Vehicle control method and device, electronic equipment and computer readable storage medium

Abstract

The invention provides a vehicle control method and device, electronic equipment and a computer readable storage medium. The method comprises the steps that the first fluctuation amplitude of the wheel speed of a first wheel in a first preset duration and the second fluctuation amplitude of the rotating speed of a first output shaft in the first preset duration are determined; comparing the first fluctuation amplitude with the second fluctuation amplitude to obtain a first comparison result; when the first comparison result is that the fluctuation of the first wheel speed is large, whether the vehicle needs to enter a gear shifting state or not is detected according to the first motor rotating speed; when the first comparison result is that the fluctuation of the rotating speed of the first output shaft is large, whether the vehicle needs to enter a gear shifting state or not is detected according to the first wheel speed; and under the condition that the first comparison result is that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft rotating speed, the vehicle is controlled to reduce the current motor torque and motor rotating speed. The gear shifting efficiency and reliability of the vehicle can be ensured after the output shaft rotating speed sensor fails.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle transmission control, and in particular to a vehicle control method, device, electronic device, and computer-readable storage medium. Background Art

[0002] In new energy vehicles, the transmission output shaft speed is a core parameter for torque distribution, shifting logic, and energy recovery. Traditional solutions often rely on a single output shaft speed sensor, with a smaller number inferring output shaft speed based on motor speed.

[0003] In related technologies, when the output shaft speed sensor fails, the TCU cannot obtain real-time output shaft speed and cannot proceed with the next gear shift. Typically, a fault code is displayed to the instrument panel to alert the driver, while the current gear is maintained until the output shaft speed stabilizes before the gear shift can resume. However, this method is inefficient and can easily cause power outages after a failure, resulting in low gear shift reliability. Summary of the Invention

[0004] In view of this, the present application provides a vehicle control method, device, electronic device and computer-readable storage medium, which can ensure the efficiency and reliability of vehicle shifting after the output shaft speed sensor fails.

[0005] A first aspect of an embodiment of the present application provides a vehicle control method, which is applied to a vehicle with an output shaft speed sensor; the method includes: when it is detected that the output shaft speed sensor is in a failure mode, real-time collection of the first motor speed, the first output shaft speed and the first wheel speed of the vehicle within a first preset time period; determining a first fluctuation amplitude of the first wheel speed within the first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period; comparing the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result; when the first comparison result is that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shifting state according to the first motor speed; when the first comparison result is that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shifting state according to the first wheel speed; when the first comparison result is that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, controlling the vehicle to reduce the current motor torque and motor speed.

[0006] In a possible implementation, comparing the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result includes: comparing the first fluctuation amplitude and the second fluctuation amplitude according to the following formula: ;in, is the first comparison result, is the first fluctuation amplitude, and are respectively the maximum and minimum values ​​of the first wheel speed within the first preset time period, is the second fluctuation amplitude, and are respectively the maximum and minimum values ​​of the first output shaft speed within the first preset time period, is the tire rolling radius, is the total reduction ratio, is a constant.

[0007] In one possible implementation, when the first comparison result is that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state based on the first motor speed includes: when the first comparison result is greater than a first preset threshold, detecting whether the vehicle needs to enter a gear shift state based on the first motor speed; when the first comparison result is that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state based on the first wheel speed includes: when the first comparison result is less than a second preset threshold, detecting whether the vehicle needs to enter a gear shift state based on the first wheel speed; when the first comparison result is that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, controlling the vehicle to reduce the current motor torque and motor speed includes: when the first comparison result is greater than or equal to the second preset threshold and less than or equal to the first preset threshold, controlling the vehicle to reduce the current motor torque and motor speed.

