Wheel-end torque control methods, devices, computer equipment, readable storage media, and program products

Abstract

This application relates to a wheel-end torque control method, apparatus, computer equipment, readable storage medium, and program product. The method includes: acquiring a target signal set of the vehicle; when the wheel-end speed signal on one side is invalid but the motor speed signal is valid, determining a first speed and a second speed corresponding to both wheel ends based on the wheel-end speed signal and the motor speed signal; and, if the target difference between the first speed and the second speed satisfies a first difference condition and the vehicle meets normal communication conditions, determining a target torque corresponding to both wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends according to the target torque. This method can adjust the output torque of both wheel ends in a timely manner, avoiding differential damage caused by differences in wheel-end speeds and effectively ensuring differential safety.

Description

Technical Field

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

[0002] With the continuous development of automotive technology, the differential, as a key mechanism that enables the left and right (or front and rear) drive wheels to rotate at different speeds, plays a vital role in vehicle operation. When the driver disables the ESC function or the ESC is accidentally deactivated, the vehicle will be traveling on a split road, resulting in a significant difference in wheel speed between the left and right wheels. In this situation, the differential's capacity may be exceeded, leading to abnormal wear or disengagement of the differential's sprocket.

[0003] In traditional methods, the control strategy for differentials uses 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 approach still carries certain risks, as the differential may be abnormally damaged due to the failure to activate the protection function in time. Summary of the Invention

[0004] Therefore, 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-mentioned technical problems.

[0005] In a first aspect, this application provides a wheel-end torque control method, including:

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

[0007] In the case where the wheel end speed signal on one side is invalid and the motor speed signal is valid, the first speed and the second speed corresponding to both wheel ends are determined based on 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 conditions, the target torque corresponding to both wheel ends is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends 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 conditions include the ESC control unit being in the closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0009] In one embodiment, determining the first and second rotational speeds corresponding to the two wheel ends based on the wheel end rotational speed signal and the motor rotational speed signal includes:

[0010] For the first wheel end where the wheel end speed signal is valid, the wheel end speed indicated by the wheel end speed signal is taken as the first speed corresponding to the first wheel end;

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

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

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

[0014] Linear interpolation is performed on the target difference and the vehicle speed to obtain the target torque corresponding to both wheel ends.

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

[0016] Upon receiving the wheel-side torque demand signal sent by the vehicle controller, determine the wheel-side torque demand corresponding to the wheel-side torque demand signal;

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

[0018] The output torque at both wheel ends is controlled according to a torque correction strategy.

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

[0020] Upon receiving a control signal from the ESC control unit or TCS control unit, the output torque at both wheel ends is controlled according to the control signal.

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

[0022] If the target difference meets the second difference condition, or the wheel speed signals of both wheel ends are invalid, or the ESC control unit is in the open state, or there is an abnormal communication with the ESC control unit, or there is an abnormal communication with the ABS control unit, the process of determining the target torque corresponding to both wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends according to the target torque, will stop.

[0023] Secondly, this application also provides a wheel-end torque control device, comprising:

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

[0025] The speed determination module is used to determine the first speed and the second speed corresponding to both wheel ends based on the wheel end speed signal and the motor speed signal when the wheel end speed signal on one side of the 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 both wheel ends based on the target difference and the vehicle speed, provided that the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication conditions. This enables the MCU control unit to control the output torque of both wheel ends 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 conditions include the ESC control unit being in the off state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0027] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method steps of any one of the first aspects.

[0028] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method steps of any one of the first aspects.

[0029] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the method steps of any one of the first aspects.

