing performance and driving experience.

[0003] In the prior art, whether the motor is disengaged is mainly determined by periodically detecting the gear signal of the vehicle dual-motor assembly. However, this detection strategy has an obvious disadvantage. When the gear signal is lost or interfered with, it is easy to misjudge the signal and make it impossible to detect whether the motor is unexpectedly disengaged. Summary of the invention

[0004] The present application provides a method, device, electronic equipment and vehicle for detecting gear disengagement of a dual-motor assembly for a vehicle, so as to solve the technical problem that the prior art cannot effectively detect whether the motor in the dual-motor assembly for a vehicle has unexpectedly disengaged, which leads to easy misjudgment.

[0005] According to the first aspect disclosed in the present application, the present application provides a method for detecting a gear disengagement of a dual-motor assembly for a vehicle, comprising:

[0006] Obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle;

[0007] Acquire a first speed change rate of the first motor based on the speed of the first motor, and acquire a second speed change rate of the second motor based on the speed of the second motor;

[0008] Based on the ratio of the first motor speed to the second motor speed, obtaining a first speed ratio of the first motor to the second motor;

[0009] If the first speed ratio cannot be found in the pre-stored speed ratio list, and the first speed change rate or the second speed change rate is greater than a preset change rate threshold, it is determined that the vehicle dual-motor assembly is in a disengaged state.

[0010] In a feasible implementation manner, the speed ratio list is obtained by the following method:

[0011] Based on the design parameters of the dual-motor assembly for the vehicle, obtaining the gear ratio of the dual-motor assembly for the vehicle at each preset gear position;

[0012] Based on the gear speed ratio, obtaining a second speed ratio of the first motor and the second motor at each preset gear;

[0013] A speed ratio list is generated based on the second speed ratio.

[0014] In a feasible implementation manner, the second speed ratio satisfies the following formula:

[0015]

[0016] in, It represents the second speed ratio when the first motor is in the x gear and the second motor is in the y gear. Indicates the gear ratio of the dual motor assembly for the vehicle in the x gear position, Indicates the gear ratio of the automotive dual-motor assembly in the y gear.

[0017] In a feasible implementation manner, before obtaining a first speed change rate of the first motor based on the speed of the first motor, and obtaining a second speed change rate of the second motor based on the speed of the second motor, the method further includes:

[0018] It is determined that the speed of the first motor and the speed of the second motor are both not zero, and the first motor and the second motor are both in a torque mode.

[0019] In a feasible implementation manner, determining that the vehicle dual-motor assembly is in a disengaged state includes:

[0020] If the first speed change rate is greater than the change rate threshold, it is determined that the first motor is in a disengaged state;

[0021] If the second speed change rate is greater than the change rate threshold, it is determined that the second motor is in a disengaged state.

[0022] In a feasible implementation manner, the method further includes:

[0023] A torque clearing instruction is sent to the disengagement motor; wherein the torque clearing instruction is used to adjust the motor torque of the disengagement motor to zero, and the disengagement motor is the first motor or the second motor in the disengagement state.

[0024] In a feasible implementation manner, obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle includes:

[0025] Perform sliding sampling on the sampling motor based on the sliding window to obtain multiple speed sampling values ​​of the sampling motor; wherein the sampling motor is the first motor or the second motor;

[0026] The motor speed of the sampled motor is obtained based on an average value of the plurality of speed sampling values.

[0027] According to a second aspect disclosed in the present application, the present application provides a vehicle dual-motor assembly disengagement detection device, comprising:

[0028] A data acquisition module, used to acquire a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle;

[0029] a data processing module, configured to obtain a first speed change rate of the first motor based on the speed of the first motor, and to obtain a second speed change rate of the second motor based on the speed of the second motor; and to obtain a first speed ratio of the first motor to the second motor based on a ratio of the speed of the first motor to the speed of the second motor;

[0030] The gear disengagement detection module is used to determine that the vehicle dual-motor assembly is in a gear disengagement state if the first speed ratio cannot be found in the pre-stored speed ratio list and the first speed change rate or the second speed change rate is greater than a preset change rate threshold.