[0008] In one possible implementation, the method further includes: when the vehicle is in a gear shifting state, collecting in real time the second output shaft speed and the second wheel speed of the vehicle within a second preset time period; determining a third fluctuation amplitude of the second wheel speed within the second preset time period, and a fourth fluctuation amplitude of the second output shaft speed within the second preset time period; comparing the third fluctuation amplitude with the fourth fluctuation amplitude to obtain a second comparison result; when the second comparison result is that the fluctuation of the second wheel speed is large, determining the historical motor speed of the vehicle before entering the gear shifting state, and controlling the vehicle to shift gears according to the historical motor speed; when the second comparison result is that the fluctuation of the second output shaft speed is large, controlling the vehicle to shift gears according to the second wheel speed; when the second comparison result is that the fluctuation of the second wheel speed and the second output shaft speed is consistent, sending a fault reminder message to remind the driver to manually shift gears.

[0009] In one possible implementation, after sending the fault reminder information for reminding the driver to perform manual shifting, it also includes: detecting in real time whether the vehicle enters the manual shifting mode within a third preset time period; if the vehicle is not detected to enter the manual shifting mode within the third preset time period, controlling the vehicle to maintain the current gear and limiting the motor torque of the vehicle until the vehicle speed is detected to be 0.

[0010] In one possible implementation, a method for detecting whether the output shaft speed sensor is in a failure mode includes: obtaining a third motor speed, a third output shaft speed, and a third wheel speed of the vehicle during driving of the vehicle; and detecting whether the output shaft speed sensor is in a failure mode based on the third motor speed, the third output shaft speed, and the third wheel speed.

[0011] In one possible implementation, detecting whether the output shaft speed sensor is in a failure mode according to the third motor speed, the third output shaft speed, and the third wheel speed includes: calculating a first output shaft theoretical speed according to the following formula: ;in, is the theoretical speed of the first output shaft, is the third motor speed, is the gear ratio of the gearbox; the theoretical speed of the second output shaft is calculated according to the following formula: ;in, is the theoretical speed of the second output shaft, are the third wheel speeds of the four wheels of the vehicle, is the tire rolling radius, is the total reduction ratio; calculating a first difference between the third output shaft speed and the first output shaft theoretical speed, and a second difference between the third output shaft speed and the second output shaft theoretical speed; and detecting whether the output shaft speed sensor is in a failure mode based on the first difference and the second difference.

[0012] In a second aspect, an embodiment of the present application further provides a vehicle control device for a vehicle having an output shaft speed sensor, the vehicle control device comprising: an acquisition module, a determination module, a comparison module, and a control module; the acquisition module being configured to, upon detecting that the output shaft speed sensor is in a failure mode, acquire, in real time, a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period; the determination module being configured to determine a first fluctuation amplitude of the first wheel speed within the first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period; the comparison module being configured to compare the first fluctuation amplitude with the second fluctuation amplitude to obtain a first comparison result; the control module being configured to, if the first comparison result indicates that the fluctuation of the first wheel speed is large, detect whether the vehicle needs to enter a gear shift state based on the first motor speed; the control module being further configured to, if the first comparison result indicates that the fluctuation of the first output shaft speed is large, detect whether the vehicle needs to enter a gear shift state based on the first wheel speed; and the control module being further configured to, if the first comparison result indicates that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, control the vehicle to reduce the current motor torque and motor speed.

[0013] In a third aspect, an embodiment of the present application further provides an electronic device, comprising a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the vehicle control method described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the vehicle control method as described in the first aspect.

[0015] Compared to related technologies, the present invention has at least the following advantages: When the output shaft speed sensor is in failure mode, by collecting the first output shaft speed and first wheel speed of the vehicle in real time, the fluctuation amplitude of the first output shaft speed and the first wheel speed within a first preset time period can be determined. If the first wheel speed fluctuates significantly, the first motor speed is used to detect whether the vehicle needs to enter a gear shift state, thereby avoiding power interruption or gear shift shock caused by large first wheel speed fluctuations, thereby improving the reliability of vehicle gear shifting. If the first output shaft speed fluctuates significantly, i.e., if the first wheel speed fluctuates slightly, detecting whether the vehicle needs to enter a gear shift state using the first wheel speed can account for the impact of transmission efficiency loss on output shaft speed estimation, thereby improving the accuracy and reliability of vehicle gear shifting. If the fluctuations of the first wheel speed and the first output shaft speed are consistent, it indicates that the current road surface is bumpy, resulting in a failure caused by large output shaft speed fluctuations. By controlling the vehicle to reduce the current motor torque and motor speed, i.e., delaying the gear shift response, it is possible to avoid sudden power changes that could affect driving safety, thereby improving the reliability of vehicle gear shifting. In addition, when the output shaft speed sensor is in failure mode, the above-mentioned vehicle control method does not need to control the vehicle to maintain the current gear. Different methods can be selected according to the actual driving conditions to detect whether the vehicle can enter the gear shifting state, thereby improving the efficiency of the vehicle gear shifting.