[0030] The aforementioned wheel-end torque control method, device, computer equipment, readable storage medium, and program product acquire a set of target signals from the vehicle. When the wheel-end speed signal on one side is invalid while the motor speed signal is valid, the method determines the first and second speeds corresponding to both wheel ends based on the wheel-end speed signals and the motor speed signals. If the target difference between the first and second speeds meets the first difference condition and the vehicle meets normal communication conditions, the method determines the target torque corresponding to both wheel ends based on the target difference and the vehicle speed. This allows the MCU control unit to control the output torque of both wheel ends according to the target torque, enabling timely adjustment of the output torque of both wheel ends and preventing differential damage caused by differences in wheel-end speeds, thus effectively ensuring differential safety. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is an application environment diagram of the wheel-end torque control method in one embodiment;

[0033] Figure 2 This is a flowchart illustrating a wheel-end torque control method in one embodiment;

[0034] Figure 3 This is a flowchart illustrating the wheel-end torque control method in another embodiment;

[0035] Figure 4 This is a structural block diagram of the wheel-end torque control device in one embodiment;

[0036] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] The wheel-end torque control method provided in this application embodiment can be applied to, for example... Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or placed on the cloud or other network servers. Terminal 102 is used to acquire the target signal set of the vehicle. When the wheel speed signal on one side is invalid but the motor speed signal is valid, it determines the first and second speeds corresponding to both wheel ends based on the wheel speed signal and the motor speed signal. If the target difference between the first and second speeds meets the first difference condition and the vehicle meets normal communication conditions, it determines the target torque corresponding to both wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends according to the target torque. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can be smartwatches, smart bracelets, head-mounted devices, etc. Headset devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0039] In one exemplary embodiment, such as Figure 2 As shown, a wheel-end torque control method is provided, which is applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps 202 to 206. Wherein:

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

[0041] Optionally, the target signal set of the vehicle can be acquired, including the wheel end speed signals sent by the ABS (anti-lock braking system) control unit and the motor speed signals of the drive motor sent by the MCU (microcontroller unit) control unit. Among them, the wheel end speed signals can reflect the actual rotation speed of the wheels, while the motor speed signals are related to the operation of the drive motor. By combining the two, a more comprehensive understanding of the vehicle's power transmission and wheel movement status can be obtained.

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

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

[0044] S206: When the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication conditions, the target torque corresponding to both wheel ends is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends 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 conditions include the ESC control unit being in the closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0045] Optionally, when wheel speed signals are invalid or ABS control unit communication fails, 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 approach may result in the protection function failing to intervene in a timely manner when differential protection is indeed needed, thereby increasing the risk of abnormal damage to the differential. Based on this, when the target difference between the first and second speeds is greater than the first difference and this difference state lasts for more than the first duration, the ESC control unit is in the off state, communication with the ESC control unit is normal, and communication with the ABS control unit is normal, the target torque corresponding to both wheel ends is determined based on the target difference and the vehicle speed. The MCU control unit will control the output torque of both wheel ends according to this target torque. By ensuring that all necessary communication links are in normal condition, it is possible to more accurately determine when differential protection intervention is needed, reducing erroneous operations caused by incorrect information.

[0046] In the aforementioned wheel-end torque control method, by acquiring the vehicle's target signal set, when the wheel-end speed signal on one side is invalid while the motor speed signal is valid, the first and second speeds corresponding to both wheel ends are determined based on the wheel-end speed signal and the motor speed signal. If the target difference between the first and second speeds meets the first difference condition and the vehicle meets normal communication conditions, the target torque corresponding to both wheel ends is determined based on the target difference and the vehicle speed. This allows the MCU control unit to control the output torque of both wheel ends according to the target torque, enabling timely adjustment of the output torque of both wheel ends and avoiding differential damage caused by differences in the speeds of both wheel ends, thus effectively ensuring differential safety.

[0047] In an exemplary embodiment, the step of determining the first speed and the second speed corresponding to the two wheel ends based on the wheel end speed signal and the motor speed signal includes: for the first wheel end with a valid wheel end speed signal, taking the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first wheel end; determining the transmission ratio between the drive motor and the differential planetary gear carrier; taking the difference between the first product and the first speed as the second speed corresponding to the second wheel end with an invalid wheel end speed signal; 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 wheel end with a valid wheel-end speed signal, the wheel-end speed indicated by the signal is directly taken as the first speed corresponding to that wheel end. Since a reliable wheel-end speed signal exists, its value is directly used to determine the speed of that wheel end. Next, the transmission ratio between the drive motor and the differential planetary gear carrier needs to be determined. This 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 taken as the second speed corresponding to the second wheel end with an invalid wheel-end speed signal. The first product is twice the motor speed indicated by the motor speed signal multiplied by the transmission ratio. For dual-wheel drive vehicles, the differential principle is that when the vehicle is turning, the distance traveled by the two wheels is different, and their speeds are also different. However, these speeds are related to the motor speed through the transmission ratio and the characteristics of the differential. The product of twice the motor speed and the transmission ratio is a theoretically related value to the sum of the speeds of both wheel ends, derived from the kinematic principles of the differential. Subtracting the known first speed from this sum-related value allows the calculation of the second speed of the wheel end with the invalid wheel-end speed signal.

