Electric vehicle speed display method, vehicle controller and electric vehicle

Abstract

The invention provides an electric vehicle speed display method, a vehicle controller and an electric vehicle, and is applied to the technical field of electric vehicles. The display method is used for displaying a vehicle speed mark on a central control screen of the electric vehicle in the driving process of the electric vehicle, and the vehicle speed mark is used for indicating the vehicle speed of the electric vehicle. Comprising the steps that at the first moment, the average value of the slip rates of four wheels is the first slip rate, the average value of the slip rates is the first slip rate, and the difference value of the vehicle speed indicated by a vehicle speed identifier and the average value of the wheel speeds is the first difference value; at a second moment after the first moment, the average value of the slip rates of the four wheels is a second slip rate larger than the first slip rate or the average value of the slip rates is a second slip rate larger than the first slip rate, and the difference value between the average value of the vehicle speed and the average value of the wheel speed is a second difference value larger than the first difference value. In this way, the vehicle speed mark displayed on the central control screen can indicate the actual vehicle speed of the electric vehicle, and a user can obtain the actual vehicle speed of the electric vehicle from the central control screen.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a method for displaying the speed of an electric vehicle, a vehicle controller and an electric vehicle. Background Art

[0002] During the driving of an electric vehicle, it is crucial for the user to obtain the speed of the electric vehicle from the central control screen. The speed displayed on the central control screen is usually determined by the wheel speed of the four wheels of the electric vehicle. However, on icy and snowy roads, muddy roads, sandy roads and other scenes, when the electric vehicle slips, the wheel speed cannot truly reflect the actual speed of the vehicle on the road. In other words, the speed displayed on the central control screen is not the actual speed of the electric vehicle. It is difficult for users to obtain the actual speed of the electric vehicle from the central control screen, which can easily cause users to feel nervous and affect the driving experience. Summary of the invention

[0003] The embodiments of the present application provide a method for displaying the speed of an electric vehicle, a vehicle controller, and an electric vehicle, which can automatically adjust the speed indicated by the speed icon on the central control screen according to the sliding conditions of the electric vehicle, so that when the electric vehicle has different sliding rates, the speed indicated by the speed icon displayed on the central control screen can indicate the actual speed of the electric vehicle, so that the user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0004] In a first aspect, an embodiment of the present application provides a method for displaying the speed of an electric vehicle, the display method being used to display a speed indicator on a central control screen of the electric vehicle during driving of the electric vehicle, the speed indicator being used to indicate the speed of the electric vehicle, including: at a first moment during driving of the electric vehicle, an average value of the slip rates of the four wheels of the electric vehicle is a first slip rate and an average value of the slip rates of the four wheels is the first slip rate, and a difference between the vehicle speed indicated by the speed indicator and the average value of the wheel speeds of the four wheels is a first difference; at a second moment after the first moment, an average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate or an average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate, and a difference between the vehicle speed indicated by the speed indicator and the average value of the wheel speeds of the four wheels is a second difference greater than the first difference.

[0005] In this embodiment, during the driving of the electric vehicle, a speed indicator is displayed on the central control screen of the electric vehicle, and the speed indicator indicates the speed. The user can directly obtain the speed of the electric vehicle from the central control screen, which is convenient for the user to drive the vehicle better. By automatically adjusting the speed indicated by the speed indicator on the central control screen according to the slip rate and sliding rate of the four wheels of the electric vehicle, the speed indicated by the speed indicator on the central control screen can accurately reflect the actual speed of the vehicle in the slipping state. The larger the average value of the slip rate of the four wheels of the electric vehicle and the average value of the slip rate of the four wheels, the less the wheel speed can truly reflect the actual speed of the vehicle on the road. By automatically adjusting the vehicle speed indicated by the speed indicator on the central control screen so that the difference between the vehicle speed and the average value of the wheel speeds of the four wheels is larger when the average value of the slip rates of the four wheels of the electric vehicle and the average value of the slip rates of the four wheels are larger, and automatically adjusting the vehicle speed indicated by the speed indicator on the central control screen so that the difference between the vehicle speed and the average value of the wheel speeds of the four wheels is smaller when the average value of the slip rates of the four wheels of the electric vehicle and the average value of the slip rates of the four wheels are smaller, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle, and the user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0006] In an embodiment of the first aspect, the display method further includes: at a second moment, an average slip rate of the four wheels is a second slip rate greater than the first slip rate, and a vehicle speed indicated by the vehicle speed indicator is less than the average wheel speed of the four wheels.

[0007] In this embodiment, when the average value of the slip rates of the four wheels is large, the wheel speed of the electric vehicle is large and the vehicle speed of the electric vehicle is small, that is, the average value of the wheel speeds of the four wheels of the electric vehicle is large and the vehicle speed of the electric vehicle is small. By automatically adjusting the speed indicated by the speed indicator to be smaller than the average value of the wheel speeds of the four wheels, when the average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle. The user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0008] In an embodiment of the first aspect, the display method further includes: at a second moment, an average slip rate of the four wheels is a second slip rate greater than the first slip rate, and a vehicle speed indicated by the speed indicator is greater than the average wheel speed of the four wheels.

[0009] In this embodiment, when the average value of the slip rates of the four wheels is large, the wheel speed of the electric vehicle is small and the vehicle speed of the electric vehicle is large, that is, the average value of the wheel speeds of the four wheels of the electric vehicle is small and the vehicle speed of the electric vehicle is large. By automatically adjusting the vehicle speed indicated by the speed indicator to be greater than the average value of the wheel speeds of the four wheels, when the average value of the slip rate of the four wheels is a second slip rate greater than the first slip rate, the vehicle speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle. The user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0010] In an embodiment of the first aspect, the display method also includes: after the second moment, the difference between the vehicle speed indicated by the vehicle speed indicator and the average wheel speed of the four wheels increases with the increase of the average slip rate of the four wheels or the average slip rate of the four wheels.

[0011] In this embodiment, the larger the average value of the slip rates of the four wheels or the average value of the slip rates of the four wheels is, the less the wheel speed can truly reflect the actual speed of the vehicle traveling on the road. By automatically adjusting the difference between the speed indicated by the speed indicator and the average value of the wheel speeds of the four wheels so that it increases with the increase of the average value of the slip rates of the four wheels or the average value of the slip rates of the four wheels, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle when the average values ​​of the slip rates of the four wheels or the average values ​​of the slip rates of the four wheels are different. The user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0012] In an embodiment of the first aspect, the display method also includes: at a first moment, the opening of the brake pedal of the electric vehicle is a first brake pedal opening greater than a preset brake pedal opening, and the vehicle speed indicated by the speed indicator decreases at a first rate; at a second moment, the opening of the brake pedal is the first brake pedal opening, and the vehicle speed indicated by the speed indicator decreases at a second rate less than the first rate.

[0013] The preset brake pedal opening can be a smaller value, such as 10%, 15%, 30%, etc. If the user operates the brake pedal with an opening greater than the preset brake pedal opening, it is considered that the user intends to brake the electric vehicle to reduce the speed.

[0014] In this embodiment, the larger the average value of the slip rate or sliding ratio of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the brake pedal. When the electric vehicle loses control, it is more difficult for the electric vehicle to brake in response to the opening of the brake pedal. By automatically adjusting the slip rate and sliding ratio after operating the brake pedal, the larger the slip rate and the smaller the rate of decrease of the vehicle speed indicated by the vehicle indicator, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the brake pedal, and the user can obtain the change in the slip rate or sliding ratio of the electric vehicle through the change in the rate of decrease of the vehicle speed indicated by the speed indicator on the central control screen, which is beneficial to improving the user's driving experience and confidence.

[0015] In an embodiment of the first aspect, the display method also includes: at a second moment, the opening of the brake pedal of the electric vehicle is a second brake pedal opening greater than a preset brake pedal opening, and the rate of decrease of the vehicle speed indicated by the speed indicator is less than the rate of decrease of the average of the wheel speeds of the four wheels.

[0016] In this embodiment, the greater the slip rate or the average value of the slip rate of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the brake pedal. In the event that the electric vehicle loses control, the wheel-end braking device can directly brake the wheel to reduce the wheel speed, but it is difficult to directly act on the vehicle speed immediately. By automatically adjusting the speed reduction rate indicated by the speed indicator after operating the brake pedal to be less than the speed reduction rate of the average value of the wheel speeds of the four wheels, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the brake pedal, which is beneficial to improving the user's driving experience and confidence.

[0017] In an embodiment of the first aspect, the display method also includes: at a first moment, the opening of the accelerator pedal of the electric vehicle is a first accelerator pedal opening greater than a preset accelerator pedal opening, and the speed of the electric vehicle displayed on the central control screen increases at a third rate; at a second moment, the opening of the accelerator pedal is the first accelerator pedal opening, and the speed indicated by the speed indicator increases at a fourth rate less than the third rate.

[0018] The preset accelerator pedal opening can be a relatively small value, such as 10%, 15%, 30%, etc. If the user operates the accelerator pedal opening greater than the preset accelerator pedal opening, it is considered that the user intends to drive the electric vehicle to increase the speed.

[0019] In this embodiment, the larger the average value of the slip rate or sliding ratio of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the accelerator pedal. When the electric vehicle loses control, it is more difficult for the electric vehicle to accelerate in response to the opening of the accelerator pedal. By automatically adjusting the slip rate and sliding ratio after operating the accelerator pedal, the larger the slip rate and the smaller the rate of decrease of the vehicle speed indicated by the vehicle indicator, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the accelerator pedal, and the user can obtain the change in the slip rate or sliding ratio of the electric vehicle through the change in the rate of decrease of the vehicle speed indicated by the speed indicator on the central control screen, which is beneficial to improving the user's driving experience and confidence.

[0020] In an embodiment of the first aspect, the display method also includes: at a second moment, the opening of the accelerator pedal of the electric vehicle is a second accelerator pedal opening greater than a preset accelerator pedal opening, and the increase rate of the vehicle speed indicated by the speed indicator is less than the increase rate of the average wheel speed of the four wheels.

[0021] In this embodiment, the greater the slip rate or the average value of the slip rate of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the accelerator pedal. In the event that the electric vehicle loses control, the wheel-end acceleration device can directly accelerate the wheel to reduce the wheel speed, but it is difficult to directly act on the vehicle speed immediately. By automatically adjusting the speed reduction rate indicated by the speed indicator after operating the accelerator pedal to be less than the speed reduction rate of the average value of the wheel speeds of the four wheels, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the accelerator pedal, which is beneficial to improving the user's driving experience and confidence.

[0022] In an embodiment of the first aspect, the display method further includes: during the driving of the electric vehicle, displaying a vehicle skidding mark on the central control screen, wherein the vehicle skidding mark indicates a skidding state of the electric vehicle.

