Matching method and device between power wheel module and PEU and storage medium

Abstract

The invention provides a matching method and device between a power wheel module and a PEU and a storage medium, and the method comprises the steps: obtaining: obtaining the offset of a position / angle sensor of the power wheel module, the power wheel module being mechanically installed to a corresponding wheel according to a preset condition; an identification step, wherein the position of a motor of the power wheel module is identified according to the obtained offset; and the configuration step is used for configuring a communication identifier to be used by the PEU and the rotation direction of the power wheel module according to the identified position of the motor. Therefore, the development cost of the software program can be reduced, the configuration and maintenance workload of the software program is reduced, and the configuration, loading and maintenance efficiency of the software program is improved.

Description

Matching method, device and storage medium between power wheel module and PEU Technical Field

[0001] The present invention relates to the field of electronic information technology, and in particular to a matching method and device and a storage medium between a power wheel module and a PEU. Background Art

[0002] In related art, the powertrain topology of an electric vehicle can be, for example, a four-wheel drive (4WD) topology, meaning the electric vehicle uses four-wheel drive, with all four front and rear wheels powered. The electric vehicle's power wheel system (PWS) includes a power wheel module and a power electronic unit (PEU), with the power wheel module, for example, including a motor.

[0003] Referring to Figure 1 , a vehicle includes wheels (FL, RL, FR, and RR). FL represents the front left wheel, RL represents the rear left wheel, FR represents the front right wheel, and RR represents the rear right wheel. LH stands for left side, and RH stands for right side. Each of the FL, RL, FR, and RR wheels is equipped with a corresponding powered wheel module and PEU (for simplicity, Figure 1 does not show the powered wheel modules and PEUs for each wheel).

[0004] It should be understood that the PEUs on all wheels of the vehicle have identical hardware and communicate on the same CAN node. Therefore, each wheel's PEU must have a different CAN communication identifier (ID) to avoid communication errors caused by conflicting PEU communication IDs. In other words, the communication identifiers used by each wheel's PEU must be configured.

[0005] Furthermore, different powered wheel modules have different position / angle sensor (e.g., resolver) angular offsets, necessitating configuration of the angular offset for each wheel's powered wheel module within the software. Furthermore, referring to Figure 2, upon receiving a positive torque request, the powered wheel module mounted on the FL wheel must rotate counterclockwise, while the powered wheel module mounted on the RH wheel must rotate clockwise. Therefore, the rotational direction of each wheel's powered wheel module must also be configured.

[0006] It can be seen from this that it is necessary to configure the angular offset and rotation direction of the power wheel module of each wheel and the communication identifier to be used by each PEU.

[0007] The current solution is to generate four separate software programs for each wheel: FR, FL, RR, and RL. These programs differ primarily in their configured angular offsets and rotational directions for the corresponding power wheel modules, as well as their communication identifiers for the corresponding power unit units (PEUs). The corresponding software programs are then manually loaded into the corresponding PEUs, allowing for manual matching between the power wheel modules and PEUs on different wheels. To achieve the different angular offsets for all wheels, a QR code scanner is required.

[0008] However, the above solution has the following problems: since the corresponding software program needs to be manually loaded into the corresponding PEU, the software program may be loaded into an incompatible PEU, resulting in the use of the wrong software program for configuration, which increases the risk of errors in configuring different software programs; since four different versions of the software program need to be used, the development cost of the software program is increased, the configuration and maintenance workload of the software program is increased, and the efficiency of configuration, loading and maintenance of the software program is reduced; a scanner is required to scan the QR label, and operational errors may occur when using a scanner to scan the QR label; the four wheels need to be classified and stored separately before shipment, so the warehousing and logistics costs are high.

[0009] Therefore, how to solve the above problems existing in the above solutions is one of the problems that need to be solved at present.

[0010] Summary of the Invention

[0011] In view of this, the present invention provides a matching method, device and storage medium between a power wheel module and a PEU.

