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

Abstract

The application provides a controller for a vehicle, a motor controller supporting wheel speed indication and a vehicle, the controller is used for controlling the operation of an electric vehicle during driving of the electric vehicle. During driving of the electric vehicle, when a wheel speed sensor of the electric vehicle is valid, 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 or the second wheel speed signal. When the wheel speed sensor of the electric vehicle is invalid, the controller is further used for receiving the second wheel speed signal from the motor controller and controlling the operation of the electric vehicle according to the wheel speed indicated by the second wheel speed signal. The controller provided by the application can determine the wheel speed of the wheel through the wheel speed signal provided by the motor controller when the wheel speed sensor of the wheel is invalid, and the control stability of the controller is stronger and the driving safety is higher.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more particularly to a controller for a vehicle, a motor controller supporting wheel speed indication, and a vehicle. Background Technology

[0002] Wheel speed is one of the main input signals for obtaining vehicle status during operation. The control system needs to perform real-time vehicle control based on wheel speed information or the vehicle speed calculated from wheel speed information. Traditional vehicle wheel speed detection relies on wheel speed sensors installed on each wheel. However, when the wheel speed sensors and their wiring harnesses malfunction, the vehicle control system cannot determine the accurate wheel speed and vehicle speed, potentially endangering driving safety. Summary of the Invention

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

[0004] In a first aspect, a controller for an electric vehicle is provided for controlling the operation of the electric vehicle during operation. During operation, when the wheel speed sensor of the electric vehicle is active, the controller is further configured 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 the first wheel speed signal or the second wheel speed signal. When the wheel speed sensor of the electric vehicle fails, the controller is further configured to receive the 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 is understood that a valid wheel speed sensor means that the wheel speed sensor can output the first wheel speed signal to the controller. An invalid wheel speed sensor means that the wheel speed sensor cannot correctly output the first wheel speed signal to the controller.

[0006] It is understandable that when the wheel speed sensor is active, the controller can receive a first wheel speed signal from the sensor to determine the wheel's rotational speed, and can also receive a second wheel speed signal from the motor controller that controls the motor driving the wheel to determine the wheel's rotational speed, thereby controlling the operation of the electric vehicle. Alternatively, the controller can simultaneously receive both the first and second wheel speed signals to determine the wheel's rotational speed. In this case, the two wheel speed signals can serve as backups for each other, thereby improving the reliability and accuracy of wheel speed measurement.

[0007] It is understandable that when the wheel speed sensors fail, the controller can still determine the wheel speed based on the second wheel speed signal provided by the motor controller and control the operation of the electric vehicle accordingly. In other words, even if the wheel speed sensors of the electric vehicle fail, the controller can still accurately determine the wheel speed of the corresponding wheel and perform corresponding control. The controller's robustness in observing wheel speed is stronger, resulting in higher driving safety.

[0008] According to the solution of this application, when the wheel speed sensor fails, the controller can determine the wheel speed through the wheel speed signal provided by the motor controller, resulting in stronger control stability and higher driving safety. Furthermore, when the wheel speed sensor is effective, the controller can combine the wheel speed signals provided by the wheel speed sensor and the motor controller to determine the wheel speed, leading to higher reliability and accuracy in wheel speed measurement, enabling timely and accurate vehicle control and enhanced vehicle driving performance.

[0009] In conjunction with the first aspect, in certain implementations of the first aspect, if 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 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. If 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 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 vehicle's wheel speed sensors may be able to output a first wheel speed signal to the controller, but the wheel speed indicated by the first wheel speed signal may have a large error compared to the actual wheel speed. To address this scenario, the controller can receive both the first and second wheel speed signals simultaneously and then compare the wheel speeds indicated by the first and second wheel speed signals to confirm the reliability of the first wheel speed signal.

[0011] It is understood that the specific value of the first threshold mentioned above is not limited in the embodiments of this application, and can be determined according to specific implementation.

[0012] According to the solution of this application, when the wheel speed sensor 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 when the measurement error of the wheel speed sensor is large, and ensure the stability of the vehicle driving performance.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, in response to the electric vehicle's speed being less than a speed threshold, or in response to the electric vehicle's speed 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 control the operation of the electric vehicle based on the wheel speed indicated by the second wheel speed signal.

[0014] The aforementioned vehicle speed threshold can be understood as a relatively low speed. When the electric vehicle's speed is lower than this threshold, it can be considered that the electric vehicle is traveling in a low-speed range. At this time, traditional wheel speed sensors will experience problems such as reduced measurement resolution and missing rotation direction information. Based on this, the controller provided in this application can directly control the operation of the electric vehicle based on the second wheel speed signal provided by the motor controller when the vehicle is running at low speed, ensuring the real-time performance and accuracy of the control.