[0023] In this embodiment, during the driving of the electric vehicle, the user can accurately obtain the slip status of the electric vehicle through the vehicle slip mark displayed on the central control screen, which improves the efficiency of the user in obtaining the slip status of the electric vehicle, helps the user to promptly discover potential risks and take corresponding preventive measures, thereby improving driving safety.

[0024] In an embodiment of the first aspect, the vehicle slip indicator includes at least one of the following indication states: a first indication state for indicating that the electric vehicle is not slipping, a second indication state for indicating the slip state of the electric vehicle, and a third indication state for indicating the slip state of the electric vehicle; wherein the second indication state includes two sub-indication states respectively indicating that the average slip rate of the four wheels of the electric vehicle is greater than or equal to a first preset vehicle slip rate and less than a second preset vehicle slip rate, and the average slip rate of the four wheels is greater than or equal to the second preset vehicle slip rate; the third indication state includes two sub-indication states respectively indicating that the average slip rate of the four wheels of the electric vehicle is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate, and the average slip rate of the four wheels is greater than or equal to the second preset vehicle slip rate.

[0025] In this embodiment, during the driving of the electric vehicle, through the indication status and sub-indication status of the vehicle slip indicator, the user can accurately obtain whether the electric vehicle is slipping or spinning, and the degree of slipping or spinning. The user can use this information to deal with various situations, which improves the user's driving experience and confidence. At the same time, it is beneficial for the user to promptly discover potential risks and take corresponding preventive measures to improve driving safety.

[0026] In an embodiment of the first aspect, the display method further includes: during the driving of the electric vehicle, displaying four wheel slip marks on the central control screen, the four wheel slip marks being used to indicate the slip status of the four wheels respectively.

[0027] In this embodiment, during the driving of the electric vehicle, the user can accurately obtain the slip status of each wheel through the four wheel slip signs displayed on the central control screen, thereby improving the efficiency of the user in obtaining the slip status of the four wheels, facilitating the user to promptly discover potential risks and take corresponding preventive measures, thereby improving driving safety and extending the service life of the wheels.

[0028] In an embodiment of the first aspect, for any one of the four wheel slip indicators, the wheel slip indicator includes at least one of the following indication states: a first indication state for indicating that the wheel is not slipping, a second indication state for indicating the slip state of the wheel, and a third indication state for indicating the slip state of the wheel; wherein the second indication state includes two sub-indication states indicating that the slip rate of the wheel is greater than or equal to a first preset wheel slip rate and less than a second preset wheel slip rate, and the slip rate of the wheel is greater than or equal to the second preset wheel slip rate; the third indication state includes two sub-indication states indicating that the slip rate of the wheel is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate, and the slip rate of the wheel is greater than or equal to the second preset wheel slip rate.

[0029] In this embodiment, during the driving of the electric vehicle, through the indication status and sub-indication status of the four wheel slip indicators, the user can accurately obtain whether the four wheels are slipping or spinning, the specific wheels that are slipping or spinning, and the degree of slipping or spinning. With this information, the user can take corresponding measures for the slipping or spinning wheels to avoid the electric vehicle from tipping, improve driving safety, and extend the service life of the wheels.

[0030] In an embodiment of the first aspect, the display method also includes: during the driving of the electric vehicle, displaying the wheel slip marks of the four wheels on the right side of the speed mark of the electric vehicle on the central control screen; displaying the vehicle slip mark of the electric vehicle on the upper side of the speed mark on the central control screen; the size of the speed mark is larger than the size of the vehicle slip mark and the size of each wheel slip mark.

[0031] In this embodiment, the four wheel slip marks are displayed on the right side of the speed mark, and the vehicle slip mark is displayed on the upper side of the speed mark, so that the user can obtain the information indicated by the speed mark, the vehicle slip mark and the wheel slip marks of the four wheels, and the arrangement method is reasonable, so that the user can obtain the information more easily. The size of the speed mark is larger than the size of the vehicle slip mark and the size of each wheel slip mark, and the speed mark is more eye-catching on the central control screen, so that the user can obtain the speed of the electric vehicle first, improving the driving experience.

[0032] In a second aspect, an embodiment of the present application provides a vehicle controller, which is used to execute the method for displaying the speed of an electric vehicle according to the first aspect.

[0033] In a third aspect, an embodiment of the present application provides an electric vehicle, the electric vehicle comprising four wheels, four wheel speed sensors, a drive system, a braking system, and a vehicle controller as in the second aspect; wherein:

[0034] Four wheel speed sensors are used to collect wheel speed signals of four wheels during the driving process of the electric vehicle;

[0035] The drive system outputs driving force to the four wheels;

[0036] The braking system outputs braking force to all four wheels.

[0037] As for the supplementary and technical effects of the solutions provided in the second and third aspects above, please refer to the corresponding description of the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of a central control screen of an electric vehicle is shown;

[0039] Figure 2A schematic diagram of an electric vehicle 100 provided in an embodiment of the present application is shown;

[0040] Figure 3 A schematic diagram showing the architecture of an electric vehicle 100 provided in an embodiment of the present application is shown;

[0041] Figure 4 A schematic diagram showing a method for displaying the speed of an electric vehicle provided in an embodiment of the present application is shown;

[0042] Figure 5 A schematic diagram showing a method for displaying the speed of an electric vehicle provided in an embodiment of the present application is shown;

[0043] Figure 6 A schematic diagram showing a method for displaying the speed of an electric vehicle provided in an embodiment of the present application is shown;

[0044] Figure 7 A schematic diagram showing a method for displaying the speed of an electric vehicle provided in an embodiment of the present application is shown;

[0045] Figure 8 A schematic diagram of a central control screen of an electric vehicle 100 provided in an embodiment of the present application is shown;

[0046] Fig. 9 A schematic diagram of a central control screen of an electric vehicle 100 provided in an embodiment of the present application is shown;

[0047] Fig.10 A schematic diagram showing a driving scene of an electric vehicle 100 provided in an embodiment of the present application is shown;

[0048] Fig.11 A schematic diagram of a vehicle controller of an electric vehicle 100 provided in an embodiment of the present application is shown;

[0049] Fig.12 A schematic diagram of a vehicle controller of an electric vehicle 100 provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0051] The prefixes such as "first" and "second" used in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers used to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0052] During the driving of an electric vehicle, it is crucial for the user to obtain the speed of the electric vehicle from the central control screen. The speed displayed on the central control screen is usually determined by the wheel speed of the four wheels of the electric vehicle. However, on icy and snowy roads, muddy roads, sandy roads and other scenes, when the electric vehicle slips, the wheel speed cannot truly reflect the actual speed of the vehicle on the road. In other words, the speed displayed on the central control screen is not the actual speed of the electric vehicle. It is difficult for users to obtain the actual speed of the electric vehicle from the central control screen, which can easily cause users to feel nervous and affect the driving experience.

[0053] As an example, Figure 1 A schematic diagram of a central control screen of an electric vehicle is shown. Figure 1 The central control screen shown shows the speed of the electric vehicle as an example. When the electric vehicle is driving on a normal road with a low slip rate or slip ratio, the difference between the speed of the electric vehicle and the wheel speed is small. On icy roads, muddy roads, sandy roads, etc. with a high slip rate or slip ratio, the difference between the speed of the electric vehicle and the wheel speed is small. For example, when the wheel speed is 158 kph, Figure 1 The vehicle speed displayed on the central control screen shown in the figure is 160kph, and the difference between the vehicle speed and the wheel speed is small.

[0054] Obviously, the difference between the vehicle speed and the wheel speed displayed on the central control screen of the electric vehicle will not change with the change of slip rate or slip rate, which makes it difficult for users to accurately obtain the actual speed of the electric vehicle from the central control screen, which can easily cause users to feel nervous and anxious and affect the driving experience.

[0055] In view of this, the embodiments of the present application provide a method for displaying the speed of an electric vehicle, a vehicle controller and an electric vehicle, which can automatically adjust the speed indicated by the speed icon on the central control screen according to the sliding conditions of the electric vehicle, so that when the electric vehicle has different sliding rates, the speed indicated by the speed icon displayed on the central control screen can indicate the actual speed of the electric vehicle, so that the user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0056] See also Figure 2 , Figure 2 FIG. 1 shows a schematic diagram of an electric vehicle 100 provided in an embodiment of the present application. Figure 2 As shown, the electric vehicle 100 includes a drive system 110, a power battery 120 connected to the drive system 110, and a vehicle controller 130. The drive system 110 is used to drive the electric vehicle 100. The power battery 120 is used to provide electrical energy to the drive system 110. The drive system 110 is used to receive power from the power battery 120 and provide power to the electric vehicle 100. The drive system 110 can also be called a powertrain.

[0057] Optionally, the electric vehicle 100 further includes a braking system 140 , which is used to provide braking force for the electric vehicle 100 when the electric vehicle 100 is in a braking state.

[0058] According to the position of the wheels in the electric vehicle 100, they can be divided into a left front wheel FL, a right front wheel FR, a left rear wheel BL, and a right rear wheel BR. According to the axle, the left front wheel and the right front wheel are coaxial and connected by the front axle. The left rear wheel and the right rear wheel are coaxial and connected by the rear axle. According to the position, the left front wheel and the left rear wheel are on the same side and located on the left side, and the right front wheel and the right rear wheel are on the same side and located on the right side. That is to say, among the four wheels of the electric vehicle 100, the left front wheel and the right front wheel are coaxial wheels with each other, and the left rear wheel and the right rear wheel are coaxial wheels with each other; the left front wheel and the left rear wheel are wheels on the same side, and the right front wheel and the right rear wheel are wheels on the same side.

[0059] The electric vehicle 100 in the embodiment of the present application can be any one of different types of vehicles such as a sedan, a truck, a passenger bus, etc., and can also be a transport device for carrying people or goods such as a tricycle, a two-wheeled vehicle, a train, or other types of vehicles driven by power batteries, which are not limited in the embodiment of the present application. Among them, the vehicle includes but is not limited to a pure electric vehicle (pure electric vehicle / battery electric vehicle, pure EV / batteryEV), a hybrid electric vehicle (hybrid electric vehicle, HEV), a range extended electric vehicle (range extended electric vehicle, REEV), a plug-in hybrid electric vehicle (plug-in hybrid electric vehicle, PHEV), a new energy vehicle (new energy vehicle, NEV), etc.

[0060] The embodiment of the present application does not limit the specific type of the powertrain. As an example and not a limitation, the powertrain can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Among them, the hub motor powertrain is to directly set the motor and the reducer in the wheel rim, eliminating the transmission components such as the half shaft, universal joint, differential, and transmission; the wheel-side motor powertrain is to set the motor on the subframe.