[0012] In order to solve the above technical problems, according to the first aspect of the present invention, a matching method between a power wheel module and a PEU is provided, which is applied to the power electronic unit of a vehicle, namely the PEU. The matching method includes: an acquisition step for acquiring the offset of the position / angle sensor of the power wheel module, wherein the power wheel module has been mechanically installed to the corresponding wheel according to preset conditions; an identification step for identifying the position of the motor of the power wheel module based on the acquired offset; and a configuration step for configuring the communication identifier to be used by the PEU and the rotation direction of the power wheel module according to the identified position of the motor.

[0013] For the above matching method, in a possible implementation, the obtaining step includes: obtaining the offset through self-learning.

[0014] For the above matching method, in one possible implementation, the preset conditions include the respective installation positions of all power wheel modules in the multi-wheel drive topology adopted by the vehicle and / or the offsets of the respective position / angle sensors of all power wheel modules that are different from each other.

[0015] For the above-mentioned matching method, in one possible implementation, the identification step includes: according to the correspondence between the offset of the position / angle sensor of the power wheel module and the position of the motor of the power wheel module, identifying the position of the motor corresponding to the obtained offset as the position of the motor of the power wheel module.

[0016] For the above-mentioned matching method, in one possible implementation, the identification step includes: identifying the offset range into which the offset of the position / angle sensor falls; and identifying the position of the motor corresponding to the offset range as the position of the motor of the power wheel module based on the identified offset range.

[0017] For the above-mentioned matching method, in a possible implementation, when the vehicle adopts a four-wheel drive topology, identifying the position of the motor corresponding to the offset range as the position of the motor of the power wheel module according to the identified offset range includes: if the identified offset range is a range greater than 270°, identifying the position of the motor of the power wheel module indicates that the motor is the left rear motor; if the identified offset range is a range less than 270° and greater than 180°, identifying the position of the motor of the power wheel module indicates that the motor is the right rear motor; if the identified offset range is a range less than 180° and greater than 90°, identifying the position of the motor of the power wheel module indicates that the motor is the right front motor; if the identified offset range is a range less than 90°, identifying the position of the motor of the power wheel module indicates that the motor is the left front motor.

[0018] For the above-mentioned matching method, in one possible implementation, the configuration step includes: configuring a communication identifier corresponding to the identified position of the motor for the PEU, wherein the communication identifiers corresponding to motors in different positions are different; if the identified position of the motor indicates that the motor is a right-side motor, then changing the rotation direction of the motor; if the identified position of the motor indicates that the motor is a left-side motor, then maintaining the rotation direction of the motor unchanged.

[0019] In order to solve the above technical problems, according to the second aspect of the present invention, a matching device between a power wheel module and a PEU is provided, which is applied to the power electronic unit of a vehicle, namely the PEU. The matching device includes: an acquisition module for acquiring the offset of the position / angle sensor of the power wheel module, wherein the power wheel module has been mechanically installed to the corresponding wheel according to preset conditions; an identification module for identifying the position of the motor of the power wheel module according to the acquired offset; and a configuration module for configuring the communication identifier to be used by the PEU and the rotation direction of the power wheel module according to the identified position of the motor.

[0020] In order to solve the above technical problems, according to the third aspect of the present invention, a matching device between a power wheel module and a PEU is provided, which is applied to the power electronic unit of a vehicle, namely the PEU. The matching device includes: a processor; a memory for storing instructions executable by the processor, wherein the processor is configured to implement the above matching method when executing the instructions stored in the memory.

[0021] In order to solve the above technical problem, according to a fourth aspect of the present invention, a computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor, the processor is enabled to perform the above matching method.

[0022] In order to solve the above technical problem, according to the fifth aspect of the present invention, a computer program product is provided, including a computer-readable code, or a computer-readable storage medium carrying the computer-readable code. When the computer-readable code runs in a processor, the processor executes the above matching method.

[0023] According to the matching method and device between the power wheel module and the PEU of the present invention, the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions is obtained, the position of the motor of the power wheel module is identified according to the obtained offset, and the communication identifier to be used and the rotation direction of the power wheel module are configured according to the identified position of the motor. Therefore, compared with using multiple different versions of software programs, the present invention only needs to use one version of the software program, thereby reducing the development cost of the software program, reducing the configuration and maintenance workload of the software program, and improving the efficiency of configuration, loading and maintenance of the software program.

[0024] Moreover, since only one version of the software program is used, the four wheels only need to be stored together before shipment, without having to sort and store them separately, thus reducing warehousing and logistics costs.