[0049] In this embodiment, when the speed signal of one wheel end is invalid, the speed of the invalid wheel end is determined based on the difference in speeds of both wheel ends and the motor speed. This allows for accurate acquisition of the speeds of both wheel ends, providing precise data support for determining and adjusting the torque of both wheel ends based on the speed difference, thereby enabling more precise control of the vehicle's driving state.

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

[0051] Alternatively, linear interpolation is a method for estimating other data points between two known data points. Here, the target difference and the vehicle speed are two key input parameters. Assume there is a pre-defined two-dimensional table or mathematical model, where the two axes are the target difference and the vehicle speed, respectively. This table or model stores the target torque values ​​at both wheel ends for different combinations of target difference and vehicle speed. Once the current target difference and vehicle speed are obtained, the target torque at both wheel ends is determined using linear interpolation based on these two parameter values.

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

[0053] In an exemplary embodiment, the method further includes: upon receiving a 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 at both wheel ends according to the torque correction strategy.

[0054] Optionally, when the vehicle control unit (VCU) sends a wheel-side torque demand signal, the wheel-side torque limit should not jump abruptly when the differential protection function is activated, based on the corresponding wheel-side torque demand. Instead, it should be gradually corrected to the wheel-side torque limit set by the differential protection, taking into account that sudden torque changes may impact the vehicle's ride comfort and powertrain. Based on the target torque and the wheel-side torque demand, a reasonable torque correction strategy is determined. For example, within a certain time period or a certain driving distance, the wheel-side torque is adjusted from the initial wheel-side torque demand to the target torque at a certain slope. Finally, the output torque at both wheel ends is controlled according to the torque correction strategy.

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

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

[0057] Optionally, since ESC (Electronic Stability Control) and TCS (Traction Control System) are primarily responsible for the overall stability and traction control of the vehicle, their intervention can more directly ensure vehicle safety in emergency situations such as skidding, loss of control, or insufficient traction. For example, when a vehicle is driving on a slippery surface 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 situation, the differential protection function is temporarily deactivated to avoid interference between multiple functions and prioritize ensuring basic vehicle safety control.

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

[0059] In an exemplary embodiment, the method further includes: stopping the process of determining the target torque corresponding to the two wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the two wheel ends according to the target torque, 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 open state, or the communication with the ESC control unit is abnormal, or the communication with the ABS control unit is abnormal.

[0060] Optionally, when the speed difference between the two wheel ends meets the second difference condition, it means that the working state of the vehicle's wheel ends is relatively stable, and continuous torque adjustment based on the speed difference is not required. Furthermore, to prevent the differential protection function from frequently deactivating and reactivating, a certain hysteresis time is set to avoid the system repeatedly switching operating modes in a critical state. The second difference condition is that the target difference is less than a preset value for a certain period of time. When both wheel end speed signals are invalid, the current torque control method needs to be stopped because accurate wheel end speed information cannot be obtained for speed difference-based torque control. Additionally, if the ESC control unit is active, it indicates that the vehicle's electronic stability control system is working. In this case, the differential protection function may conflict with or interfere with the ESC function; or, if communication with the ESC control unit or the ABS control unit is abnormal, the communication failure may lead to inaccurate or untimely data, and effective torque control based on the target difference and vehicle speed cannot be performed. If any of the above-mentioned second difference conditions are met, the determination of the target torque corresponding to both wheel ends based on the target difference and the vehicle speed will stop, and the MCU control unit will no longer control the output torque of both wheel ends 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 deactivated under unnecessary circumstances, thus avoiding control logic confusion caused by frequent switching and ensuring normal vehicle operation.