[0061] The power battery 120 in the embodiment of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., which is not limited in the present application. In terms of scale, the power battery 120 in the embodiment of the present application can be a single cell, or a battery module or a battery pack, which is not limited in the present application. The power battery 120 can also power other electrical devices in the vehicle, such as the air conditioner in the vehicle, the car player, etc.

[0062] Figure 3 A schematic diagram of the architecture of an electric vehicle 100 provided in an embodiment of the present application is shown.

[0063] See also Figure 3 (a) The electric vehicle 100 is a two-wheel drive vehicle, and the driving system 110 includes a driving motor 111 for two front wheels and a motor controller 121 for the driving motor 111 , and a driving motor 112 for two rear wheels and a motor controller 122 for the driving motor 112 .

[0064] Each drive motor in the drive system 110 is used to provide driving force for the electric vehicle 100. Specifically, when the electric vehicle 100 is in a driving state, the motor controller of each drive motor receives a torque signal, receives electric energy from the power battery 120, and controls the corresponding drive motor to output the torque indicated by the torque signal.

[0065] When the electric vehicle 100 is in a driving state, each drive motor in the drive system 110 is used to provide driving force for the electric vehicle 100. Specifically, when the electric vehicle 100 is in a driving state, the vehicle controller 130 calculates the torque demand of the electric vehicle and outputs a torque signal to the motor controller of each drive motor. Each motor controller receives a torque signal from the power battery 120 (such as Figure 1 The electric energy (as shown) is used to control the corresponding drive motor to output the torque indicated by the torque signal.

[0066] Continue to refer Figure 3 (a) in the figure, the braking system 140 mainly includes a brake pedal ( Figure 3 (a) (not shown), a brake controller 141 and four wheel-end brake devices 142. The brake controller 141 can generate a brake signal based on the opening of the brake pedal, and control one or more of the four wheel-end brake devices 142 to output a braking force to the corresponding wheel based on the indication of the brake signal to prevent the wheel from rotating or the tendency of the wheel to rotate.

[0067] During the braking process of the electric vehicle 100 , the greater the braking force indicated by the braking signal, the greater the braking force output by the wheel-end braking device 142 , and the faster the speed of the electric vehicle 100 decreases.

[0068] The brake in the braking system 140 in the embodiment of the present application may be an electronic hydraulic brake (EHB) or an electronic mechanical brake (EMB) or other types of brakes without limitation.

[0069] Among them, the drive system 110, the brake system 140 and the vehicle controller 130 are communicatively connected via a CAN network, and the embodiments of the present application do not limit the specific communication connection method. For example, the motor controller in the drive system 110 and the vehicle controller 130 can communicate through a private CAN network, the brake controller 141 of the brake system 140 and the vehicle controller 130 can communicate through a public CAN network, and the brake controller 141 and each wheel-end brake device 142 can communicate through another private CAN network. For another example, the vehicle controller 130 can communicate with the motor controller in the drive system 110 and the brake controller 141 in the brake system 140 through the same CAN network.

[0070] In one embodiment, the vehicle controller 130 can obtain a steering wheel angle signal from a steering wheel angle sensor, a motor speed signal and a motor torque signal from a motor controller, a wheel speed signal from a wheel speed sensor, a brake signal from a brake system, a 6DIMU signal from a 6D inertial measurement unit, etc. through a CAN network.

[0071] In one embodiment, the vehicle controller 130 may also obtain an enable signal from a traction control system (TCS) through a CAN network, where the enable signal is used to indicate that the traction control system detects that at least one wheel of the electric vehicle 100 is slipping.

[0072] See also Figure 3 (b) The electric vehicle 100 is a four-wheel drive vehicle, and the drive system 110 includes a drive motor 113 for the left front wheel and a motor controller 123 for the drive motor 113, a drive motor 114 for the right front wheel and a motor controller 124 for the drive motor 114, a drive motor 115 for the left rear wheel and a motor controller 125 for the drive motor 115, and a drive motor 116 for the right rear wheel and a motor controller 126 for the drive motor 116.

[0073] The above describes the architecture of the embodiment of the present application. The following describes the method for displaying the speed of an electric vehicle provided by the present application in conjunction with a specific embodiment.

[0074] The embodiment of the present application provides a method for displaying the speed of an electric vehicle, which is used to display a speed indicator on a central control screen of the electric vehicle during the driving of the electric vehicle, wherein the speed indicator is used to indicate the speed of the electric vehicle.

[0075] The method for displaying the speed of an electric vehicle provided in an embodiment of the present application includes the following steps.

[0076] At the first moment t1 during the driving process of the electric vehicle, the average slip rate of the four wheels of the electric vehicle is a first slip rate, and the difference between the vehicle speed indicated by the speed indicator and the average wheel speed of the four wheels is a first difference.

[0077] At a second moment t2 after the first moment, the average slip rate of the four wheels is a second slip rate greater than the first slip rate or the average slip rate of the four wheels is a second slip rate greater than the first slip rate, and the difference between the vehicle speed indicated by the speed indicator and the average wheel speed of the four wheels is a second difference greater than the first difference.

[0078] Among them, the slip rate of the wheel refers to the ratio of the difference between the speed of the electric vehicle and the wheel speed of the wheel and the vehicle speed, and the slip rate of the wheel refers to the ratio of the difference between the wheel speed of the wheel and the speed of the electric vehicle and the wheel speed. The slip rate and slip rate can be collectively referred to as slip rate.

[0079] For any one of the four wheels, when the slip rate of the wheel is greater than or equal to the first preset wheel slip rate, the wheel is considered to be slipping; when the slip rate of the wheel is greater than or equal to the first preset wheel slip rate, the wheel is considered to be spinning. The first preset wheel slip rate and the first preset wheel sliding rate corresponding to the four wheels may be the same, for example, 15%, 18%, 20%, etc., or may be different, for example, 18% for the two front wheels and 20% for the two rear wheels.

[0080] In the embodiment of the present application, the slip rate of the electric vehicle is represented by the average value of the slip rates of the four wheels, and the slip rate of the electric vehicle is represented by the average value of the slip rates of the four wheels.

[0081] In one implementation, the average value of the slip rates of the four wheels may be an arithmetic average value or a weighted average value, and the weighting coefficient may be determined according to the vertical loads of the four wheels.

[0082] The same applies to the slip rate and slip rate of an electric vehicle: when the slip rate of the electric vehicle is greater than or equal to a first preset vehicle slip rate, the electric vehicle is considered to be slipping; when the slip rate of the electric vehicle is greater than or equal to the first preset vehicle slip rate, the electric vehicle is considered to be slipping.

[0083] The first preset vehicle slip ratio and the first preset wheel slip ratio may be the same or different, and the first preset vehicle slip ratio and the first preset wheel slip ratio may be the same or different.

[0084] In the case where the first slip ratio is less than the first preset vehicle slip ratio and the first slip ratio is less than the first preset vehicle slip ratio, it is considered that the electric vehicle is running normally at the first moment without slipping or spinning. If the second slip ratio is less than the first preset vehicle slip ratio and the second slip ratio is less than the first preset vehicle slip ratio, it is considered that the electric vehicle is running normally at the second moment without slipping or spinning, but the relative motion between the electric vehicle and the road surface is greater than at the first moment, and the authenticity of the electric vehicle's wheel speed reflecting the actual vehicle speed is lower than at the first moment.

[0085] If the second slip rate is greater than or equal to the first preset vehicle slip rate, it is considered that the electric vehicle slips at the second moment, the relative movement between the electric vehicle and the road surface is greater than at the first moment, and the wheel speed of the electric vehicle reflects the actual vehicle speed less accurately than at the first moment.

[0086] If the second slip rate is greater than or equal to the first preset vehicle slip rate, it is considered that the electric vehicle slips at the second moment, the relative movement between the electric vehicle and the road surface is greater than at the first moment, and the wheel speed of the electric vehicle reflects the actual vehicle speed less accurately than at the first moment.

[0087] When the first slip rate is greater than or equal to the first preset vehicle slip rate or the first slip rate is greater than or equal to the second slip rate, it is considered that the electric vehicle is slipping or sliding at the first moment. The electric vehicle is also slipping or sliding at the second moment, but the relative motion between the electric vehicle and the road surface at the second moment is greater than at the first moment, and the authenticity of the electric vehicle's wheel speed reflecting the actual vehicle speed is lower than at the first moment.

[0088] The less accurate the wheel speed of the electric vehicle is in reflecting the actual speed of the vehicle, the greater the difference between the speed indicated by the speed indicator and the average value of the wheel speeds of the four wheels.

[0089] In one implementation, the average value of the wheel speeds of the four wheels may be an arithmetic average value or a weighted average value, and the weighting coefficient may be determined according to the diameters of the four wheels.

[0090] During the driving of the electric vehicle, the speed of the electric vehicle can be Fig.12 The vehicle controller shown calculates and displays it on the central control screen in the form of a vehicle speed indicator. The vehicle speed indicated by the vehicle speed indicator satisfies the slip rate or slip rate of the electric vehicle. The greater the difference between the vehicle speed and the wheel speeds of the four wheels.

[0091] In this embodiment, during the driving of the electric vehicle, a speed indicator is displayed on the central control screen of the electric vehicle, and the speed indicator indicates the speed. The user can directly obtain the speed of the electric vehicle from the central control screen, which is convenient for the user to drive the vehicle better. By automatically adjusting the speed indicated by the speed indicator on the central control screen according to the slip rate and sliding rate of the four wheels of the electric vehicle, the speed indicated by the speed indicator on the central control screen can accurately reflect the actual speed of the vehicle in the slipping state. The larger the average value of the slip rate of the four wheels of the electric vehicle and the average value of the slip rate of the four wheels, the less the wheel speed can truly reflect the actual speed of the vehicle on the road. By automatically adjusting the vehicle speed indicated by the speed indicator on the central control screen so that the difference between the vehicle speed and the average value of the wheel speeds of the four wheels is larger when the average value of the slip rates of the four wheels of the electric vehicle and the average value of the slip rates of the four wheels are larger, and automatically adjusting the vehicle speed indicated by the speed indicator on the central control screen so that the difference between the vehicle speed and the average value of the wheel speeds of the four wheels is smaller when the average value of the slip rates of the four wheels of the electric vehicle and the average value of the slip rates of the four wheels are smaller, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle, and the user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0092] In one embodiment, at the second time t2, the average slip rate of the four wheels is a second slip rate greater than the first slip rate, and the vehicle speed indicated by the vehicle speed indicator is less than the average wheel speed of the four wheels.

[0093] The average slip rate of the four wheels is a second slip rate greater than the first slip rate, and it is considered that the relative movement between the electric vehicle and the road surface at the second moment t2 is biased towards rolling compared to the first moment t1, that is, the speed of the electric vehicle is lower and the wheel speeds of the four wheels are higher. In other words, the speed indicated by the speed indicator is lower than the average of the wheel speeds of the four wheels.