[0025] In addition, compared to using multiple different versions of software programs, the present invention only needs to use one version of the software program, so there is no need to use a software program that is compatible with each PEU. In this way, the software program can be avoided from being loaded into an incompatible PEU, thereby avoiding the use of the wrong software program for configuration, and further avoiding the risk of errors caused by using multiple versions of software programs for configuration.

[0026] In addition, compared to the need to use a scanner to scan the QR label to obtain the angle offset, the present invention directly uses the PEU to obtain the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, thereby avoiding the risk of errors caused by operational errors when using a scanner to scan the QR label.

[0027] Further features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.

[0029] FIG1 is a schematic diagram showing a four-wheel drive topology of a vehicle according to an exemplary embodiment.

[0030] FIG2 is a schematic diagram of a power wheel module according to an exemplary embodiment.

[0031] FIG3 a is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment.

[0032] Fig. 3b is a schematic diagram showing an offset of a pre-installed position / angle sensor according to an exemplary embodiment.

[0033] FIG4 is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment.

[0034] FIG5 is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment.

[0035] FIG6 is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment.

[0036] FIG7 is a block diagram showing a matching device between a power wheel module and a PEU according to an exemplary embodiment. DETAILED DESCRIPTION

[0037] Various exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0038] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0039] In addition, numerous specific details are provided in the following detailed description to better illustrate the present invention. Those skilled in the art will appreciate that the present invention may be practiced without certain specific details. In other instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of the present invention.

[0040] As described in the background technology section, existing solutions for achieving matching between the power wheel module and the PEU have problems such as increasing the risk of errors in configuring different software programs, increasing the development cost of software programs, increasing the configuration and maintenance workload of software programs, and reducing the efficiency of software program configuration, loading and maintenance, and high warehousing and logistics costs.

[0041] To this end, the present invention proposes a matching method and device between a power wheel module and a PEU, wherein the PEU obtains the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, identifies the position of the motor of the power wheel module based on the obtained offset, and configures the communication identifier to be used by the PEU and the rotation direction of the power wheel module based on the identified position of the motor. Therefore, compared with using multiple different versions of software programs, the present invention uses only one version of the software program, thereby reducing the development cost of the software program, reducing the configuration and maintenance workload of the software program, and improving the efficiency of the configuration, loading and maintenance of the software program. Moreover, since only one version of the software program is used, the four wheels can be uniformly stored before shipment without the need to classify and store the four wheels separately, thereby reducing storage and logistics costs.

[0042] In addition, compared to using multiple different versions of software programs, the present invention only needs to use one version of the software program, so there is no need to use a software program that is compatible with each PEU. In this way, the software program can be avoided from being loaded into an incompatible PEU, thereby avoiding the use of the wrong software program for configuration, and further avoiding the risk of errors caused by using multiple versions of software programs for configuration.

[0043] In addition, compared to the need to use a scanner to scan the QR label to obtain the angle offset, the present invention directly uses the PEU to obtain the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, thereby avoiding the risk of errors caused by operational errors when using a scanner to scan the QR label.

[0044] To better understand the present invention, the following describes it in detail with reference to the flowcharts shown in FIG. 3 a to FIG. 6 .

[0045] FIG3a is a flow chart of a matching method between a power wheel module and a PEU according to an exemplary embodiment. The matching method can be applied to the power electronic unit (PEU) of a vehicle. That is, each PEU of the vehicle can adopt the matching method in this embodiment to achieve matching between the PEU and the power wheel module. In addition, the vehicle can adopt a multi-wheel drive topology, such as a two-wheel drive topology (2WD) or a four-wheel drive topology (4WD). If a two-wheel drive topology is adopted, only the front wheels are used as drive wheels; conversely, if a four-wheel drive topology is adopted, both the front and rear wheels are used as drive wheels.

[0046] Referring to FIG. 3a , the matching method may include the following steps:

[0047] In step S320 , the offset of the position / angle sensor of the power wheel module is acquired, wherein the power wheel module has been mechanically mounted to the corresponding wheel according to preset conditions. Step S320 corresponds to the acquisition step.

