Controller for vehicle, motor controller supporting wheel speed indication and vehicle

Abstract

The invention provides a controller for a vehicle, a motor controller supporting wheel speed indication and the vehicle. The controller is used for controlling operation of an electric vehicle in the running process of the electric vehicle. In the running process of the electric vehicle, when a wheel speed sensor of the electric vehicle is effective, the controller is further used for receiving at least one of a first wheel speed signal from the wheel speed sensor or a second wheel speed signal from the motor controller. And controlling the operation of the electric vehicle according to the wheel speed indicated by at least one of the first wheel speed signal and the second wheel speed signal. When the wheel speed sensor of the electric vehicle fails, the controller is further used for receiving a second wheel speed signal from the motor controller and controlling the electric vehicle to operate according to the wheel speed indicated by the second wheel speed signal. According to the controller, the wheel speed of the wheel can be determined through the wheel speed signal provided by the motor controller when the wheel speed sensor of the wheel fails, the control stability of the controller is higher, and the driving safety is higher.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a controller for a vehicle, a motor controller supporting wheel speed indication, and a vehicle. Background Art

[0002] Wheel speed is one of the main input signals for obtaining vehicle status during driving. The control system needs to control the vehicle in real time based on wheel speed information or vehicle speed calculated based on wheel speed information. Wheel speed detection of traditional vehicles needs to be implemented based on wheel speed sensors installed on each wheel. However, when the wheel speed sensor and its wiring harness fail, the vehicle control system cannot determine the accurate wheel speed and vehicle speed, which may endanger driving safety. Summary of the invention

[0003] The present application provides a controller for a vehicle, a motor controller supporting wheel speed indication, and a vehicle. When the wheel speed sensor of a wheel fails, the controller can determine the wheel speed through the wheel speed signal provided by the motor controller, with strong control stability and high driving safety.

[0004] In a first aspect, a controller for an electric vehicle is provided, the controller being used to control the operation of the electric vehicle during the driving process of the electric vehicle. During the driving process of the electric vehicle, when the wheel speed sensor of the electric vehicle is valid, the controller is also used to receive at least one of a first wheel speed signal from the wheel speed sensor or a second wheel speed signal from a motor controller, and control the operation of the electric vehicle according to the wheel speed indicated by at least one of the first wheel speed signal or the second wheel speed signal. When the wheel speed sensor of the electric vehicle fails, the controller is also used to receive a second wheel speed signal from the motor controller and control the operation of the electric vehicle according to the wheel speed indicated by the second wheel speed signal.

[0005] It can be understood that the wheel speed sensor is effective means that the wheel speed sensor can output the first wheel speed signal to the controller. The wheel speed sensor is invalid means that the wheel speed sensor cannot normally and correctly output the first wheel speed signal to the controller.

[0006] It can be understood that when the wheel speed sensor of the wheel is effective, the controller can receive the first wheel speed signal output from the wheel speed sensor to determine the rotation speed of the wheel, and can also receive the second wheel speed signal output from the motor controller used to control the motor to drive the wheel to determine the rotation speed of the wheel, thereby controlling the operation of the electric vehicle. Alternatively, the controller can simultaneously receive the above-mentioned first wheel speed signal and the second wheel speed signal to determine the rotation speed of the wheel. In this case, the two wheel speed signals can back up each other, thereby improving the reliability and accuracy of wheel speed measurement.

[0007] It can be understood that when the wheel speed sensor of the wheel fails, the controller can still determine the wheel speed according to the second wheel speed signal provided by the motor controller and control the operation of the electric vehicle based on this. In other words, even if the wheel speed sensor of the electric vehicle fails, the controller can still accurately determine the wheel speed of the corresponding wheel and perform corresponding control. The controller has stronger robustness in observing the wheel speed and higher driving safety.

[0008] According to the solution of the present application, when the wheel speed sensor of the wheel fails, the controller can determine the wheel speed through the wheel speed signal provided by the motor controller, and the controller has stronger control stability and higher driving safety. Moreover, when the wheel speed sensor of the wheel is effective, the controller can determine the wheel speed by combining the wheel speed signals provided by the wheel speed sensor and the motor controller respectively, and the wheel speed measurement has higher reliability and accuracy, and the vehicle can be controlled timely and accurately, and the vehicle has stronger driving performance.

[0009] In combination with the first aspect, in certain implementations of the first aspect, in response to the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being less than a first threshold, the controller is specifically configured to control the operation of the electric vehicle according to the wheel speed indicated by the first wheel speed signal. In response to the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being greater than or equal to the first threshold, the controller is specifically configured to control the operation of the electric vehicle according to the wheel speed indicated by the second wheel speed signal.

[0010] It is understandable that the wheel speed sensor of the vehicle may be able to output the first wheel speed signal to the controller, but there may be a large error between the wheel speed indicated by the first wheel speed signal and the actual wheel speed of the wheel. In this scenario, after receiving the first wheel speed signal and the second wheel speed signal at the same time, the controller may compare the wheel speed indicated by the first wheel speed signal with the wheel speed indicated by the second wheel speed signal to confirm the credibility of the first wheel speed signal.

[0011] It can be understood that the embodiment of the present application does not limit the specific numerical value of the above-mentioned first threshold, and it can be determined according to the specific implementation.

[0012] According to the scheme of the present application, when the wheel speed sensor of the wheel is effective, the controller can compare the first wheel speed signal output by the wheel speed sensor with the second wheel speed signal output by the motor controller, and directly use the indication of the second wheel speed signal to control the vehicle operation when the wheel speed error indicated by the first wheel speed signal is large, so as to avoid the control effect of the controller being affected by the large measurement error of the wheel speed sensor, thereby ensuring the stability of the vehicle driving performance.

[0013] In combination with the first aspect, in certain implementations of the first aspect, in response to the vehicle speed of the electric vehicle being less than a vehicle speed threshold, or, in response to the vehicle speed of the electric vehicle being greater than or equal to the vehicle speed threshold and the rate of change of the vehicle speed being greater than a first rate of change threshold, the controller is also used to control the operation of the electric vehicle according to the wheel speed indicated by the second wheel speed signal.

[0014] The above speed threshold can be understood as a relatively low speed. When the speed of the electric vehicle is less than the speed threshold, it can be regarded as the electric vehicle traveling in a low speed range. At this time, the traditional wheel speed sensor will have problems such as reduced measurement resolution and missing rotation direction information. Based on this, the controller provided by the present application can directly control the operation of the electric vehicle according to the second wheel speed signal provided by the motor controller when the vehicle is running at a low speed, ensuring the real-time and accuracy of the control.

[0015] Among them, the above-mentioned first change rate threshold can be understood as a larger change rate. When the change rate of the vehicle speed is greater than the change rate threshold, it can be regarded as the driver's expectation of the vehicle to accelerate or decelerate rapidly. At this time, it is necessary to control the operation of the electric vehicle in real time and accurately. Since the motor controller outputs the second wheel speed signal based on the resolver signal provided by the resolver sensor with a higher sampling rate, the controller provided in this application will directly control the operation of the electric vehicle according to the second wheel speed signal to ensure the real-time and accuracy of the control.

[0016] According to the solution of the present application, when the electric vehicle is traveling at a low speed or the driver is driving aggressively, the controller can directly control the vehicle operation according to the second wheel speed signal provided by the motor controller, thereby effectively improving the real-time and accuracy of the control.

[0017] In combination with the first aspect, in certain implementations of the first aspect, in response to the vehicle speed of the electric vehicle being less than a vehicle speed threshold, or in response to the vehicle speed of the electric vehicle being greater than or equal to the vehicle speed threshold and the rate of change of the vehicle speed being greater than a first rate of change threshold, the controller is also used to stop receiving the first wheel speed signal.