[0031] According to a third aspect disclosed in the present application, the present application provides an electronic device, including a processor, and a memory communicatively connected to the processor;

[0032] The memory stores computer-executable instructions;

[0033] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspects.

[0034] According to a fourth aspect disclosed in the present application, the present application provides a vehicle, comprising a dual-motor assembly for a vehicle, and the electronic device described in the third aspect.

[0035] According to the fourth aspect disclosed in the present application, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement any method in the first aspect.

[0036] According to a fifth aspect disclosed in the present application, the present application provides a computer program product, including a computer program, and when the computer program is executed, it is used to implement any one of the methods in the first aspect.

[0037] Compared with the prior art, this application has the following beneficial effects:

[0038] The present application provides a method, device, electronic device and vehicle for detecting a disengagement of a dual motor assembly for a vehicle. By acquiring the rotation speed of the two motors in the dual motor assembly to detect whether the motor is disengaged, the possibility of misjudgment during disengagement detection of the dual motor assembly for a vehicle can be effectively reduced in various driving conditions, thereby improving the reliability of disengagement detection. The torque clearing command is executed in a timely manner for the disengaged motor in the disengagement state, thereby preventing the disengagement motor from having a sudden increase in rotation speed and causing an overspeed fault. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] Figure 1 A schematic diagram of the structure of a dual-motor assembly for a vehicle provided in an embodiment of the present application;

[0041] Figure 2 A schematic flow chart of a method for detecting a gear disengagement of a dual-motor assembly for a vehicle provided in an embodiment of the present application;

[0042] Figure 3 A schematic flow chart of another vehicle dual motor assembly disengagement detection method provided in an embodiment of the present application;

[0043] Figure 4 A schematic diagram of the structure of a vehicle dual-motor assembly disengagement detection device provided in an embodiment of the present application;

[0044] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0045] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0046] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0047] The automotive dual-motor assembly is an advanced automotive drive system that consists of two motors, corresponding transmission devices, control systems, and auxiliary facilities. The power output by the two drive motors is coupled through a power coupling mechanism to form a variety of drive modes, and the power is transmitted to the drive wheels through the transmission system. This system can provide stable driving force under different terrains and road conditions, improving the vehicle's passing performance and driving experience.

[0048] See also Figure 1 , since the dual motor assembly for vehicle is a gearbox integrated with dual motors, its main components include the first motor 100, the second motor 200 and the gearbox 300. During the operation of the vehicle, as the operating conditions of the vehicle change, the gearbox will change different gear combinations to achieve the best operating effect. That is, as the operating conditions of the vehicle change, the first motor 100 and the second motor 200 of the dual motor assembly for vehicle will be in different gears to achieve the best power and economy during the operation of the vehicle. However, due to the inevitable bumps during the operation of the vehicle, the dual motor assembly for vehicle will vibrate, and this vibration may cause the first motor 100 or the second motor 200 to unexpectedly disengage, and once the first motor 100 or the second motor 200 is disengaged, the vehicle power will be unexpectedly interrupted or weakened, which will affect the driving experience and even cause danger, so it is necessary to monitor whether the first motor 100 and the second motor 200 are unexpectedly disengaged.

[0049] In the prior art, whether the motor is disengaged is mainly determined by periodically detecting the gear signal of the vehicle dual-motor assembly. However, this detection strategy has an obvious disadvantage. When the gear signal is lost or interfered with, it is easy to misjudge the signal and make it impossible to detect whether the motor is unexpectedly disengaged.

[0050] In response to the above technical problems, the present application proposes a method for detecting gear disengagement of a dual-motor assembly for a vehicle. By obtaining the rotational speeds of the two motors in the dual-motor assembly to detect whether a motor is disengaged, the phenomenon of misjudgment of detection can be effectively reduced and the reliability of gear disengagement detection can be improved.

[0051] The technical solution of the vehicle dual motor assembly disengagement detection method provided by the present application is described in detail below through specific embodiments. It should be noted that the following embodiments can exist alone or in combination with each other, and the same or similar contents may not be repeated in different embodiments.

[0052] It should be noted that the executor of the vehicle dual-motor assembly disengagement detection method provided in the embodiment of the present application is the motor controller of the vehicle dual-motor assembly, and accordingly, the vehicle dual-motor assembly disengagement detection device is also arranged in the motor controller of the vehicle dual-motor assembly.

