Wheel end torque control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a wheel end torque control method and device, computer equipment, a readable storage medium and a program product. The method comprises the steps of obtaining a target signal set of a vehicle, and determining a first rotating speed and a second rotating speed corresponding to two side wheel ends according to a wheel end rotating speed signal and a motor rotating speed signal under the condition that the wheel end rotating speed signal of one side wheel end is invalid and the motor rotating speed signal is valid, and under the condition that a target difference value between the first rotating speed and the second rotating speed meets a first difference value condition and the vehicle meets a normal communication condition, target torques corresponding to the wheel ends on the two sides are determined according to the target difference value and the vehicle speed of the vehicle, so that the MCU controls the output torques of the wheel ends on the two sides according to the target torques. By adopting the method, the output torque of the two side wheel ends can be adjusted in time, differential damage caused by difference of the rotating speeds of the two side wheel ends is avoided, and the safety of the differential is effectively guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of differential function protection, and in particular to a wheel end torque control method, device, computer equipment, readable storage medium and program product. Background Art

[0002] With the continuous development of automobile technology, the differential, as a key mechanism that enables the left and right (or front and rear) driving wheels to rotate at different speeds, plays a vital role in automobile driving. When the driver turns off the ESC function or the ESC is turned off accidentally, the vehicle is driving on a split road, and there will be a large speed difference between the left and right wheels. In this case, it is easy to exceed the tolerance of the differential, causing abnormal wear or disengagement of the differential straight shaft.

[0003] In the traditional method, the control strategy for the differential is to use the wheel speed signal validity flag and ABS message communication failure as diagnostic suppression, that is, when the wheel speed signal is invalid or the ABS communication fails, the differential protection function is not activated. However, this method still has certain risks and may cause abnormal damage to the differential due to failure to activate the protection function in time. Summary of the invention

[0004] Based on this, it is necessary to provide a wheel-end torque control method, device, computer equipment, readable storage medium and program product that can effectively ensure the safety of the differential in response to the above technical problems.

[0005] In a first aspect, the present application provides a wheel end torque control method, comprising:

[0006] Acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and a motor speed signal of the drive motor sent by the MCU control unit;

[0007] When the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal;

[0008] When the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in the off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

[0009] In one embodiment, determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal includes:

[0010] For the first side wheel end for which the wheel end speed signal is valid, the wheel end speed indicated by the wheel end speed signal is used as the first speed corresponding to the first side wheel end;

[0011] Determine the transmission ratio between the drive motor and the differential planetary carrier;

[0012] The difference between the first product and the first speed is used as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is the product of twice the motor speed indicated by the motor speed signal and the transmission ratio.

[0013] In one embodiment, determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed includes:

[0014] The target difference and the vehicle speed are linearly interpolated to obtain the target torque corresponding to the wheel ends on both sides.

[0015] In one embodiment, the method further comprises:

[0016] When receiving the wheel side required torque signal sent by the vehicle controller, determining the wheel side required torque corresponding to the wheel side required torque signal;

[0017] Determine the torque correction strategy based on the target torque and the wheel side required torque;

[0018] The output torque of the wheel ends on both sides is controlled according to the torque correction strategy.

[0019] In one embodiment, the method further comprises:

[0020] When receiving a control signal sent by the ESC control unit or the TCS control unit, the output torque of the wheel ends on both sides is controlled according to the control signal.

[0021] In one embodiment, the method further comprises:

[0022] When the target difference satisfies the second difference condition, or the wheel end speed signals of both wheel ends are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, the process of determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed is stopped, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

[0023] In a second aspect, the present application further provides a wheel end torque control device, comprising:

[0024] A signal acquisition module is used to acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and a motor speed signal of the drive motor sent by the MCU control unit;

[0025] A speed determination module, used for determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal when the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid;

[0026] The torque control module is used to determine the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed when the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in the off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

[0027] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method steps of any one of the first aspects are implemented.

[0028] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements any one of the method steps in the first aspect when the computer program is executed by a processor.

[0029] In a fifth aspect, the present application further provides a computer program product, comprising a computer program, which implements any one of the method steps in the first aspect when executed by a processor.