[0018] It can be understood that when the controller directly uses the second wheel speed signal provided by the motor controller to control the operation of the vehicle, it can stop receiving the first wheel speed signal from the wheel speed sensor to reduce interference between the signals.

[0019] According to an embodiment of the present application, when the electric vehicle is traveling at a low speed or the driver is driving aggressively, the controller can stop receiving the wheel speed signal reported by the wheel speed sensor to avoid interference with the wheel speed signal provided by the motor controller, thereby improving control stability.

[0020] In combination with the first aspect, in certain implementations of the first aspect, in response to the speed of the electric vehicle being less than a speed threshold, or in response to the speed of the electric vehicle being greater than or equal to the speed threshold and the rate of change of the speed being greater than a first rate of change threshold, the controller is further configured to receive a first wheel speed signal at a first frequency. In response to the speed of the electric vehicle being greater than or equal to the speed threshold and the rate of change of the speed being less than the first rate of change threshold, the controller is further configured to receive the first wheel speed signal at a second frequency less than the first frequency.

[0021] It can be understood that the first frequency and the second frequency mentioned above can be any frequencies within the sampling frequency range supported by the wheel speed sensor, and the embodiment of the present application does not limit this.

[0022] It can be understood that when the wheel speed sensor is effective, the controller provided in the embodiment of the present application can actively increase the frequency of receiving the first wheel speed signal when the electric vehicle is traveling at a low speed or the driver is driving aggressively, shorten the interval for confirming its own wheel speed, so that the controller can control the electric vehicle to adjust the operating state more promptly when necessary.

[0023] Similarly, the controller provided in the embodiment of the present application can also actively increase the frequency of receiving the second wheel speed signal when the electric vehicle is traveling at a low speed or the driver is driving aggressively, shortening the interval for confirming its own wheel speed, so that the controller can control the electric vehicle more promptly when necessary.

[0024] According to an embodiment of the present application, when the electric vehicle is traveling at a low speed or the driver is driving aggressively, the controller can actively increase the frequency of receiving wheel speed signals provided by the wheel speed sensor and the motor controller, thereby further improving the real-time performance of vehicle control.

[0025] In combination with the first aspect, in certain implementations of the first aspect, in response to the rate of change of the wheel speed of any wheel of the electric vehicle being less than a second rate of change threshold, the controller is further used to receive a first wheel speed signal of any wheel at a preset frequency. In response to the rate of change of the wheel speed of any wheel of the electric vehicle being greater than or equal to the second rate of change threshold, the controller is further used to receive the first wheel speed signal of any wheel at a frequency less than the preset frequency.

[0026] The second change rate threshold can be understood as a larger change rate. When the change rate of the wheel speed of any wheel is greater than the second change rate threshold, it can be understood that any wheel is slipping. The embodiment of the present application does not limit the specific cause of wheel slip. For example, the wheel slip may be caused by a sudden change in the road adhesion coefficient. For another example, the wheel slip may also be caused by passing through a bumpy point on an uneven road surface.

[0027] It can be understood that when the wheel speed sensor is effective, when any wheel of the electric vehicle slips, the controller can actively increase the frequency of receiving the first wheel speed signal corresponding to the wheel, shorten the interval for confirming its own wheel speed, so that the controller can control the electric vehicle more promptly when necessary to maintain the stability of the vehicle body.

[0028] Similarly, when any wheel of the electric vehicle slips, the controller can also actively increase the frequency of receiving the second wheel speed signal corresponding to the wheel, shorten the interval for confirming its own wheel speed, so that the controller can control the electric vehicle more promptly when necessary to maintain the stability of the vehicle body.

[0029] Optionally, the controller may also determine whether the wheel driven by the motor is slipping based on the rate of change of the rotational speed of the motor, thereby determining the frequency of receiving the first wheel speed signal and / or the second wheel speed signal of any wheel.

[0030] According to the solution of the present application, when the wheels of the electric vehicle slip, the controller can actively increase the frequency of receiving the wheel speed signal provided by the wheel speed sensor and the motor controller, further improving the real-time and stability of the vehicle control.

[0031] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is used to control a drive motor to drive two coaxial wheels of the electric vehicle, and the first wheel speed signal is used to indicate the wheel speed of at least one of the two coaxial wheels. In addition, in response to the difference between the sum of the wheel speeds of the wheels indicated by the first wheel speed signal and twice the wheel speed indicated by the second wheel speed signal being less than a second threshold, the controller is specifically used to control the operation of the electric vehicle according to the wheel speed indicated by the first wheel speed signal. In response to the difference between the sum of the wheel speeds of the wheels indicated by the first wheel speed signal and twice the wheel speed indicated by the second wheel speed signal being greater than or equal to the second threshold, the controller is specifically used to control the operation of the electric vehicle according to the wheel speed indicated by the second wheel speed signal.

[0032] According to the scheme of the present application, for a single-motor powertrain configuration, the controller can compare the first wheel speed signal output by the wheel speed sensors of the two coaxial wheels with the second wheel speed signal output by the motor controller to determine a wheel speed signal with a higher credibility, thereby preventing the control effect of the controller from being affected when the measurement error of one of the wheel speed sensors is large, and stabilizing the vehicle driving performance.

[0033] In combination with the first aspect, in certain implementations of the first aspect, the wheel speed sensor of the electric vehicle fails, specifically including the controller interrupting the reception of the first wheel speed signal for a time period greater than a time threshold. Alternatively, the controller receives a fault signal, the fault signal being used to indicate a wheel speed sensor fault.

[0034] Among them, the duration threshold is greater than the time interval between two first wheel speed signals normally received by the controller. When the duration for which the controller interrupts receiving the first wheel speed signal is greater than the duration threshold, it can be understood that the wheel speed sensor cannot report the first wheel speed signal at a fixed frequency, and the controller cannot determine the tire speed in real time based on the first wheel speed signal.

[0035] It is understood that the electric vehicle is equipped with a fault detection component for detecting whether the wheel speed sensor corresponding to each wheel is functioning normally and sending the detection result to the controller. When the wheel speed sensor is malfunctioning, the fault detection component can send a fault signal to the controller, indicating that the wheel speed sensor is inoperative.

[0036] According to the embodiments of the present application, the controller can determine the failure of the wheel speed sensor in a variety of ways with high accuracy and reliability.

[0037] In combination with the first aspect, in certain implementations of the first aspect, the controller controls the operation of the electric vehicle specifically including controlling the braking system to adjust the magnitude of the output braking force or controlling the driving system to adjust the magnitude of the output driving force.

[0038] It can be understood that the controller controlling the operation of the electric vehicle can be understood as the controller controlling the magnitude of the braking force output by the braking system based on the wheel speed or controlling the driving system to adjust the magnitude of the driving force output. Exemplarily, when the actual wheel speed of the wheel determined by the controller based on the first wheel speed signal and / or the second wheel speed signal is greater than the expected wheel speed, the controller can control the braking system to increase the braking force output, or control the driving system to reduce the driving force output.

[0039] According to the embodiment of the present application, the controller can control the vehicle's braking system to adjust the magnitude of the output braking force or control the drive system to adjust the magnitude of the output driving force in real time and accurately based on the wheel speed signal, and the vehicle has strong driving performance.

[0040] In a second aspect, a motor controller supporting wheel speed indication is provided, the motor controller is used to control the output torque of the drive motor of the electric vehicle to drive the electric vehicle and is used to receive the motor speed signal of the resolver sensor of the drive motor and control the drive motor to adjust the torque output according to the speed of the drive motor indicated by the motor speed signal. The motor controller is also used to receive the motor speed signal from the resolver sensor and output a second wheel speed signal, the second wheel speed signal is used to indicate the wheel speed of the wheel.