[0062] In one exemplary embodiment, such as Figure 3 As shown, a wheel-end torque control method is provided, which includes the following steps:

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

[0064] S304: When there is an invalid wheel end speed signal on one side of the wheel and an valid motor speed signal, for the first wheel end with a valid wheel end speed signal, the wheel end speed indicated by the wheel end speed signal is taken as the first speed corresponding to the first wheel end; the transmission ratio between the drive motor and the differential planetary gear carrier is determined; the difference between the first product and the first speed is taken as the second speed corresponding to the second wheel end with an invalid wheel end speed signal; 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 conditions, linear interpolation is performed on the target difference and the vehicle speed to obtain the target torque corresponding to both wheel ends, so that the MCU control unit controls the output torque of both wheel ends 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 conditions include the ESC control unit being in the closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0066] S308: Upon receiving the wheel-side torque demand signal sent by the vehicle controller, determine the wheel-side torque demand corresponding to the wheel-side torque demand signal; determine the torque correction strategy based on the target torque and the wheel-side torque demand; and control the output torque at both wheel ends according to the torque correction strategy.

[0067] S310: Upon receiving a control signal from the ESC control unit or TCS control unit, it controls the output torque at both wheel ends according to the control signal.

[0068] S312: If the target difference meets the second difference condition, or the wheel speed signals of both wheel ends are invalid, or the ESC control unit is in the open state, or there is an abnormal communication with the ESC control unit, or there is an abnormal communication with the ABS control unit, the process of determining the target torque corresponding to both wheel ends based on the target difference and the vehicle speed is stopped, so that the MCU control unit controls the output torque of both wheel ends according to the target torque.

[0069] In this embodiment, by acquiring the target signal set of the vehicle, when the wheel end speed signal on one side is invalid while the motor speed signal is valid, the first speed and second speed corresponding to both wheel ends are determined based on 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 conditions, the target torque corresponding to both wheel ends is determined based on the target difference and the vehicle speed. This allows the MCU control unit to control the output torque of both wheel ends according to the target torque, enabling timely adjustment of the output torque of both wheel ends and avoiding differential damage caused by differences in the speeds of both wheel ends, thus effectively ensuring differential safety.

[0070] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0071] Based on the same inventive concept, this application also provides a wheel-end torque control device for implementing the wheel-end torque control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more wheel-end torque control device embodiments provided below can be found in the limitations of the wheel-end torque control method described above, and will not be repeated here.

[0072] In one exemplary embodiment, such as Figure 4 As shown, 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 the target signal set of the vehicle; the target signal set includes the wheel end speed signals of both wheel ends sent by the ABS control unit and the 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 both wheel ends based on the wheel end speed signal and the motor speed signal when the wheel end speed signal on one side is invalid and the motor speed signal is valid.

[0075] The torque control module 30 is used to determine the target torque corresponding to both wheel ends based on the target difference and the vehicle speed, provided that the target difference between the first speed and the second speed meets the first difference condition and the vehicle meets the normal communication conditions, so that the MCU control unit controls the output torque of both wheel ends 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 conditions include the ESC control unit being in the closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0076] In an exemplary embodiment, the speed determination module 20 is further configured to: for a first wheel end where the wheel end speed signal is valid, take the wheel end speed indicated by the wheel end speed signal as the first speed corresponding to the first wheel end; determine the transmission ratio between the drive motor and the differential planetary gear carrier; take the difference between the first product and the first speed as the second speed corresponding to the second wheel end where the wheel end speed signal is invalid; and 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 both wheel ends.

[0078] In an exemplary embodiment, the torque control module 30 is further configured to, upon receiving the wheel-side demand torque signal sent by the vehicle controller, determine the wheel-side demand torque corresponding to the wheel-side demand torque signal; determine a torque correction strategy based on the target torque and the wheel-side demand torque; and control the output torque at both wheel ends according to the torque correction strategy.