[0015] The aforementioned first rate of change threshold can be understood as a relatively large rate of change. When the rate of change of vehicle speed exceeds the rate of change threshold, it can be considered that the driver expects the vehicle to accelerate or decelerate rapidly. In this case, real-time and accurate control of the electric vehicle's operation is required. 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, ensuring the real-time performance and accuracy of the control.

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

[0017] In conjunction with the first aspect, in some implementations of the first aspect, in response to the electric vehicle's speed being less than a speed threshold, or in response to the electric vehicle's speed 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 stop receiving the first wheel speed signal.

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

[0019] According to the embodiments of this application, when the electric vehicle is traveling at low speed or the driver is driving aggressively, the controller can stop receiving the wheel speed signal reported by the wheel speed sensor, so as to avoid interference with the wheel speed signal provided by the motor controller and achieve higher control stability.

[0020] In conjunction with the first aspect, in certain implementations of the first aspect, in response to the electric vehicle's speed being less than a speed threshold, or in response to the electric vehicle's speed being greater than or equal to the speed threshold and the rate of change of 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 electric vehicle's speed being greater than or equal to the speed threshold and the rate of change of 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 is understood that the first frequency and the second frequency mentioned above can be any frequency within the sampling frequency range supported by the wheel speed sensor, and this application embodiment does not limit this.

[0022] It is understood that when the wheel speed sensor is effective, the controller provided in this application embodiment can actively increase the frequency of receiving the first wheel speed signal when the electric vehicle is driving at low speed or when the driver is driving aggressively, and shorten the interval of its own wheel speed confirmation, so that the controller can control the electric vehicle to adjust its operating state more timely when needed.

[0023] Similarly, the controller provided in this application embodiment can also actively increase the frequency of receiving the second wheel speed signal when the electric vehicle is traveling at low speed or when the driver is driving aggressively, and shorten the interval of its own confirmation of wheel speed, so that the controller can control the electric vehicle more promptly when needed.

[0024] According to the embodiments of this application, when the electric vehicle is traveling at 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 conjunction 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 configured 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 configured to receive the first wheel speed signal of any wheel at a frequency less than the preset frequency.

[0026] The second rate of change threshold can be understood as a large rate of change. When the rate of change of the wheel speed of any wheel exceeds the second rate of change threshold, it can be understood that any wheel is slipping. This application does not limit the specific causes of wheel slippage. For example, wheel slippage may be caused by a sudden change in the road surface adhesion coefficient. As another example, wheel slippage may also be caused by passing over bumps in an uneven road surface.

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

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

[0029] Optionally, the controller can also determine whether the wheel driven by the motor is slipping based on the rate of change of the motor's rotational speed, thereby determining the frequency at which the first wheel speed signal and / or the second wheel speed signal of any wheel are received.

[0030] According to the present application, when the wheels of an electric vehicle slip, the controller can actively increase the frequency of receiving wheel speed signals from the wheel speed sensor and the motor controller, thereby further improving the real-time performance and stability of vehicle control.

[0031] In conjunction with the first aspect, in certain implementations of the first aspect, a motor controller is used to control a drive motor to drive two coaxial wheels of an electric vehicle, and a first wheel speed signal is used to indicate the wheel speed of at least one of the two coaxial wheels. Furthermore, in response to a difference between the sum of the wheel speeds 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 a difference between the sum of the wheel speeds 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 solution of this 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 the wheel speed signal with higher reliability, so as to prevent the controller's control effect from being affected when the measurement error of one of the wheel speed sensors is large, and the vehicle driving performance is stable.

[0033] In conjunction with the first aspect, in some 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 duration exceeding a duration threshold. Alternatively, the controller receives a fault signal indicating a wheel speed sensor failure.

[0034] Wherein, the duration threshold is greater than the time interval between two first wheel speed signals normally received by the controller. When the duration of the controller interruption in 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 understandable that electric vehicles are equipped with fault detection components to check whether the wheel speed sensors corresponding to each wheel are functioning properly and to send the detection results to the controller. When a wheel speed sensor malfunctions, the fault detection component can send a fault signal to the controller, indicating that the wheel speed sensor has failed.

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

[0037] In conjunction with the first aspect, in some implementations of the first aspect, the controller controlling the operation of the electric vehicle specifically includes controlling the braking system to adjust the magnitude of the output braking force or controlling the drive system to adjust the magnitude of the output driving force.

[0038] It can be understood that the controller controlling the operation of an electric vehicle can be understood as the controller controlling the braking force output by the braking system or controlling the driving force output by the drive system based on the wheel speed. For example, when the actual wheel speed 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 drive system to decrease the driving force output.

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

[0040] Secondly, a motor controller supporting wheel speed indication is provided. This motor controller controls the output torque of a drive motor of an electric vehicle to drive the electric vehicle and receives a motor speed signal from a resolver sensor of the drive motor, adjusting the torque output of the drive motor according to the motor speed signal indicated by the resolver sensor. The motor controller also receives the motor speed signal from the resolver sensor and outputs a second wheel speed signal indicating the wheel speed.