[0030] The above-mentioned wheel-end torque control method, device, computer equipment, readable storage medium and program product obtain the target signal set of the vehicle, and when the wheel-end speed signal of one wheel end is invalid and the motor speed signal is valid, determine the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel-end speed signal and the motor speed signal; when the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, determine the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque, can adjust the output torque of the wheel ends on both sides in time, avoid damage to the differential due to the difference in the speed of the wheel ends on both sides, and effectively ensure the safety of the differential. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] FIG1 is an application environment diagram of a wheel end torque control method according to an embodiment;

[0033] FIG2 is a schematic diagram of a flow chart of a wheel end torque control method in one embodiment;

[0034] FIG3 is a schematic flow chart of a wheel end torque control method in another embodiment;

[0035] FIG4 is a structural block diagram of a wheel end torque control device in one embodiment;

[0036] FIG. 5 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] The wheel end torque control method provided in the embodiment of the present application can be applied in the application environment shown in FIG. 1. The terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The terminal 102 is used to obtain the target signal set of the vehicle. When the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, the first speed and the second speed corresponding to the wheel ends on both sides are determined according to the wheel end speed signal and the motor speed signal. When the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque. The terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, projection devices, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head mounted device may be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0039] In an exemplary embodiment, as shown in FIG2 , a wheel end torque control method is provided, which is described by taking the method applied to the terminal 102 in FIG1 as an example, and includes the following steps 202 to 206. Among them:

[0040] S202: Acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and a motor speed signal of the drive motor sent by the MCU control unit.

[0041] Optionally, a target signal set of the vehicle is obtained, including wheel end speed signals of both wheel ends sent by the ABS (anti-lock braking system) control unit, and motor speed signals of the drive motor sent by the MCU (microcontroller unit) control unit. Among them, the wheel end speed signal can reflect the actual rotation speed of the wheel, and the motor speed signal is related to the operation of the drive motor. The combination of the two can more comprehensively understand the state of vehicle power transmission and wheel movement.

[0042] S204: When the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, determine the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal.

[0043] Optionally, after acquiring the signal, a situation may arise where the wheel end speed signal of one wheel end is invalid. In this case, it is necessary to determine the speed corresponding to the invalid wheel end based on the wheel end speed signal of the valid wheel end and the motor speed signal to obtain the first speed and second speed corresponding to the wheel ends on both sides.

[0044] S206: When the target difference between the first speed and the second speed satisfies the first difference condition and the vehicle satisfies the normal communication condition, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in the off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

[0045] Optionally, when the wheel speed signal is invalid or the ABS control unit communication fails, the information sent by the ABS control unit may produce misleading results. Therefore, it is usually chosen not to activate the protection function to avoid potential erroneous intervention. However, this method may cause the protection function to fail to intervene in time when differential protection is really needed, thereby increasing the risk of abnormal damage to the differential. Based on this, when the target difference between the first speed and the second speed is greater than the first difference and the duration of this difference state exceeds the first duration, the ESC control unit is in the off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, and the MCU control unit controls the output torque of the wheel ends on both sides according to this target torque. By ensuring that all necessary communication links are in a normal state, it is possible to more accurately determine when differential protection needs to be intervened, reducing erroneous operations caused by erroneous information.

[0046] In the above wheel-end torque control method, by acquiring the target signal set of the vehicle, when the wheel-end speed signal of one wheel end is invalid and the motor speed signal is valid, the first speed and the second speed corresponding to the wheel ends on both sides are determined according to the wheel-end speed signal and the motor speed signal, and when the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque, and can adjust the output torque of the wheel ends on both sides in time, avoid damage to the differential due to the difference in the speed of the wheel ends on both sides, and effectively ensure the safety of the differential.

[0047] In an exemplary embodiment, the steps of determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal include: for the first side wheel end where the wheel end speed signal is valid, taking the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first side wheel end; determining the transmission ratio between the drive motor and the differential planetary carrier; taking the difference between the first product and the first speed as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

[0048] Optionally, for the first side wheel end with a valid wheel end speed signal, the wheel end speed indicated by the wheel end speed signal is directly used as the first speed corresponding to the first side wheel end. Because there is a reliable wheel end speed signal, the value of this signal is directly used to determine the speed of the wheel end on this side. After that, it is necessary to determine the transmission ratio between the drive motor and the differential planetary wheel carrier. The transmission ratio reflects the conversion relationship between the motor speed and the wheel end speed. The difference between the first product and the first speed is used as the second speed corresponding to the second side wheel end with an invalid wheel end speed signal. Among them, the first product is the product of the motor speed indicated by the motor speed signal twice and the transmission ratio. For a two-wheel drive vehicle, the differential principle is that when the vehicle turns, the distances traveled by the wheels on both sides are different, and the speeds are also different, but they are related to the motor speed through the transmission ratio and the characteristics of the differential, and the product of twice the motor speed and the transmission ratio is a value theoretically related to the sum of the wheel end speeds on both sides based on the kinematic principle of the differential. The value related to this sum is subtracted from the known first speed, and the second speed of the wheel end on the side where the wheel end speed signal is invalid can be calculated.