[0079] In an exemplary embodiment, the torque control module 30 is further configured to control the output torque at both wheel ends according to the control signal received from the ESC control unit or the TCS control unit.

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

[0081] Each module in the aforementioned wheel-end torque control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0082] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a wheel-end torque control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

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

[0084] In an exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: acquiring a target signal set of a vehicle; the target signal set includes wheel end speed signals sent by the ABS control unit and motor speed signals of the drive motor sent by the MCU control unit; in the case where the wheel end speed signal of one side is invalid and the motor speed signal is valid, determining a first speed and a second speed corresponding to the two wheel ends based on 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 meets normal communication conditions, determining a target torque corresponding to the two wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of the two wheel ends according to the target torque; the first difference condition is that the target difference is greater than a first difference and the duration exceeds a first duration; the normal communication conditions include the ESC control unit being in a closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0085] In one embodiment, the processor executing a computer program involves determining a first speed and a second speed corresponding to both wheel ends based on a wheel end speed signal and a motor speed signal, including: for a first 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 wheel end; determining the transmission ratio between the drive motor and the differential planetary gear carrier; taking the difference between a first product and the first speed as the second speed corresponding to a second 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, the determination of the target torque corresponding to both wheel ends based on the target difference and the vehicle speed when the processor executes the computer program includes: performing linear interpolation processing on the target difference and the vehicle speed to obtain the target torque corresponding to both wheel ends.

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

[0088] In one embodiment, when the processor executes the computer program, it also performs the following steps: upon receiving a control signal from the ESC control unit or the TCS control unit, it controls the output torque at both wheel ends according to the control signal.

[0089] In one embodiment, when the processor executes the computer program, it further implements the following steps: if 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 open state, or there is an abnormal communication with the ESC control unit, or there is an abnormal communication with the ABS control unit, the process of determining the target torque corresponding to both wheel ends based on the target difference and the vehicle speed is stopped, so that the MCU control unit controls the output torque of both wheel ends according to the target torque.

[0090] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it performs the following steps: acquiring 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; in the 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 both wheel ends based on 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 meets normal communication conditions, determining a target torque corresponding to both wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends according to the target torque; the first difference condition is that the target difference is greater than a first difference and the duration exceeds a first duration; normal communication conditions include the ESC control unit being in a closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0091] In one embodiment, when the computer program is executed by the processor, determining the first and second rotational speeds corresponding to the two wheel ends based on the wheel end rotational speed signal and the motor rotational speed signal includes: for the first wheel end where the wheel end rotational speed signal is valid, taking the wheel end rotational speed indicated by the wheel end rotational speed signal as the first rotational speed corresponding to the first wheel end; determining the transmission ratio between the drive motor and the differential planetary gear carrier; taking the difference between the first product and the first rotational speed as the second rotational speed corresponding to the second wheel end where the wheel end rotational speed signal is invalid; the first product is twice the product of the motor rotational speed indicated by the motor rotational speed signal and the transmission ratio.

[0092] In one embodiment, when the computer program is executed by the processor, the determination of the target torque corresponding to the two wheel ends 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 two wheel ends.

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

[0094] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: upon receiving a control signal from the ESC control unit or the TCS control unit, it controls the output torque at both wheel ends according to the control signal.

[0095] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if 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 open state, or there is an abnormal communication with the ESC control unit, or there is an abnormal communication with the ABS control unit, the process of determining the target torque corresponding to both wheel ends based on the target difference and the vehicle speed is stopped, so that the MCU control unit controls the output torque of both wheel ends according to the target torque.

