A method of displaying a speed of an electric vehicle, a vehicle controller and an electric vehicle

Abstract

The application provides a display method of a vehicle speed of an electric vehicle, a vehicle controller and the electric vehicle, and applies 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 during driving of the electric vehicle, and the vehicle speed mark is used for indicating the vehicle speed of the electric vehicle. The display method comprises the following steps: at a first time, the average value of the slip rates of the four wheels is a first slip rate, the average value of the slip rates is a first slip rate, the difference between the vehicle speed indicated by the vehicle speed mark and the average value of the wheel speeds is a first difference; at a second time after the first time, the average value of the slip rates of the four wheels is a second slip rate greater than the first slip rate or the average value of the slip rates is a second slip rate greater than the first slip rate, and the difference between the average value of the vehicle speed and the average value of the wheel speeds is a second difference greater than the first difference. In this way, the vehicle speed mark displayed on the central control screen can indicate the actual vehicle speed of the electric vehicle, and the user can obtain the actual vehicle speed of the electric vehicle from the central control screen.

Description

Technical Field

[0001] This application relates to the field of electric vehicle technology, and more particularly to a method for displaying the speed of an electric vehicle, a vehicle controller, and an electric vehicle. Background Technology

[0002] During the operation of an electric vehicle, obtaining the vehicle's speed from the central control screen is crucial for the user. Currently, the speed displayed on the central control screen is usually determined based on the wheel speeds of the four wheels of the electric vehicle. However, in scenarios such as icy, snowy, muddy, or sandy roads, when the electric vehicle slips, the wheel speeds cannot accurately reflect the vehicle's actual speed on the road. In other words, the speed displayed on the central control screen is not the actual speed of the electric vehicle, making it difficult for users to obtain the actual speed from the central control screen. This can easily cause users anxiety and affect the driving experience. Summary of the Invention

[0003] This application provides a method for displaying the speed of an electric vehicle, a vehicle controller, and an electric vehicle. It can automatically adjust the speed indicated by the speed indicator on the central control screen according to the slip condition of the electric vehicle, so that the speed indicated by the speed indicator on the central control screen can indicate the actual speed of the electric vehicle under different slip rates. This allows the user to obtain the actual speed of the electric vehicle from the central control screen, which helps to improve the user's driving experience and confidence.

[0004] In a first aspect, embodiments of this application provide a method for displaying the speed of an electric vehicle. The method is used to display a speed indicator on the central control screen of the electric vehicle during its operation. The speed indicator is used to indicate the speed of the electric vehicle. The method includes: at a first moment during the operation of the electric vehicle, the average slip ratio of the four wheels of the electric vehicle is a first slip ratio and the average wheel slip ratio of the four wheels is a first slip ratio, and the difference between the speed indicated by the speed indicator and the average wheel speed of the four wheels is a first difference; at a second moment after the first moment, the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio or the average wheel slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, and the difference between the speed indicated by the speed indicator and the average wheel speed of the four wheels is a second difference greater than the first difference.

[0005] In this embodiment, during the operation of the electric vehicle, a speed indicator is displayed on the central control screen. This speed indicator shows the vehicle speed, allowing the user to directly obtain the vehicle's speed from the central control screen, facilitating better driving. By automatically adjusting the speed indicated by the speed indicator on the central control screen based on the slip ratio and wheel slip rate of the four wheels, the speed indicated by the speed indicator on the central control screen accurately reflects the actual speed of the vehicle under slip conditions. The higher the average slip ratio and wheel slip rate of the four wheels of the electric vehicle, the less accurately the wheel speed reflects the actual speed of the vehicle on the road surface. By automatically adjusting the vehicle speed indicator on the central control screen when the average slip ratio and the average wheel slip ratio of the four wheels of the electric vehicle are high, the difference between the vehicle speed and the average wheel speed is larger. Conversely, when the average slip ratio and the average wheel slip ratio of the four wheels are low, the difference between the vehicle speed and the average wheel speed is smaller. This ensures that the speed indicator displayed on the central control screen accurately reflects the actual vehicle speed, allowing users to obtain the actual vehicle speed from the central control screen, thus improving the user's driving experience and confidence.

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

[0007] In this embodiment, when the average slip ratio of the four wheels is large, the wheel speed of the electric vehicle is large while the vehicle speed is small. That is, the average wheel speed of the four wheels of the electric vehicle is large while the vehicle speed is small. By automatically adjusting the speed indicated by the speedometer to be less than the average wheel speed of the four wheels, the speed indicated by the speedometer displayed on the central control screen can indicate the actual speed of the electric vehicle when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio. The user can obtain the actual speed of the electric vehicle from the central control screen, which helps to improve the user's driving experience and confidence.

[0008] In one embodiment of the first aspect, the display method further includes: at a second moment, the average slip ratio of the four wheels is a second slip ratio that is greater than the first slip ratio, and the 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 slip ratio of the four wheels is large, the wheel speed of the electric vehicle is small while the vehicle speed is large. That is, the average wheel speed of the four wheels of the electric vehicle is small while the vehicle speed is large. By automatically adjusting the speed indicated by the speedometer to be greater than the average wheel speed of the four wheels, the speed indicated by the speedometer displayed on the central control screen can indicate the actual speed of the electric vehicle when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio. The user can obtain the actual speed of the electric vehicle from the central control screen, which helps to improve the user's driving experience and confidence.

[0010] In one embodiment of the first aspect, the display method further includes: after the second time point, 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 ratio of the four wheels or the average slip ratio of the four wheels increases.

[0011] In this embodiment, the greater the average slip ratio or the average wheel slip ratio of the four wheels, the less accurately the wheel speed reflects the actual vehicle speed on the road. By automatically adjusting the difference between the speed indicated by the speedometer and the average wheel speed of the four wheels to increase with the increase of the average slip ratio or the average wheel slip ratio, the speedometer displayed on the central control screen can indicate the actual speed of the electric vehicle even when the average slip ratio or the average wheel slip ratio of the four wheels is different. Users can obtain the actual speed of the electric vehicle from the central control screen, which helps to improve the user's driving experience and confidence.

[0012] In one embodiment of the first aspect, the display method further 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 speedometer 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 speedometer decreases at a second rate less than the first rate.

[0013] The preset brake pedal opening can be a small value, such as 10%, 15%, or 30%. If the user operates the brake pedal to a degree greater than the preset brake pedal opening, it is assumed that the user intends to brake the electric vehicle to reduce its speed.

[0014] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the brake pedal. In the event of loss of control, the electric vehicle is less likely to respond to the opening of the brake pedal to brake. By automatically adjusting the vehicle speed indicator to decrease at a smaller rate after the brake pedal is operated, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after the brake pedal is operated. Furthermore, the user can obtain the change in the slip ratio or slip rate of the electric vehicle through the change in the rate of decrease of the speed indicator on the central control screen, which helps to improve the user's driving experience and confidence.

[0015] In one embodiment of the first aspect, the display method further 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 wheel speed of the four wheels.

[0016] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the brake pedal. In the event of loss of control of the electric vehicle, the wheel-end braking device can directly brake the wheels to reduce the wheel speed, but it is difficult to directly affect the vehicle speed immediately. By automatically adjusting the rate of decrease of the vehicle speed indicated by the speed indicator after the brake pedal is operated to be less than the rate of decrease of the average wheel speed of the four wheels, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after the brake pedal is operated, which helps to improve the user's driving experience and confidence.