[0041] It can be understood that the second wheel speed signal can be used not only to indicate the value of the rotation speed of the motor, but also to indicate the rotation direction of the motor.

[0042] It can be understood that the motor controller can output the second wheel speed signal to the controller via a controller area network (CAN) network, so that the controller can determine the rotation speed of the corresponding wheel based on the rotation speed information of the motor.

[0043] Optionally, a controller in an electric vehicle can determine the rotation speed of each wheel using only a motor controller, without the need for a dedicated wheel speed sensor for each wheel, requiring fewer sensors for the vehicle.

[0044] Optionally, a controller in an electric vehicle can determine the rotational speed of each wheel through a motor controller and a wheel speed sensor together, with greater reliability and accuracy.

[0045] According to an embodiment of the present application, the motor controller can output a wheel speed signal based on the motor's resolver signal, so that the vehicle controller can directly control the vehicle based on the wheel speed signal, and the motor controller is more practical.

[0046] In conjunction with the second aspect, in certain implementations of the second aspect, the drive motor is specifically used to drive the wheels of the electric vehicle through a reducer to drive the electric vehicle to travel, and the wheel speed indicated by the second wheel speed signal and the speed of the drive motor indicated by the motor speed signal satisfy:

[0047]

[0048] Among them, ω wheel _ est is the wheel speed indicated by the second wheel speed signal, ω motor is the speed of the driving motor, i is the speed ratio of the reducer, is the speed loss correction factor of the drive motor.

[0049] Specifically, i is the reduction ratio from the drive motor to the transmission shaft, It reflects the difference between the motor speed and the wheel speed caused by various losses in the entire transmission chain from the motor to the wheel end (such as reducer gear backlash and drive shaft transmission loss, etc.).

[0050] According to an embodiment of the present application, the motor controller refers to the speed loss coefficient when converting the motor speed to obtain the wheel speed, so that the error between the wheel speed obtained by the motor speed and the actual wheel speed is lower, and the controller's control based on the second wheel speed signal is more accurate.

[0051] In combination with the second aspect, in certain implementations of the second aspect, the speed loss correction coefficient of the drive motor increases as the speed of the electric motor increases.

[0052] The embodiment of the present application does not limit the specific manner in which the speed loss correction coefficient of the motor increases with the speed of the motor. For example, the speed loss correction coefficient may increase linearly with the speed of the motor.

[0053] It can be understood that the speed loss correction coefficient is related to the speed of the motor, and can be obtained by fitting the difference in motor speed at different speeds through actual measurement during the calibration process of the electric vehicle. After receiving the resolver signal, the motor controller can look up the table according to the motor speed indicated by the resolver signal to obtain the corresponding speed loss correction coefficient.

[0054] According to an embodiment of the present application, the motor controller can determine the corresponding speed loss correction coefficient according to the speed of the motor, thereby correcting the motor speed indicated by the resolver signal. The calculation method is simple and the reliability is high.

[0055] In a third aspect, the present application provides a vehicle, comprising the controller in any embodiment of the first aspect and / or the motor controller in any embodiment of the second aspect.

[0056] As for the supplementary and technical effects of the solution provided in the third aspect, please refer to the corresponding description of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A schematic diagram of an electric vehicle 01 provided in an embodiment of the present application;

[0058] Figure 2 A schematic diagram of the structure of a powertrain 10 provided in an embodiment of the present application;

[0059] Figure 3 A schematic diagram of a functional relationship between a speed loss correction coefficient and a motor speed provided in an embodiment of the present application;

[0060] Figure 4 A schematic diagram of an operation of the controller 20 provided in an embodiment of the present application;

[0061] Figure 5 Another operating schematic diagram of the controller 20 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0063] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0064] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0065] References to "some embodiments" and the like described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in some embodiments" and the like that appear at different places in this specification do not necessarily all refer to the same embodiment, but rather mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "comprises", "has" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0066] Wheel speed is one of the main input signals for obtaining vehicle status during driving. In the chassis control field, such as the anti-lock brake system (ABS), traction control system (TCS) and hill-start assist control (HAC) system, the vehicle usually needs to perform corresponding operations based on wheel speed information or vehicle speed calculated based on wheel speed information. In the field of drive system-related transmission control, torque command generation or four-wheel drive control, etc., it is also necessary to perform fast and accurate calculation and judgment based on wheel speed information. In addition, with the development and popularization of intelligent driving, if the wheel speed signal is updated slowly or has poor accuracy, it will have a great impact on the control effect of the vehicle real-time control system, that is, the vehicle control system has higher requirements for the real-time, reliability and robustness of signals such as wheel speed.

[0067] It is easy to understand that when the wheel speed sensor fails, the vehicle control system cannot determine the accurate wheel speed information. Once the wheel speed signal fails or has a large deviation, it will cause the vehicle performance to decline and even affect driving safety.

[0068] In view of this, an embodiment of the present application provides a controller for a vehicle, a motor controller supporting wheel speed indication, and a vehicle. When the wheel speed sensor of the wheel fails, the controller can determine the wheel speed through the wheel speed signal provided by the motor controller, with strong control stability and high driving safety.

[0069] Figure 1 A schematic diagram of an electric vehicle 01 provided in an embodiment of the present application. Figure 1 As shown, the electric vehicle 01 includes a powertrain 10, a controller 20 and a power battery 30. The powertrain 10 is used to receive electrical energy provided by the power battery 30 and provide kinetic energy for the electric vehicle 01.

[0070] It can be understood that the vehicle 01 in the embodiment of the present application can be any one of different types of vehicles such as a car, a truck, a passenger bus, etc., and can also be a transport device for carrying people or goods such as a tricycle, a two-wheeled vehicle, a train, or other types of vehicles driven by power batteries, and the embodiment of the present application does not limit this. Among them, the vehicle includes but is not limited to pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / batteryEV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), new energy vehicles (new energy vehicle, NEV), etc.

[0071] It is understood that the power battery 30 in the embodiment of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., and the present application does not limit this. In terms of scale, the power battery 30 in the embodiment of the present application can be a single cell, or a battery module or a battery pack, and the present application does not limit this. The power battery 30 can also power other electrical devices in the vehicle, such as the air conditioner in the vehicle, the car player, etc.

[0072] It is understood that the specific type of the powertrain 10 is not limited in the embodiment of the present application. As an example and not a limitation, the powertrain can be a centralized powertrain, or a hub motor powertrain or a wheel-side motor powertrain. Among them, the hub motor powertrain is to directly set the motor and the reducer in the wheel rim, eliminating the transmission components such as the half shaft, universal joint, differential, and transmission; the wheel-side motor powertrain is to set the motor on the subframe.

[0073] Figure 2 It is a schematic diagram of the structure of the powertrain 10 provided in an embodiment of the present application.

[0074] like Figure 2 As shown in (a), the powertrain 10 includes a motor 11, a motor controller 12 and a reducer, and the motor 11 is connected to two wheels of the electric vehicle 01 through the reducer. During the driving process of the electric vehicle 01, the motor controller 12 is used to control the motor 11 to output torque to drive the two wheels.

[0075] It should be noted that the embodiments of the present application do not limit the arrangement of the motors in the electric vehicle. Figure 2 The powertrain 10 shown in (a) may be a front driving powertrain, and the motor 11 is connected to the two front wheels of the electric vehicle 01 through the front axle transmission. For another example, Figure 2 The powertrain 10 shown in (a) may also be a rear drive powertrain, and the motor 11 is connected to the two rear wheels of the electric vehicle 01 via the front axle transmission.