[0053] Figure 2 A schematic diagram of a process flow of a vehicle dual motor assembly disengagement detection method provided in an embodiment of the present application, see Figure 2 In some embodiments, the process of the vehicle dual motor assembly disengagement detection method includes the following steps:

[0054] S201, obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle.

[0055] The rotation speeds of the two motors in the vehicle dual-motor assembly are collected through a pre-set detection cycle.

[0056] S202, obtaining a first speed change rate of the first motor based on the speed of the first motor, and obtaining a second speed change rate of the second motor based on the speed of the second motor.

[0057] The currently detected motor speed is compared with the historically detected motor speed to obtain the rate of change of the motor speed.

[0058] S203, obtaining a first speed ratio between the first motor and the second motor based on the ratio of the speed of the first motor to the speed of the second motor.

[0059] The rate of change of the motor speed can be obtained through the motor speed, and the speed ratio of the two motors can also be obtained according to the ratio of the speeds of the two motors.

[0060] S204: If the first speed ratio cannot be found in the pre-stored speed ratio list, and the first speed change rate or the second speed change rate is greater than a preset change rate threshold, it is determined that the vehicle dual-motor assembly is in a disengaged state.

[0061] Among them, for the dual-motor assembly for a vehicle, according to the operating conditions of the vehicle, in view of the best operating economy and power, the dual-motor assembly for a vehicle will be in a corresponding gear, and accordingly, the first motor and the second motor will also be in a corresponding gear, at which time the speeds of the first motor and the second motor will have a fixed speed ratio, and their speed change rates will also have a fixed ratio. Then, when any motor is out of gear, the speed ratio of the first motor and the second motor is no longer a fixed value.

[0062] Since the automotive dual-motor assembly is designed with multiple gears at the beginning, the first motor and the second motor have different and fixed speed ratios at different gears, and the speed ratios corresponding to the first motor and the second motor can be pre-stored in a speed ratio list.

[0063] If any motor of the dual motor assembly for a vehicle is out of gear, the speed ratio of the first motor and the second motor will no longer be the preset fixed value. At this time, the first speed ratio cannot be found in the speed ratio list, and due to the out of gear, the speed change rate of the motor out of gear will also change dramatically, exceeding the preset change rate threshold. Through these two conditions, it can be determined whether the dual motor assembly for a vehicle is in the out of gear state.

[0064] During vehicle driving, the vehicle speed may fluctuate due to road conditions or vehicle chassis, and this speed fluctuation will be reflected in the sudden change of motor speed. This sudden change of motor speed and the unexpected motor disengagement may be highly consistent, that is, if the sudden change of motor speed is used to judge whether the motor has unexpectedly disengaged, it is easy to make a misjudgment. The dual-motor assembly for vehicles can judge whether the motor has unexpectedly disengaged by combining the speed ratio of the first motor and the second motor based on the detection of motor speed changes, thereby greatly reducing the possibility of misjudgment.

[0065] If the first speed ratio detected is not in the speed ratio list, and the speed change rate of the first motor or the second motor is greater than a preset change rate threshold, it indicates that the vehicle dual motor assembly is in a disengaged state. Correspondingly, if the first speed ratio is found in the pre-stored speed ratio list, it is determined that the vehicle dual motor assembly is not in a disengaged state.

[0066] In this embodiment, by acquiring the rotational speed of the two motors in the dual-motor assembly to detect whether the motor is out of gear, the possibility of misjudgment when performing gear disengagement detection on the vehicle dual-motor assembly can be effectively reduced in various driving conditions, thereby improving the reliability of gear disengagement detection.

[0067] Preferably, the motor controller of the vehicle dual-motor assembly will periodically detect whether the motor is out of gear, and the detection period is between 0.1ms and 1ms.