[0094] In this embodiment, when the average value of the slip rates of the four wheels is large, the wheel speed of the electric vehicle is large and the vehicle speed of the electric vehicle is small, that is, the average value of the wheel speeds of the four wheels of the electric vehicle is large and the vehicle speed of the electric vehicle is small. By automatically adjusting the speed indicated by the speed indicator to be smaller than the average value of the wheel speeds of the four wheels, when the average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle. The user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0095] In another embodiment, at the second time t2, the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, and the vehicle speed indicated by the vehicle speed indicator is greater than the average wheel speed of the four wheels.

[0096] The average slip rate of the four wheels is a second slip rate greater than the first slip rate, and it is considered that the relative movement between the electric vehicle and the road surface at the second moment is biased towards slip compared to the first moment, that is, the speed of the electric vehicle is higher and the speeds of the four wheels are lower. In other words, the speed indicated by the speed indicator is greater than the average of the speeds of the four wheels.

[0097] In this embodiment, when the average value of the slip rates of the four wheels is large, the wheel speed of the electric vehicle is small and the vehicle speed of the electric vehicle is large, that is, the average value of the wheel speeds of the four wheels of the electric vehicle is small and the vehicle speed of the electric vehicle is large. By automatically adjusting the vehicle speed indicated by the speed indicator to be greater than the average value of the wheel speeds of the four wheels, when the average value of the slip rate of the four wheels is a second slip rate greater than the first slip rate, the vehicle speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle. The user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0098] In one embodiment, after the second time t2, the difference between the vehicle speed indicated by the vehicle speed indicator and the average wheel speed of the four wheels increases as the average slip rate of the four wheels or the average slip rate of the four wheels increases.

[0099] Among them, the larger the average value of the slip rates of the four wheels or the average value of the slip rates of the four wheels, the greater the relative movement between the electric vehicle and the road surface, the lower the authenticity of the wheel speed of the electric vehicle reflecting the actual speed of the vehicle, and the greater the difference between the speed indicated by the speed sign and the average value of the wheel speeds of the four wheels.

[0100] Conversely, the difference between the vehicle speed indicated by the vehicle speed indicator and the average value of the wheel speeds of the four wheels decreases as the average value of the slip rates of the four wheels or the average value of the slip rates of the four wheels decreases.

[0101] In this embodiment, the larger the average value of the slip rates of the four wheels or the average value of the slip rates of the four wheels is, the less the wheel speed can truly reflect the actual speed of the vehicle traveling on the road. By automatically adjusting the difference between the speed indicated by the speed indicator and the average value of the wheel speeds of the four wheels so that it increases with the increase of the average value of the slip rates of the four wheels or the average value of the slip rates of the four wheels, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle when the average values ​​of the slip rates of the four wheels or the average values ​​of the slip rates of the four wheels are different. The user can obtain the actual speed of the electric vehicle from the central control screen, which is conducive to improving the user's driving experience and confidence.

[0102] In one embodiment, at a first moment t1, the opening of the brake pedal of the electric vehicle is a first brake pedal opening greater than a preset brake pedal opening, and the vehicle speed indicated by the speed indicator decreases at a first rate; at a second moment, the opening of the brake pedal is the first brake pedal opening, and the vehicle speed indicated by the speed indicator decreases at a second rate less than the first rate.

[0103] In the embodiment of the present application, the specific value of the preset brake pedal opening is not limited. The preset brake pedal opening can be a smaller value, such as 10%, 15%, 30%, etc. If the user operates the brake pedal opening greater than the preset brake pedal opening, it is considered that the user intends to brake the electric vehicle to reduce the speed.

[0104] At the first moment t1, the average slip rate of the four wheels is the first slip rate, and at the second moment t2, the average slip rate of the four wheels is the second slip rate. The second slip rate is greater than the first slip rate. The larger the average slip rate of the four wheels, the more serious the wheel spin of the electric vehicle, and the smaller the dynamic friction between the wheels of the electric vehicle and the ground. After operating the brake pedal, the smaller the dynamic friction, the smaller the deceleration caused by braking, and the smaller the rate of decrease of the vehicle speed indicated by the speed indicator.

[0105] At the first moment t1, the average slip rate of the four wheels is the first slip rate, and at the second moment t2, the average slip rate of the four wheels is the second slip rate. The second slip rate is greater than the first slip rate. The larger the average slip rate of the four wheels, the smaller the dynamic friction between the wheels of the electric vehicle and the ground after the brake pedal is operated. The smaller the dynamic friction, the smaller the deceleration caused by braking, and the smaller the rate of decrease of the vehicle speed indicated by the speed indicator.

[0106] For ease of understanding, Figure 4 A schematic diagram showing a method for displaying the vehicle speed of an electric vehicle 100 is shown.

[0107] exist Figure 4 At the first moment t1 and the second moment t2, the brake pedal opening is a first brake pedal opening greater than the preset brake pedal opening K1, and at the second moment t2, the rate of decrease of the vehicle speed indicated by the speed indicator is less than the rate of decrease of the vehicle speed indicated by the speed indicator at the first moment t1.

[0108] In this embodiment, the larger the average value of the slip rate or sliding ratio of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the brake pedal. When the electric vehicle loses control, it is more difficult for the electric vehicle to brake in response to the opening of the brake pedal. By automatically adjusting the slip rate and sliding ratio after operating the brake pedal, the larger the slip rate and the smaller the rate of decrease of the vehicle speed indicated by the vehicle indicator, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the brake pedal, and the user can obtain the change in the slip rate or sliding ratio of the electric vehicle through the change in the rate of decrease of the vehicle speed indicated by the speed indicator on the central control screen, which is beneficial to improving the user's driving experience and confidence.

[0109] In one embodiment, at the second moment t2, the opening of the brake pedal of the electric vehicle is a second brake pedal opening greater than a preset brake pedal opening, and the decrease rate of the vehicle speed indicated by the speed indicator is less than the decrease rate of the average value of the wheel speeds of the four wheels.

[0110] At the second moment t2, the average slip rate of the four wheels is the second slip rate. The larger the second slip rate is, the smaller the adhesion between the wheels and the road surface is. When the user operates the brake pedal, the wheel speeds of the four wheels will drop faster due to the excessive slip state of the wheels themselves. However, the speed of the electric vehicle will not drop immediately due to inertia, and needs to be consumed by the friction between the wheels and the road surface. Therefore, the speed decrease rate indicated by the speed indicator is less than the speed decrease rate of the average value of the four wheel speeds.

[0111] At the second moment t2, the average slip rate of the four wheels is the second slip rate. The larger the second slip rate is, the closer the wheel is to a locked state. When the user operates the brake pedal, the wheel speeds of the four wheels will drop faster under the action of friction. However, the speed of the electric vehicle will not drop immediately due to inertia, and needs to be consumed by the friction between the wheels and the road. Therefore, the speed decrease rate indicated by the speed indicator is less than the speed decrease rate of the average value of the four wheel speeds.

[0112] For ease of understanding, Figure 5 A schematic diagram showing a method for displaying the vehicle speed of an electric vehicle 100 is shown.

[0113] exist Figure 5 (a) in which the average slip rate of the four wheels is a second slip rate greater than the first slip rate, the vehicle speed indicated by the speed indicator is less than the average of the wheel speeds of the four wheels, and at the second moment t2, the brake pedal opening is a second brake pedal opening greater than the preset brake pedal opening K1, and the vehicle speed decrease rate indicated by the speed indicator is less than the decrease rate of the average of the wheel speeds of the four wheels.

[0114] exist Figure 5(b) in the figure is a case where the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, the vehicle speed indicated by the speed indicator is greater than the average wheel speeds of the four wheels, and at the second moment t2, the brake pedal opening is a second brake pedal opening greater than the preset brake pedal opening K1, and the vehicle speed decrease rate indicated by the speed indicator is less than the decrease rate of the average wheel speeds of the four wheels.

[0115] In this embodiment, the greater the slip rate or the average value of the slip rate of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the brake pedal. In the event that the electric vehicle loses control, the wheel-end braking device can directly brake the wheel to reduce the wheel speed, but it is difficult to directly act on the vehicle speed immediately. By automatically adjusting the speed reduction rate indicated by the speed indicator after operating the brake pedal to be less than the speed reduction rate of the average value of the wheel speeds of the four wheels, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the brake pedal, which is beneficial to improving the user's driving experience and confidence.

[0116] In one embodiment, at a first moment t1, the opening of the accelerator pedal of the electric vehicle is a first accelerator pedal opening that is greater than a preset accelerator pedal opening, and the speed of the electric vehicle displayed on the central control screen increases at a third rate; at a second moment, the opening of the accelerator pedal is the first accelerator pedal opening, and the speed indicated by the speed indicator increases at a fourth rate that is less than the third rate.

[0117] In the embodiment of the present application, the specific value of the preset accelerator pedal opening is not limited. The preset accelerator pedal opening can be a relatively small value, such as 10%, 15%, 30%, etc. If the opening of the accelerator pedal operated by the user is greater than the preset accelerator pedal opening, it is considered that the user intends to drive the electric vehicle to increase the speed.

[0118] At the first moment t1, the average slip rate of the four wheels is the first slip rate, and at the second moment t2, the average slip rate of the four wheels is greater than the second slip rate, and the second slip rate is greater than the first slip rate. The larger the average slip rate of the four wheels, the smaller the adhesion between the wheels and the road surface. After operating the accelerator pedal, more driving force will be consumed in the ineffective friction between the wheels and the road surface (for example, the wheels are stuck in snow or sand and idling at high speed) instead of pushing the electric vehicle to travel. The lower the driving force transmission efficiency of the electric vehicle, the smaller the rate of increase of the vehicle speed indicated by the speed indicator.

[0119] At the first moment t1, the average slip rate of the four wheels is the first slip rate, and at the second moment t2, the average slip rate of the four wheels is the second slip rate. The second slip rate is greater than the first slip rate. The larger the average slip rate of the four wheels, the smaller the adhesion between the wheels and the road surface. After operating the accelerator pedal, more driving force will be consumed in the ineffective friction between the wheels and the road surface (for example, like the wheels accelerating on ice) instead of propelling the electric vehicle. The lower the driving force transmission efficiency of the electric vehicle, the smaller the rate of increase of the vehicle speed indicated by the speed indicator.

[0120] For ease of understanding, Figure 6 A schematic diagram showing a method for displaying the vehicle speed of an electric vehicle 100 is shown.

[0121] exist Figure 6 In the embodiment, at the first moment t1 and the second moment t2, the accelerator pedal opening is a first accelerator pedal opening greater than the preset accelerator pedal opening K2, and the increase rate of the vehicle speed indicated by the speed indicator at the second moment t2 is less than the increase rate of the vehicle speed indicated by the speed indicator at the first moment t1.