[0076] It can be understood that according to the position of the wheels, the four wheels can be divided into a left front wheel 41, a right front wheel 42, a left rear wheel 43, and a right rear wheel 44. According to the axle division, among the four wheels, the left front wheel 41 and the right front wheel 42 are coaxial and connected by the front axle, and the left rear wheel 43 and the right rear wheel 44 are coaxial and connected by the rear axle. According to the position division, among the four wheels of the vehicle 01, the left front wheel 41 and the right front wheel 42 are coaxial wheels, and the left rear wheel 43 and the right rear wheel 44 are coaxial wheels; the left front wheel 41 and the left rear wheel 43 are wheels on the same side, and the right front wheel 42 and the right rear wheel 44 are wheels on the same side; the left front wheel 41 and the right rear wheel 44 are diagonal wheels, and the right front wheel 42 and the left rear wheel 43 are diagonal wheels.

[0077] In the embodiment of the present application, the motor controller can control the motor to output positive torque or negative torque. Specifically, the motor 11 includes a stator winding and a rotor (not shown in the figure). The motor controller 12 can change the stator magnetic field strength and direction by adjusting the magnitude of the stator winding current and the phase of the three-phase current, thereby changing the interaction force between the stator and the rotor, that is, the motor torque.

[0078] In some embodiments, the powertrain 10 also includes a rotary transformer (not shown in the figure), which can be arranged on the motor 11 (for example, arranged on the rotor of the motor), so as to accurately detect the position, direction and speed of the motor rotor, and is responsible for monitoring and extracting the motor rotation speed, with a high sampling rate, and directly communicating with the motor controller, and the communication link is short. In addition, compared with traditional wheel speed sensors, rotary transformers can overcome the problems of reduced resolution of wheel speed measurement in a low speed range (for example, a vehicle speed of less than 10 kilometers per hour (kilometer pre hour, kph)) and lack of motor / tire rotation direction information. Therefore, the vehicle wheel speed measured by the rotary transformer can improve the accuracy, reliability and real-time performance of the measurement, thereby ensuring excellent driving performance.

[0079] like Figure 2 As shown in (b), the powertrain 10 includes two motors and two motor controllers. Among them, the two motors include motor 11 and motor 13, and the two motor controllers include motor controller 12 and motor controller 14. At this time, one axle of the electric vehicle 01 includes two half-axles that are decoupled from each other, the motor 11 is connected to a wheel of the electric vehicle 01 through a half-axle transmission, and the motor 13 is connected to another vehicle coaxial with the one wheel through another half-axle transmission. During the driving process of the electric vehicle 01, the motor controller 12 is used to control the motor 11 to output torque to drive the one wheel, and the motor controller 14 is used to control the motor 13 to output torque to drive the other wheel. Exemplarily, the powertrain 10 is a front-wheel drive powertrain, and at this time the one wheel is the left front wheel 41, and the other wheel is the right front wheel 42.

[0080] It is understood that in other embodiments of the present application, the electric vehicle 01 may include two or more power assemblies, and the structures of the power assemblies may be the same or different. For example, the electric vehicle 01 may include a front driving force assembly and a rear driving force assembly, wherein the structure of the front driving force assembly is as follows: Figure 2 As shown in (a) of FIG. 1 , the structure of the rear drive force assembly is as follows: Figure 2 As shown in (b) of FIG. 1 , the overall drive system of the electric vehicle 01 presents a three-motor architecture with a single front motor and a double rear motor. For another example, the electric vehicle 01 may include a front driving force assembly and a rear driving force assembly, wherein the structures of the front driving force assembly and the rear driving force assembly are as shown in FIG. Figure 2 As shown in (b) in the figure, at this time, the driving system of the electric vehicle 01 as a whole presents a four-motor architecture with two motors at the front and two at the rear.

[0081] It should be noted that the motor controller provided in the embodiment of the present application also has a wheel speed indication function. The motor controller mentioned here may refer to any motor controller in the electric vehicle 01. For example, it may be Figure 2The motor controller 12 shown in (a) in FIG. 1 is a motor controller 12. In other words, any motor controller in the electric vehicle 01 can realize the wheel speed indication function. The motor controller 12 is used as an example for explanation below.

[0082] In some embodiments, the motor controller 12 is used to control the drive motor 11 of the electric vehicle 01 to output torque to drive the electric vehicle 01 and to receive the motor speed signal of the resolver sensor of the drive motor 11, and to control the drive motor 11 to adjust the torque output according to the speed of the drive motor 11 indicated by the motor speed signal. The motor controller 12 is also used to receive the resolver signal from the resolver sensor and output a second wheel speed signal, and the second wheel speed signal is used to indicate the wheel speed of the wheel.

[0083] Understandably, Figure 2 In the powertrain shown in (a), since the motor 11 is used to drive the left front wheel 41 and the right front wheel 42, the second wheel speed signal is used to indicate the wheel speed of the left front wheel 41 and the right front wheel 42. Figure 2 In the powertrain shown in (b), since the motor 11 and the motor 13 are used to drive the left front wheel 41 and the right front wheel 42 respectively, the second wheel speed signal is used to indicate the wheel speed of the left front wheel 41.

[0084] It can be understood that the second wheel speed signal can be used not only to indicate the value of the rotation speed of the motor, but also to indicate the rotation direction of the motor.

[0085] It can be understood that the motor controller 12 can output the above-mentioned second wheel speed signal to the controller 20 through the CAN network, so that the controller 20 can determine the rotation speed of the corresponding wheel based on the rotation speed information of the motor.

[0086] In some embodiments, the controller 20 can determine the rotation speed of each wheel only through the motor controller, without configuring a dedicated wheel speed sensor for each wheel, and the vehicle requires fewer sensors. In other embodiments, the controller 20 can determine the rotation speed of each wheel through the motor controller and the wheel speed sensor, which has higher reliability and accuracy.

[0087] According to an embodiment of the present application, the motor controller can output a wheel speed signal based on the motor's resolver signal, so that the vehicle controller can directly control the vehicle based on the wheel speed signal, and the motor controller is more practical.

[0088] In some embodiments, the drive motor 11 is specifically used to drive the wheels of the electric vehicle 01 through a reducer to drive the electric vehicle 01 to travel, and the wheel speed indicated by the second wheel speed signal and the rotation speed of the drive motor indicated by the resolver signal satisfy:

[0089]

[0090] Among them, ω wheel_est is the wheel speed indicated by the second wheel speed signal, ω motor is the speed of the driving motor, i is the speed ratio of the reducer, is the speed loss correction coefficient of the drive motor.

[0091] Specifically, i is the reduction ratio from the motor 11 to the transmission shaft, It reflects the difference between the motor speed and the wheel speed caused by various losses in the entire transmission chain from the motor to the wheel end (such as reducer gear backlash and drive shaft transmission loss, etc.).

[0092] According to an embodiment of the present application, the motor controller refers to the speed loss coefficient when converting the motor speed to obtain the wheel speed, so that the error between the wheel speed obtained by the motor speed and the actual wheel speed is lower, and the controller's control based on the second wheel speed signal is more accurate.

[0093] In some embodiments, the speed loss correction coefficient of the drive motor 11 increases as the speed of the drive motor 11 increases.

[0094] The embodiment of the present application does not limit the specific manner in which the speed loss correction coefficient of the motor 11 increases as the speed of the motor 11 increases. For example, Figure 3 As shown, the rotation speed loss correction coefficient can be linearly related to the rotation speed of the motor 11.

[0095] It can be understood that the speed loss correction coefficient is related to the speed of the motor, and can be obtained by fitting the difference in motor speed at different speeds through actual measurement during the calibration process of the electric vehicle 01. After receiving the resolver signal, the motor controller can look up the table according to the motor speed indicated by the resolver signal to obtain the corresponding speed loss correction coefficient.