[0068] Specifically, in the traditional gear disengagement detection, since the gear position signal of the dual motor assembly is periodically detected to determine whether the motor is disengaged, this detection method generally transmits signals through the vehicle's TCU (telematic control unit), and the detection cycle is long, generally not less than 5ms, which will result in the failure to detect whether the motor is disengaged in time, which will cause the execution torque sent to the motor to not be cleared in time, which will cause the dual motor assembly to have a long power interruption cycle. When the motor is disengaged and still has output torque, that is, the torque of the motor is not cleared in time at the moment of disengagement, the motor speed will also rise sharply. This application can integrate the entire detection process into the motor controller of the dual motor assembly for the vehicle, and the preset detection cycle can be between 0.1ms and 1ms, so as to timely determine whether the dual motor assembly for the vehicle has a gear disengagement problem.

[0069] Figure 2 Based on the embodiment shown, the following Figure 3 , the technical solution of the above-mentioned vehicle dual-motor assembly disengagement detection method is further introduced.

[0070] Figure 3 A schematic diagram of another vehicle dual motor assembly disengagement detection method provided in an embodiment of the present application is shown in FIG. Figure 3 In some embodiments, the process of the vehicle dual motor assembly disengagement detection method includes the following steps:

[0071] S301, based on the design parameters of the vehicle dual-motor assembly, obtaining the gear ratio of the vehicle dual-motor assembly in each preset gear.

[0072] Among them, the gear ratio of the vehicle dual-motor assembly in each preset gear can be obtained according to the design parameters of the vehicle dual-motor assembly.

[0073] Specifically, in the automotive field, the speed ratio usually reflects the average transmission ratio of each gear of the transmission or the transmission ratio of a specific gear. The size of the speed ratio is directly related to the vehicle's power performance, including acceleration response and maximum speed. Since the automotive dual-motor assembly is a gearbox with integrated dual motors, its gear ratio refers to the transmission ratio at different gears.

[0074] S302, based on the gear speed ratio, obtaining the second speed ratio of the first motor and the second motor in each preset gear.

[0075] Preferably, the second speed ratio satisfies the following formula:

[0076]

[0077] in, It represents the second speed ratio when the first motor is in the x gear and the second motor is in the y gear. Indicates the gear ratio of the dual motor assembly for the vehicle in the x gear position, Indicates the gear ratio of the automotive dual-motor assembly in the y gear.

[0078] For example, it is assumed that the gear ratios of the dual-motor assembly for a vehicle at different gears are as shown in Table 1.

[0079] Table 1 Gear ratio of dual motor assembly for vehicle at different gears

[0080]

[0081] Based on the formula of the second speed ratio, the second speed ratios of the first motor and the second motor at each preset gear position can be obtained, as shown in Table 2.

[0082] Table 2 The second speed ratio of the first motor and the second motor at each preset gear

[0083]

[0084] S303: Generate a speed ratio list based on the second speed ratio.

[0085] Among them, after calculating the second speed ratios of the first motor and the second motor at each preset gear position, the data of the second speed ratios are summarized to generate a speed ratio list as a basis for detecting whether the vehicle dual-motor assembly is out of gear.

[0086] S304, obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle.

[0087] Preferably, obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle includes:

[0088] Step 1, performing sliding sampling on a sampling motor based on a sliding window to obtain a plurality of speed sampling values ​​of the sampling motor; wherein the sampling motor is the first motor or the second motor;

[0089] Among them, sliding window sampling is an effective method to extract subsequences from sequence data. Its principle is to slide a fixed-size window on the input data and collect the data in the window. When it is used to collect motor speed, it uses the sampling period of the sliding window to collect multiple speed sampling values ​​in time series during the detection period of the automotive dual-motor assembly.

[0090] Specifically, the detection period of the gear shift detection is divided into multiple sampling periods, and then the speed sampling is performed using sliding window sampling. For example, one detection period can be divided into 10 sampling periods, so that the speed sampling values ​​finally obtained are also 10.

[0091] Step 2: obtaining the motor speed of the sampled motor based on the average value of the plurality of speed sampling values.

[0092] Among them, taking the average value of multiple speed sampling values ​​as the motor speed of the sampling motor can effectively reduce the errors that may exist in a single measurement. For example, the instantaneous error caused by factors such as sensor noise, electromagnetic interference or mechanical vibration will be averaged after multiple measurements, thereby reducing the impact on the overall result and improving the accuracy of the motor speed.