[0049] In this embodiment, when the wheel end speed signal on one side is invalid, the speed of the invalid side wheel end is determined according to the difference between the wheel end speeds on both sides and the motor speed, so the speeds of the wheel ends on both sides can be accurately obtained, which provides precise data support for the subsequent determination and adjustment of the torque of the wheel ends on both sides according to the speed difference, thereby more accurately controlling the driving state of the vehicle.

[0050] In an exemplary embodiment, the step of determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed includes: performing linear interpolation processing on the target difference and the vehicle speed to obtain the target torque corresponding to the wheel ends on both sides.

[0051] Optionally, linear interpolation is a method of estimating other data points between two known data points. Here, the target difference and the vehicle speed are two key input parameters. Assume that there is a pre-set two-dimensional table or mathematical model, the two coordinate axes of which are the target difference and the vehicle speed. This table or model stores the values ​​of the target torques of the wheel ends on both sides corresponding to different combinations of target differences and vehicle speeds. After obtaining the current target difference and vehicle speed, the target torques corresponding to the wheel ends on both sides are determined by linear interpolation according to the values ​​of these two parameters.

[0052] In this embodiment, the target torque corresponding to the wheel ends on both sides is obtained by performing linear interpolation processing on the target difference and the vehicle speed, and the torque that should be output by the wheel ends on both sides can be accurately determined according to the actual target difference and vehicle speed.

[0053] In an exemplary embodiment, the method also includes: upon receiving a wheel-side demand torque signal sent by a vehicle controller, determining the wheel-side demand torque corresponding to the wheel-side demand torque signal; determining a torque correction strategy based on the target torque and the wheel-side demand torque; and controlling the output torque of the wheel ends on both sides according to the torque correction strategy.

[0054] Optionally, when the vehicle controller (VCU) sends a wheel-side demand torque signal, according to the wheel-side demand torque corresponding to this signal, when the differential protection function is activated, the limited wheel-side torque should not be stepped, but should be gradually corrected to the wheel-side demand torque limited by the differential protection based on the wheel-side demand torque signal sent by the VCU, considering that the sudden change of torque may have an impact on the driving comfort and power system of the vehicle. According to the target torque and the wheel-side demand torque, a reasonable torque correction strategy is determined, such as adjusting the wheel-side torque from the initial wheel-side demand torque to the target torque according to a certain slope within a certain time or a certain driving distance, and finally controlling the output torque of the wheel ends on both sides according to the torque correction strategy.

[0055] In this embodiment, by determining the torque correction strategy based on the target torque and the wheel-side required torque, and controlling the output torque of the wheel ends on both sides according to the torque correction strategy, it can be ensured that the torque of the wheel ends on both sides can be smoothly adjusted to a suitable value to protect the differential and maintain stable driving of the vehicle.

[0056] In an exemplary embodiment, the method further includes: upon receiving a control signal sent by an ESC control unit or a TCS control unit, controlling the output torque of the wheel ends on both sides according to the control signal.

[0057] Optionally, since ESC (Electronic Stability Control Unit) and TCS (Traction Control Unit) are mainly responsible for the overall stability and traction control of the vehicle, the intervention of ESC and TCS can more directly ensure the safety of the vehicle in emergency situations such as skidding, loss of control or insufficient traction. For example, when the vehicle is driving on a slippery road and the wheels begin to slip, ESC or TCS will quickly adjust the vehicle's power output and braking force distribution to stabilize the vehicle. In this case, the differential protection function is temporarily deactivated to avoid interference between multiple functions and give priority to ensuring basic safety control of the vehicle.

[0058] In this embodiment, by setting the priority of the differential protection function, it is ensured that when the vehicle faces an emergency situation (such as loss of control, skidding), ESC and TCS can intervene first, effectively avoiding the occurrence of vehicle accidents.