[0017] In one embodiment of the first aspect, the display method further 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 vehicle 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 vehicle 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 small value, such as 10%, 15%, or 30%. If the user operates the accelerator pedal to a degree greater than the preset accelerator pedal opening, it is assumed that the user intends to increase the speed of the electric vehicle.

[0019] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the accelerator pedal. In the event of loss of control, the electric vehicle is less likely to accelerate in response to the opening of the accelerator pedal. By automatically adjusting the speed indicator to decrease at a smaller rate after the accelerator pedal is operated, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after the accelerator pedal is operated. Furthermore, the user can obtain the change in the slip ratio or slip rate of the electric vehicle through the change in the rate of decrease of the speed indicator on the central control screen, which helps to improve the user's driving experience and confidence.

[0020] In one embodiment of the first aspect, the display method further 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 rate of increase of the vehicle speed indicated by the speed indicator is less than the rate of increase of the average wheel speed of the four wheels.

[0021] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the accelerator pedal. In the event of loss of control of the electric vehicle, the wheel-end acceleration device can directly accelerate the wheels to reduce wheel speed, but it is difficult to directly affect the vehicle speed immediately. By automatically adjusting the rate of decrease of the vehicle speed indicated by the speed indicator after operating the accelerator pedal to be less than the rate of decrease of the average wheel speed 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 helps to improve the user's driving experience and confidence.

[0022] In one embodiment of the first aspect, the display method further includes: displaying a vehicle skidding indicator on a central control screen during the operation of the electric vehicle, the vehicle skidding indicator indicating the skidding state of the electric vehicle.

[0023] In this embodiment, during the operation of the electric vehicle, the user can accurately obtain the vehicle's slippage status through the vehicle slippage indicator displayed on the central control screen. This improves the efficiency of the user in obtaining the vehicle's slippage status, helps the user to promptly identify potential risks and take corresponding preventive measures, and improves driving safety.

[0024] In one embodiment of the first aspect, the vehicle slippage 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 that the electric vehicle is slipping, and a third indication state for indicating that the electric vehicle is spinning; wherein, the second indication state includes two seed 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 a second preset vehicle slip rate; the third indication state includes two seed 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 a second preset vehicle slip rate, and the average slip rate of the four wheels is greater than or equal to a second preset vehicle slip rate.

[0025] In this embodiment, during the operation of the electric vehicle, the user can accurately determine whether the electric vehicle is slipping or turning, and the degree of slipping or turning, by using the indication status and sub-indication status of the vehicle slipping indicator. The user can use this information to deal with various situations, improving the user's driving experience and confidence. At the same time, it helps the user to discover potential risks in a timely manner and take corresponding preventive measures, thereby improving driving safety.

[0026] In one embodiment of the first aspect, the display method further includes: displaying four wheel slip indicators on the central control screen during the operation of the electric vehicle, wherein the four wheel slip indicators are used to indicate the slipping state of the four wheels respectively.

[0027] In this embodiment, during the operation of the electric vehicle, the user can accurately obtain the slippage status of each wheel through the four wheel slippage indicators displayed on the central control screen. This improves the efficiency of the user in obtaining the slippage status of the four wheels, which helps the user to discover potential risks in a timely manner and take corresponding preventive measures, thereby improving driving safety and extending the service life of the wheels.

[0028] In one 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 that the wheel is slipping, and a third indication state for indicating that the wheel is turning; wherein, the second indication state includes two seed indication states respectively indicating that the wheel's slip ratio is greater than or equal to a first preset wheel slip ratio and less than a second preset wheel slip ratio, and the wheel's slip ratio is greater than or equal to a second preset wheel slip ratio; the third indication state includes two seed indication states respectively indicating that the wheel's slip ratio is greater than or equal to the first preset wheel slip ratio and less than a second preset wheel slip ratio, and the wheel's slip ratio is greater than or equal to a second preset wheel slip ratio.

[0029] In this embodiment, during the operation of the electric vehicle, the user can accurately determine whether the four wheels are slipping or spinning, the specific wheels that are slipping or spinning, and the degree of slippage or spinning by the indication status and sub-indication status of the four wheel slip indicators. The user can use this information to take corresponding measures for the slipping or spinning wheels to prevent the electric vehicle from tilting, improve driving safety, and extend the service life of the wheels.

[0030] In one embodiment of the first aspect, the display method further includes: during the operation of the electric vehicle, displaying wheel slippage indicators of the four wheels to the right of the vehicle speed indicator on the central control screen; displaying vehicle slippage indicators of the electric vehicle above the vehicle speed indicator on the central control screen; the size of the vehicle speed indicator is larger than the size of the vehicle slippage indicators and the size of each wheel slippage indicator.

[0031] In this embodiment, four wheel slip indicators are displayed to the right of the speed indicator, and the vehicle slip indicator is displayed above the speed indicator. This ensures that the information indicated by the speed indicator, the vehicle slip indicator, and the four wheel slip indicators is readily available to the user, and the arrangement is logical and makes the information easier to access. Because the speed indicator is larger than both the vehicle slip indicator and the individual wheel slip indicators, it is more prominent on the central control screen, allowing the user to prioritize the electric vehicle's speed and improving the driving experience.

[0032] Secondly, embodiments of this application provide a vehicle controller for executing the method for displaying the speed of an electric vehicle as described in the first aspect.

[0033] Thirdly, embodiments of this application provide an electric vehicle, which includes four wheels, four wheel speed sensors, a drive system, a braking system, and a vehicle controller as described in the second aspect; wherein:

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

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

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

[0037] The supplementary solutions and technical effects provided in the second and third aspects above can be found in the corresponding descriptions in the first aspect, and will not be repeated here. Attached Figure Description

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

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

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

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

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

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

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

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

[0046] Figure 9 A schematic diagram of a central control screen of an electric vehicle 100 provided in an embodiment of this application is shown;

[0047] Figure 10 This illustration shows a driving scenario of an electric vehicle 100 according to an embodiment of this application;

[0048] Figure 11 A schematic diagram of a vehicle controller for an electric vehicle 100 provided in an embodiment of this application is shown;

[0049] Figure 12 A schematic diagram of a vehicle controller for an electric vehicle 100 provided in an embodiment of this application is shown. Detailed Implementation

[0050] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0051] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0052] During the operation of an electric vehicle, obtaining the vehicle's speed from the central control screen is crucial for the user. Currently, the speed displayed on the central control screen is usually determined based on the wheel speeds of the four wheels of the electric vehicle. However, in scenarios such as icy, snowy, muddy, or sandy roads, when the electric vehicle slips, the wheel speeds cannot accurately reflect the vehicle's actual speed on the road. In other words, the speed displayed on the central control screen is not the actual speed of the electric vehicle, making it difficult for users to obtain the actual speed from the central control screen. This can easily cause users anxiety and affect the driving experience.

[0053] As an example, Figure 1 A schematic diagram of a central control screen for an electric vehicle is shown. Figure 1 The central control screen shown exemplarily displays the vehicle speed of the electric vehicle. In scenarios where the electric vehicle is traveling on normal road surfaces or other conditions with low slip or spin rates, the difference between the vehicle speed and wheel speed is small. In scenarios with high slip or spin rates, such as icy or snowy roads, mud, or sandy surfaces, the difference between the vehicle speed and wheel speed is smaller, for example, a wheel speed of 158 kph. Figure 1 The central control screen shown in the image displays a vehicle speed of 160 kph, and the difference between the vehicle speed and wheel speed is small.