[0093] S305 , determining that the speed of the first motor and the speed of the second motor are both not zero, and that the first motor and the second motor are both in a torque mode.

[0094] Before obtaining the motor speed change rate and the speed ratio between the motors, it is first determined whether the first motor speed and the second motor speed are zero and whether the first motor and the second motor are both in the torque mode. Only when the motor speeds of the first motor and the second motor are not zero and both motors are in the torque mode, the subsequent gear-out arbitration is performed.

[0095] This is because the vehicle generally uses the torque mode during normal driving and the motor speed is not zero during driving. At this time, it is necessary to detect whether the dual motor assembly of the vehicle is out of gear. Correspondingly, if the motor speed of the first motor or the second motor is zero, or the first motor or the second motor is not in the torque mode, it means that the vehicle is not in a normal driving state, and there is no need for subsequent out of gear arbitration.

[0096] Specifically, since the operation mode of the motor is controlled by an instruction sent by the vehicle controller, it is possible to determine whether the operation mode of the motor is the torque mode by receiving a control instruction sent by the vehicle controller.

[0097] S306, obtaining a first speed change rate of the first motor based on the speed of the first motor, and obtaining a second speed change rate of the second motor based on the speed of the second motor.

[0098] S307, obtaining a first speed ratio between the first motor and the second motor based on the ratio of the first motor speed to the second motor speed.

[0099] S308: If the first speed ratio cannot be found in the pre-stored speed ratio list, and the first speed change rate or the second speed change rate is greater than a preset change rate threshold, it is determined that the vehicle dual-motor assembly is in a disengaged state.

[0100] Preferably, determining that the vehicle dual motor assembly is in a disengaged state includes:

[0101] Step 1: If the first speed change rate is greater than the change rate threshold, it is determined that the first motor is in a disengaged state;

[0102] Step 2: If the second speed change rate is greater than the change rate threshold, it is determined that the second motor is in a disengaged state.

[0103] The specific motor in the disengaged state is determined by comparing the speed change rate with the change rate threshold.

[0104] S309, sending a torque clearing instruction to the disengagement motor; wherein the torque clearing instruction is used to adjust the motor torque of the disengagement motor to zero, and the disengagement motor is the first motor or the second motor in the disengagement state.

[0105] Among them, since the motor in the automotive dual-motor assembly is in torque mode, when the motor unexpectedly disengages, if it continues to receive the original torque control command, the motor speed will suddenly increase, resulting in a motor overspeed fault.

[0106] Therefore, after determining the specific motor that is in the disengaged state, a torque clearing command is sent to it to adjust the motor torque of the disengaged motor in the disengaged state to zero, so as to avoid overspeeding of the motor when there is no load, and to take effective measures for the motor that is detected to have an unexpected disengagement, so as to avoid or reduce the impact after the accident, and take protective measures in time.

[0107] In this embodiment, by acquiring the rotational speeds of the two motors in the dual-motor assembly to detect whether a motor is out of gear, misjudgment of detection can be effectively reduced and the reliability of out-of-gear detection can be improved.

[0108] Figure 4 is a schematic diagram of a vehicle dual motor assembly disengagement detection device provided in an embodiment of the present application, see Figure 4 The vehicle dual-motor assembly disengagement detection device includes various functional modules for implementing the aforementioned vehicle dual-motor assembly disengagement detection method, and any functional module can be implemented by software and / or hardware.

[0109] In some embodiments, the vehicle dual motor assembly disengagement detection device 400 includes a data acquisition module 401, a data processing module 402 and a disengagement detection module 403. Among them:

[0110] The data acquisition module 401 is used to acquire a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle;

[0111] The data processing module 402 is used to obtain a first speed change rate of the first motor based on the speed of the first motor, and to obtain a second speed change rate of the second motor based on the speed of the second motor; and to obtain a first speed ratio of the first motor to the second motor based on the ratio of the speed of the first motor to the speed of the second motor;

[0112] The gear disengagement detection module 403 is used to determine that the vehicle dual-motor assembly is in a gear disengagement state if the first speed ratio cannot be found in the pre-stored speed ratio list and the first speed change rate or the second speed change rate is greater than a preset change rate threshold.