[0048] In this embodiment, the powered wheel modules can be mechanically mounted to the corresponding wheels according to preset conditions. In other words, the powered wheel modules can be mechanically mounted to the corresponding wheels to meet the preset conditions. The preset conditions may include the respective mounting positions of all powered wheel modules in the multi-wheel drive topology employed by the vehicle and / or the offsets of the position / angle sensors of all powered wheel modules that are different from one another.

[0049] In one possible implementation, all powered wheel modules can be mechanically mounted to their respective wheels so that the offsets of their respective position / angle sensors are different. For example, in a vehicle with a four-wheel drive topology, the four powered wheel modules can be mechanically mounted to their respective wheels so that the offsets of the position / angle sensors on the FL wheel are 45°, the offsets of the position / angle sensors on the FR wheel are 135°, the offsets of the position / angle sensors on the RL wheel are 215°, and the offsets of the position / angle sensors on the RR wheel are 305°.

[0050] In one possible implementation, the mounting positions of all powered wheel modules can be preset and mechanically installed in their respective mounting positions. For example, in a vehicle with a four-wheel drive topology, the mounting positions of the FL wheels can be preset to a mechanical angle of 5°, the FR wheels to a mechanical angle of 15°, the RL wheels to a mechanical angle of 25°, and the RR wheels to a mechanical angle of 35°. The FL, FR, RL, and RR wheels can then be installed according to the preset mechanical angles.

[0051] After the power wheel module is mechanically installed to the corresponding wheel according to the preset conditions, the offset of the position / angle sensor of the installed power wheel module can be obtained. In one possible implementation method, the offset of the position / angle sensor of the installed power wheel module can be obtained by self-learning. Exemplarily, the implementation principles and means of the self-learning generally include two categories. The first category is to adopt the motor fundamental wave model method. Typical motor fundamental wave model methods include motor back electromotive force zero crossing, magnetic flux estimation, etc. The second category is the salient pole tracking method, which utilizes the characteristics of the "small salient pole" formed by the salient pole structure of the motor rotor itself or the magnetic saturation effect. Of course, other suitable self-learning methods in the prior art should also be used to obtain the offset of the position / angle sensor of the installed power wheel module. Due to space limitations, this article will not expand on this.

[0052] Please refer to Figure 3b. Taking the vehicle adopting a four-wheel drive topology as an example, it can be obtained through self-learning that the offset of the position / angle sensor of the power wheel module installed on the FL wheel is 45°, the offset of the position / angle sensor of the power wheel module installed on the FR wheel is 135°, the offset of the position / angle sensor of the power wheel module installed on the RR wheel is 225°, and the offset of the position / angle sensor of the power wheel module installed on the RL wheel is 315°.

[0053] After the offset of the position / angle sensor of the power wheel module is acquired, the following step S340 is executed.

[0054] In step S340, the position of the motor of the power wheel module is identified according to the acquired offset. Step S340 corresponds to an identification step.

[0055] In this embodiment, considering that there may be a correspondence between the position of the motor of the power wheel module and the offset of the position / angle sensor of the power wheel module, the position of the motor corresponding to the offset can be identified based on the obtained offset of the position / angle sensor of the power wheel module.

[0056] After the position of the motor of the power wheel module is acquired, the following step S360 is executed.

[0057] In step S360, the communication identifier to be used by the PEU and the rotation direction of the power wheel module are configured according to the identified position of the motor. Step S360 corresponds to a configuration step.

[0058] In this embodiment, it is recognized that if the PEUs corresponding to different motors use the same communication identifier, a communication conflict will occur. Therefore, in order to avoid the communication conflict caused by the use of the same communication identifier, it is necessary to configure the communication identifier to be used by the PEU corresponding to the motor according to the position of the identified motor, so that the communication identifier to be used by the PEU corresponding to the motor is different from the communication identifier to be used by the PEUs corresponding to other motors. In other words, the communication identifier to be used by the PEU corresponding to the motor is configured according to the position of the identified motor, so that the communication identifiers to be used by all PEUs in the multi-wheel drive topology are different from each other.