[0054] Obviously, the difference between the vehicle speed and wheel speed displayed on the central control screen of an electric vehicle does not change with the slip ratio or wheel slip ratio. This 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, embodiments of this application provide a method for displaying the vehicle speed of an electric vehicle, a vehicle controller, and an electric vehicle. This method can automatically adjust the vehicle speed indicated by the speed indicator on the central control screen according to the slip condition of the electric vehicle. This ensures that the speed indicated by the speed indicator on the central control screen can indicate the actual speed of the electric vehicle under different slip rates, allowing the user to obtain the actual speed of the electric vehicle from the central control screen, which is beneficial to improving the user's driving experience and confidence.

[0056] See Figure 2 , Figure 2 A schematic diagram of an electric vehicle 100 provided in an embodiment of this application is shown. For example... 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 drives the electric vehicle 100. The power battery 120 provides electrical energy to the drive system 110. The drive system 110 receives power from the power battery 120 and provides power to the electric vehicle 100. The drive system 110 can also be referred to as a powertrain.

[0057] Optionally, the electric vehicle 100 also includes a braking system 140 for providing braking force to the electric vehicle 100 when the electric vehicle 100 is in a braking state.

[0058] Based on their position within the electric vehicle 100, the wheels can be categorized as follows: left front wheel (FL), right front wheel (FR), left rear wheel (BL), and right rear wheel (BR). In terms of axle arrangement, the left and right front wheels are coaxial and connected via the front axle. The left and right rear wheels are coaxial and connected via the rear axle. In terms of position, the left and left rear wheels are on the same side (left side), and the right front and right rear wheels are on the same side (right side). In other words, in the electric vehicle 100, the left and right front wheels are coaxial, as are the left and right rear wheels; the left and left rear wheels are on the same side, as are the right and right rear wheels.

[0059] The electric vehicle 100 in this application embodiment can be any type of vehicle such as a sedan, truck, or passenger bus, or it can be a tricycle, two-wheeled vehicle, train, or other transportation device for carrying passengers or goods, or other types of vehicles powered by a power battery. This application embodiment does not limit this. The vehicle includes, but is not limited to, pure electric vehicles (pure EV / battery EV), hybrid electric vehicles (HEV), range-extended electric vehicles (REEV), plug-in hybrid electric vehicles (PHEV), and new energy vehicles (NEV).

[0060] This application does not limit the specific type of powertrain in its embodiments; these are merely examples and not limitations. The aforementioned powertrain can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Specifically, the hub motor powertrain directly mounts the motor and reducer within the wheel rim, eliminating transmission components such as half-shafts, universal joints, differentials, and gearboxes; the wheel-side motor powertrain mounts the motor on the subframe.

[0061] The power battery 120 in this embodiment can be a lithium-ion battery, lithium metal battery, lead-acid battery, nickel-cadmium battery, nickel-metal hydride battery, lithium-sulfur battery, lithium-air battery, or sodium-ion battery, etc., and this application does not limit its application to this type. In terms of scale, the power battery 120 in this embodiment can be a single battery cell, a battery module, or a battery pack, and this application does not limit its application to this type. The power battery 120 can also power other electrical devices in the vehicle, such as the vehicle's air conditioning and in-vehicle media player.

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

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

[0064] In this system, each drive motor in the drive system 110 provides driving force to 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 electrical 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 provides driving force to 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 torque signals to the motor controllers of each drive motor. Each motor controller receives torque signals from the power battery 120 (e.g., ...). Figure 1 The electrical energy (as shown) is used to control the torque indicated by the output torque signal of the corresponding drive motor.

[0066] Continue to refer to Figure 3 In (a), the braking system 140 mainly includes a brake pedal ( Figure 3 (not shown in (a)) 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 braking force to the corresponding wheel based on the indication of the brake signal, so as to prevent the wheel from rotating or to prevent the wheel from rotating.

[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 this embodiment can be an electronic hydraulic brake (EHB), an electronic mechanical brake (EMB), or other types of brakes, without limitation.

[0069] The drive system 110, braking system 140, and vehicle controller 130 are connected via a CAN network, and this embodiment does not limit the specific communication connection method. For example, the motor controller in the drive system 110 and the vehicle controller 130 can communicate via a private CAN network, the brake controller 141 in the braking system 140 and the vehicle controller 130 can communicate via a public CAN network, and the brake controller 141 and each wheel-end brake device 142 can communicate via another private CAN network. Alternatively, the vehicle controller 130 can communicate with the motor controller in the drive system 110 and the brake controller 141 in the braking system 140 via the same CAN network.

[0070] In one embodiment, the vehicle controller 130 can acquire steering wheel angle signals from the steering wheel angle sensor, motor speed signals and motor torque signals from the motor controller, wheel speed signals from the wheel speed sensor, braking signals from the braking system, and 6DIMU signals from the 6D inertial measurement unit via a CAN network.

[0071] In one embodiment, the vehicle controller 130 can also acquire an enable signal from the traction control system (TCS) via a CAN network, which indicates that the traction control system has detected at least one wheel slippage of the electric vehicle 100.

[0072] See 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 architecture of the embodiments of this application has been described above. The method for displaying the vehicle speed of an electric vehicle provided by this application will be described below with reference to specific embodiments.

[0074] This application provides a method for displaying the speed of an electric vehicle, used to display a speed indicator on the central control screen of the electric vehicle during its operation. 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 this application includes the following steps.

[0076] At the first moment t1 during the operation of the electric vehicle, the average slip ratio of the four wheels of the electric vehicle is the first slip ratio, and the average slip ratio of the four wheels is the first slip ratio. The difference between the vehicle speed indicated by the speedometer and the average wheel speed of the four wheels is the first difference.

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

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

[0079] For any one of the four wheels, if the wheel's slip ratio is greater than or equal to a first preset wheel slip ratio, the wheel is considered to be slipping; if the wheel's rotation ratio is greater than or equal to the first preset wheel rotation ratio, the wheel is considered to be rotating. The first preset wheel rotation ratio and the first preset wheel slip rate for the four wheels can be the same, for example, both being 15%, 18%, or 20%, or they can be different, for example, 18% for the two front wheels and 20% for the two rear wheels.

[0080] In this embodiment of the application, the slip ratio of the electric vehicle is represented by the average slip ratio of the four wheels, and the slip ratio of the electric vehicle is represented by the average slip ratio of the four wheels.

[0081] In one implementation, the average slip ratio of the four wheels can be an arithmetic average or a weighted average, and the weighting coefficient can be determined based on the vertical load of the four wheels.

[0082] The slip ratio and slip rate of electric vehicles also exist: when the slip ratio of an electric vehicle is greater than or equal to the first preset vehicle slip ratio, the electric vehicle is considered to be slipping; when the slip rate of an 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 can be the same or different. The first preset vehicle slip ratio and the first preset wheel slip ratio can be the same or different.

[0084] If the first slip ratio is less than the first preset vehicle slip ratio and the first spin ratio is less than the first preset vehicle spin ratio, the electric vehicle is considered to be driving 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 spin ratio is less than the first preset vehicle spin ratio, the electric vehicle is considered to be driving 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 wheel speed of the electric vehicle reflects the actual vehicle speed less accurately than at the first moment.

[0085] If the second slip ratio is greater than or equal to the first preset vehicle slip ratio, it is considered that the electric vehicle slips at the second moment, the relative motion 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 speed of the vehicle less accurately than at the first moment.

[0086] If the second slip ratio is greater than or equal to the first preset vehicle slip ratio, it is considered that the electric vehicle slips at the second moment, the relative motion 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 speed of the vehicle less accurately than at the first moment.