[0113] In some embodiments, the data processing module 402 is further configured to:

[0114] Based on the design parameters of the dual-motor assembly for a vehicle, obtaining the gear ratio of the dual-motor assembly for the vehicle at each preset gear;

[0115] Based on the gear speed ratio, obtaining a second speed ratio of the first motor and the second motor at each preset gear respectively;

[0116] A speed ratio table is generated based on the second speed ratio.

[0117] In some embodiments, the second speed ratio satisfies the following formula:

[0118]

[0119] in, It represents the second speed ratio when the first motor is in the x gear and the second motor is in the y gear. Indicates the gear ratio of the dual motor assembly for the vehicle in the x gear position, Indicates the gear ratio of the automotive dual-motor assembly in the y gear.

[0120] In some embodiments, before obtaining a first speed change rate of the first motor based on the first motor speed, and obtaining a second speed change rate of the second motor based on the second motor speed, the data processing module 402 is further configured to:

[0121] It is determined that both the first motor speed and the second motor speed are not zero, and both the first motor and the second motor are in a torque mode.

[0122] In some embodiments, the gear disengagement detection module 403 is specifically used to:

[0123] If the first speed change rate is greater than the change rate threshold, it is determined that the first motor is in a disengaged state;

[0124] If the second speed change rate is greater than the change rate threshold, it is determined that the second motor is in a disengaged state.

[0125] In some embodiments, the device 400 further includes a motor control module 404, which is specifically configured to:

[0126] A torque clearing instruction is sent to the disengagement motor; wherein the torque clearing instruction is used to adjust the motor torque of the disengagement motor to zero, and the disengagement motor is the first motor or the second motor in the disengagement state.

[0127] In some embodiments, the data acquisition module 401 is specifically used for:

[0128] Perform sliding sampling on the sampling motor based on the sliding window to obtain multiple speed sampling values ​​of the sampling motor; wherein the sampling motor is the first motor or the second motor;

[0129] The motor speed of the sampled motor is obtained based on an average value of the plurality of speed sampling values.

[0130] The vehicle dual-motor assembly disengagement detection device 400 provided in the embodiment of the present application is used to execute the technical solution provided in the aforementioned dual-motor assembly disengagement detection method embodiment. Its implementation principle and technical effect are similar to those in the aforementioned method embodiment and will not be repeated here.

[0131] It should be noted that it should be understood that the division of the various modules of the above device is only a division of a logical function. When actually implemented, it can be fully or partially integrated into a physical entity, or it can be physically separated. And these modules can all be implemented in the form of software called by a processing element, or all in the form of hardware, or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, the data acquisition module 401 can be a separately established processing element, or it can be integrated in a certain chip of the above device to be implemented. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a certain processing element of the above device. The function of the above data acquisition module 401. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by the hardware integrated logic circuit in the processor element or the instruction in the form of software.

[0132] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, see Figure 5 The electronic device 500 includes a processor 501 and a memory 02 communicatively connected to the processor 501;

[0133] Memory 502 stores computer executable instructions;

[0134] The processor 501 executes the computer execution instructions stored in the memory 502 to implement the technical solution of the aforementioned dual motor assembly disengagement detection method.

[0135] In the above electronic device 500, the memory 502 and the processor 501 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus. The memory 502 stores computer execution instructions for implementing the above-mentioned dual motor assembly disengagement detection method, including at least one software function module that can be stored in the memory 502 in the form of software or firmware. The processor 501 executes various functional applications and data processing by running the software programs and modules stored in the memory 502.

[0136] The memory 502 includes at least one type of readable storage medium, including but not limited to random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable read-only memory (EEPROM). The memory 502 is used to store programs, and the processor 501 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 502 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0137] The processor 501 may be an integrated circuit chip having the ability to process signals. The above-mentioned processor 501 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), etc. The disclosed methods, steps and logic block diagrams in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor, or the processor 501 may be any conventional processor, etc.

[0138] The electronic device 500 is used to execute the technical solution provided by the aforementioned vehicle dual-motor assembly disengagement detection method embodiment, and its implementation principle and technical effect are similar to those in the aforementioned method embodiment, which will not be repeated here.