[0059] In addition, considering that the rotation direction of the power wheel module of the motor initially configured may be inappropriate, for example, the rotation direction may not meet the requirements of the received torque request, it may be necessary to adjust the rotation direction of the power wheel module corresponding to the motor. For example, the rotation direction of the power wheel module of a motor initially configured is clockwise. When a torque request is received, a rotation direction that meets the requirements of the torque request is determined, and it is determined whether the determined rotation direction is consistent with the current rotation direction of the power wheel module of the motor. If they are consistent, there is no need to adjust the rotation direction of the power wheel module of the motor; if they are inconsistent, the rotation direction of the power wheel module of the motor needs to be adjusted.

[0060] In this embodiment, the PEU obtains the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, identifies the position of the motor of the power wheel module based on the obtained offset, and configures the communication identifier to be used by the PEU and the rotation direction of the power wheel module based on the identified position of the motor. Therefore, compared with using multiple different versions of software programs, this embodiment only needs to use one version of the software program, thereby reducing the development cost of the software program, reducing the configuration and maintenance workload of the software program, and improving the efficiency of the configuration, loading and maintenance of the software program. Moreover, since only one version of the software program is used, the four wheels can be uniformly stored before shipment without the need to classify and store the four wheels separately, thereby reducing storage and logistics costs.

[0061] In addition, compared to using multiple different versions of software programs, this embodiment only needs to use one version of the software program, so there is no need to use a software program that is compatible with each PEU. In this way, the software program can be avoided from being loaded into an incompatible PEU, thereby avoiding the use of the wrong software program for configuration, and further avoiding the risk of errors caused by using multiple versions of software programs for configuration.

[0062] In addition, compared to the need to use a scanner to scan the QR label to obtain the angle offset, this embodiment directly uses the PEU to obtain the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, thereby avoiding the risk of errors caused by operational errors when using a scanner to scan the QR label.

[0063] FIG4 is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment. Referring to FIG4 , the matching method may include the following steps:

[0064] In step S420, the offset of the position / angle sensor of the powered wheel module is obtained, where the powered wheel module has been mechanically mounted to the corresponding wheel according to preset conditions. This step corresponds to step S320 described above and will not be repeated here due to space limitations.

[0065] In step S440, based on the correspondence between the offset of the position / angle sensor of the power wheel module and the position of the motor of the power wheel module, the position of the motor corresponding to the acquired offset is identified as the position of the motor of the power wheel module.

[0066] In this embodiment, the correspondence between the offset of the position / angle sensor of the power wheel module and the position of the motor of the power wheel module can be obtained. According to the correspondence and the obtained offset of the position / angle sensor of the power wheel module, the position of the motor corresponding to the offset can be identified. The identified position of the motor is the position of the motor of the power wheel module.

[0067] In step S460, a communication identifier corresponding to the identified position of the motor is configured for the PEU, where the communication identifiers corresponding to motors in different positions are different; if the identified position of the motor indicates that the motor is a right-side motor, the rotation direction of the motor is changed; if the identified position of the motor indicates that the motor is a left-side motor, the rotation direction of the motor is maintained unchanged.

[0068] In this embodiment, different communication identifiers can be configured for all PEUs corresponding to all motors in different positions. For example, in a vehicle with a four-wheel drive topology, the FL wheel can be configured with a first communication identifier for sending and a second communication identifier for receiving; the FR wheel can be configured with a third communication identifier for sending and a fourth communication identifier for receiving; the RR wheel can be configured with a fifth communication identifier for sending and a sixth communication identifier for receiving; and the RL wheel can be configured with a seventh communication identifier for sending and an eighth communication identifier for receiving. The first through eighth communication identifiers are different from each other.

[0069] In addition, the rotation directions of the initially configured left and right motors are the same. Considering that the rotation direction of the right motor may be inappropriate, after identifying the position of the motor, it can be determined whether the motor is a left motor or a right motor based on the position of the motor; if the motor is a left motor, the rotation direction of the initially configured motor is still applicable, so there is no need to adjust the rotation direction of the left motor, and the rotation direction of the left motor can be maintained unchanged; conversely, if the motor is a right motor, the rotation direction of the initially configured motor is not applicable, so the rotation direction of the right motor needs to be adjusted to meet requirements such as the received torque request.