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

[0042] It is understandable that the motor controller can output the aforementioned second wheel speed signal to the controller via the Controller Area Network (CAN) bus, enabling the controller to determine the corresponding wheel speed based on the motor's speed information.

[0043] Alternatively, the controller in an electric vehicle can determine the rotational speed of each wheel solely through the motor controller, eliminating the need for dedicated wheel speed sensors for each wheel and reducing the number of sensors required for the vehicle.

[0044] Optionally, the controller in an electric vehicle can determine the rotational speed of each wheel by combining the motor controller and wheel speed sensors, resulting in higher reliability and accuracy.

[0045] According to the embodiments of this application, the motor controller can output wheel speed signals based on the resolver signal of the motor, so that the vehicle controller can directly control the vehicle based on the wheel speed signal, making the motor controller more practical.

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

[0047]

[0048] Where, ω wheel _ est The wheel speed indicated by the second wheel speed signal, ω motor Let i be the speed of the drive motor, and i be the speed ratio of the reducer. This is the correction factor for the speed loss of the drive motor.

[0049] Specifically, i represents 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 link from the motor to the wheel end (such as gearbox backlash and drive shaft transmission losses).

[0050] According to the embodiments of this application, the motor controller references the speed loss coefficient during the process of obtaining the wheel speed through motor speed conversion, so that the error between the wheel speed obtained from 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 conjunction with the second aspect, in some implementations of the second aspect, the speed loss correction coefficient of the drive motor increases as the speed of the electric motor increases.

[0052] In this application, the specific manner in which the speed loss correction coefficient of the motor increases with the increase of the motor speed is not limited. For example, the speed loss correction coefficient can increase linearly with the increase of the motor speed.

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

[0054] According to the embodiments of this application, the motor controller can determine the corresponding speed loss correction coefficient based on the motor speed, thereby correcting the motor speed indicated by the resolver signal. The calculation method is simple and highly reliable.

[0055] Thirdly, this application provides a vehicle that includes a controller as described in any embodiment of the first aspect, and / or a motor controller as described in any embodiment of the second aspect.

[0056] The supplementary information and technical effects of the solution provided in the third aspect above can be found in the corresponding explanation in the first aspect, and will not be repeated here. Attached Figure Description

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

[0058] Figure 2 This is a schematic diagram of the powertrain 10 provided in an embodiment of this application;

[0059] Figure 3 A schematic diagram illustrating the functional relationship between the speed loss correction coefficient and the motor speed, provided for an embodiment of this application;

[0060] Figure 4 This is a schematic diagram of the operation of the controller 20 provided in an embodiment of this application;

[0061] Figure 5 Another schematic diagram of the operation of the controller 20 provided in the embodiments of this application. Detailed Implementation

[0062] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0063] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0064] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0065] References to “some embodiments” and the like in this specification mean that one or more embodiments of this application include a particular feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as “some embodiments” appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean “one or more, but not all, embodiments”, unless otherwise specifically emphasized. The terms “comprising,” “including,” “having,” and variations thereof mean “including, but not limited to,” unless otherwise specifically emphasized.

[0066] Wheel speed is one of the primary input signals for acquiring vehicle status during operation. In chassis control systems such as Anti-lock Braking System (ABS), Traction Control System (TCS), and Hill-start Assist Control (HAC), vehicles typically need to perform corresponding operations based on wheel speed information or vehicle speed calculated from wheel speed information. In drive system-related fields such as transmission control, torque command generation, and four-wheel drive control, rapid and accurate calculation and judgment based on wheel speed information are also required. Furthermore, with the development and popularization of intelligent driving, slow or inaccurate wheel speed signal updates will significantly impact the control effectiveness of the vehicle's real-time control system. In other words, vehicle control systems have higher requirements for the real-time performance, reliability, and robustness of wheel speed and other signals.

[0067] It is easy to understand that when the wheel speed sensor malfunctions, the vehicle control system cannot determine accurate wheel speed information. Once the wheel speed signal malfunctions or deviates significantly, it will lead to a decrease in vehicle performance and even affect driving safety.

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

[0069] Figure 1 This is a schematic diagram of an electric vehicle 01 provided in an embodiment of this 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 from the power battery 30 and provide kinetic energy to the electric vehicle 01.

[0070] It is understood that the vehicle 01 in this application embodiment can be any type of automobile, such as a sedan, truck, or passenger bus, or it can be a tricycle, two-wheeled vehicle, train, or other transportation device for carrying passengers or goods, or other types of vehicles powered by a power battery. This application embodiment does not limit this. The vehicle includes, but is not limited to, pure electric vehicles (pure EV / battery EV), hybrid electric vehicles (HEV), range-extended electric vehicles (REEV), plug-in hybrid electric vehicles (PHEV), and new energy vehicles (NEV).