[0059] In an exemplary embodiment, the method also includes: when the target difference satisfies the second difference condition, or the wheel end speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in an on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, stop determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

[0060] Optionally, when the speed difference of the wheel ends on both sides meets the second difference condition, it means that the working state of the vehicle wheel ends is relatively stable, and there is no need to continuously adjust the torque based on the speed difference. In addition, in order to prevent the differential protection function from frequently exiting and activating, a certain hysteresis time is set to avoid the system from repeatedly switching the working mode under critical conditions. Among them, the second difference condition is that the target difference is less than the preset value and lasts for a period of time. When the wheel end speed signals of both wheel ends are invalid, since it is impossible to accurately obtain the wheel end speed information to perform torque control based on the speed difference, it is also necessary to stop the current torque control mode. In addition, if the ESC control unit is in the on state, it means that the electronic stability control system of the vehicle is working. At this time, the differential protection function may conflict or interfere with the ESC function; or when the communication with the ESC control unit is abnormal or the communication with the ABS control unit is abnormal, the data may be inaccurate or untimely due to the communication failure, and the torque control based on the target difference and the vehicle speed cannot be effectively performed. When any of the above-mentioned second difference conditions is met, the target torque corresponding to the wheel ends on both sides is stopped from being determined according to the target difference and the vehicle speed, and the MCU control unit no longer controls the output torque of the wheel ends on both sides according to the previous target torque.

[0061] In this embodiment, by setting reasonable exit conditions, the differential protection function is prevented from being frequently activated or exited under unnecessary circumstances, and the control logic confusion caused by frequent switching is avoided, thereby ensuring the normal driving of the vehicle.

[0062] In an exemplary embodiment, as shown in FIG3 , a wheel end torque control method is provided, the method comprising the following steps:

[0063] S302: Acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and a motor speed signal of the drive motor sent by the MCU control unit.

[0064] S304: When the wheel end speed signal of one side wheel end is invalid and the motor speed signal is valid, for the first side wheel end where the wheel end speed signal is valid, the wheel end speed indicated by the wheel end speed signal is used as the first speed corresponding to the first side wheel end; the transmission ratio between the drive motor and the differential planetary carrier is determined; the difference between the first product and the first speed is used as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

[0065] S306: When the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, the target difference and the vehicle speed are linearly interpolated to obtain the target torque corresponding to the wheel ends on both sides, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in the off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

[0066] S308: upon receiving the wheel-side demand torque signal sent by the vehicle controller, determining the wheel-side demand torque corresponding to the wheel-side demand torque signal; determining a torque correction strategy based on the target torque and the wheel-side demand torque; and controlling the output torque of the wheel ends on both sides according to the torque correction strategy.

[0067] S310: When receiving a control signal sent by the ESC control unit or the TCS control unit, control the output torque of the wheel ends on both sides according to the control signal.

[0068] S312: When the target difference satisfies the second difference condition, or the wheel speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, stop determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

[0069] In this embodiment, by acquiring the target signal set of the vehicle, when the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, the first speed and the second speed corresponding to the wheel ends on both sides are determined according to the wheel end speed signal and the motor speed signal, and when the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque, and can adjust the output torque of the wheel ends on both sides in time, avoid damage to the differential due to the difference in the speed of the wheel ends on both sides, and effectively ensure the safety of the differential.

[0070] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0071] Based on the same inventive concept, the embodiment of the present application also provides a wheel end torque control device for implementing the wheel end torque control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more wheel end torque control device embodiments provided below can refer to the limitations of the wheel end torque control method above, and will not be repeated here.

[0072] In an exemplary embodiment, as shown in FIG4 , a wheel end torque control device is provided, comprising: a signal acquisition module 10, a speed determination module 20 and a torque control module 30, wherein:

[0073] The signal acquisition module 10 is used to acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and motor speed signals of the drive motor sent by the MCU control unit.

[0074] The speed determination module 20 is used to determine the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal when the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid.

[0075] The torque control module 30 is used to determine the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed when the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in the off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

[0076] In an exemplary embodiment, the speed determination module 20 is also used to use the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first side wheel end for the first side wheel end where the wheel end speed signal is valid; determine the transmission ratio between the drive motor and the differential planetary carrier; use the difference between the first product and the first speed as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

[0077] In an exemplary embodiment, the torque control module 30 is further configured to perform linear interpolation processing on the target difference and the vehicle speed to obtain the target torque corresponding to the wheel ends on both sides.