[0070] Therefore, in this embodiment, the PEU obtains the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, identifies the position of the motor corresponding to the obtained offset as the position of the motor of the power wheel module based on the corresponding relationship between the offset and the position of the motor, configures the PEU with a communication identifier corresponding to the identified position of the motor, and changes the rotation direction of the right motor while maintaining the rotation direction of the left motor unchanged. In this way, the development cost of the software program can be reduced, the configuration and maintenance workload of the software program can be reduced, the efficiency of the configuration, loading and maintenance of the software program can be improved, and the storage and logistics costs can be reduced. In addition, the risk of errors caused by using multiple versions of software programs for configuration and the risk of errors caused by operating errors when using a scanner to scan QR tags can be avoided.

[0071] FIG5 is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment. Referring to FIG5 , the matching method may include the following steps:

[0072] In step S520, the offset of the position / angle sensor of the powered wheel module is obtained, where the powered wheel module has been mechanically mounted to the corresponding wheel according to preset conditions. This step corresponds to step S320 described above and will not be repeated here due to space limitations.

[0073] In step S540 , the offset range into which the offset of the position / angle sensor of the power wheel module falls is identified.

[0074] In step S560 , the position of the motor corresponding to the identified offset range is identified as the position of the motor of the power wheel module.

[0075] In this embodiment, considering that there may be a correspondence between the position of the motor of the power wheel module and the offset range within which the offset of the position / angle sensor of the power wheel module falls, after obtaining the offset of the position / angle sensor of the power wheel module, the offset range within which the offset falls can be identified, and the position of the motor corresponding to the offset range can be identified based on the offset range. The identified position of the motor is the position of the motor of the power wheel module.

[0076] In step S580, the PEU is assigned a communication identifier corresponding to the identified motor position. Different motors in different positions have different corresponding communication identifiers. If the identified motor position indicates that the motor is right-handed, the motor's rotational direction is changed. If the identified motor position indicates that the motor is left-handed, the motor's rotational direction remains unchanged. This step corresponds to step S460 described above and will not be repeated here due to space limitations.

[0077] Therefore, in this embodiment, the PEU obtains the offset of the position / angle sensor of the power wheel module that has been mechanically installed to the corresponding wheel according to preset conditions, identifies the position of the motor corresponding to the offset range according to the offset range in which the offset falls as the position of the motor of the power wheel module, configures the PEU with a communication identifier corresponding to the identified position of the motor, and changes the rotation direction of the right motor while maintaining the rotation direction of the left motor unchanged. In this way, the development cost of the software program can be reduced, the configuration and maintenance workload of the software program can be reduced, the efficiency of the configuration, loading and maintenance of the software program can be improved, and the storage and logistics costs can be reduced. In addition, the risk of errors caused by using multiple versions of software programs for configuration and the risk of errors caused by operating errors when using a scanner to scan QR tags can be avoided.

[0078] FIG6 is a flow chart showing a method for matching a power wheel module with a PEU according to an exemplary embodiment. Referring to FIG6 , the matching method may include the following steps:

[0079] In step S6101, self-learning begins to acquire the offset of the position / angle sensor of the powered wheel module, which has been mechanically mounted to the corresponding wheel according to preset conditions. This step corresponds to step S320 described above and will not be repeated here due to space limitations.

[0080] In step S6102, it is determined whether the obtained offset is greater than 180°. If the determination is "yes", step S6103 is executed; otherwise, step S6104 is executed.

[0081] In step S6103, it is determined whether the obtained offset is greater than 270°. If so, step S6106 is executed; otherwise, step S6105 is executed.

[0082] In step S6104, it is determined whether the obtained offset is less than 90°. If so, step S6107 is executed; otherwise, step S6108 is executed.

[0083] In step S6105, it is identified that the motor is the motor installed on the RR wheel (the motor is referred to as the RR motor for short). Then, step S6109 is executed.

[0084] In step S6106, it is identified that the motor is a motor installed on the RL wheel (the motor is referred to as the RL motor for short). Then, step S6110 is executed.

[0085] In step S6107, it is identified that the motor is a motor installed on the FL wheel (the motor is referred to as the FL motor for short). Then, step S6111 is executed.

[0086] In step S6108, it is identified that the motor is a motor installed on the FR wheel (the motor is referred to as the FR motor for short). Then, step S6112 is executed.