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

[0072] It is understood that the specific type of powertrain 10 is not limited in the embodiments of this application. As an example and not a limitation, the powertrain described above can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. In the hub motor powertrain, the motor and reducer are directly mounted in the wheel rim, eliminating transmission components such as half-shafts, universal joints, differentials, and gearboxes; in the wheel-side motor powertrain, the motor is mounted on the subframe.

[0073] Figure 2 This is a schematic diagram of the powertrain 10 provided in the embodiments of this application.

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

[0075] It should be noted that the embodiments of this application do not limit the arrangement of the motor in the electric vehicle. For example, Figure 2 The powertrain 10 shown in (a) can be a front-drive powertrain, with the motor 11 connected to the two front wheels of the electric vehicle 01 via a front axle drive. For example, Figure 2 The powertrain 10 shown in (a) can also be a rear-drive powertrain, with the motor 11 connected to the two rear wheels of the electric vehicle 01 via a front axle drive.

[0076] Understandably, based on the wheel positions, the four wheels can be divided into left front wheel 41, right front wheel 42, left rear wheel 43, and right rear wheel 44. According to the axle arrangement, left front wheel 41 and right front wheel 42 are coaxial and connected via the front axle, while left rear wheel 43 and right rear wheel 44 are coaxial and connected via the rear axle. According to their positions, in vehicle 01, left front wheel 41 and right front wheel 42 are coaxial wheels, and left rear wheel 43 and right rear wheel 44 are coaxial wheels; left front wheel 41 and left rear wheel 43 are wheels on the same side, and right front wheel 42 and right rear wheel 44 are wheels on the same side; left front wheel 41 and right rear wheel 44 are diagonally opposite wheels, and right front wheel 42 and left rear wheel 43 are diagonally opposite wheels.

[0077] In this embodiment, the motor controller can control the motor to output positive or negative torque. Specifically, the motor 11 includes stator windings 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 rotor, i.e., the motor torque.

[0078] In some embodiments, the powertrain 10 also includes a rotary transformer (not shown), which can be mounted on the motor 11 (e.g., on the motor rotor) to accurately detect the position, direction, and speed of the motor rotor. This rotary transformer is responsible for monitoring and extracting the motor rotation speed, offering a high sampling rate and direct communication with the motor controller, resulting in a short communication link. Furthermore, compared to traditional wheel speed sensors, the rotary transformer overcomes the problems of reduced resolution and lack of motor / tire rotation direction information in low-speed ranges (e.g., vehicle speeds less than 10 km / h). Therefore, vehicle wheel speeds measured via the rotary transformer can improve measurement accuracy, reliability, and real-time performance, thereby ensuring excellent driving performance.

[0079] like Figure 2 As shown in (b), the powertrain 10 includes two motors and two motor controllers. The two motors are motor 11 and motor 13, and the two motor controllers are motor controller 12 and motor controller 14. In this configuration, one axle of the electric vehicle 01 includes two decoupled half-shafts. Motor 11 is connected to one wheel of the electric vehicle 01 via one half-shaft, and motor 13 is connected to another vehicle on the same axle as that wheel via the other half-shaft. During the operation of the electric vehicle 01, motor controller 12 controls the output torque of motor 11 to drive that wheel, and motor controller 14 controls the output torque of motor 13 to drive that other wheel. For example, this powertrain 10 is a front-drive powertrain, where 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 this application, the electric vehicle 01 may include two or more powertrains, and the structures of each powertrain may be the same or different. For example, the electric vehicle 01 may include a front drive powertrain and a rear drive powertrain, wherein the structure of the front drive powertrain is as follows: Figure 2 As shown in (a) above, the structure of the rear drivetrain is as follows: Figure 2 As shown in (b) above, the drive system of electric vehicle 01 at this time presents a three-motor architecture with a single front motor and dual rear motors. For example, electric vehicle 01 may include a front drivetrain and a rear drivetrain, wherein the structures of the front drivetrain and the rear drivetrain are as shown in [image / description]. Figure 2 As shown in (b), the drive system of electric vehicle 01 presents a four-motor architecture with two motors in the front and two in the rear.

[0081] It should be noted that the motor controller provided in this embodiment also has a wheel speed indication function. Here, the motor controller can refer to any motor controller in the electric vehicle 01. For example, it could be... Figure 2The motor controller 12 is shown in (a) above. In other words, any one of the motor controllers in the electric vehicle 01 can realize the wheel speed indication function. The following description uses motor controller 12 as an example.

[0082] In some embodiments, the motor controller 12 is used to control the output torque of the drive motor 11 of the electric vehicle 01 to drive the electric vehicle 01, and to receive the motor speed signal from 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, which is used to indicate the wheel speed.