[0096] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: acquiring a target signal set of a vehicle; the target signal set includes wheel end speed signals sent by the ABS control unit to both wheel ends and motor speed signals sent by the MCU control unit to the drive motor; in the 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 both wheel ends based on 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 meets normal communication conditions, determining a target torque corresponding to both wheel ends based on the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends according to the target torque; the first difference condition is that the target difference is greater than a first difference and the duration exceeds a first duration; normal communication conditions include the ESC control unit being in a closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

[0097] In one embodiment, when the computer program is executed by the processor, determining the first and second rotational speeds corresponding to the two wheel ends based on the wheel end rotational speed signal and the motor rotational speed signal includes: for the first wheel end where the wheel end rotational speed signal is valid, taking the wheel end rotational speed indicated by the wheel end rotational speed signal as the first rotational speed corresponding to the first wheel end; determining the transmission ratio between the drive motor and the differential planetary gear carrier; taking the difference between the first product and the first rotational speed as the second rotational speed corresponding to the second wheel end where the wheel end rotational speed signal is invalid; the first product is twice the product of the motor rotational speed indicated by the motor rotational speed signal and the transmission ratio.

[0098] In one embodiment, when the computer program is executed by the processor, the determination of the target torque corresponding to the two wheel ends 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 two wheel ends.

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

[0100] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: upon receiving a control signal from the ESC control unit or the TCS control unit, it controls the output torque at both wheel ends according to the control signal.

[0101] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if 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 open state, or there is an abnormal communication with the ESC control unit, or there is an abnormal communication with the ABS control unit, the process of determining the target torque corresponding to both wheel ends based on the target difference and the vehicle speed is stopped, so that the MCU control unit controls the output torque of both wheel ends according to the target torque.

[0102] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0103] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A wheel-end torque control method, characterized in that, The method includes: Acquire the target signal set of the vehicle; the target signal set includes the wheel end speed signals of both wheel ends sent by the ABS control unit and the motor speed signals of the drive motor sent by the MCU control unit; If the wheel end speed signal on one side of the wheel is invalid and the motor speed signal is valid, the first speed and the second speed corresponding to the two wheel ends are determined based on 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 conditions, the target torque corresponding to both wheel ends is determined according to the target difference and the vehicle speed, so that the MCU control unit controls the output torque of both wheel ends 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 conditions include the ESC control unit being in the off state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

2. The method according to claim 1, characterized in that, Determining the first and second rotational speeds corresponding to the two wheel ends based on the wheel end rotational speed signal and the motor rotational speed signal includes: For the first wheel end where the wheel end speed signal is valid, the wheel end speed indicated by the wheel end speed signal is taken as the first speed corresponding to the first wheel end; Determine the transmission ratio between the drive motor and the differential planetary gear carrier; The difference between the first product and the first speed is taken as the second speed corresponding to the second 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, Determining the target torque corresponding to both wheel ends based on the target difference and the vehicle speed includes: Linear interpolation is performed on the target difference and the vehicle speed to obtain the target torque corresponding to both wheel ends.

4. The method according to claim 1, characterized in that, The method further includes: Upon receiving the wheel-side torque demand signal sent by the vehicle controller, determine the wheel-side torque demand corresponding to the wheel-side torque demand signal; Based on the target torque and the wheel-side required torque, a torque correction strategy is determined; The output torque of the two wheel ends is controlled according to the torque correction strategy.

5. The method according to claim 1, characterized in that, The method further includes: Upon receiving a control signal from the ESC control unit or TCS control unit, the output torque of the two wheel ends is controlled according to the control signal.

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

7. A wheel-end torque control device, characterized in that, The device includes: The signal acquisition module is used to acquire the target signal set of the vehicle; the target signal set includes the wheel end speed signals of both wheel ends sent by the ABS control unit and the motor speed signals of the drive motor sent by the MCU control unit. The speed determination module is used to determine the first speed and the second speed corresponding to the two wheel ends based on the wheel end speed signal and the motor speed signal when the wheel end speed signal on one side is invalid and the motor speed signal is valid. The torque control module is used to determine the target torque corresponding to both wheel ends based on the target difference and the vehicle speed, provided that the target difference between the first speed and the second speed meets a first difference condition and the vehicle meets normal communication conditions. This allows the MCU control unit to control the output torque of both wheel ends according to the target torque. The first difference condition is that the target difference is greater than a first difference and the duration exceeds a first duration. The normal communication conditions include the ESC control unit being in a closed state, normal communication with the ESC control unit, and normal communication with the ABS control unit.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

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

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