[0078] In an exemplary embodiment, the torque control module 30 is also used to determine the wheel-side demand torque corresponding to the wheel-side demand torque signal when receiving the wheel-side demand torque signal sent by the vehicle controller; determine the torque correction strategy based on the target torque and the wheel-side demand torque; and control the output torque of the wheel ends on both sides according to the torque correction strategy.

[0079] In an exemplary embodiment, the torque control module 30 is further configured to control the output torque of the wheel ends on both sides according to the control signal when receiving the control signal sent by the ESC control unit or the TCS control unit.

[0080] In an exemplary embodiment, the torque control module 30 is also used to stop determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque when the target difference meets the second difference condition, or the wheel end speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal.

[0081] Each module in the wheel-end torque control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0082] In an exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG5. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner may be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a wheel end torque control method is implemented. The display unit of the computer device is used to form a visually visible picture, which may be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0083] Those skilled in the art will understand that the structure shown in FIG. 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0084] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: obtaining a target signal set of a vehicle; the target signal set includes wheel end speed signals of wheel ends on both sides sent by an ABS control unit and a motor speed signal of a drive motor sent by an MCU control unit; when the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, determining a first speed and a second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal; when a target difference between the first speed and the second speed satisfies a first difference condition and the vehicle satisfies a normal communication condition, determining a target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in an off state, communication with the ESC control unit is normal, and communication with the ABS control unit is normal.

[0085] In one embodiment, when a processor executes a computer program, the method involved in determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal includes: for the first side wheel end where the wheel end speed signal is valid, using the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first side wheel end; determining the transmission ratio between the drive motor and the differential planetary carrier; using the difference between the first product and the first speed as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

[0086] In one embodiment, when the processor executes a computer program, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, including: linear interpolation processing is performed on the target difference and the vehicle speed to obtain the target torque corresponding to the wheel ends on both sides.

[0087] In one embodiment, when the processor executes the computer program, the following steps are also implemented: upon receiving the wheel-side demand torque signal sent by the vehicle controller, determining the wheel-side demand torque corresponding to the wheel-side demand torque signal; determining the torque correction strategy based on the target torque and the wheel-side demand torque; and controlling the output torque of the wheel ends on both sides according to the torque correction strategy.

[0088] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: when receiving a control signal sent by the ESC control unit or the TCS control unit, controlling the output torque of the wheel ends on both sides according to the control signal.

[0089] In one embodiment, when the processor executes the computer program, the following steps are also implemented: when the target difference satisfies the second difference condition, or the wheel end speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, stop determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

[0090] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: obtaining a target signal set of the vehicle; the target signal set includes wheel end speed signals of the wheel ends on both sides sent by the ABS control unit and the motor speed signal of the drive motor sent by the MCU control unit; in a case where the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal; in a case where the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication condition, determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in an off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

[0091] In one embodiment, when a computer program is executed by a processor, it involves determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal, including: for the first side wheel end where the wheel end speed signal is valid, using the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first side wheel end; determining the transmission ratio between the drive motor and the differential planetary carrier; using the difference between the first product and the first speed as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

[0092] In one embodiment, when a computer program is executed by a processor, the method involved in determining the target torque corresponding to the wheel ends on both sides based on the target difference and the vehicle speed includes: performing linear interpolation processing on the target difference and the vehicle speed to obtain the target torque corresponding to the wheel ends on both sides.

[0093] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when receiving the wheel-side demand torque signal sent by the vehicle controller, determining the wheel-side demand torque corresponding to the wheel-side demand torque signal; determining the torque correction strategy based on the target torque and the wheel-side demand torque; and controlling the output torque of the wheel ends on both sides according to the torque correction strategy.

[0094] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when receiving a control signal sent by the ESC control unit or the TCS control unit, the output torque of the wheel ends on both sides is controlled according to the control signal.

[0095] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the target difference satisfies the second difference condition, or the wheel end speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, stop determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

[0096] In one embodiment, a computer program product is provided, comprising a computer program, which implements the following steps when executed by a processor: obtaining a target signal set of a vehicle; the target signal set comprises wheel end speed signals of wheel ends on both sides sent by an ABS control unit and a motor speed signal of a drive motor sent by an MCU control unit; in a case where the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, determining a first speed and a second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal; in a case where a target difference between the first speed and the second speed satisfies a first difference condition and the vehicle satisfies a normal communication condition, determining a target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition comprises that the ESC control unit is in an off state, communication with the ESC control unit is normal, and communication with the ABS control unit is normal.