[0087] If the first slip ratio is greater than or equal to the first preset vehicle slip ratio or the first slip ratio is greater than or equal to the second slip ratio, the electric vehicle is considered to have slipped or turned at the first moment. The electric vehicle also slips or turns 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 wheel speed of the electric vehicle reflects the actual vehicle speed less accurately than at the first moment.

[0088] The lower the wheel speed of an electric vehicle reflects its actual speed, the greater the difference between the speed indicated by the speedometer and the average wheel speed of the four wheels.

[0089] In one implementation, the average wheel speed of the four wheels can be an arithmetic average or a weighted average, and the weighting coefficient can be determined based on the diameter of the four wheels.

[0090] During the operation of an electric vehicle, the vehicle speed can be controlled by, for example... Figure 12 The vehicle controller calculates the speed and displays it on the central control screen as a speed indicator. The speed indicated by the speed indicator satisfies the following conditions: the greater the slip ratio or wheel slip ratio of the electric vehicle, the greater the difference between the vehicle speed and the wheel speed of the four wheels.

[0091] In this embodiment, during the operation of the electric vehicle, a speed indicator is displayed on the central control screen. This speed indicator shows the vehicle speed, allowing the user to directly obtain the vehicle's speed from the central control screen, facilitating better driving. By automatically adjusting the speed indicated by the speed indicator on the central control screen based on the slip ratio and wheel slip rate of the four wheels, the speed indicated by the speed indicator on the central control screen accurately reflects the actual speed of the vehicle under slip conditions. The higher the average slip ratio and wheel slip rate of the four wheels of the electric vehicle, the less accurately the wheel speed reflects the actual speed of the vehicle on the road surface. By automatically adjusting the vehicle speed indicator on the central control screen when the average slip ratio and the average wheel slip ratio of the four wheels of the electric vehicle are high, the difference between the vehicle speed and the average wheel speed is larger. Conversely, when the average slip ratio and the average wheel slip ratio of the four wheels are low, the difference between the vehicle speed and the average wheel speed is smaller. This ensures that the speed indicator displayed on the central control screen accurately reflects the actual vehicle speed, allowing users to obtain the actual vehicle speed from the central control screen, thus improving the user's driving experience and confidence.

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

[0093] The average slip ratio of the four wheels is greater than the second slip ratio, indicating that the relative motion between the electric vehicle and the road surface at time t2 is more inclined towards rolling compared to time t1. This means the electric vehicle's speed is lower while the wheel speeds of the four wheels are higher. In other words, the speed indicated by the speedometer is less than the average wheel speed.

[0094] In this embodiment, when the average slip ratio of the four wheels is large, the wheel speed of the electric vehicle is large while the vehicle speed is small. That is, the average wheel speed of the four wheels of the electric vehicle is large while the vehicle speed is small. By automatically adjusting the speed indicated by the speedometer to be less than the average wheel speed of the four wheels, the speed indicated by the speedometer displayed on the central control screen can indicate the actual speed of the electric vehicle when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio. The user can obtain the actual speed of the electric vehicle from the central control screen, which helps to improve the user's driving experience and confidence.

[0095] In another embodiment, at a 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 speed indicator is greater than the average wheel speed of the four wheels.

[0096] The average slip ratio of the four wheels is greater than the second slip ratio, indicating that the relative motion between the electric vehicle and the road surface is more inclined towards slippage in the second moment compared to the first moment. This means that the electric vehicle's speed is higher while the wheel speeds of the four wheels are lower. In other words, the speed indicated by the speedometer is greater than the average wheel speed.

[0097] In this embodiment, when the average slip ratio of the four wheels is large, the wheel speed of the electric vehicle is small while the vehicle speed is large. That is, the average wheel speed of the four wheels of the electric vehicle is small while the vehicle speed is large. By automatically adjusting the speed indicated by the speedometer to be greater than the average wheel speed of the four wheels, the speed indicated by the speedometer displayed on the central control screen can indicate the actual speed of the electric vehicle when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio. The user can obtain the actual speed of the electric vehicle from the central control screen, which helps to improve 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 ratio of the four wheels or the average slip ratio of the four wheels increases.

[0099] The greater the average slip ratio of the four wheels, the greater the relative motion between the electric vehicle and the road surface, the lower the accuracy of the wheel speed in reflecting the actual vehicle speed, and the greater the difference between the speed indicated by the speedometer and the average wheel speed of the four wheels.

[0100] Conversely, the difference between the vehicle speed indicated by the speedometer and the average wheel speed of the four wheels decreases as the average slip ratio of the four wheels or the average slip ratio of the four wheels decreases.

[0101] In this embodiment, the greater the average slip ratio or the average wheel slip ratio of the four wheels, the less accurately the wheel speed reflects the actual vehicle speed on the road. By automatically adjusting the difference between the speed indicated by the speedometer and the average wheel speed of the four wheels to increase with the increase of the average slip ratio or the average wheel slip ratio, the speedometer displayed on the central control screen can indicate the actual speed of the electric vehicle even when the average slip ratio or the average wheel slip ratio of the four wheels is different. Users can obtain the actual speed of the electric vehicle from the central control screen, which helps to improve the user's driving experience and confidence.

[0102] In one embodiment, at a first time 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 speedometer decreases at a first rate; at a second time, the opening of the brake pedal is the first brake pedal opening, and the vehicle speed indicated by the speedometer decreases at a second rate less than the first rate.

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

[0104] At the first moment t1, the average slip ratio of the four wheels is the first slip ratio. At the second moment t2, the average slip ratio of the four wheels is the second slip ratio. The second slip ratio is greater than the first slip ratio. The larger the average slip ratio of the four wheels, the more severe the wheel spinning of the electric vehicle is. The smaller the dynamic friction between the wheels of the electric vehicle and the ground, the smaller the dynamic friction after operating the brake pedal, the smaller the deceleration generated by braking, and the smaller the rate of decrease of the vehicle speed indicated by the speedometer.

[0105] At the first moment t1, the average slip ratio of the four wheels is the first slip ratio. At the second moment t2, the average slip ratio of the four wheels is the second slip ratio. The second slip ratio is greater than the first slip ratio. The greater the average slip ratio 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 generated by braking, and the smaller the rate of decrease of the vehicle speed indicated by the speedometer.

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

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

[0108] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the brake pedal. In the event of loss of control, the electric vehicle is less likely to respond to the opening of the brake pedal to brake. By automatically adjusting the vehicle speed indicator to decrease at a smaller rate after the brake pedal is operated, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after the brake pedal is operated. Furthermore, the user can obtain the change in the slip ratio or slip rate of the electric vehicle through the change in the rate of decrease of the speed indicator on the central control screen, which helps to improve the user's driving experience and confidence.

[0109] In one embodiment, at a second time 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 rate of decrease of the vehicle speed indicated by the speedometer is less than the rate of decrease of the average wheel speed of the four wheels.

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

[0111] At the second moment t2, the average slip ratio of the four wheels is the second slip ratio. The larger the second slip ratio, the closer the wheels are to locking up. When the user operates the brake pedal, the wheel speeds of the four wheels will decrease faster due to friction. However, the speed of an electric vehicle will not decrease immediately due to inertia. It needs to be consumed by the friction between the wheels and the road surface. Therefore, the rate of decrease of the vehicle speed indicated by the speedometer is less than the rate of decrease of the average wheel speed of the four wheels.