[0083] Understandable, for Figure 2 In the powertrain shown in (a), since motor 11 is used to drive the left front wheel 41 and the right front wheel 42, a second wheel speed signal is used to indicate the wheel speed of the left front wheel 41 and the right front wheel 42. For Figure 2 In the powertrain shown in (b), since motor 11 and 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 is understandable that the second wheel speed signal can be used not only to indicate the numerical value of the motor's rotation speed, but also to indicate the motor's rotation direction.

[0085] It is understood that the motor controller 12 can output the aforementioned second wheel speed signal to the controller 20 via the CAN network, so that the controller 20 can determine the corresponding wheel speed based on the motor speed information.

[0086] In some embodiments, controller 20 can determine the rotational speed of each wheel solely through the motor controller, eliminating the need for dedicated wheel speed sensors for each wheel, thus reducing the number of sensors required for the vehicle. In other embodiments, controller 20 can determine the rotational speed of each wheel jointly through the motor controller and wheel speed sensors, resulting in higher reliability and accuracy.

[0087] According to the embodiments of this application, the motor controller can output wheel speed signals based on the resolver signal of the motor, so that the vehicle controller can directly control the vehicle based on the wheel speed signal, making the motor controller 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 rotational speed of the drive motor indicated by the resolver signal satisfy the following:

[0089]

[0090] Where, ω wheel_est The wheel speed indicated by the second wheel speed signal, ω motor Let i be the rotational speed of the drive motor, and i be the speed ratio of the reducer. This is the speed loss correction coefficient for the drive motor.

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

[0092] According to the embodiments of this application, the motor controller references the speed loss coefficient during the process of obtaining the wheel speed through motor speed conversion, so that the error between the wheel speed obtained from 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] In this application embodiment, the specific manner in which the speed loss correction coefficient of motor 11 increases with the increase of the speed of motor 11 is not limited. For example, as shown... Figure 3 As shown, the speed loss correction coefficient can have a linear relationship with the speed of motor 11.

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

[0096] According to the embodiments of this application, the motor controller can determine the corresponding speed loss correction coefficient based on the motor speed, thereby correcting the motor speed indicated by the resolver signal. The calculation method is simple and highly reliable.

[0097] In this embodiment, the controller 20 is used to control the operation of the electric vehicle 01 during its operation. In the electric vehicle 01, the driver can change the vehicle's driving state 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 a change in the opening of either pedal is detected, the controller controls the motor controller to adjust the torque output, thereby changing the driving force on the wheels to make the vehicle drive according to the driver's needs. Alternatively, when a change in the opening of the brake pedal is detected, the controller controls the vehicle's braking system to adjust the braking torque, thereby changing the braking force on the wheels to make the vehicle drive according to the driver's needs.

[0098] In some embodiments, an opening sensor (not shown in the figure) is provided at the accelerator pedal and brake pedal of the vehicle. The opening sensor is 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 a change in the pedal opening of the corresponding pedal is detected, send the changed pedal opening to the controller 20 in the form of a signal.

[0099] In some embodiments, wheel speed sensors (not shown in the figure) may be provided at each wheel of the electric vehicle 01. The wheel speed sensors are 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 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 described above can be a controller cluster consisting of multiple controllers. For example, the controller cluster includes, but is not limited to, a chassis controller, a vehicle control unit (VCU), and a central controller in the braking system. The chassis controller, central controller, vehicle control unit, and motor controller in the powertrain can communicate with each other via a CAN network. Specifically, the chassis controller acquires information collected by the various sensors or other acquisition devices and performs corresponding data processing to output the requested torque; the vehicle control unit receives the requested torque output by the chassis controller and other components (e.g., accelerator pedal, brake pedal, etc.), arbitrates the data to determine the target torque that the drive motor ultimately needs to output, and sends it to the motor controller in the form of a signal; the motor controller sends 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; or, the functions of the above controllers may be mutually configured according to actual needs, and this application embodiment does not limit this.

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

[0103] In some embodiments, during the operation of the electric vehicle 01, when the wheel speed sensor of the electric vehicle 01 is active, the controller 20 receives 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 controls the operation of the electric vehicle 01 according to the wheel speed indicated by the first wheel speed signal or the second wheel speed signal. When the wheel speed sensor of the electric vehicle 01 fails, the controller receives the second wheel speed signal from the motor controller and controls the operation of the electric vehicle 01 according to the wheel speed indicated by the second wheel speed signal.

[0104] It is understood that "the wheel speed sensor is valid" means that the wheel speed sensor can output the first wheel speed signal to the controller 20. "The wheel speed sensor is invalid" 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 controls the operation of the electric vehicle 01 by adjusting the vehicle's drive system, braking system, electronic stability program (ESP), ABS, TCS, HAC, and other systems based on the wheel speed.