[0096] According to an embodiment of the present application, the motor controller can determine the corresponding speed loss correction coefficient according to the speed of the motor, thereby correcting the motor speed indicated by the resolver signal. The calculation method is simple and the reliability is high.

[0097] In an embodiment of the present application, the controller 20 is used to control the operation of the electric vehicle 01 during the driving process of the electric vehicle 01. Among them, in the electric vehicle 01, the driver can change the driving state of the vehicle by adjusting the opening of the accelerator pedal and the brake pedal. Specifically, the controller can detect the opening of the accelerator pedal and the brake pedal. When it is detected that the opening of any pedal changes, the controller controls the motor to adjust the torque output through the motor controller, thereby changing the driving force of the wheel so that the vehicle can travel according to the driver's needs. Alternatively, when it is detected that the opening of the brake pedal changes, the controller controls the vehicle's braking system to adjust the braking torque, thereby changing the braking force on the wheel, so that the vehicle can travel according to the driver's needs.

[0098] In some embodiments, the vehicle's accelerator pedal and brake pedal are respectively provided with opening sensors (not shown in the figure), which are used to detect the pedal opening of the corresponding pedal, and send the detected pedal opening to the controller 20 in real time or periodically in the form of a signal, or when it is detected that the pedal opening of the corresponding pedal changes, the changed pedal opening is sent to the controller 20 in the form of a signal.

[0099] In some embodiments, a wheel speed sensor (not shown in the figure) may be provided at each wheel of the electric vehicle 01, and the wheel speed sensor is used to collect the wheel speed of the corresponding wheel and send the collected wheel speed to the controller 20 in the form of a signal, so that the controller 20 can control the motor to adjust the torque output through the motor controller based on the wheel speed signal, or control the vehicle's braking system to adjust the braking torque.

[0100] In some embodiments, the controller 20 may be a controller cluster composed of multiple controllers. For example, the controller cluster includes but is not limited to a chassis controller, a vehicle controller (VCU, Vehicle Control Unit) and a central controller in a braking system. The chassis controller, the central controller, the vehicle controller and the motor controller in the powertrain can communicate with each other through a CAN network. Among them, the chassis controller is used to obtain the information collected by the above-mentioned sensors or other acquisition devices, and perform corresponding data processing to output the requested torque; the vehicle controller is used to receive the requested torque output by the chassis controller and other components (such as an accelerator pedal, a brake pedal, etc.), and arbitrate to determine the target torque that the drive motor ultimately needs to output, and send it to the motor controller in the form of a signal; the motor controller is used to send a corresponding torque control signal to the motor to control the motor to output the target torque.

[0101] It should be noted that the controller 20 may also include other types of controllers or combinations thereof, and perform the above functions through these controllers; alternatively, the functions of the above controllers may also be mutually adjusted according to actual needs, which is not limited in the embodiments of the present application.

[0102] In other embodiments, the controller 20 can be a single controller, which can be integrated into any one of the vehicle controller, the chassis controller or the central controller, or can be a separate controller to output corresponding signals for the chassis controller to process data and output requested torque, for the vehicle controller to control driving torque, and for the central controller to control braking torque.

[0103] In some embodiments, during the driving process of the electric vehicle 01, when the wheel speed sensor of the electric vehicle 01 is valid, the controller 20 is used to receive at least one of the first wheel speed signal from the wheel speed sensor or the second wheel speed signal from the motor controller, and control the operation of the electric vehicle 01 according to the wheel speed indicated by at least one of the first wheel speed signal or the second wheel speed signal. When the wheel speed sensor of the electric vehicle 01 fails, the second wheel speed signal from the motor controller is received and the operation of the electric vehicle 01 is controlled according to the wheel speed indicated by the second wheel speed signal.

[0104] It can be understood that the wheel speed sensor is effective, which means that the wheel speed sensor can output the first wheel speed signal to the controller 20. The wheel speed sensor is invalid, which means that the wheel speed sensor cannot normally output the first wheel speed signal to the controller 20.

[0105] It can be understood that the controller 20 controlling the operation of the electric vehicle 01 can be understood as the controller 20 controlling the operation of the vehicle's drive system adjustment, braking system, electronic stability system (Electronic Stability Program, ESP), ABS, TCS, HAC and other systems based on the wheel speed.

[0106] It can be understood that, for the left front wheel 41 of the electric vehicle 01, when the wheel speed sensor of the left front wheel 41 is valid, the controller 20 can receive the first wheel speed signal output from the wheel speed sensor to determine the rotation speed of the wheel, and can also receive the second wheel speed signal output from the motor controller 12 to determine the rotation speed of the wheel, thereby controlling the operation of the electric vehicle 01. Alternatively, when the wheel speed sensor of the left front wheel 41 is valid, the controller 20 can simultaneously receive the above-mentioned first wheel speed signal and the second wheel speed signal to determine the rotation speed of the wheel. At this time, the two wheel speed signals can back up each other, thereby improving the reliability and accuracy of the wheel speed measurement.

[0107] It can be understood that for the left front wheel 41 of the electric vehicle 01, when the wheel speed sensor of the left front wheel 41 fails, the controller 20 can still determine the wheel speed of the left front wheel 41 according to the second wheel speed signal and control the operation of the electric vehicle 01 based on this. In other words, even if the wheel speed sensor of the electric vehicle 01 fails, the controller 20 can still determine the wheel speed of the corresponding wheel through the motor controller and perform corresponding control, so that the wheel speed measurement is more robust and the driving safety is higher.

[0108] According to the embodiment of the present application, when the wheel speed sensor of the wheel fails, the controller can determine the wheel speed through the wheel speed signal provided by the motor controller, and the controller has stronger control stability and higher driving safety. In addition, when the wheel speed sensor of the wheel is valid, the controller can determine the wheel speed by combining the wheel speed signals provided by the wheel speed sensor and the motor controller respectively, and the wheel speed measurement has higher reliability and accuracy, and the vehicle can be controlled timely and accurately, and the vehicle has better driving performance.

[0109] In some embodiments, the wheel speed sensor of the electric vehicle 01 fails, specifically including that the duration of the controller 20 interrupting the reception of the first wheel speed signal is greater than the duration threshold. Alternatively, the controller 20 receives a fault signal, and the fault signal is used to indicate a wheel speed sensor failure.

[0110] Among them, the duration threshold is greater than the time interval between two first wheel speed signals normally received by the controller 20. When the duration of the controller 20 interrupting the reception of the first wheel speed signal is greater than the duration threshold, it can be understood that the wheel speed sensor cannot report the first wheel speed signal at a fixed frequency, which will cause the controller 20 to be unable to determine the tire speed in real time based on the first wheel speed signal.

[0111] It can be understood that the electric vehicle 01 is equipped with a fault detection component for detecting whether the wheel speed sensor corresponding to each wheel is functioning normally, and sending the detection result to the controller 20. When the wheel speed sensor functions abnormally, the fault detection component can send a fault signal to the controller 20, indicating that the wheel speed sensor has failed.

[0112] According to the embodiments of the present application, the controller can determine the failure of the wheel speed sensor in a variety of ways with high accuracy and reliability.

[0113] In some embodiments, the controller 20 controls the operation of the electric vehicle 01 specifically by controlling the braking system to adjust the magnitude of the output braking force or controlling the driving system to adjust the magnitude of the output driving force.

[0114] It can be understood that the controller 20 controlling the operation of the electric vehicle 01 can be understood as the controller 20 controlling the magnitude of the braking force output by the braking system based on the wheel speed or controlling the driving system to adjust the magnitude of the driving force output. Exemplarily, when the actual wheel speed of the wheel determined by the controller 20 based on the first wheel speed signal and / or the second wheel speed signal is greater than the expected wheel speed, the controller 20 can control the braking system to increase the braking force output, and / or control the driving system to reduce the driving force output.