[0139] An embodiment of the present application also provides a vehicle, which includes a dual-motor assembly for a vehicle and the above-mentioned electronic device.

[0140] The above-mentioned vehicle detects whether the motor is out of gear by obtaining the rotational speed of the two motors in the dual-motor assembly, which can effectively reduce the phenomenon of misjudgment of detection and improve the reliability of out-of-gear detection.

[0141] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the technical solution of the aforementioned vehicle dual-motor assembly disengagement detection method.

[0142] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0143] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the control device of the vehicle dual motor assembly disengagement detection device.

[0144] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the technical solution of the aforementioned vehicle dual-motor assembly disengagement detection method.

[0145] In the above embodiments, those skilled in the art will appreciate that the implementation of the above method embodiments can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless network, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0146] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0147] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0148] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for detecting a gear shift failure of a dual-motor assembly for a vehicle, characterized in that: include: Obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle; Acquire a first speed change rate of the first motor based on the speed of the first motor, and acquire a second speed change rate of the second motor based on the speed of the second motor; Based on the ratio of the first motor speed to the second motor speed, obtaining a first speed ratio of the first motor to the second motor; If the first speed ratio cannot be found in the pre-stored speed ratio list, and the first speed change rate or the second speed change rate is greater than a preset change rate threshold, it is determined that the vehicle dual-motor assembly is in a disengaged state.

2. The method according to claim 1, characterized in that The speed ratio list is obtained by the following method: Based on the design parameters of the dual-motor assembly for the vehicle, obtaining the gear ratio of the dual-motor assembly for the vehicle at each preset gear position; Based on the gear speed ratio, obtaining a second speed ratio of the first motor and the second motor at each preset gear; A speed ratio list is generated based on the second speed ratio.

3. The method according to claim 2, characterized in that The second speed ratio satisfies the following formula: in, It represents the second speed ratio when the first motor is in the x gear and the second motor is in the y gear. Indicates the gear ratio of the dual motor assembly for the vehicle in the x gear position, Indicates the gear ratio of the automotive dual-motor assembly in the y gear.

4. The method according to any one of claims 1 to 3, characterized in that: Before acquiring a first speed change rate of the first motor based on the first motor speed, and acquiring a second speed change rate of the second motor based on the second motor speed, the method further includes: It is determined that the speed of the first motor and the speed of the second motor are both not zero, and the first motor and the second motor are both in a torque mode.

5. The method according to any one of claims 1 to 3, characterized in that: Determining that the vehicle dual motor assembly is in a disengaged state includes: If the first speed change rate is greater than the change rate threshold, it is determined that the first motor is in a disengaged state; If the second speed change rate is greater than the change rate threshold, it is determined that the second motor is in a disengaged state.

6. The method according to claim 5, characterized in that The method further comprises: A torque clearing instruction is sent to the disengagement motor; wherein the torque clearing instruction is used to adjust the motor torque of the disengagement motor to zero, and the disengagement motor is the first motor or the second motor in the disengagement state.

7. The method according to any one of claims 1 to 3, characterized in that: Obtaining a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle includes: Perform sliding sampling on the sampling motor based on the sliding window to obtain multiple speed sampling values ​​of the sampling motor; wherein the sampling motor is the first motor or the second motor; The motor speed of the sampled motor is obtained based on an average value of the plurality of speed sampling values.

8. A dual-motor assembly disengagement detection device for a vehicle, characterized in that: include: A data acquisition module, used to acquire a first motor speed of a first motor and a second motor speed of a second motor in a dual-motor assembly for a vehicle; a data processing module, configured to obtain a first speed change rate of the first motor based on the speed of the first motor, and to obtain a second speed change rate of the second motor based on the speed of the second motor; Based on the ratio of the first motor speed to the second motor speed, obtaining a first speed ratio of the first motor to the second motor; The gear disengagement detection module is used to determine that the vehicle dual-motor assembly is in a gear disengagement state if the first speed ratio cannot be found in the pre-stored speed ratio list and the first speed change rate or the second speed change rate is greater than a preset change rate threshold.

9. An electronic device, characterized in that: comprising a processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle comprises a dual-motor assembly for a vehicle, and the electronic device as claimed in claim 9.

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