[0097] In one embodiment, when a computer program is executed by a processor, it involves determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal, including: for the first side wheel end where the wheel end speed signal is valid, using the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first side wheel end; determining the transmission ratio between the drive motor and the differential planetary carrier; using the difference between the first product and the first speed as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

[0098] In one embodiment, when a computer program is executed by a processor, the method involved in determining the target torque corresponding to the wheel ends on both sides based on the target difference and the vehicle speed includes: performing linear interpolation processing on the target difference and the vehicle speed to obtain the target torque corresponding to the wheel ends on both sides.

[0099] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when receiving the wheel-side demand torque signal sent by the vehicle controller, determining the wheel-side demand torque corresponding to the wheel-side demand torque signal; determining the torque correction strategy based on the target torque and the wheel-side demand torque; and controlling the output torque of the wheel ends on both sides according to the torque correction strategy.

[0100] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when receiving a control signal sent by the ESC control unit or the TCS control unit, the output torque of the wheel ends on both sides is controlled according to the control signal.

[0101] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the target difference satisfies the second difference condition, or the wheel end speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, stop determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

[0102] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0103] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are 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 application.

[0104] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A wheel end torque control method, characterized in that: The method comprises: Acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and a motor speed signal of the drive motor sent by the MCU control unit; When the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid, determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal; When the target difference between the first speed and the second speed satisfies a first difference condition and the vehicle satisfies a normal communication condition, the target torque corresponding to the wheel ends on both sides is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and lasts for more than a first duration; the normal communication condition includes that the ESC control unit is in an off state, communication with the ESC control unit is normal, and communication with the ABS control unit is normal.

2. The method according to claim 1, characterized in that The determining the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal comprises: For a first-side wheel end for which a wheel end speed signal is valid, taking the wheel end speed indicated by the wheel end speed signal as a first speed corresponding to the first-side wheel end; Determining the transmission ratio between the drive motor and the differential planetary carrier; The difference between the first product and the first speed is used as the second speed corresponding to the second side wheel end where the wheel end speed signal is invalid; the first product is twice the product of the motor speed indicated by the motor speed signal and the transmission ratio.

3. The method according to claim 1, characterized in that The step of determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed includes: Linear interpolation is performed on the target difference and the vehicle speed to obtain target torques corresponding to the wheel ends on both sides.

4. The method according to claim 1, characterized in that: The method further comprises: When receiving a wheel side required torque signal sent by a vehicle controller, determining a wheel side required torque corresponding to the wheel side required torque signal; Determining a torque correction strategy according to the target torque and the wheel side required torque; The output torque of the wheel ends on both sides is controlled according to the torque correction strategy.

5. The method according to claim 1, characterized in that The method further comprises: When a control signal sent by the ESC control unit or the TCS control unit is received, the output torque of the wheel ends on both sides is controlled according to the control signal.

6. The method according to claim 1, characterized in that The method further comprises: When the target difference satisfies the second difference condition, or the wheel end speed signals of the wheel ends on both sides are invalid, or the ESC control unit is in the on state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal, the process of determining the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed is stopped, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque.

7. A wheel end torque control device, characterized in that: The device comprises: A signal acquisition module, used to acquire a target signal set of the vehicle; the target signal set includes wheel end speed signals of both wheel ends sent by the ABS control unit and a motor speed signal of the drive motor sent by the MCU control unit; A speed determination module, configured to determine the first speed and the second speed corresponding to the wheel ends on both sides according to the wheel end speed signal and the motor speed signal when the wheel end speed signal of one wheel end is invalid and the motor speed signal is valid; A torque control module is used to determine the target torque corresponding to the wheel ends on both sides according to the target difference and the vehicle speed when the target difference between the first speed and the second speed meets a first difference condition and the vehicle meets a normal communication condition, so that the MCU control unit controls the output torque of the wheel ends on both sides according to the target torque; the first difference condition is that the target difference is greater than the first difference and the duration exceeds the first duration; the normal communication condition includes that the ESC control unit is in an off state, the communication with the ESC control unit is normal, and the communication with the ABS control unit is normal.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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