[0115] According to the embodiment of the present application, the controller can control the vehicle's braking system to adjust the magnitude of the output braking force or control the drive system to adjust the magnitude of the output driving force in real time and accurately based on the wheel speed signal, and the vehicle has strong driving performance.

[0116] In some embodiments, in response to the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being less than a first threshold, the controller 20 is specifically used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the first wheel speed signal. In response to the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being greater than or equal to the first threshold, the controller 20 is specifically used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the second wheel speed signal.

[0117] It is understandable that the wheel speed sensor may be able to output the first wheel speed signal to the controller 20, but there may be a large error between the wheel speed indicated by the first wheel speed signal and the actual wheel speed of the wheel. In this scenario, after receiving the first wheel speed signal and the second wheel speed signal at the same time, the controller 20 may compare the wheel speed indicated by the first wheel speed signal with the wheel speed indicated by the second wheel speed signal to confirm the credibility of the first wheel speed signal.

[0118] Specifically, taking the second wheel speed signal output by the motor controller as a reference, when the difference between the wheel speeds indicated by the two wheel speed signals is less than the first threshold, the controller 20 considers that the error of the first wheel speed signal is low and the credibility is high, and controls the operation of the electric vehicle 01 based on the first wheel speed signal. When the difference between the wheel speeds indicated by the two wheel speed signals is greater than or equal to the first threshold, the controller 20 considers that the error of the first wheel speed signal is high and the credibility is low, and at this time the controller 20 controls the operation of the electric vehicle 01 according to the second wheel speed signal with higher credibility.

[0119] It can be understood that the embodiment of the present application does not limit the specific numerical value of the above-mentioned first threshold, and it can be determined according to the specific implementation.

[0120] According to an embodiment of the present application, when the wheel speed sensor of the wheel is effective, the controller can compare the first wheel speed signal output by the wheel speed sensor with the second wheel speed signal output by the motor controller, and directly use the indication of the second wheel speed signal to control the vehicle operation when the wheel speed error indicated by the first wheel speed signal is large. This can avoid the control effect of the controller being affected by the large measurement error of the wheel speed sensor, thereby ensuring the stability of the vehicle's driving performance.

[0121] In some embodiments, the motor controller is used to control a drive motor to drive two coaxial wheels of the electric vehicle 01, and the first wheel speed signal is used to indicate the wheel speed of at least one of the two coaxial wheels. In addition, in response to the difference between the sum of the wheel speeds of the wheels indicated by the first wheel speed signal and twice the wheel speed indicated by the second wheel speed signal being less than a second threshold, the controller 20 is specifically used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the first wheel speed signal. In response to the difference between the sum of the wheel speeds of the wheels indicated by the first wheel speed signal and twice the wheel speed indicated by the second wheel speed signal being greater than or equal to the second threshold, the controller 20 is specifically used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the second wheel speed signal.

[0122] In these embodiments, the motor controller may be, for example, Figure 2 The motor controller 12 shown in (a) can control the motor 11 to drive the left front wheel 41 and the right front wheel 42. At this time, the second wheel speed signal output by the motor controller 12 can simultaneously indicate the rotation speed of the left front wheel 41 and the right front wheel 42.

[0123] It is understandable that Figure 4 As shown, the controller 20 can respectively receive the wheel speed signal #1 output by the wheel speed sensor corresponding to the left front wheel 41, the wheel speed signal #2 output by the wheel speed sensor corresponding to the right front wheel 42, and the wheel speed signal #3 from the motor controller 12. At this time, the three wheel speed signals satisfy the following relationship:

[0124] 2×ω wheel _ est =ω w h eel _ measure _ l +ω w h eel _ measure _ r

[0125] Among them, ω wheel _ est is the wheel speed indicated by wheel speed signal #3, ω w h eel _ measure _ l is the wheel speed indicated by wheel speed signal #1, ωw h eel _ measure _ r is the wheel speed indicated by the wheel speed signal #2. It is easy to understand that the controller 20 can determine the wheel speed of the left front wheel 41 or the right front wheel 42 according to the above relationship.

[0126] Exemplarily, when the controller 20 cannot normally receive the wheel speed signal #1, the controller 20 can calculate the wheel speed of the left front wheel 41 according to the wheel speed signal #2 and the wheel speed signal #3, and then control the operation of the vehicle.

[0127] Exemplarily, when the controller 20 can normally receive wheel speed signal #1 and wheel speed signal #2, and the difference between the sum of the wheel speeds indicated by wheel speed signal #1 and wheel speed signal #2 and twice the wheel speed indicated by wheel speed signal #3 is less than the second threshold value, it can be considered that the error between wheel speed signal #1 and wheel speed signal #2 is small and the credibility is high. At this time, the controller 20 can control the operation of the electric vehicle 01 according to the wheel speeds indicated by wheel speed signal #1 and wheel speed signal #2.

[0128] Exemplarily, when the controller 20 can normally receive wheel speed signal #1 and wheel speed signal #2, and the difference between the sum of the wheel speeds indicated by wheel speed signal #1 and wheel speed signal #2 and twice the wheel speed indicated by wheel speed signal #3 is greater than or equal to a second threshold value, it is considered that the error between wheel speed signal #1 and wheel speed signal #2 is large and the credibility is low. At this time, the controller 20 can control the operation of the electric vehicle 01 according to the wheel speed indicated by wheel speed signal #3.

[0129] According to an embodiment of the present application, for a single-motor powertrain configuration, the controller can compare the first wheel speed signal output by the wheel speed sensors of the two coaxial wheels with the second wheel speed signal output by the motor controller to determine a wheel speed signal with a higher credibility, thereby preventing the control effect of the controller from being affected when the measurement error of one of the wheel speed sensors is large, and stabilizing the vehicle driving performance.

[0130] In some embodiments, in response to the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being greater than or equal to a first threshold value, and the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed of another wheel coaxial with the same wheel being less than the difference between the wheel speed indicated by the second wheel speed signal and the wheel speed of the other wheel, the controller 20 is specifically used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the first wheel speed signal. In response to the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being greater than or equal to a first threshold value, and the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed of another wheel coaxial with one wheel being greater than or equal to the difference between the wheel speed indicated by the second wheel speed signal and the wheel speed of the other wheel, the controller 20 is specifically used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the second wheel speed signal.

[0131] It can be understood that during the driving process of the electric vehicle 01, the difference between the wheel speeds of the two coaxial wheels, such as the left front wheel 41 and the right front wheel 42, will not be too large. Therefore, for one wheel, when the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal is greater than or equal to the first threshold, the controller 20 can refer to the wheel speed of the other coaxial wheel, select the signal with higher credibility from the first wheel speed signal and the second wheel speed signal, and then control the operation of the electric vehicle 01 according to the signal with higher credibility.

[0132] like Figure 5 As shown, the controller 20 can receive the wheel speed signal #1 output by the wheel speed sensor corresponding to the left front wheel 41, the wheel speed signal #2 output by the wheel speed sensor corresponding to the right front wheel 42, the wheel speed signal #3 output by the motor controller 12 and the wheel speed signal #4 output by the motor controller 14, wherein the wheel speed signal #3 is used to indicate the wheel speed of the left front wheel 41, and the wheel speed signal #4 is used to indicate the wheel speed of the right front wheel 42.

[0133] When the difference between the wheel speed indicated by wheel speed signal #1 and the wheel speed indicated by wheel speed signal #3 is greater than the first threshold, and the difference between the wheel speed indicated by wheel speed signal #1 and the wheel speed of the right front wheel 42 is less than the difference between the wheel speed indicated by wheel speed signal #3 and the wheel speed of the right front wheel 42, it can be considered that the error of wheel speed signal #1 is small and the credibility is high. At this time, the controller 20 can control the operation of the electric vehicle 01 according to the wheel speed indicated by wheel speed signal #1 provided by the wheel speed sensor.