[0106] It is understandable that, for the left front wheel 41 of the electric vehicle 01, when the wheel speed sensor of the left front wheel 41 is active, the controller 20 can receive the first wheel speed signal output from the wheel speed sensor to determine the wheel's rotational speed, and can also receive the second wheel speed signal output from the motor controller 12 to determine the wheel's rotational speed, thereby controlling the operation of the electric vehicle 01. Alternatively, when the wheel speed sensor of the left front wheel 41 is active, the controller 20 can simultaneously receive the first and second wheel speed signals to determine the wheel's rotational speed. In this case, the two wheel speed signals can serve as backups for each other, thereby improving the reliability and accuracy of wheel speed measurement.

[0107] It is understandable that, for the left front wheel 41 of 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 based on the second wheel speed signal and control the operation of electric vehicle 01 accordingly. In other words, even if the wheel speed sensor of 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. The wheel speed measurement is more robust, and the driving safety is higher.

[0108] According to the embodiments of this application, when the wheel speed sensor fails, the controller can determine the wheel speed through the wheel speed signal provided by the motor controller, resulting in stronger control stability and higher driving safety. Furthermore, when the wheel speed sensor 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, leading to higher reliability and accuracy in wheel speed measurement, enabling timely and accurate vehicle control and enhanced vehicle driving performance.

[0109] In some embodiments, the wheel speed sensor of the electric vehicle 01 fails, specifically including the controller 20 interrupting the reception of the first wheel speed signal for a duration exceeding a duration threshold. Alternatively, the controller 20 receives a fault signal indicating a wheel speed sensor failure.

[0110] Wherein, 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 is understandable that the electric vehicle 01 is equipped with a fault detection component to detect whether the wheel speed sensors corresponding to each wheel are functioning properly and to send the detection results to the controller 20. When a wheel speed sensor malfunctions, 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 this application, the controller can determine the failure of the wheel speed sensor in a variety of ways, with high accuracy and high 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 drive 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 or controlling the magnitude of the driving force output by the drive system based on the wheel speed. For example, when the actual wheel speed 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 drive system to decrease the driving force output.

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

[0116] In some embodiments, 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, the controller 20 is specifically configured to control the operation of the electric vehicle 01 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 the first threshold, the controller 20 is specifically configured 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 there may be scenarios where the wheel speed sensor can output a first wheel speed signal to the controller 20, but the wheel speed indicated by the first wheel speed signal has a large error compared with the actual wheel speed. To address this scenario, the controller 20 can simultaneously receive the first wheel speed signal and the second wheel speed signal, and then compare the wheel speed indicated by the first wheel speed signal and the wheel speed indicated by the second wheel speed signal to confirm the reliability of the first wheel speed signal.

[0118] Specifically, using 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 a first threshold, the controller 20 considers the error of the first wheel speed signal to be low and its reliability to be 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 the error of the first wheel speed signal to be high and its reliability to be low. In this case, the controller 20 will control the operation of the electric vehicle 01 based on the second wheel speed signal, which has higher reliability.

[0119] It is understood that the specific value of the first threshold mentioned above is not limited in the embodiments of this application, and can be determined according to specific implementation.

[0120] According to the embodiments of this application, when the wheel speed sensor 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. When the wheel speed error indicated by the first wheel speed signal is large, the controller can directly use the indication of the second wheel speed signal to control the vehicle operation. This can avoid the control effect of the controller being affected when the measurement error of the wheel speed sensor is large, and ensure 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 a first wheel speed signal is used to indicate the wheel speed of at least one of the two coaxial wheels. Furthermore, in response to a difference between the sum of the wheel speeds 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 a difference between the sum of the wheel speeds 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 can be as follows: 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 rotational speed of the left front wheel 41 and the right front wheel 42.

[0123] Understandable, such as Figure 4 As shown, the controller 20 can receive wheel speed signal #1 output from the wheel speed sensor corresponding to the left front wheel 41, wheel speed signal #2 output from the wheel speed sensor corresponding to the right front wheel 42, and wheel speed signal #3 from the motor controller 12. At this time, these 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] Where, ω wheel _ est The wheel speed indicated by wheel speed signal #3, ω w h eel _ measure _ l The wheel speed indicated by wheel speed signal #1, ωw h eel _ measure _ r This refers to the wheel speed indicated by wheel speed signal #2. It is easy to understand that the controller 20 can calculate and determine the wheel speed of the left front wheel 41 or the right front wheel 42 based on the above relationship.

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

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

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

[0129] According to the embodiments of this 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 the wheel speed signal with higher reliability, so as to prevent the controller's control effect from being affected when the measurement error of one of the wheel speed sensors is large, and the vehicle driving performance is stable.