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

[0113] exist Figure 5 In (a), when the average slip ratio of the four wheels is greater than the first slip ratio, the vehicle speed indicated by the speed indicator is less than the average wheel speed of the four wheels. At the second time t2, the brake pedal opening is a second brake pedal opening greater than the preset brake pedal opening K1, and the rate of decrease of the vehicle speed indicated by the speed indicator is less than the rate of decrease of the average wheel speed of the four wheels.

[0114] exist Figure 5In (b), when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio, the vehicle speed indicated by the speed indicator is greater than the average wheel speed of the four wheels. At the second time t2, the brake pedal opening is the second brake pedal opening greater than the preset brake pedal opening K1, and the rate of decrease of the vehicle speed indicated by the speed indicator is less than the rate of decrease of the average wheel speed of the four wheels.

[0115] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the brake pedal. In the event of loss of control of the electric vehicle, the wheel-end braking device can directly brake the wheels to reduce the wheel speed, but it is difficult to directly affect the vehicle speed immediately. By automatically adjusting the rate of decrease of the vehicle speed indicated by the speed indicator after the brake pedal is operated to be less than the rate of decrease of the average wheel speed of the four wheels, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after the brake pedal is operated, which helps to improve the user's driving experience and confidence.

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

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

[0118] At the first moment t1, the average slip ratio of the four wheels is the first slip ratio. At the second moment t2, the average slip ratio of the four wheels is greater than the second slip ratio. The second slip ratio is greater than the first slip ratio. The larger the average slip ratio of the four wheels, the less 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 (such as the wheels spinning at high speed in snow or sand) 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 speedometer.

[0119] At the first moment t1, the average slip ratio of the four wheels is the first slip ratio. At the second moment t2, the average slip ratio of the four wheels is the second slip ratio. The second slip ratio is greater than the first slip ratio. The larger the average slip ratio of the four wheels, the less 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 (such as the wheels accelerating on ice) rather than 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 speedometer.

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

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

[0122] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the accelerator pedal. In the event of loss of control, the electric vehicle is less likely to accelerate in response to the opening of the accelerator pedal. By automatically adjusting the speed indicator to decrease at a smaller rate after the accelerator pedal is operated, the speed indicator displayed on the central control screen can indicate the actual speed of the electric vehicle after the accelerator pedal is operated. Furthermore, the user can obtain the change in the slip ratio or slip rate of the electric vehicle through the change in the rate of decrease of the speed indicator on the central control screen, which helps to improve the user's driving experience and confidence.

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

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

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

[0126] exist Figure 7 In (a), when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio, the vehicle speed indicated by the speed indicator is less than the average wheel speed of the four wheels. At the second time t2, the brake pedal opening is the second accelerator pedal opening, which is greater than the preset accelerator pedal opening K2. The rate of increase of the vehicle speed indicated by the speed indicator is less than the rate of increase of the average wheel speed of the four wheels.

[0127] exist Figure 7 In (b), when the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio, the vehicle speed indicated by the speed indicator is greater than the average wheel speed of the four wheels. At the second time t2, the opening of the accelerator pedal is the second accelerator pedal opening, which is greater than the preset accelerator pedal opening K2. The rate of increase of the vehicle speed indicated by the speed indicator is less than the rate of increase of the average wheel speed of the four wheels.

[0128] In this embodiment, the greater the average slip ratio or slip rate of the four wheels, the more likely the electric vehicle is to lose control after the user operates the accelerator pedal. In the event of loss of control of the electric vehicle, the wheel-end acceleration device can directly accelerate the wheels to reduce wheel speed, but it is difficult to directly affect the vehicle speed immediately. By automatically adjusting the rate of decrease of the vehicle speed indicated by the speed indicator after operating the accelerator pedal to be less than the rate of decrease of the average wheel speed 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 helps to improve the user's driving experience and confidence.

[0129] The vehicle speed display method provided in this application embodiment is also used to display wheel slip indicators of four wheels on the right side of the vehicle speed indicator on the central control screen during the operation of the electric vehicle; and to display vehicle slip indicators of the electric vehicle on the upper side of the vehicle speed indicator 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.

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

[0131] For ease of understanding, Figure 8A schematic diagram of a central control screen in an electric vehicle 100 is shown. Figure 8 middle, Figure 8 The number 801 is a speedometer. Figure 8 The number 802 is a vehicle skidding indicator. Figure 8 The number 803 indicates wheel slippage on all four wheels. This is understandable. Figure 8 The schematic diagram shown is merely an example of the central control screen of an electric vehicle 100.

[0132] Will Figure 8 The central control screen shown is installed on the electric vehicle 100. The position of the central control screen on the electric vehicle is as follows: Figure 9 As shown.

[0133] In this embodiment, four wheel slip indicators are displayed to the right of the speed indicator, and the vehicle slip indicator is displayed above the speed indicator. This ensures that the information indicated by the speed indicator, the vehicle slip indicator, and the four wheel slip indicators is readily available to the user, and the arrangement is logical and makes the information easier to access. Because the speed indicator is larger than both the vehicle slip indicator and the individual wheel slip indicators, it is more prominent on the central control screen, allowing the user to prioritize the electric vehicle's speed and improving the driving experience.

[0134] In one implementation, the arrangement of the vehicle speed indicator, vehicle slippage indicator, and wheel slippage indicators for the four wheels on the central control screen can be customized by the user. If the user's modification affects the clarity and integrity of the indicator display on the central control screen (e.g., the vehicle speed indicator and the vehicle slippage indicator overlap), the user will be reminded and a suggested arrangement that does not affect information access under the user's preferred arrangement.

[0135] The vehicle speed display method for an electric vehicle provided in this application embodiment is also used to display a vehicle skidding indicator on the central control screen during the operation of the electric vehicle, the vehicle skidding indicator indicating the skidding state of the electric vehicle.

[0136] In this embodiment, during the operation of the electric vehicle, the user can accurately obtain the vehicle's slippage status through the vehicle slippage indicator displayed on the central control screen. This improves the efficiency of the user in obtaining the vehicle's slippage status, helps the user to promptly identify potential risks and take corresponding preventive measures, and improves driving safety.

[0137] In one embodiment, the vehicle slippage 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 that the electric vehicle is slipping, and a third indication state for indicating that the electric vehicle is spinning; wherein, the second indication state includes two seed 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 a second preset vehicle slip rate; the third indication state includes two seed 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 a second preset vehicle slip rate, and the average slip rate of the four wheels is greater than or equal to a second preset vehicle slip rate.

[0138] The vehicle skidding indicator can be a light-up symbol, such as an indicator light.

[0139] When the vehicle skid indicator is an illuminated indicator, the first indication state can be that the vehicle skid indicator does not light up or emits green light, the second indication state can be that the vehicle skid indicator flashes, and the third indication state can be that the vehicle skid indicator continues to light up.

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

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

[0142] When the vehicle slippage indicator does not light up or emits a green light, the user knows that the electric vehicle is not slipping. At this time, the average slip ratio of the four wheels is less than the first preset vehicle slip ratio and the average slip rate of the four wheels is less than the first preset vehicle slip rate.

[0143] When the vehicle slippage indicator flashes yellow, the user knows that the electric vehicle is slipping slightly. At this time, the average slippage rate of the four wheels is greater than or equal to the first preset vehicle slippage rate and less than the second preset vehicle slippage rate.

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

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

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

[0147] For ease of understanding, let's take the example of a second slip rate, where the slip rate of the electric vehicle at the second time t2 is greater than the first slip rate. Figure 10 A schematic diagram of a driving scenario for an electric vehicle 100 is shown.