[0134] When the difference between the wheel speed indicated by wheel speed signal #1 and the wheel speed indicated by wheel speed signal #3 is greater than the first threshold, and the difference between the wheel speed indicated by wheel speed signal #1 and the wheel speed of the right front wheel 42 is greater than or equal to the difference between the wheel speed indicated by wheel speed signal #3 and the wheel speed of the right front wheel 42, it can be considered that the error of wheel speed signal #1 is large and the credibility is low. At this time, the controller 20 can control the operation of the electric vehicle 01 according to the wheel speed indicated by wheel speed signal #3 provided by the motor controller.

[0135] It can be understood that, for the same wheel, when the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal is greater than or equal to the first threshold value, the above method of the controller 20 determining a wheel speed signal with higher credibility from the first wheel speed signal and the second wheel speed signal is only an example, that is, the controller 20 can also determine a wheel speed signal with higher credibility by referring to the wheel speed of the wheel coaxial with the wheel in other ways, and the embodiments of the present application are not limited to this.

[0136] According to an embodiment of the present application, for a dual-motor powertrain configuration, the controller can determine a wheel speed signal with higher credibility by referring to the wheel speed of another coaxial wheel when the difference between the wheel speed signal provided by the wheel speed sensor and the wheel speed signal provided by the motor controller is large, thereby further improving the accuracy and reliability of the wheel speed measurement and further improving the stability of the vehicle's driving performance.

[0137] In some embodiments, in response to the vehicle speed of the electric vehicle 01 being less than a vehicle speed threshold, or, in response to the vehicle speed of the electric vehicle 01 being greater than or equal to the vehicle speed threshold and the rate of change of the vehicle speed being greater than the rate of change threshold, the controller 20 is also used to control the operation of the electric vehicle 01 according to the wheel speed indicated by the second wheel speed signal.

[0138] Among them, the above-mentioned speed threshold can be understood as a relatively low speed, for example, the speed threshold can be 10kph. When the speed of the electric vehicle 01 is less than the speed threshold, it can be regarded as the electric vehicle 01 traveling in a low-speed range. At this time, the traditional wheel speed sensor will have problems such as reduced measurement resolution and missing rotation direction information. Based on this, the controller 20 provided in the embodiment of the present application can directly control the operation of the electric vehicle 01 according to the second wheel speed signal provided by the motor controller when the vehicle is running at a low speed, so as to ensure the real-time and accuracy of the control.

[0139] Among them, the above-mentioned change rate threshold can be understood as a larger change rate. When the change rate of the vehicle speed is greater than the change rate threshold, it can be regarded as the driver's expectation of the vehicle to accelerate or decelerate suddenly. At this time, it is necessary to control the operation of the electric vehicle 01 in real time and accurately. Since the motor controller outputs a second wheel speed signal based on the resolver signal provided by the resolver sensor with a higher sampling rate, the controller provided in the embodiment of the present application will directly control the operation of the electric vehicle 01 according to the second wheel speed signal to ensure the real-time and accuracy of the control.

[0140] According to the embodiment of the present application, when the electric vehicle is traveling at a low speed or the driver is driving aggressively, the controller will directly control the vehicle operation according to the second wheel speed signal provided by the motor controller, and the real-time and accuracy of the control will be higher.

[0141] In some embodiments, in response to the vehicle speed of the electric vehicle 01 being less than a speed threshold, or in response to the vehicle speed of the electric vehicle 01 being greater than or equal to the speed threshold and the rate of change of the vehicle speed being greater than a first rate of change threshold, the controller 20 is also used to stop receiving the first wheel speed signal.

[0142] It can be understood that when the controller 20 directly uses the second wheel speed signal provided by the motor controller to control the operation of the vehicle, it can stop receiving the first wheel speed signal from the wheel speed sensor to reduce interference between the signals.

[0143] It is understood that the embodiment of the present application does not limit the specific manner in which the controller 20 stops receiving the first wheel speed signal. For example, before the controller 20 stops receiving the first wheel speed signal, it may send a control signal to the wheel speed sensor, where the control signal is used to instruct the wheel speed sensor to stop reporting the first wheel speed signal.

[0144] According to an embodiment of the present application, when the electric vehicle is traveling at a low speed or the driver is driving aggressively, the controller can stop receiving the wheel speed signal reported by the wheel speed sensor to avoid interference with the wheel speed signal provided by the motor controller, thereby improving control stability.

[0145] In some embodiments, in response to the speed of the electric vehicle 01 being less than the speed threshold, or in response to the speed of the electric vehicle 01 being greater than or equal to the speed threshold and the rate of change of the speed being greater than the first rate of change threshold, the controller 20 is further configured to receive the first wheel speed signal at a first frequency. In response to the speed of the electric vehicle 01 being greater than or equal to the speed threshold and the rate of change of the speed being less than the first rate of change threshold, the controller 20 is further configured to receive the first wheel speed signal at a second frequency less than the first frequency.

[0146] It can be understood that the first frequency and the second frequency mentioned above can be any frequencies within the sampling frequency range supported by the wheel speed sensor, and the embodiment of the present application does not limit this.

[0147] It can be understood that when the wheel speed sensor is effective, the controller 20 provided in the embodiment of the present application can actively increase the frequency of receiving the first wheel speed signal when the electric vehicle 01 is traveling at a low speed or the driver is driving aggressively, and shorten the interval for confirming its own wheel speed, so that the controller 20 can control the electric vehicle more promptly when necessary, such as adjusting the driving force output by the drive system, or adjusting the braking force output by the brake system, etc.

[0148] Similarly, in response to the speed of the electric vehicle 01 being less than the speed threshold, or in response to the speed of the electric vehicle 01 being greater than or equal to the speed threshold and the rate of change of the speed being greater than the first rate of change threshold, the controller 20 is further configured to receive the second wheel speed signal at a third frequency. In response to the speed of the electric vehicle 01 being greater than or equal to the speed threshold and the rate of change of the speed being less than the first rate of change threshold, the controller 20 is further configured to receive the second wheel speed signal at a fourth frequency less than the third frequency.

[0149] It can be understood that the third frequency and the fourth frequency mentioned above can be any frequency within the sampling frequency range supported by the resolver sensor in the motor controlled by the motor controller, and the embodiment of the present application is not limited to this.

[0150] It can be understood that the controller 20 provided in the embodiment of the present application can also actively increase the frequency of receiving the second wheel speed signal when the electric vehicle 01 is traveling at a low speed or the driver is driving aggressively, shorten the interval for confirming its own wheel speed, so that the controller 20 can control the electric vehicle more promptly when necessary.

[0151] According to an embodiment of the present application, when the electric vehicle is traveling at a low speed or the driver is driving aggressively, the controller can actively increase the frequency of receiving wheel speed signals provided by the wheel speed sensor and the motor controller, thereby further improving the real-time performance of vehicle control.

[0152] In some embodiments, in response to the rate of change of the wheel speed of any wheel of the electric vehicle 01 being less than the second rate of change threshold, the controller 20 is further used to receive the first wheel speed signal of any wheel at a preset frequency. In response to the rate of change of the wheel speed of any wheel of the electric vehicle 01 being greater than or equal to the second rate of change threshold, the controller 20 is further used to receive the first wheel speed signal of any wheel at a frequency less than the preset frequency.

[0153] The second change rate threshold can be understood as a larger change rate, and when the change rate of the wheel speed of any wheel is greater than the second change rate threshold, it can be understood that any wheel is slipping. The specific cause of wheel slipping is not limited in the embodiment of the present application.