[0122] In this embodiment, the larger the average value of the slip rate or sliding ratio of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the accelerator pedal. When the electric vehicle loses control, it is more difficult for the electric vehicle to accelerate in response to the opening of the accelerator pedal. By automatically adjusting the slip rate and sliding ratio after operating the accelerator pedal, the larger the slip rate and the smaller the rate of decrease of the vehicle speed indicated by the vehicle indicator, the speed indicated by the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the accelerator pedal, and the user can obtain the change in the slip rate or sliding ratio of the electric vehicle through the change in the rate of decrease of the vehicle speed indicated by the speed indicator on the central control screen, which is beneficial to improving the user's driving experience and confidence.

[0123] In one embodiment, at the second moment t2, the accelerator pedal opening of the electric vehicle is a second accelerator pedal opening greater than a preset accelerator pedal opening, and the increase rate of the vehicle speed indicated by the speed indicator is less than the increase rate of the average value of the wheel speeds of the four wheels.

[0124] At the second moment t2, the average slip rate of the four wheels is the second slip rate. The larger the second slip rate is, the faster the wheel speed will increase when the accelerator pedal is operated and the driving force output by the drive motor to the wheel. However, since the larger the average slip rate of the four wheels, the smaller the adhesion between the wheels and the road surface, the rotational motion of the wheels cannot be effectively converted into the linear motion of the electric vehicle. Therefore, the increase rate of the vehicle speed indicated by the speed indicator is smaller than the increase rate of the average wheel speed of the four wheels.

[0125] At the second moment t2, the average slip rate of the four wheels is the second slip rate. The larger the second slip rate is, the faster the wheel speed will increase when the accelerator pedal is operated and the driving force output by the drive motor to the wheel. However, since the larger the average slip rate of the four wheels, the smaller the adhesion between the wheels and the road surface, the rotational motion of the wheels cannot be effectively converted into the linear motion of the electric vehicle. Therefore, the increasing rate of the vehicle speed indicated by the speed indicator is smaller than the increasing rate of the average wheel speed of the four wheels.

[0126] exist Figure 7 (a) in which the average slip rate of the four wheels is a second slip rate greater than the first slip rate, the vehicle speed indicated by the speed indicator is less than the average of the wheel speeds of the four wheels, and at the second moment t2, the brake pedal opening is a second accelerator pedal opening greater than the preset accelerator pedal opening K2, and the increasing rate of the vehicle speed indicated by the speed indicator is less than the increasing rate of the average of the wheel speeds of the four wheels.

[0127] exist Figure 7 (b) in the figure is a case where the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, the vehicle speed indicated by the speed indicator is greater than the average wheel speeds of the four wheels, and at the second moment t2, the accelerator pedal opening is a second accelerator pedal opening greater than the preset accelerator pedal opening K2, and the increasing rate of the vehicle speed indicated by the speed indicator is less than the increasing rate of the average wheel speeds of the four wheels.

[0128] In this embodiment, the greater the slip rate or the average value of the slip rate of the four wheels, the easier it is for the electric vehicle to lose control after the user operates the accelerator pedal. In the event that the electric vehicle loses control, the wheel-end acceleration device can directly accelerate the wheel to reduce the wheel speed, but it is difficult to directly act on the vehicle speed immediately. By automatically adjusting the speed reduction rate indicated by the speed indicator after operating the accelerator pedal to be less than the speed reduction rate of the average value of the wheel speeds of the four wheels, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after operating the accelerator pedal, which is beneficial to improving the user's driving experience and confidence.

[0129] A method for displaying the speed of an electric vehicle provided in an embodiment of the present application is also used to display the wheel slip marks of the four wheels on the right side of the speed mark of the electric vehicle on the central control screen during the driving of the electric vehicle; display the vehicle slip mark of the electric vehicle on the upper side of the speed mark on the central control screen; the size of the speed mark is larger than the size of the vehicle slip mark and the size of each wheel slip mark.

[0130] Among them, the vehicle speed indicator indicates the speed of the electric vehicle, the vehicle slip indicator indicates the slip state of the electric vehicle, and the wheel slip indicator indicates the slip state of the wheel.

[0131] For ease of understanding, Figure 8FIG. 1 shows a schematic diagram of a central control screen of an electric vehicle 100. Figure 8 middle, Figure 8 801 is the vehicle speed indicator. Figure 8 802 is the vehicle skidding mark. Figure 8 803 is the wheel slip mark of the four wheels. It can be understood that Figure 8 The schematic diagram of a central control screen of an electric vehicle 100 is merely shown for exemplary purposes.

[0132] Will Figure 8 The central control screen shown is installed on the electric vehicle 100, and the position of the central control screen on the electric vehicle is as shown in FIG. Fig. 9 shown.

[0133] In this embodiment, the four wheel slip marks are displayed on the right side of the speed mark, and the vehicle slip mark is displayed on the upper side of the speed mark, so that the user can obtain the information indicated by the speed mark, the vehicle slip mark and the wheel slip marks of the four wheels, and the arrangement method is reasonable, so that the user can obtain the information more easily. The size of the speed mark is larger than the size of the vehicle slip mark and the size of each wheel slip mark, and the speed mark is more eye-catching on the central control screen, so that the user can obtain the speed of the electric vehicle first, improving the driving experience.

[0134] In one embodiment, the arrangement of the vehicle speed sign, vehicle slip sign and wheel slip signs of the four wheels in the central control screen supports personalized modification by the user. At the same time, if the user's modification affects the clarity and integrity of the sign display in the central control screen (for example, the vehicle speed sign and the vehicle slip sign overlap), the user will be reminded and a suggested arrangement will be given that does not affect information acquisition under the user's preferred arrangement method.

[0135] A method for displaying the speed of an electric vehicle provided in an embodiment of the present application is also used to display a vehicle skidding mark on a central control screen during the driving of the electric vehicle, wherein the vehicle skidding mark indicates the skidding state of the electric vehicle.

[0136] In this embodiment, during the driving of the electric vehicle, the user can accurately obtain the slip status of the electric vehicle through the vehicle slip mark displayed on the central control screen, which improves the efficiency of the user in obtaining the slip status of the electric vehicle, helps the user to promptly discover potential risks and take corresponding preventive measures, thereby improving driving safety.

[0137] In one embodiment, the vehicle slip indicator includes at least one of the following indication states: a first indication state for indicating that the electric vehicle is not slipping, a second indication state for indicating the slip state of the electric vehicle, and a third indication state for indicating the slip state of the electric vehicle; wherein the second indication state includes two sub-indication states indicating that the average slip rate of the four wheels of the electric vehicle is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate, and the average slip rate of the four wheels is greater than or equal to the second preset vehicle slip rate; the third indication state includes two sub-indication states indicating that the average slip rate of the four wheels of the electric vehicle is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate, and the average slip rate of the four wheels is greater than or equal to the second preset vehicle slip rate.

[0138] The vehicle skidding sign may be a luminous sign, such as an indicator light.

[0139] When the vehicle skid mark is a luminous mark, the first indication state may be that the vehicle skid mark is not luminous or emits green light, the second indication state may be that the vehicle skid mark flashes, and the third indication state may be that the vehicle skid mark continuously emits light.

[0140] The second indication state may include two sub-indication states, and the first sub-indication state is less conspicuous than the second sub-indication state. For example, the first sub-indication state is flashing yellow light, and the second sub-indication state is flashing red light.

[0141] The third indication state may include two sub-indication states, and similarly, the first sub-indication state is less conspicuous than the second sub-indication state. For example, the first sub-indication state is continuously emitting yellow light, and the second sub-indication state is continuously emitting red light.

[0142] When the vehicle slip indicator is not illuminated or emits green light, the user can know that the electric vehicle is not slipping. At this time, the average slip rate of the four wheels is less than the first preset vehicle slip rate and the average slip rate of the four wheels is less than the first preset vehicle slip rate.

[0143] When the vehicle slip indicator flashes yellow, the user can know that the electric vehicle has a slight slip. At this time, the average slip rate of the four wheels is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate.

[0144] When the vehicle slip indicator flashes red, the user can know that the electric vehicle is slipping seriously. At this time, the average slip rate of the four wheels is greater than or equal to the second preset vehicle slip rate.

[0145] When the vehicle slip indicator continues to glow yellow, the user can know that the electric vehicle is slipping slightly. At this time, the average slip rate of the four wheels is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate.

[0146] When the vehicle slip indicator continues to glow red, the user can know that the electric vehicle is slipping seriously. At this time, the average slip rate of the four wheels is greater than or equal to the second preset vehicle slip rate.

[0147] For ease of understanding, taking the second slip ratio of the electric vehicle at the second moment t2 as an example, Fig.10 A schematic diagram of a driving scene of an electric vehicle 100 is shown.

[0148] exist Fig.10 In the embodiment, if at the first moment t1, the electric vehicle travels to position 1, the average slip rate of the four wheels of the electric vehicle at position 1 is the first slip rate and the average slip rate is the first slip rate, the first slip rate is less than the first preset vehicle slip rate and the first slip rate is less than the first preset vehicle slip rate, the electric vehicle is not slipping, and the vehicle slip mark 1001 is the first indication state and presents color 1 (color 1 indicates the above-mentioned green light or no light). At the second moment t2, the electric vehicle travels to position 2, and the average slip rate of the four wheels of the electric vehicle at position 2 is the second slip rate, the second slip rate is less than the first preset vehicle slip rate, the electric vehicle is not slipping, and the vehicle slip mark 1001 is also the first indication state and presents color 1 (color 1 indicates the above-mentioned green light or no light).

[0149] If at the first moment t1, the electric vehicle travels to position 2, the average slip rate of the four wheels of the electric vehicle at position 2 is the first slip rate and the average slip rate is the first slip rate, the first slip rate is less than the first preset vehicle slip rate and the first slip rate is less than the first preset vehicle slip rate, the electric vehicle is not slipping, and the vehicle slip mark 1001 is in the first indication state and presents color 1 (color 1 indicates the above-mentioned green light or no light). At the second moment t2, the electric vehicle travels to position 3, and the two front wheels of the electric vehicle have already entered the ice surface (such as Fig.10 At this time, the average slip rate of the four wheels is the second slip rate, the second slip rate is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate, the electric vehicle slips slightly, and the vehicle skidding mark 1001 is the first sub-indication state in the second indication state and presents color 2 (color 2 indicates the above-mentioned yellow light).