[0148] exist Figure 10 In the scenario where, at the first time t1, the electric vehicle reaches position 1, and the average slip ratio of its four wheels at position 1 is equal to the first slip ratio and the average slip rate of its four wheels is equal to the first slip ratio, and both the first slip ratio and the first slip rate are less than the first preset vehicle slip ratio, the electric vehicle has not slipped, and the vehicle slip indicator 1001 displays color 1 (color 1 indicates either green light or no light). At the second time t2, the electric vehicle reaches position 2, and the average slip ratio of its four wheels at position 2 is equal to the second slip ratio, and the second slip ratio is less than the first preset vehicle slip ratio, the electric vehicle has not slipped, and the vehicle slip indicator 1001 also displays color 1 (color 1 indicates either green light or no light).

[0149] If at the first time t1, the electric vehicle travels to position 2, and the average slip ratio of the four wheels at position 2 is less than the first preset vehicle slip ratio and the average slip ratio is less than the first preset vehicle slip ratio, then the electric vehicle has not slipped, and the vehicle slip indicator 1001 is in the first indication state, displaying color 1 (color 1 indicates either emitting green light or not emitting light). At the second time t2, the electric vehicle travels to position 3, and at position 3, both front wheels have entered the ice surface (e.g., ...). Figure 10 (As shown in the middle striped area), at this time, the average slip ratio of the four wheels is the second slip ratio. The second slip ratio is greater than or equal to the first preset vehicle slip ratio and less than the second preset vehicle slip ratio. The electric vehicle slips slightly, and the vehicle slip indicator 1001 is the first sub-indication state in the second indication state, which presents color 2 (color 2 indicates the yellow light mentioned above).

[0150] If at the first time t1, the electric vehicle travels to position 3, and the average slip ratio of the four wheels at position 3 is the first slip ratio and the average of the slip-turn ratio is the first slip-turn ratio, and the first slip ratio is greater than or equal to the first preset vehicle slip ratio but less than the second preset vehicle slip ratio, the electric vehicle experiences slight slippage, and the vehicle slippage indicator 1001 displays color 2 (color 2 indicates the aforementioned yellow light) in the first sub-indication state of the second indication state. At the second time t2, the electric vehicle travels to position 4, and all four wheels of the electric vehicle are on the ice surface. At this time, the average slip ratio of the four wheels is the second slip ratio, and the second slip ratio is greater than or equal to the second preset vehicle slip ratio, indicating severe slippage of the electric vehicle. The vehicle slippage indicator 1001 displays color 3 (color 3 indicates the aforementioned red light) in the second sub-indication state of the second indication state.

[0151] In one implementation, the central control screen of the electric vehicle can also alert the electric vehicle to its skidding status by emitting a prompting sound. In this way, the user does not need to take their attention away from the central control screen to obtain information about the skidding status of the electric vehicle, thereby improving driving safety and ensuring the driving experience.

[0152] For example, the continuity of the warning sound can be used to distinguish between slippage and spin. A continuous warning sound indicates slippage, while an intermittent warning sound indicates spin. After distinguishing between slippage and spin, the pitch of the warning sound can be used to differentiate the degree of slippage or spin. A continuous low-pitched warning sound indicates slight slippage, a continuous high-pitched warning sound indicates severe slippage, an intermittent low-pitched warning sound indicates slight spin, and an intermittent high-pitched warning sound indicates severe spin.

[0153] In this embodiment, during the operation of the electric vehicle, the user can accurately determine whether the electric vehicle is slipping or turning, and the degree of slipping or turning, by using the indication status and sub-indication status of the vehicle slipping indicator. The user can use this information to deal with various situations, improving the user's driving experience and confidence. At the same time, it helps the user to discover potential risks in a timely manner and take corresponding preventive measures, thereby improving driving safety.

[0154] The vehicle speed display method for an electric vehicle provided in this application embodiment is also used to display four wheel slip indicators on the central control screen during the operation of the electric vehicle. The four wheel slip indicators are used to indicate the slip state of the four wheels respectively.

[0155] In this embodiment, during the operation of the electric vehicle, the user can accurately obtain the slippage status of each wheel through the four wheel slippage indicators displayed on the central control screen. This improves the efficiency of the user in obtaining the slippage status of the four wheels, which helps the user to discover potential risks in a timely manner 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 that the wheel is slipping, and a third indication state for indicating that the wheel is spinning; wherein, the second indication state includes two seed indication states respectively indicating that the wheel's slip ratio is greater than or equal to a first preset wheel slip ratio and less than a second preset wheel slip ratio, and the wheel's slip ratio is greater than or equal to a second preset wheel slip ratio; the third indication state includes two seed indication states respectively indicating that the wheel's slip ratio is greater than or equal to the first preset wheel slip ratio and less than a second preset wheel slip ratio, and the wheel's slip ratio is greater than or equal to a second preset wheel slip ratio.

[0157] The wheel slippage indicators for all four wheels can be illuminated indicators, such as indicator lights.

[0158] When the wheel slip indicator is an illuminated indicator, for any wheel slip indicator, the first indication state can be that the wheel slip indicator does not light up or emits green light, the second indication state can be that the wheel slip indicator flashes, and the third indication state can be that the wheel slip indicator continues to light up.

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

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

[0161] For any wheel slip indicator, if the wheel slip indicator does not light up or lights up green, 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 displacement rate is less than the first preset wheel slip displacement rate.

[0162] When the wheel slip indicator flashes yellow, the user knows 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 slippage indicator flashes red, the user knows that the wheel slippage is severe. At this time, the average slippage rate of the four wheels is greater than or equal to the second preset wheel slippage rate.

[0164] When the wheel slip indicator continues to glow yellow, the user knows 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 tell that the wheel slip is severe. 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 Figure 10 As shown, in Figure 10 In the scenario where, at the first time t1, the electric vehicle reaches position 1, and the slip ratios of all four wheels are less than the first preset wheel slip ratio and the wheel rotation ratios are also less than the first preset wheel rotation ratio, and none of the four wheels are slipping, the slip indicator 1002 for all four wheels displays color 1 (color 1 indicates either green light or no light) in the first indication state. At the second time t2, when the electric vehicle reaches position 2, the slip ratios of all four wheels are less than the first preset wheel slip ratio, and none of the four wheels are slipping, the slip indicator 1002 for all four wheels also displays color 1 in the first indication state (color 1 indicates either green light or no light).

[0167] If at the first time t1, the electric vehicle travels to position 2, and at position 2, the slip ratio of all four wheels is less than the first preset wheel slip ratio and the slip rate of all four wheels is less than the first preset wheel slip rate, the electric vehicle does not slip, and the wheel slip indicator 1002 of the four wheels is in the first indication state, displaying color 1 (color 1 indicates the aforementioned green light or no light). At the second time t2, the electric vehicle travels to position 3, and at position 3, the two front wheels have entered the ice surface. At this time, the slip ratio of the two front wheels is greater than or equal to the second preset wheel slip ratio, and the two front wheels experience severe slippage. The wheel slip indicator 1002 of the two front wheels is in the second sub-indication state of the second indication state, displaying color 3 (color 3 indicates the aforementioned red light), and the wheel slip indicator 1002 of the two rear wheels is in the first indication state, displaying color 1 (color 1 indicates the aforementioned green light or no light).