[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, and the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed of another wheel on the same axle as the first 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 configured 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, and the difference between the wheel speed indicated by the first wheel speed signal and the wheel speed of another wheel on the same axle as the first 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 configured to control the operation of the electric vehicle 01 according to the wheel speed indicated by the second wheel speed signal.

[0131] It is understandable that during the operation of electric vehicle 01, the wheel speeds of two coaxial wheels, such as the left front wheel 41 and the right front wheel 42, will not differ excessively. Therefore, for a single 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 a first threshold, the controller 20 can refer to the wheel speed of the other coaxial wheel, select the signal with higher reliability from the first wheel speed signal and the second wheel speed signal, and then control the operation of electric vehicle 01 based on the signal with higher reliability.

[0132] like Figure 5 As shown, the controller 20 can receive wheel speed signal #1 output by the wheel speed sensor corresponding to the left front wheel 41, wheel speed signal #2 output by the wheel speed sensor corresponding to the right front wheel 42, wheel speed signal #3 output by the motor controller 12, and wheel speed signal #4 output by the motor controller 14. Wheel speed signal #3 is used to indicate the wheel speed of the left front wheel 41, and 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 reliability is high. At this time, the controller 20 can control the operation of 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 reliability is low. At this time, the controller 20 can control the operation of electric vehicle 01 according to the wheel speed indicated by wheel speed signal #3 provided by the motor controller.

[0135] It is 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, the above method of the controller 20 determining the wheel speed signal with higher reliability from the first wheel speed signal and the second wheel speed signal is only an example. That is, the controller 20 can also determine the wheel speed signal with higher reliability by referring to the wheel speed of the wheel on the same axle as the wheel in other ways. This application embodiment does not limit this.

[0136] According to the embodiments of this application, for a dual-motor powertrain configuration, 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, the controller can refer to the wheel speed of the other wheel on the same axle to determine a more reliable wheel speed signal, thereby further improving the accuracy and reliability of wheel speed measurement and further improving the stability of vehicle driving performance.

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

[0138] The aforementioned vehicle speed threshold can be understood as a relatively low vehicle speed, for example, 10 kph. When the speed of electric vehicle 01 is less than this threshold, it can be considered that electric vehicle 01 is traveling in a low-speed range. At this time, traditional wheel speed sensors will experience problems such as reduced measurement resolution and missing rotation direction information. Based on this, the controller 20 provided in this embodiment can directly control the operation of electric vehicle 01 based on the second wheel speed signal provided by the motor controller when the vehicle is running at low speed, ensuring the real-time performance and accuracy of the control.

[0139] The aforementioned rate of change threshold can be understood as a relatively large rate of change. When the rate of change of vehicle speed exceeds the rate of change threshold, it can be considered that the driver expects the vehicle to accelerate or decelerate rapidly. In this case, real-time and accurate control of the operation of electric vehicle 01 is required. 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 this embodiment will directly control the operation of electric vehicle 01 according to the second wheel speed signal, ensuring the real-time performance and accuracy of the control.

[0140] According to the embodiments of this application, when the electric vehicle is traveling at low speed or when the driver is driving aggressively, the controller will directly control the vehicle operation based on the second wheel speed signal provided by the motor controller, resulting in higher real-time performance and accuracy of the control.

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

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

[0143] It is understood that the specific method by which the controller 20 stops receiving the first wheel speed signal is not limited in the embodiments of this application. For example, before the controller 20 stops receiving the first wheel speed signal, it may send a control signal to the wheel speed sensor, which is used to instruct the wheel speed sensor to stop reporting the first wheel speed signal.

[0144] According to the embodiments of this application, when the electric vehicle is traveling at low speed or the driver is driving aggressively, the controller can stop receiving the wheel speed signal reported by the wheel speed sensor, so as to avoid interference with the wheel speed signal provided by the motor controller and achieve higher control stability.

[0145] In some embodiments, in response to the electric vehicle 01's speed being less than a speed threshold, or in response to the electric vehicle 01's speed being greater than or equal to a speed threshold and the rate of change of speed being greater than a first rate of change threshold, the controller 20 is further configured to receive a first wheel speed signal at a first frequency. In response to the electric vehicle 01's speed being greater than or equal to a speed threshold and the rate of change of 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 is understood that the first frequency and the second frequency mentioned above can be any frequency within the sampling frequency range supported by the wheel speed sensor, and this application embodiment does not limit this.

[0147] It is understood that when the wheel speed sensor is effective, the controller 20 provided in this application embodiment can actively increase the frequency of receiving the first wheel speed signal when the electric vehicle 01 is driving at low speed or when the driver is driving aggressively, and shorten the interval of its own wheel speed confirmation, so that the controller 20 can control the electric vehicle more timely when needed, such as adjusting the driving force output by the drive system or adjusting the braking force output by the braking system.