[0150] If at the first moment t1, the electric vehicle travels to position 3, the average slip rate of the four wheels of the electric vehicle at position 3 is the first slip rate and the average slip rate is the first slip rate, the first slip rate is greater than or equal to the first preset vehicle slip rate and less than the second preset vehicle slip rate, the electric vehicle has a slight slip, and the vehicle skidding mark 1001 is the first sub-indication state in the second indication state and presents color 2 (color 2 indicates the above-mentioned yellow light). At the second moment t2, the electric vehicle travels to position 4, and at position 4, the four wheels of the electric vehicle have entered the ice surface, at this time, the average slip rate of the four wheels is the second slip rate, the second slip rate is greater than or equal to the second preset vehicle slip rate, the electric vehicle has a serious slip, and the vehicle skidding mark 1001 is the second sub-indication state in the second indication state and presents color 3 (color 3 indicates the above-mentioned red light).

[0151] In one embodiment, the central control screen of the electric vehicle can also prompt the slipping status of the electric vehicle by emitting a prompt sound. In this way, the user does not need to divert attention to obtain the slipping status of the electric vehicle through the central control screen, thereby improving driving safety and ensuring the driving experience.

[0152] For example, the slip state and the sliding state are distinguished by whether the prompt sound is continuous, that is, when a continuous prompt sound is issued, it is considered that the electric vehicle is sliding, and when an intermittent prompt sound is issued, it is considered that the electric vehicle is sliding. After distinguishing the slip state and the sliding state, the degree of slip or sliding is distinguished by the pitch of the prompt sound, that is, when a continuous low-pitched prompt sound is issued, it is considered that the electric vehicle has a slight slip, and when a continuous high-pitched prompt sound is issued, it is considered that the electric vehicle has a serious slip, and when an intermittent low-pitched prompt sound is issued, it is considered that the electric vehicle has a slight slip, and when an intermittent high-pitched prompt sound is issued, it is considered that the electric vehicle has a serious slip.

[0153] In this embodiment, during the driving of the electric vehicle, through the indication status and sub-indication status of the vehicle slip indicator, the user can accurately obtain whether the electric vehicle is slipping or spinning, and the degree of slipping or spinning. The user can use this information to deal with various situations, which improves the user's driving experience and confidence. At the same time, it is beneficial for the user to promptly discover potential risks and take corresponding preventive measures to improve driving safety.

[0154] A method for displaying the speed of an electric vehicle provided in an embodiment of the present application is also used to display four wheel slip indicators on a central control screen during the driving of the electric vehicle, and the four wheel slip indicators are used to indicate the slip status of the four wheels respectively.

[0155] In this embodiment, during the driving of the electric vehicle, the user can accurately obtain the slip status of each wheel through the four wheel slip signs displayed on the central control screen, thereby improving the efficiency of the user in obtaining the slip status of the four wheels, facilitating the user to promptly discover potential risks and take corresponding preventive measures, thereby improving driving safety and extending the service life of the wheels.

[0156] In one embodiment, for any one of the four wheel slip indicators, the wheel slip indicator includes at least one of the following indication states: a first indication state for indicating that the wheel is not slipping, a second indication state for indicating the slip state of the wheel, and a third indication state for indicating the slip state of the wheel; wherein the second indication state includes two sub-indication states indicating that the wheel slip rate is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate, and the wheel slip rate is greater than or equal to the second preset wheel slip rate; the third indication state includes two sub-indication states indicating that the wheel slip rate is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate, and the wheel slip rate is greater than or equal to the second preset wheel slip rate.

[0157] The wheel slip marks of the four wheels may all be luminous marks, such as indicator lights.

[0158] When the wheel slip indicator is a luminous indicator, for any wheel slip indicator, the first indication state may be that the wheel slip indicator is not luminous or emits green light, the second indication state may be that the wheel slip indicator flashes, and the third indication state may be that the wheel slip indicator is continuously illuminated.

[0159] The second indication state may include two sub-indication states, and the first sub-indication state is less conspicuous than the second sub-indication state. For example, the first sub-indication state is flashing yellow light, and the second sub-indication state is flashing red light.

[0160] The third indication state may include two sub-indication states, and similarly, the first sub-indication state is less conspicuous than the second sub-indication state. For example, the first sub-indication state is continuously emitting yellow light, and the second sub-indication state is continuously emitting red light.

[0161] For any wheel slip indicator, when the wheel slip indicator is not illuminated or emits green light, the user can know that the wheel is not slipping. At this time, the wheel slip rate is less than the first preset wheel slip rate and the wheel slip rate is less than the first preset wheel slip rate.

[0162] When the wheel slip indicator flashes yellow, the user can know that the wheel slip is slight. At this time, the average slip rate of the four wheels is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate.

[0163] When the wheel slip indicator flashes red, the user can know that the wheel slip is serious. At this time, the average slip rate of the four wheels is greater than or equal to the second preset wheel slip rate.

[0164] When the wheel slip indicator continues to glow yellow, the user can know that the wheel slip is slight. At this time, the average slip rate of the four wheels is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate.

[0165] When the wheel slip indicator continues to glow red, the user can know that the wheel slip is serious. At this time, the average slip rate of the four wheels is greater than or equal to the second preset wheel slip rate.

[0166] like Fig.10 As shown, in Fig.10 In the embodiment, if at the first moment t1, the electric vehicle travels to position 1, the slip rates of the four wheels of the electric vehicle are all less than the first preset wheel slip rate and the slip rates of the four wheels are all less than the first preset wheel slip rate when the electric vehicle is at position 1, none of the four wheels are slipping, and the four wheel slip marks 1002 are all in the first indication state and present color 1 (color 1 indicates the above-mentioned green light or no light). At the second moment t2, the wheels of the four wheels travel to position 2, and the slip rates of the four wheels of the electric vehicle are all less than the first preset wheel slip rate when the electric vehicle is at position 2, none of the four wheels are slipping, and the four wheel slip marks 1002 are also in the first indication state and present color 1 (color 1 indicates the above-mentioned green light or no light).

[0167] If at the first moment t1, the electric vehicle travels to position 2, the slip rates of the four wheels of the electric vehicle at position 2 are all less than the first preset wheel slip rate and the slip rates of the four wheels are all less than the first preset wheel slip rate, the electric vehicle is not slipping, and the wheel slip marks 1002 of the four wheels are in the first indication state and present color 1 (color 1 indicates the above-mentioned green light or no light). At the second moment t2, the electric vehicle travels to position 3, and the two front wheels of the electric vehicle at position 3 have entered the ice surface. At this time, the slip rates of the two front wheels are greater than or equal to the second preset wheel slip rate, and the two front wheels have serious slip. The wheel slip marks 1002 of the two front wheels are in the second sub-indication state in the second indication state and present color 3 (color 3 indicates the above-mentioned red light), and the wheel slip marks 1002 of the two rear wheels are in the first indication state and present color 1 (color 1 indicates the above-mentioned green light or no light).

[0168] If at the first moment t1, the electric vehicle travels to position 3, the two front wheels of the electric vehicle have already entered the ice surface when it is at position 3, at this time, the slip rate of the two front wheels is greater than or equal to the second preset wheel slip rate, the two front wheels have serious slip, the wheel slip marks 1002 of the two front wheels are the second sub-indication state in the second indication state and present color 3 (color 3 indicates the above-mentioned red light), and the wheel slip marks 1002 of the two rear wheels are the first indication state and present color 1 (color 1 indicates the above-mentioned green light or no light). At the second moment t2, the electric vehicle travels to position 4, and the four wheels of the electric vehicle have already entered the ice surface when it is at position 4, at this time, the slip rate of the four wheels is greater than or equal to the second preset wheel slip rate, the four wheels have serious slip, and the four wheel slip marks 1002 are the second sub-indication state in the second indication state and present color 3 (color 3 indicates the above-mentioned red light).

[0169] In one embodiment, when the number of wheels that slip or spin is greater than a preset number (for example, 2, 3, etc.), the central control screen of the electric vehicle can issue a prompt sound to remind the user that multiple wheels in the electric vehicle slip or spin and that timely countermeasures need to be taken, thereby improving driving safety.

[0170] In this embodiment, during the driving of the electric vehicle, through the indication status and sub-indication status of the four wheel slip indicators, the user can accurately obtain whether the four wheels are slipping or spinning, the specific wheels that are slipping or spinning, and the degree of slipping or spinning. With this information, the user can take corresponding measures for the slipping or spinning wheels to avoid the electric vehicle from tipping, improve driving safety, and extend the service life of the wheels.

[0171] The embodiment of the present application provides a vehicle controller for an electric vehicle 100, which is used not only to execute the method for displaying the speed of an electric vehicle provided in the above embodiment, but also to execute the method for obtaining the speed indicated by the speed indicator in the above embodiment. Fig. 9 and Fig.10 The vehicle controller provided in the embodiment of the present application is described in detail.

[0172] Fig.11 1 shows a schematic diagram of a vehicle controller of an electric vehicle 100. Fig.11In the embodiment, if at least one wheel of the electric vehicle 100 slips, an enable signal is sent to the vehicle controller, and a steering wheel angle signal, a motor speed signal, a motor torque signal, a wheel speed signal, a brake signal and a 6DIMU signal are also sent to the vehicle controller. The vehicle controller outputs the speed signal of the electric vehicle to the TCS system and generates a speed indicator, outputs a vehicle slip status signal to the TCS system and generates a vehicle slip indicator, and outputs the wheel slip status signals of the four wheels and generates a wheel slip indicator, and then displays the speed indicator, vehicle slip indicator and wheel slip indicator on the central control screen. At the same time, the TCS system controls the drive system and / or brake system of the electric vehicle according to the speed signal of the electric vehicle and the vehicle slip indicator of the electric vehicle.

[0173] Among them, the enable signal indicates that at least one wheel of the electric vehicle is slipping, the steering wheel angle signal indicates the steering wheel angle to the right or left, the motor speed signal indicates the actual motor speed of the electric vehicle, the motor torque signal indicates the actual motor torque of the electric vehicle, the wheel speed signal indicates the wheel speed of the wheels of the electric vehicle, the brake signal indicates the braking force output by the brake system (such as the brake master cylinder pressure), and the 6DIMU signal indicates the acceleration and angular velocity of the three axes xyz.

[0174] In one embodiment, a method for obtaining the vehicle speed indicated by a speed indicator includes: determining a first calculation result of the longitudinal speed of the electric vehicle based on the wheel speed of the electric vehicle; determining a second calculation result of the longitudinal speed of the electric vehicle through a prediction model; and obtaining the longitudinal speed of the electric vehicle based on the first calculation result and the second calculation result.

[0175] The vehicle speed indicated by the speed indicator may be the longitudinal speed of the electric vehicle.

[0176] The first calculation result is determined based on the wheel speed of the electric vehicle and can be considered as a measurement of the longitudinal vehicle speed.