[0087] Regarding steps S6102 to S6108 , they correspond to steps S540 to S560 described above, and due to space limitations, they will not be described in detail here.

[0088] In step S6109, a communication identifier for transmission (the communication identifier is referred to as RR CAN transmission ID) is configured for the PEU installed on the RR wheel. Then, step S6113 is executed.

[0089] In step S6110, a communication identifier for transmission (the communication identifier is referred to as RL CAN transmission ID) is configured for the PEU installed on the RL wheel. Then, step S6113 is executed.

[0090] In step S61111, a communication identifier for transmission (the communication identifier is referred to as FL CAN transmission ID) is configured for the PEU installed on the FL wheel. Then, step S6113 is executed.

[0091] In step S6112, a communication identifier for transmission (the communication identifier is referred to as FR CAN transmission ID) is configured for the PEU installed on the FR wheel. Then, step S6113 is executed.

[0092] As for steps S6109 to S6112, they correspond to steps S460 and S580 described above, and are not described in detail here due to space limitations.

[0093] In step S6113, it is determined whether the motor is the right motor (ie, the RH motor). If the determination is "yes", step S6114 is executed; otherwise, step S6115 is executed.

[0094] In step S6114, the rotation direction of the motor is changed.

[0095] In step S6115, the rotation direction of the motor is maintained.

[0096] Regarding steps S6113 to S6115, they correspond to steps S460 and S580 described above, and due to space limitations, they are not repeated here.

[0097] Therefore, according to this embodiment, the development cost of software programs can be reduced, the configuration and maintenance workload of software programs can be reduced, the efficiency of software program configuration, loading, and maintenance can be improved, and storage and logistics costs can be reduced. In addition, the risk of errors caused by using multiple versions of software programs for configuration and the risk of errors caused by operating errors when scanning QR labels with a scanner can be avoided.

[0098] Figure 7 is a block diagram of a matching device between a power wheel module and a PEU, according to an exemplary embodiment. The matching device can be applied to a vehicle power electronic unit (PEU). As shown in Figure 7 , the matching device 700 can include an acquisition module 710 , an identification module 720 , and a configuration module 730 .

[0099] Acquisition module 710 is used to obtain the offset of the position / angle sensor of the powered wheel module, where the powered wheel module has been mechanically mounted to the corresponding wheel of the vehicle according to preset conditions. Identification module 720 is connected to acquisition module 710 and is used to identify the position of the motor of the powered wheel module based on the acquired offset. Configuration module 730 is connected to identification module 720 and is used to configure the communication identifier to be used by the PEU and the rotation direction of the powered wheel module based on the identified motor position.

[0100] In a possible implementation, the acquisition module 710 is configured to acquire the offset through self-learning.

[0101] In a possible implementation, the preset condition includes the respective installation positions of all power wheel modules in a multi-wheel drive topology adopted by the vehicle and / or the offsets of the respective position / angle sensors of all power wheel modules that are different from each other.

[0102] In one possible implementation, the identification module 720 is configured to: identify the position of the motor corresponding to the acquired offset as the position of the motor of the power wheel module based on the correspondence between the offset of the position / angle sensor of the power wheel module and the position of the motor of the power wheel module.

[0103] In one possible implementation, the identification module 720 is configured to: identify the offset range into which the offset of the position / angle sensor falls; and identify the position of the motor corresponding to the offset range as the position of the motor of the power wheel module based on the identified offset range.

[0104] In one possible implementation, when the vehicle adopts a four-wheel drive topology, the identification module 720 is configured as follows: if the identified offset range is a range greater than 270°, then the position of the motor of the power wheel module is identified to indicate that the motor is a left rear motor; if the identified offset range is a range less than 270° and greater than 180°, then the position of the motor of the power wheel module is identified to indicate that the motor is a right rear motor; if the identified offset range is a range less than 180° and greater than 90°, then the position of the motor of the power wheel module is identified to indicate that the motor is a right front motor; if the identified offset range is a range less than 90°, then the position of the motor of the power wheel module is identified to indicate that the motor is a left front motor.