[0154] For example, the wheel slip phenomenon may be caused by a sudden change in the road adhesion coefficient, for example, when the electric vehicle 01 travels from a paved cement road to an icy road, the wheel speed may suddenly increase. For example, the wheel slip phenomenon may also be caused by the electric vehicle 01 passing through a bump on an uneven road surface, for example, when the wheel of the electric vehicle 01 passes over a pothole on the road surface, the wheel may spin idly, causing the wheel speed to suddenly increase. For another example, when the wheel of the electric vehicle 01 passes over a bump on the road surface, the wheel rotation may be blocked, causing the wheel speed to suddenly decrease.

[0155] It can be understood that when the wheel speed sensor is effective, when any wheel of the electric vehicle 01 slips, the controller 20 can actively increase the frequency of receiving the first wheel speed signal corresponding to the wheel, shorten the interval for confirming its own wheel speed, so that the controller 20 can control the electric vehicle more timely to maintain the stability of the vehicle body.

[0156] Similarly, in response to the rate of change of the wheel speed of any wheel of the electric vehicle 01 being less than the second rate of change threshold, the controller 20 is further used to receive the second wheel speed signal of any wheel at a preset frequency. In response to the rate of change of the wheel speed of any wheel of the electric vehicle 01 being greater than or equal to the second rate of change threshold, the controller 20 is further used to receive the second wheel speed signal of any wheel at a frequency less than the preset frequency.

[0157] It can be understood that when any wheel of the electric vehicle 01 slips, the controller 20 can actively increase the frequency of receiving the second wheel speed signal corresponding to the wheel and shorten the interval for confirming its own wheel speed, so that the controller 20 can control the electric vehicle more timely to maintain the stability of the vehicle body.

[0158] Optionally, the controller 20 can also determine whether the wheel driven by the motor is slipping based on the rate of change of the motor speed, thereby determining the frequency of receiving the first wheel speed signal and / or the second wheel speed signal of any wheel. The specific method can be referred to the above description and will not be repeated here.

[0159] According to an embodiment of the present application, when the wheels of the electric vehicle slip, the controller can actively increase the frequency of receiving the wheel speed signals provided by the wheel speed sensor and the motor controller, thereby further improving the real-time performance and stability of the vehicle control.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A controller for an electric vehicle, characterized in that: The controller is used to control the operation of the electric vehicle during the driving process of the electric vehicle, and the controller is also used to: During the driving process of the electric vehicle, when the wheel speed sensor of the electric vehicle is effective, receiving at least one of a first wheel speed signal from the wheel speed sensor or a second wheel speed signal from a motor controller, and controlling the operation of the electric vehicle according to the wheel speed indicated by at least one of the first wheel speed signal or the second wheel speed signal; When the wheel speed sensor of the electric vehicle fails, a second wheel speed signal from a motor controller is received and the operation of the electric vehicle is controlled according to the wheel speed indicated by the second wheel speed signal.

2. The controller according to claim 1, characterized in that: The controller is specifically used for: In response to a difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being less than a first threshold, controlling the electric vehicle to operate according to the wheel speed indicated by the first wheel speed signal; In response to a difference between the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal being greater than or equal to a first threshold, the electric vehicle is controlled to operate according to the wheel speed indicated by the second wheel speed signal.

3. The controller according to claim 1, characterized in that: The controller is also used for: In response to the vehicle speed of the electric vehicle being less than a vehicle speed threshold, or in response to the vehicle speed of the electric vehicle being greater than or equal to a vehicle speed threshold and a rate of change of the vehicle speed being greater than a first rate of change threshold, the operation of the electric vehicle is controlled according to the wheel speed indicated by the second wheel speed signal.

4. The controller according to claim 3, characterized in that: The controller is also used for: In response to the vehicle speed of the electric vehicle being less than a vehicle speed threshold, or in response to the vehicle speed of the electric vehicle being greater than or equal to a vehicle speed threshold and a rate of change of the vehicle speed being greater than the first rate of change threshold, receiving the first wheel speed signal is stopped.

5. The controller according to claim 1, characterized in that: The controller is also used for: In response to the vehicle speed of the electric vehicle being less than a vehicle speed threshold, or in response to the vehicle speed of the electric vehicle being greater than or equal to the vehicle speed threshold and a rate of change of the vehicle speed being greater than a second rate of change threshold, receiving the first wheel speed signal at a first frequency; In response to a vehicle speed of the electric vehicle being greater than or equal to a vehicle speed threshold and a rate of change of the vehicle speed being less than a second rate of change threshold, the first wheel speed signal is received at a second frequency less than the first frequency.

6. The controller according to claim 1, characterized in that: The controller is also used for: In response to a change rate of the wheel speed of any wheel of the electric vehicle being less than a second change rate threshold, receiving the first wheel speed signal of any wheel at a preset frequency; In response to a change rate of the wheel speed of any wheel of the electric vehicle being greater than or equal to the second change rate threshold, the first wheel speed signal of any wheel is received at a frequency less than the preset frequency.

7. The controller according to any one of claims 1 to 6, characterized in that: The motor controller is used to control a drive motor to drive two coaxial wheels of the electric vehicle, and the controller is specifically used to: In response to a difference between a sum of the wheel speeds indicated by the two first wheel speed signals of the two coaxial wheels and twice the wheel speed indicated by the second wheel speed signal being less than a second threshold, controlling the electric vehicle to operate according to the wheel speed indicated by the first wheel speed signal; In response to the difference between the sum of the wheel speeds indicated by the two first wheel speed signals of the two coaxial wheels and twice the wheel speed indicated by the second wheel speed signal being greater than or equal to a second threshold, the electric vehicle is controlled to operate according to the wheel speed indicated by the second wheel speed signal.

8. The controller according to any one of claims 1 to 7, characterized in that: The wheel speed sensor of the electric vehicle fails, specifically including: The duration of the controller interrupting the reception of the first wheel speed signal is greater than a duration threshold; or The controller receives a fault signal, wherein the fault signal is used to indicate a fault in the wheel speed sensor.

9. The controller according to any one of claims 1 to 8, characterized in that: The electric vehicle comprises a braking system and a driving system, the braking system outputs a braking force or controls the driving system to adjust the output driving force, the braking force is used to brake the electric vehicle, and the driving system is used to drive the wheels of the electric vehicle; The controlling the operation of the electric vehicle specifically includes controlling the magnitude of the braking force output by the braking system or controlling the magnitude of the driving force output by the driving system.

10. A motor controller supporting wheel speed indication, characterized in that: The motor controller is used to control the output torque of the driving motor of the electric vehicle to drive the electric vehicle and is used to receive the motor speed signal of the resolver sensor of the driving motor and control the driving motor to adjust the torque output according to the speed of the driving motor indicated by the motor speed signal; The motor controller is also used for: The motor speed signal from the resolver sensor is received and a second wheel speed signal is output, wherein the second wheel speed signal is used to indicate the wheel speed of the wheel.

11. The motor controller according to claim 10, characterized in that: The drive motor is specifically used to drive the wheels of the electric vehicle through a reducer to drive the electric vehicle to travel, and the wheel speed indicated by the second wheel speed signal and the speed of the drive motor indicated by the motor speed signal satisfy: Among them, ω wh eel_est is the wheel speed indicated by the second wheel speed signal, ω m otor is the speed of the driving motor, i is the speed ratio of the reducer, is the speed loss correction coefficient of the driving motor.

12. The motor controller according to claim 11, characterized in that: The speed loss correction coefficient of the driving motor increases as the speed of the electric motor increases.

13. An electric vehicle, characterized in that: The method comprises a controller as claimed in any one of claims 1 to 9 and / or a motor controller as claimed in any one of claims 10 to 12.

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