[0177] The second calculation result is obtained through model prediction and can be considered as the predicted value of the longitudinal vehicle speed. The input of the prediction model is the steering wheel angle signal, the motor speed signal, the motor torque signal, the wheel speed signal, the brake signal and the 6DIMU signal. The prediction model is obtained based on vehicle kinematics and dynamics modeling, which can be a tire inverse model, etc. The embodiment of the present application does not limit the specific model.

[0178] The higher the slip rate or slip ratio of the electric vehicle, the lower the authenticity of the electric vehicle's wheel speed in reflecting the actual vehicle speed, and the lower the authenticity of the measured value, and vice versa, the higher the authenticity of the predicted value. The longitudinal speed of the electric vehicle can be obtained by combining the first calculation result and the second calculation result, that is, the predicted value and the measured value.

[0179] The following will be combined Fig.12 A schematic diagram of a vehicle controller of an electric vehicle 100 is shown, and a method for obtaining the vehicle speed indicated by the vehicle speed indicator is described in detail. The specific process is as follows.

[0180] like Fig.12 As shown, the vehicle controller includes a signal validity detection module, a model module, a longitudinal vehicle speed calculation module, a lateral vehicle speed calculation module, a covariance adaptive module, a fusion slip module, an acceleration compensation module, a four-wheel slip module, a wheel speed and motor speed fusion module and a four-wheel speed weighting module.

[0181] The signal validity detection module is used to detect the validity of the collected signals input into the controller. The collected signals include steering wheel angle signals, motor speed signals, motor torque signals, wheel speed signals, brake signals and 6DIMU signals. Optionally, the collected signals may also include enable signals.

[0182] In the signal validity detection module, if the signals included in the collected signal are all valid, the collected signal is input into the model module.

[0183] If one of the collected signals, including the steering wheel angle signal, motor torque signal, brake signal, 6DIMU signal and enable signal, is invalid, or both the motor speed signal and the wheel speed signal are invalid, an error prompt message is output to prompt that the collected signal is invalid and the specific signal that caused the collected signal to be invalid, and wait for the collected signal to be re-input.

[0184] If the collected signals including the steering wheel angle signal, motor torque signal, brake signal, 6DIMU signal and enable signal are all valid, and the motor speed signal or wheel speed signal is valid, the collected signals are input into the model module and an error prompt message is output to indicate that the motor speed signal or wheel speed signal is invalid.

[0185] The model module is used to receive the collected signal, output the intermediate parameters according to the collected signal, and input the intermediate parameters and the collected signal into the longitudinal vehicle speed calculation module and the covariance adaptive module. The intermediate parameters include the sideslip angle of the wheel, the lateral force on the wheel, etc.

[0186] The longitudinal speed calculation module includes a first calculation unit and a second calculation unit. The longitudinal speed calculation module is used to calculate the longitudinal speed of the electric vehicle. The first calculation unit is used to obtain a first calculation result of the longitudinal speed. The second calculation unit is used to obtain a second calculation result of the longitudinal speed, and output the longitudinal speed of the electric vehicle according to the first calculation result and the second calculation result of the longitudinal speed.

[0187] The covariance adaptive module is used to determine the correction parameters of the longitudinal vehicle speed and the lateral vehicle speed according to the received intermediate parameters and the collected signals.

[0188] In one embodiment, the longitudinal speed of the electric vehicle is determined based on a first calculation result and a second calculation result of the longitudinal speed, including: obtaining a correction parameter of the longitudinal speed of the electric vehicle; and determining the longitudinal speed of the electric vehicle based on the correction parameter of the longitudinal speed, the first calculation result, and the second calculation result.

[0189] The process of obtaining the first calculation result of the longitudinal vehicle speed includes: determining the first calculation result of the longitudinal vehicle speed of the electric vehicle according to the wheel speed of the electric vehicle.

[0190] In one embodiment, the process of acquiring the wheel speed of the electric vehicle includes: determining the wheel speed of the electric vehicle according to at least one of a motor speed signal and a wheel speed signal of the electric vehicle.

[0191] When the first calculation result of the longitudinal speed of the electric vehicle is determined for the first time, the wheel speeds of the four wheels or the motor speeds of the drive motors of the four wheels are weighted according to the initial four-wheel speed weighting strategy to obtain the first calculation result of the longitudinal speed. The method for determining the weighting coefficients included in the initial four-wheel speed weighting strategy is not limited here, for example, it can be determined according to the diameters of the four wheels.

[0192] When the first calculation result of the longitudinal speed of the electric vehicle is not determined for the first time, the four-wheel speed weighting strategy is determined by the four-wheel speed weighting module.

[0193] Since the electric vehicle does not simply move longitudinally in a straight line during actual driving, in order to more accurately obtain the actual longitudinal speed of the electric vehicle. In one embodiment, determining the first calculation result of the longitudinal speed of the electric vehicle based on the wheel speed of the electric vehicle includes: determining the first calculation result of the longitudinal speed of the electric vehicle based on the wheel speed of the electric vehicle and the lateral speed of the electric vehicle.

[0194] When the first calculation result of the longitudinal speed of the electric vehicle is determined for the first time, the lateral speed of the electric vehicle may be considered to be zero.

[0195] When the first calculation result of the longitudinal speed of the electric vehicle is not determined for the first time, the lateral speed of the electric vehicle is the lateral speed of the electric vehicle determined at the last moment.

[0196] The process of obtaining the second calculation result of the longitudinal vehicle speed includes: determining the second calculation result of the longitudinal vehicle speed according to the collected signal and the intermediate parameter.

[0197] The process of acquiring the correction parameter includes: determining the correction parameter of the longitudinal speed of the electric vehicle according to the collected signal of the electric vehicle.

[0198] The correction parameters include process covariance and measurement covariance. The process covariance refers to the accuracy of modeling by the model module, and the measurement covariance refers to the credibility of the first calculation result determined according to the wheel speed of the electric vehicle.

[0199] Specifically, the driving scenario of the electric vehicle can be determined based on the collected signals and intermediate parameters of the electric vehicle. Different driving scenarios correspond to different calculation formulas for calculating measurement covariance and process covariance. Different measurement covariances and process covariances can be calculated through different calculation formulas.

[0200] The reliability of the first calculation result indicated by the value of the measured covariance when the covariance adaptive module receives the enable signal is lower than the reliability of the first calculation result indicated by the value of the measured covariance when the covariance adaptive module does not receive the enable signal.

[0201] In the second calculation unit, the first calculation result and the second calculation result of the longitudinal vehicle speed are corrected according to the process covariance and the measurement covariance to obtain the longitudinal vehicle speed of the electric vehicle.

[0202] After the longitudinal speed of the electric vehicle is acquired, a speed indicator is generated and displayed on the central control screen of the electric vehicle, and the speed of the electric vehicle and the collected signal are input into the lateral speed calculation module.

[0203] Similarly, the lateral vehicle speed calculation module includes a third calculation unit and a fourth calculation unit. The lateral vehicle speed calculation module is used to calculate the lateral vehicle speed of the electric vehicle. The third calculation unit is used to obtain a first calculation result of the lateral vehicle speed. The fourth calculation unit obtains a second calculation result of the lateral vehicle speed, and outputs the lateral vehicle speed of the electric vehicle according to the first calculation result and the second calculation result of the lateral vehicle speed.

[0204] In the process of outputting the lateral speed of the electric vehicle based on the first settlement result and the second calculation result of the lateral speed, the covariance adaptive module also calculates the correction parameter of the lateral speed based on the input signal, and outputs the lateral speed based on the correction parameter of the lateral speed, the first settlement result and the second calculation result of the lateral speed.

[0205] Among them, the method for obtaining the first calculation result of the lateral vehicle speed is the same as the method for obtaining the first calculation result of the longitudinal vehicle speed, the method for obtaining the second calculation result of the lateral vehicle speed is the same as the method for obtaining the second calculation result of the longitudinal vehicle speed, and the method for obtaining the correction parameter of the lateral vehicle speed is the same as the method for obtaining the correction parameter of the longitudinal vehicle speed, which will not be repeated here.

[0206] And because the electric vehicle does not simply move laterally along a straight line during actual driving, in order to more accurately obtain the actual lateral speed of the electric vehicle. In one embodiment, determining the first calculation result of the lateral speed of the electric vehicle includes: determining the first calculation result of the lateral speed of the electric vehicle according to the wheel speed of the electric vehicle and the longitudinal speed of the electric vehicle.

[0207] Similarly, according to the process covariance and the measurement covariance, the first calculation result and the second calculation result of the lateral vehicle speed are corrected to obtain the lateral vehicle speed of the electric vehicle. The calculated lateral vehicle speed can be input into the first calculation unit for calculating the first calculation result of the longitudinal vehicle speed at the next moment.

[0208] If there is business demand, a vehicle speed logo can also be generated based on the lateral vehicle speed and displayed on the central control screen of the electric vehicle.

[0209] Among them, the fusion slip module is used to receive the longitudinal vehicle speed output by the second calculation unit, and judge the slip state of the electric vehicle according to the longitudinal vehicle speed, the output of the drive anti-skid function module, the output of the wheel lock detection module, the output of the four-wheel speed differential, the output of the average wheel speed module, and the output of the slip rate judgment module, and prompt on the central control screen of the electric vehicle with the prompt state of the vehicle slip mark.

[0210] In one embodiment, if the difference between the longitudinal vehicle speed and the average wheel speed of the four wheels is greater than a preset difference, and / or the output of at least one of the output of the drive anti-skid function module, the output of the wheel lock detection module, the output of the four-wheel speed differential, the output of the average wheel speed module, and the output of the slip rate judgment module indicates that the electric vehicle is slipping, the vehicle slip indicator indicates that the electric vehicle is slipping.

[0211] If the electric vehicle slips, the 6DIMU signal is input into the acceleration compensation module, and the acceleration compensation module is used to compensate for the acceleration of the electric vehicle.

[0212] In the acceleration compensation module, the acceleration of the electric vehicle is compensated according to the acceleration and angular velocity of the three axes xyz indicated by the 6DIMU signal to obtain the compensated acceleration, and the compensated acceleration is input into the first calculation unit, and the first calculation result of the longitudinal vehicle speed determined at the next moment is corrected to obtain the corrected first calculation result, and the subsequent process is executed according to the corrected first calculation result.

[0213] At the same time, in the acceleration compensation module, the wheel speed indicated by the wheel speed signal is corrected according to the compensated acceleration, and the corrected wheel speed is input into the four-wheel slip module.

[0214] In the four-wheel slip module, the wheel slip status of each wheel is determined according to the four-wheel slip status determination strategy, and the wheel slip status of each wheel is displayed on the central control screen.