[0148] Similarly, in response to the electric vehicle 01's speed being less than a speed threshold, or in response to the electric vehicle 01's speed being greater than or equal to a speed threshold and the rate of change of speed being greater than a 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 electric vehicle 01's speed being greater than or equal to a speed threshold and the rate of change of 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 lower than the third frequency.

[0149] It is understood that the aforementioned third and fourth frequencies can be any frequencies within the sampling frequency range supported by the resolver sensor in the motor controlled by the motor controller, and this application embodiment does not limit them.

[0150] It is understood that the controller 20 provided in this application embodiment can also actively increase the frequency of receiving the second wheel speed signal when the electric vehicle 01 is driving at low speed or when the driver is driving aggressively, and shorten the interval of its own confirmation of wheel speed, so that the controller 20 can control the electric vehicle more timely when needed.

[0151] According to the embodiments of this application, when the electric vehicle is traveling at 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 a second rate of change threshold, the controller 20 is further configured 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 01 being greater than or equal to the second rate of change threshold, the controller 20 is further configured to receive the first wheel speed signal of any wheel at a frequency less than the preset frequency.

[0153] The second rate of change threshold can be understood as a large rate of change. When the rate of change of the wheel speed of any wheel exceeds the second rate of change threshold, it can be understood that any wheel is slipping. This application embodiment does not limit the specific causes of wheel slippage.

[0154] For example, wheel slippage may be caused by a sudden change in the road surface adhesion coefficient. For instance, when electric vehicle 01 travels from a paved concrete road to an icy or snowy road, the wheel's rotational speed may suddenly increase. Wheel slippage may also be caused by electric vehicle 01 passing over bumps in uneven road surfaces. For example, when the wheel of electric vehicle 01 drives over potholes, it may cause the wheel to spin freely, resulting in a sudden increase in wheel speed. Conversely, when the wheel of electric vehicle 01 drives over protrusions in the road, its rotation may be obstructed, resulting in a sudden decrease in wheel speed.

[0155] It is understandable that when the wheel speed sensor is effective, if 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 that wheel and shorten the interval of its own wheel speed confirmation, 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 a second rate of change threshold, the controller 20 is further configured 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 configured to receive the second wheel speed signal of any wheel at a frequency less than the preset frequency.

[0157] It is understandable 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 that wheel and shorten the interval of its own wheel speed confirmation, 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's rotational 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 this application, when the wheels of an electric vehicle slip, the controller can actively increase the frequency of receiving wheel speed signals from the wheel speed sensor and the motor controller, thereby further improving the real-time performance and stability of vehicle control.

[0160] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A controller for an electric vehicle, characterized by, The controller is used to control the operation of the electric vehicle during its operation, and the controller is also used to: During the operation of the electric vehicle, when the wheel speed sensor of the electric vehicle is active, it receives 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 controls 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, it receives a second wheel speed signal from the motor controller and controls the operation of the electric vehicle according to the wheel speed indicated by the second wheel speed signal. The controller is also used for: In response to the electric vehicle’s speed being less than a speed threshold, or in response to the electric vehicle’s speed being greater than or equal to a speed threshold and the rate of change of the speed being greater than a second rate of change threshold, the first wheel speed signal is received at a first frequency, and / or the second wheel speed signal is received at a third frequency. In response to the electric vehicle's speed being greater than or equal to a speed threshold and the rate of change of the 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, and / or the second wheel speed signal is received at a fourth frequency less than the third frequency.

2. The controller of claim 1, wherein, 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 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. 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 the first threshold, the electric vehicle is controlled to operate according to the wheel speed indicated by the first wheel speed signal.

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

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

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

6. The controller of any one of claims 1 to 5, wherein, The motor controller is used to control a drive motor to drive the two coaxial wheels of the electric vehicle. Specifically, the controller is used for: In response to a second threshold, the electric vehicle is controlled to operate based on the wheel speed indicated by the first wheel speed signal when 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 is less than a second threshold. In response to a second threshold, the electric vehicle is controlled to operate according to the wheel speed indicated by the second wheel speed signal if 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 is greater than or equal to the second threshold.

7. The controller of claim 1, wherein, The failure of the wheel speed sensor in the electric vehicle specifically includes: The duration for which the controller interrupts receiving the first wheel speed signal exceeds a duration threshold; or The controller receives a fault signal, which indicates a fault in the wheel speed sensor.

8. The controller of any one of claims 1 to 7, wherein, The electric vehicle includes a braking system and a drive system. The braking system outputs braking force or controls the drive system to adjust the output driving force. The braking force is used to brake the electric vehicle, and the drive system is used to drive the wheels of the electric vehicle. The control of the electric vehicle operation specifically includes controlling the magnitude of the braking force output by the braking system or controlling the drive system to adjust the magnitude of the driving force output.

9. An electric vehicle characterized by comprising: Includes the controller as described in any one of claims 1 to 8.

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