[0105] In one possible implementation, the configuration module 730 is configured to: configure a communication identifier corresponding to the identified position of the motor for the PEU, wherein the communication identifiers corresponding to motors in different positions are different; if the identified position of the motor indicates that the motor is a right-side motor, then change the rotation direction of the motor; if the identified position of the motor indicates that the motor is a left-side motor, then maintain the rotation direction of the motor unchanged.

[0106] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0107] Those skilled in the art will appreciate that the exemplary units and algorithm steps in the embodiments described herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can choose different methods to implement the described functions for specific applications, but such implementation should not be considered beyond the scope of the present invention.

[0108] If the functions are implemented in the form of computer software and sold or used as an independent product, then to a certain extent, all or part of the technical solution of the present invention (for example, the part that contributes to the prior art) can be considered to be embodied in the form of a computer software product. The computer software product is usually stored in a computer-readable non-volatile storage medium and includes several instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0109] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A matching method between a power wheel module and a PEU, applied to a vehicle power electronic unit (PEU), characterized in that: The matching method includes: an acquiring step for acquiring an offset of a position / angle sensor of a power wheel module, wherein the power wheel module has been mechanically mounted to a corresponding wheel of the vehicle according to preset conditions; an identification step for identifying the position of the motor of the power wheel module according to the acquired offset; and The configuration step is used to configure the communication identifier to be used by the PEU and the rotation direction of the power wheel module according to the identified position of the motor.

2. The matching method according to claim 1, wherein: The acquiring step includes acquiring the offset by self-learning.

3. The matching method according to claim 1, wherein: The preset conditions include respective installation positions of all power wheel modules in a multi-wheel drive topology adopted by the vehicle and / or respective offsets of position / angle sensors of all power wheel modules that are different from each other.

4. The matching method according to claim 1, wherein: The identification step comprises: According to the correspondence between the offset of the position / angle sensor of the power wheel module and the position of the motor of the power wheel module, the position of the motor corresponding to the acquired offset is identified as the position of the motor of the power wheel module.

5. The matching method according to claim 1, wherein: The identification step comprises: identifying an offset range within which the offset of the position / angle sensor falls; According to the identified offset range, a position of the motor corresponding to the offset range is identified as the position of the motor of the power wheel module.

6. The matching method according to claim 5, characterized in that: In a case where the vehicle adopts a four-wheel drive topology, identifying, according to the identified offset range, a position of the motor corresponding to the offset range as the position of the motor of the power wheel module includes: If the identified offset range is greater than 270°, then the position of the motor of the power wheel module is identified, indicating that the motor is the left rear motor; If the identified offset range is less than 270° and greater than 180°, then the position of the motor of the power wheel module is identified, indicating that the motor is the right rear motor; If the identified offset range is less than 180° and greater than 90°, then the position of the motor of the power wheel module is identified, indicating that the motor is the right front motor; If the identified offset range is smaller than 90°, then the position of the motor of the power wheel module is identified, indicating that the motor is the left front motor.

7. The matching method according to any one of claims 1 to 6, characterized in that: The configuration steps include: Configuring a communication identifier corresponding to the identified position of the motor for the PEU, wherein motors at different positions have different corresponding communication identifiers; If the identified position of the motor indicates that the motor is a right motor, the rotation direction of the motor is changed; if the identified position of the motor indicates that the motor is a left motor, the rotation direction of the motor is maintained unchanged.

8. A matching device between a power wheel module and a PEU, applied to a vehicle's power electronic unit (PEU), characterized in that: The matching device comprises: an acquisition module, configured to acquire an offset of a position / angle sensor of a power wheel module, wherein the power wheel module has been mechanically mounted to a corresponding wheel of the vehicle according to preset conditions; an identification module, configured to identify a position of the motor of the power wheel module according to the acquired offset; and A configuration module is used to configure the communication identifier to be used by the PEU and the rotation direction of the power wheel module according to the identified position of the motor.

9. A matching device between a power wheel module and a PEU, applied to a vehicle's power electronic unit (PEU), characterized in that: The matching device comprises: processor; memory for storing processor-executable instructions, The processor is configured to implement the matching method according to any one of claims 1 to 7 when executing the instructions stored in the memory. 10 . A computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor, the processor is enabled to perform the matching method according to claim 1 .

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