[0215] In one embodiment, the four-wheel slip state judgment strategy is: for any one of the four wheels, the wheel slip rate is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate, the wheel slips and the slip degree is slight; the wheel slip rate is greater than or equal to the second preset wheel slip rate, the wheel slips and the slip degree is severe; the wheel slip rate is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip rate, the wheel slips and the slip degree is slight; the wheel slip rate is greater than or equal to the second preset wheel slip rate, the wheel slips and the slip degree is severe; the wheel slip rate is less than the first preset wheel slip rate and the wheel slip rate is less than the first preset wheel slip rate, and the wheel is not slipping.

[0216] If the electric vehicle does not slip, the wheel speed signal and motor speed signal of the electric vehicle at the next moment are input into the wheel speed and motor speed fusion module. The wheel speed and motor speed fusion module is used to determine the speed of the electric vehicle according to at least one of the wheel speed signal and motor speed signal of the electric vehicle.

[0217] In the wheel speed and motor speed fusion module, if the wheel speed signal is invalid or the longitudinal speed of the electric vehicle is less than the first speed, the wheel speed of the electric vehicle is determined according to the motor speed indicated by the motor speed signal; if the longitudinal speed of the electric vehicle is greater than or equal to the first speed and less than the second speed, the wheel speed of the electric vehicle is determined according to the motor speed indicated by the motor speed signal and the wheel speed indicated by the wheel speed signal; if the motor speed signal is invalid or the longitudinal speed of the electric vehicle at the previous moment is greater than or equal to the second speed, the wheel speed indicated by the wheel speed signal is obtained as the wheel speed of the electric vehicle.

[0218] In one embodiment, the wheel speed of the electric vehicle is determined according to the motor speed indicated by the motor speed signal and the wheel speed indicated by the wheel speed signal, including: determining the driving scenario of the electric vehicle according to the collected signal of the electric vehicle, determining the weighting coefficient of the motor speed and the weighting coefficient of the wheel speed according to the driving scenario of the electric vehicle, and determining the wheel speed of the electric vehicle according to the weighting coefficient of the motor speed, the weighting coefficient of the wheel speed, the motor speed indicated by the motor speed signal, and the wheel speed indicated by the wheel speed signal.

[0219] Afterwards, the determined wheel speed of the electric vehicle is input into a four-wheel speed weighting module. The four-wheel speed weighting module is used to weight the wheel speeds of the four wheels according to the four-wheel speed weighting strategy, and output the weighted wheel speeds of the four wheels to the first calculation unit for calculating the first calculation result of the longitudinal vehicle speed at the next moment.

[0220] In one embodiment, the four-wheel speed weighting strategy is: for any wheel i among the four wheels, the weighting coefficient T_i=min(min(Tz_i, Tx_i)Ty_i). Wherein, Tz_i is determined according to the vertical load of wheel i, Tx_i is determined according to the wheel speed and acceleration of wheel i, and Ty_i is determined according to the sideslip angle of wheel I and the differential of the sideslip angle.

[0221] In this embodiment, by executing the above process in the vehicle controller and the vehicle controller, the actual speed of the electric vehicle can be accurately obtained when the slip rate or slip rate of the electric vehicle is high, thereby improving the accuracy of obtaining the speed of the electric vehicle.

[0222] In one embodiment, at a first moment during the driving process of the electric vehicle, the speed signal of the electric vehicle is outputted through the vehicle controller, and the speed mark generated according to the speed signal of the electric vehicle is displayed on the central control screen, at which time the difference between the speed indicated by the speed mark and the average value of the wheel speeds of the four wheels is a first difference. At a second moment, the average value of the slip ratio of the four wheels is a second slip ratio greater than the first slip ratio or the average value of the slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, the speed signal of the electric vehicle is outputted through the vehicle controller, and the speed mark generated according to the speed signal of the electric vehicle is displayed on the central control screen, at which time the difference between the speed indicated by the speed mark and the average value of the wheel speeds of the four wheels is a second difference greater than the first difference.

[0223] In one embodiment, the vehicle controller of the electric vehicle may be a whole vehicle controller, which inputs the collected signal into the whole vehicle controller of the electric vehicle, and the whole vehicle controller performs the above calculation to output a vehicle speed signal, and displays the vehicle speed indicator generated according to the vehicle speed signal of the electric vehicle on the central control screen.

[0224] In another embodiment of the present application, an electric vehicle is also provided, which includes four wheels, four wheel speed sensors, a drive system, a braking system and a vehicle controller as in the second aspect; wherein: the four wheel speed sensors are used to collect wheel speed signals of the four wheels during the driving of the electric vehicle, and the drive system outputs driving force to the four wheels; and the braking system outputs braking force to the four wheels.

[0225] It can be understood that all relevant contents of each step involved in the above method embodiment can be referred to the embodiment of the controller and the embodiment of the electric vehicle, and the embodiments of the present application will not be repeated here.

[0226] Finally, it should be noted that the above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for displaying the speed of an electric vehicle, characterized in that: The display method is used to display a vehicle speed mark on the central control screen of the electric vehicle during the driving of the electric vehicle, and the vehicle speed mark is used to indicate the speed of the electric vehicle. The display method includes: At a first moment during the driving process of the electric vehicle, an average value of the slip rates of the four wheels of the electric vehicle is a first slip rate and an average value of the slip rates of the four wheels is a first slip rate, and a difference between the vehicle speed indicated by the vehicle speed indicator and the average value of the wheel speeds of the four wheels is a first difference; At a second moment after the first moment, the average slip rate of the four wheels is a second slip rate greater than the first slip rate, or the average slip rate of the four wheels is a second slip rate greater than the first slip rate, and the difference between the vehicle speed indicated by the speed indicator and the average wheel speed of the four wheels is a second difference greater than the first difference.

2. The display method according to claim 1, characterized in that: The display method specifically includes: At the second moment, an average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate, and the vehicle speed indicated by the vehicle speed indicator is less than the average value of the wheel speeds of the four wheels.

3. The display method according to claim 1, characterized in that: The display method specifically includes: At the second moment, an average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate, and the vehicle speed indicated by the vehicle speed indicator is greater than the average value of the wheel speeds of the four wheels.

4. The display method according to claim 1, characterized in that: The display method specifically includes: After the second moment, the difference between the vehicle speed indicated by the vehicle speed indicator and the average of the wheel speeds of the four wheels increases as the average of the slip rates of the four wheels or the average of the slip rates of the four wheels increases.

5. The display method according to claim 1, characterized in that: The display method further includes: At the first moment, the opening degree of the brake pedal of the electric vehicle is a first brake pedal opening degree greater than a preset brake pedal opening degree, and the vehicle speed indicated by the vehicle speed indicator decreases at a first rate; At the second moment, the opening degree of the brake pedal is the first brake pedal opening degree, and the vehicle speed indicated by the vehicle speed indicator decreases at a second rate that is smaller than the first rate.

6. The display method according to claim 1, characterized in that: The display method further includes: At the second moment, the opening of the brake pedal of the electric vehicle is a second brake pedal opening greater than a preset brake pedal opening, and the decrease rate of the vehicle speed indicated by the vehicle speed indicator is less than the decrease rate of the average value of the wheel speeds of the four wheels.

7. The display method according to claim 1, characterized in that: The display method further includes: At the first moment, the opening degree of the accelerator pedal of the electric vehicle is a first accelerator pedal opening degree that is greater than a preset accelerator pedal opening degree, and the speed of the electric vehicle displayed on the central control screen increases at a third rate; At the second moment, the opening degree of the accelerator pedal is the first accelerator pedal opening degree, and the vehicle speed indicated by the vehicle speed indicator increases at a fourth rate that is smaller than the third rate.

8. The display method according to claim 1, characterized in that: The display method further includes: At the second moment, the accelerator pedal opening of the electric vehicle is a second accelerator pedal opening greater than a preset accelerator pedal opening, and the increase rate of the vehicle speed indicated by the vehicle speed indicator is less than the increase rate of the average value of the wheel speeds of the four wheels.

9. The display method according to claim 1, characterized in that: The display method further includes: During the driving of the electric vehicle, a vehicle skidding mark is displayed on the central control screen, and the vehicle skidding mark indicates the skidding state of the electric vehicle.

10. The display method according to claim 9, characterized in that: The vehicle skidding indicator includes at least one of the following indication states: a first indication state for indicating that the electric vehicle is not skidding, a second indication state for indicating a slipping state of the electric vehicle, and a third indication state for indicating a sliding state of the electric vehicle; The second indication state includes two sub-indication states respectively indicating that the average value of the slip rates of the four wheels of the electric vehicle is greater than or equal to a first preset vehicle slip rate and less than a second preset vehicle slip rate, and the average value of the slip rates of the four wheels is greater than or equal to the second preset vehicle slip rate; The third indication state includes two sub-indication states respectively indicating that the average value of the slip rates of the four wheels of the electric vehicle is greater than or equal to a first preset vehicle slip rate and less than a second preset vehicle slip rate, and the average value of the slip rates of the four wheels is greater than or equal to the second preset vehicle slip rate.

11. The display method according to claim 1, characterized in that: The display method further includes: During the driving of the electric vehicle, four wheel slip marks are displayed on the central control screen, and the four wheel slip marks are respectively used to indicate the slip status of the four wheels.

12. The display method according to claim 11, characterized in that: For any one of the four wheel slip indicators, the wheel slip indicator includes at least one of the following indication states: a first indication state for indicating that the wheel is not slipping, a second indication state for indicating a slipping state of the wheel, and a third indication state for indicating a slipping state of the wheel; The second indication state includes two sub-indication states respectively indicating that the slip rate of the wheel is greater than or equal to a first preset wheel slip rate and less than a second preset wheel slip rate, and the slip rate of the wheel is greater than or equal to the second preset wheel slip rate; The third indication state includes two sub-indication states respectively indicating that the wheel slip ratio is greater than or equal to a first preset wheel slip ratio and less than a second preset wheel slip ratio, and that the wheel slip ratio is greater than or equal to the second preset wheel slip ratio.

13. The display method according to claim 1, characterized in that: The display method further includes: During the driving of the electric vehicle, wheel slip marks of the four wheels are displayed on the right side of the speed mark of the electric vehicle on the central control screen; Displaying a vehicle skidding mark of the electric vehicle on the upper side of the vehicle speed mark on the central control screen; The size of the vehicle speed indicator is larger than the size of the vehicle slip indicator and the size of each wheel slip indicator.

14. A vehicle controller, characterized in that: The vehicle controller is configured to execute the display method according to any one of claims 1 to 13.

15. An electric vehicle, characterized in that: The electric vehicle comprises four wheels, four wheel speed sensors, a drive system, a brake system and a vehicle controller as claimed in claim 14; wherein: The four wheel speed sensors are used to collect wheel speed signals of the four wheels during the driving process of the electric vehicle; The drive system outputs driving force to the four wheels; The brake system outputs braking force to the four wheels.

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