[0168] If at the first time t1, the electric vehicle travels to position 3, and at position 3, both front wheels have entered the ice surface. At this time, the slip ratio of the two front wheels is greater than or equal to the second preset wheel slip ratio, resulting in severe slippage of both front wheels. The wheel slippage indicator 1002 of the two front wheels will display color 3 (color 3 indicates the aforementioned red light) in the second sub-indication state of the second indication state. The wheel slippage indicator 1002 of the two rear wheels will display color 1 (color 1 indicates the aforementioned green light or no light). At the second time t2, the electric vehicle travels to position 4, and at position 4, all four wheels have entered the ice surface. At this time, the average slip ratio of all four wheels is greater than or equal to the second preset wheel slip ratio, resulting in severe slippage of all four wheels. The wheel slippage indicator 1002 of all four wheels will display color 3 (color 3 indicates the aforementioned red light) in the second sub-indication state of the second indication state.

[0169] In one implementation, if the number of wheels that slip or rotate is greater than a preset number (e.g., 2, 3, etc.), the central control screen of the electric vehicle can alert the user by emitting a prompt sound that multiple wheels in the electric vehicle have slipped or rotated, requiring timely countermeasures, thereby improving driving safety.

[0170] In this embodiment, during the operation of the electric vehicle, the user can accurately determine whether the four wheels are slipping or spinning, the specific wheels that are slipping or spinning, and the degree of slippage or spinning by the indication status and sub-indication status of the four wheel slip indicators. The user can use this information to take corresponding measures for the slipping or spinning wheels to prevent the electric vehicle from tilting, improve driving safety, and extend the service life of the wheels.

[0171] This application provides a vehicle controller for an electric vehicle 100. The vehicle controller not only executes the method for displaying the vehicle speed of the electric vehicle provided in the above embodiments, but also executes the method for obtaining the vehicle speed indicated by the speed indicator in the above embodiments. The following is in conjunction with... Figure 9 and Figure 10 The vehicle controller provided in the embodiments of this application will be described in detail.

[0172] Figure 11 A schematic diagram of a vehicle controller for an electric vehicle 100 is shown. Figure 11If at least one wheel of the electric vehicle 100 slips, an enable signal is sent to the vehicle controller. Simultaneously, the vehicle controller also sends steering wheel angle signals, motor speed signals, motor torque signals, wheel speed signals, braking signals, and 6DIMU signals. Based on these signals, the vehicle controller outputs the vehicle speed signal to the TCS system and generates a speed indicator; outputs a vehicle slippage status signal to the TCS system and generates a slippage indicator; and outputs wheel slippage status signals for all four wheels and generates wheel slippage indicators. The speed indicator, slippage indicator, and wheel slippage indicators are then displayed on the central control screen. Simultaneously, the TCS system controls the electric vehicle's drive system and / or braking system based on the vehicle speed signal and slippage indicator.

[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 electric vehicle, the braking signal indicates the braking force output by the braking system (e.g., brake master cylinder pressure), and the 6DIMU signal indicates the acceleration and angular velocity of the xyz axes.

[0174] In one embodiment, the method for obtaining the vehicle speed indicated by the 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 speed indicated by the speed sign can be the longitudinal speed of an 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 speed.

[0177] The second calculation result is obtained through model prediction and can be considered as the predicted value of longitudinal vehicle speed. The input of the prediction model is the steering wheel angle signal, motor speed signal, motor torque signal, wheel speed signal, braking signal and 6DIMU signal. The prediction model is obtained by modeling vehicle kinematics and dynamics, and can be the inverse tire model, etc. The specific model is not limited in the embodiments of this application.

[0178] The higher the slip ratio or turn rate of an electric vehicle, the lower the accuracy of its wheel speed in reflecting the actual vehicle speed, and the lower the accuracy of the measured value. Conversely, the lower the slip ratio or turn rate, the higher the accuracy of the predicted value. The longitudinal speed of the electric vehicle can be obtained by combining the first and second calculation results, i.e., the predicted value and the measured value.

[0179] The following will combine Figure 12 A schematic diagram of a vehicle controller for an electric vehicle 100 is shown, and a detailed description is provided of the method for obtaining the vehicle speed indicated by the speedometer. The specific process is as follows.

[0180] like Figure 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 slippage fusion module, an acceleration compensation module, a four-wheel slippage module, a wheel speed and motor speed fusion module, and a four-wheel wheel speed weighting module.

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

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

[0183] If any of the following signals—steering wheel angle, motor torque, braking, 6DIMU, and enable—is invalid, or if both the motor speed and wheel speed signals are invalid, an error message will be output to indicate that the signal is invalid and the specific signal that caused it to be invalid, and the system will wait for the signal to be re-entered.

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

[0185] The model module receives the acquired signals, outputs intermediate parameters based on the acquired signals, and inputs the intermediate parameters and acquired signals into the longitudinal vehicle speed calculation module and the covariance adaptive module. The intermediate parameters include the wheel slip angle and the lateral force acting on the wheel.

[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 obtains a first calculation result of the longitudinal speed. The second calculation unit obtains a second calculation result of the longitudinal speed and outputs the longitudinal speed of the electric vehicle based on the first and second calculation results.

[0187] The covariance adaptive module is used to determine the correction parameters for longitudinal and lateral vehicle speeds based on the received intermediate parameters and acquired signals.

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

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

[0190] In one embodiment, the process of obtaining the wheel speed of an electric vehicle includes: determining the wheel speed of the electric vehicle based on at least one of a motor speed signal and a wheel speed signal.

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

[0192] When determining the first calculation result of the longitudinal speed of an electric vehicle for the first time, the four-wheel speed weighting strategy is determined by the four-wheel speed weighting module.

[0193] Because electric vehicles do not simply move longitudinally along a straight line during actual driving, in order to more accurately obtain the true 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 includes: determining the first calculation result of the longitudinal speed of the electric vehicle based on the wheel speed and the lateral speed of the electric vehicle.

[0194] When determining the first calculation result of the longitudinal speed of an electric vehicle, the lateral speed of the electric vehicle can be considered to be 0.

[0195] When determining the first calculation result of the longitudinal speed of an electric vehicle, which is not the first time, the lateral speed of the electric vehicle is the lateral speed of the electric vehicle determined at the previous 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 based on the collected signals and intermediate parameters.

[0197] The process of obtaining correction parameters includes: determining the correction parameters for the longitudinal speed of the electric vehicle based on the collected signals of the electric vehicle.

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

[0199] Specifically, the driving scenario of an 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 calculation formulas can be used to calculate different measurement covariance and process covariance.

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

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

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

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

[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] 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] Furthermore, since electric vehicles do not simply move laterally along a straight line during actual driving, in order to more accurately obtain the true 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 based on the wheel speed and the longitudinal speed of the electric vehicle.

[0207] Similarly, based on the process covariance and measurement covariance, the first and second calculation results of the lateral speed are corrected to obtain the lateral speed of the electric vehicle. The calculated lateral speed can be input into the first calculation unit to calculate the first calculation result of the longitudinal speed at the next time step.

[0208] If needed, a vehicle speed indicator can also be generated based on the lateral vehicle speed and displayed on the central control screen of the electric vehicle.

[0209] The integrated slippage module receives the longitudinal vehicle speed output by the second calculation unit and determines the slippage state of the electric vehicle based on the longitudinal vehicle speed, the output of the drive anti-slip function module, the output of the wheel lock-up detection module, the output of the four-wheel speed differential, the output of the average wheel speed module, and the output of the slip ratio judgment module. The module then displays a slippage indicator on the central control screen of the electric vehicle.

[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 following modules—the output of the anti-skid function module, the output of the wheel lock-up detection module, the output of the four-wheel wheel speed differential, the output of the average wheel speed module, and the output of the slip ratio judgment module—indicates that the electric vehicle is slipping, and the vehicle slipping indicator indicates that the electric vehicle is slipping.

[0211] If the electric vehicle slips, the 6DIMU signal is input to the acceleration compensation module, which 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 xyz axes indicated by the 6DIMU signal to obtain the compensated acceleration. The compensated acceleration is then input to the first calculation unit to correct the first calculation result of the longitudinal vehicle speed determined at the next moment, and the corrected first calculation result is obtained. The subsequent process is then executed based on the corrected first calculation result.

[0213] Meanwhile, 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 slippage module.

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

[0215] In one embodiment, the four-wheel slippage determination strategy is as follows: for any one of the four wheels, if the wheel's slip ratio is greater than or equal to a first preset wheel slip ratio and less than a second preset wheel slip ratio, the wheel slips and the degree of slippage is slight; if the wheel's slip ratio is greater than or equal to the second preset wheel slip ratio, the wheel slips and the degree of slippage is severe; if the wheel's slip rate is greater than or equal to the first preset wheel slip rate and less than the second preset wheel slip ratio, the wheel slips and the degree of slippage is slight; if the wheel's slip rate is greater than or equal to the second preset wheel slip rate, the wheel slips and the degree of slippage is severe; if the wheel's slip ratio is less than the first preset wheel slip ratio and the wheel's slip rate is less than the first preset wheel slip ratio, 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 based on at least one of the wheel speed signal and motor speed signal.

[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, determining the wheel speed of an electric vehicle based on the motor speed indicated by the motor speed signal and the wheel speed indicated by the wheel speed signal includes: determining the driving scenario of the electric vehicle based on the collected signals of the electric vehicle; determining a weighting coefficient for the motor speed and a weighting coefficient for the wheel speed based on the driving scenario of the electric vehicle; and determining the wheel speed of the electric vehicle based on the weighting coefficient for the motor speed, the weighting coefficient for the wheel speed, the motor speed indicated by the motor speed signal, and the wheel speed indicated by the wheel speed signal.

[0219] Next, the determined wheel speeds of the electric vehicle are input into the four-wheel wheel speed weighting module. The four-wheel wheel speed weighting module is used to weight the wheel speeds of the four wheels according to the four-wheel wheel speed weighting strategy, and outputs 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 implementation, the four-wheel speed weighting strategy is as follows: for any one of the four wheels i, the weighting coefficient T_i = min(min(Tz_i,Tx_i)Ty_i). Here, Tz_i is determined based on the vertical load of wheel i, Tx_i is determined based on the wheel speed and acceleration of wheel i, and Ty_i is determined based on the sideslip angle and its derivative.

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

[0222] In one implementation, at a first moment during the electric vehicle's operation, the vehicle controller outputs the electric vehicle's speed signal, and a speed indicator generated based on the electric vehicle's speed signal is displayed on the central control screen. At this moment, the difference between the speed indicated by the speed indicator and the average wheel speed of the four wheels is a first difference value. At a second moment, if the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, or the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, the vehicle controller outputs the electric vehicle's speed signal again, and a speed indicator generated based on the electric vehicle's speed signal is displayed on the central control screen. At this moment, the difference between the speed indicated by the speed indicator and the average wheel speed of the four wheels is a second difference value greater than the first difference value.

[0223] In one embodiment, the vehicle controller of the electric vehicle can be a vehicle controller. The collected signal is input into the vehicle controller of the electric vehicle, the vehicle controller performs the above calculations, outputs the vehicle speed signal, and displays the vehicle speed indicator generated based on the vehicle speed signal on the central control screen.

[0224] In another embodiment of this 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 described 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; the drive system outputs driving force to the four wheels; and the braking system outputs braking force to the four wheels.

[0225] It is understood that all relevant content of each step involved in the above method embodiments can be referenced in the embodiments of the controller and the embodiments of the electric vehicle, and will not be repeated here.

[0226] Finally, it should be noted that the above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of displaying the speed of an electric vehicle, characterized by, The display method is used to display a vehicle speed indicator on the central control screen of the electric vehicle during its operation. The vehicle speed indicator is used to indicate the speed of the electric vehicle. The display method includes: At the first moment during the operation of the electric vehicle, the average slip ratio of the four wheels of the electric vehicle is the first slip ratio and the average slip ratio of the four wheels is the first slip ratio, and the difference between the vehicle speed indicated by the speed indicator and the average wheel speed of the four wheels is the first difference. At a second time after the first time, the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, or the average slip ratio of the four wheels is a second slip ratio greater than the first slip ratio, 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, the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio, and the vehicle speed indicated by the speed indicator is less than the average wheel speed of the four wheels.

3. The display method according to claim 1, characterized in that, The display method specifically includes: At the second moment, the average slip ratio of the four wheels is greater than the second slip ratio of the first slip ratio, and the vehicle speed indicated by the speed indicator is greater than the average wheel speed 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 speed indicator and the average wheel speed of the four wheels increases as the average slip ratio of the four wheels or the average slip ratio 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 of the brake pedal of the electric vehicle is a first brake pedal opening greater than the preset brake pedal opening, and the vehicle speed indicated by the speed indicator decreases at a first rate. At the second moment, the opening of the brake pedal is the first brake pedal opening, and the vehicle speed indicated by the speedometer decreases at a second rate less 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 that is greater than the 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 wheel speed 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 of the accelerator pedal of the electric vehicle is a first accelerator pedal opening that is greater than the preset accelerator pedal opening, and the vehicle speed of the electric vehicle displayed on the central control screen increases at a third rate. At the second moment, the accelerator pedal opening is the first accelerator pedal opening, and the vehicle speed indicated by the speedometer increases at a fourth rate that is less 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 opening of the accelerator pedal of the electric vehicle is a second accelerator pedal opening that is greater than the preset accelerator pedal opening, and the rate of increase of the vehicle speed indicated by the speed indicator is less than the rate of increase of the average wheel speed of the four wheels.

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

10. The display method according to claim 9, characterized in that, The vehicle slippage 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 that the electric vehicle is slipping, and a third indication state for indicating that the electric vehicle is turning. The second indication state includes two seed indication states: 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 seed indication states, one indicating that the average slip ratio of the four wheels of the electric vehicle is greater than or equal to a first preset vehicle slip ratio and less than a second preset vehicle slip ratio, and the other indicating that the average slip ratio of the four wheels is greater than or equal to the second preset vehicle slip ratio.

11. The display method according to claim 1, characterized in that, The display method further includes: During the operation of the electric vehicle, four wheel slippage indicators are displayed on the central control screen. The four wheel slippage indicators are used to indicate the slippage 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 that the wheel is slipping, and a third indication state for indicating that the wheel is turning. The second indication state includes two seed indication states, one indicating that the slip ratio of the wheel is greater than or equal to the first preset wheel slip ratio and less than the second preset wheel slip ratio, and the other indicating that the slip ratio of the wheel is greater than or equal to the second preset wheel slip ratio. The third indication state includes two sub-indication states, one indicating that the slip ratio of the wheel is greater than or equal to the first preset wheel slip ratio and less than the second preset wheel slip ratio, and the other indicating that the slip ratio of the wheel 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 operation of the electric vehicle, wheel slippage indicators for the four wheels are displayed to the right of the vehicle speed indicator on the central control screen. The vehicle skidding indicator of the electric vehicle is displayed above the vehicle speed indicator on the central control screen; The size of the vehicle speed indicator is greater than the size of the vehicle slippage indicator and the size of each wheel slippage indicator.

14. A vehicle controller, characterized in that, The vehicle controller is used to perform the display method as described in any one of claims 1 to 13.

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

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