[0016] In addition, the above-mentioned vehicle control method, vehicle control device, electronic device and computer-readable storage medium can select different methods to detect whether the vehicle needs to enter a gear shift state according to different driving conditions, thereby ensuring the efficiency and reliability of the vehicle gear shifting after the output shaft speed sensor fails. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flowchart of the steps of a vehicle control method provided in one embodiment of the present application.

[0018] Figure 2 Another step flow chart of a vehicle control method provided in one embodiment of the present application.

[0019] Figure 3 This is another step flow chart of a vehicle control method provided in an embodiment of the present application.

[0020] Figure 4 This is a functional module diagram of a vehicle control device provided in one embodiment of the present application.

[0021] Figure 5 A schematic diagram of the structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to more clearly understand the above-mentioned objectives, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0025] It should be further noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0026] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A alone, A and B together, and B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," and so on (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or precedence.

[0027] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0028] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given for reference.

[0029] Output shaft speed sensor: A key component used to measure the rotational speed of the transmission output shaft. It converts mechanical speed into an electrical signal (analog or digital), providing real-time speed data to the vehicle control system. It monitors output shaft speed in real time and provides feedback to the Transmission Control Unit (TCU) via electrical signals (such as pulses and current), enabling precise adjustment of shift timing and clutch control.

[0030] Transmission Control Unit (TCU): Primarily used in automatic transmission vehicles, it serves as the transmission's intelligent control core: 1. It accurately determines the optimal shift timing and gear selection based on real-time data such as vehicle speed, engine speed, and throttle depth; 2. It controls clutch engagement / disengagement (applicable to dual-clutch transmissions) to ensure smooth power transmission.

[0031] Motor speed sensors convert motor speed into a measurable electrical signal and are widely used in industrial control, automotive, and home appliance applications. Their core function is to sense physical changes in rotating components (such as magnetic fields, optical signals, and capacitance) and output an electrical signal proportional to the rotational speed.

[0032] Wheel speed sensor: monitors wheel speed in real time, providing data support for the anti-lock braking system (ABS), electronic body stability system (ESP), traction control system (TCS), etc., to ensure vehicle stability during braking, steering or driving on slippery roads.

[0033] Please refer to Figure 1 , Figure 1 This is a flowchart of the steps in one embodiment of the vehicle control method of the present application. Depending on different needs, the order of the steps in this flowchart may be changed, and some steps may be omitted. The vehicle control method of the present application can be applied to vehicles equipped with an output shaft speed sensor, but is not limited thereto, and the embodiments of the present application are not limited thereto.

[0034] The specific process of this embodiment is as follows Figure 1 As shown, the following steps are included: S101 , when it is detected that the output shaft speed sensor is in a failure mode, collecting in real time a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period.

[0035] In some embodiments, the vehicle further includes a motor speed sensor and a wheel speed sensor, wherein the first motor speed is collected via the motor speed sensor, the first output shaft speed is collected via the output shaft speed sensor, and the first wheel speed is collected via the wheel speed sensor.

[0036] It is understandable that this embodiment does not specifically limit the size of the first preset time length, and can be set according to actual needs. For example, the first preset time length of this embodiment can be set to 80ms, 100ms, 120ms, etc.

[0037] It should be noted that how to detect whether the output shaft speed sensor is in the failure mode is described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

[0038] S102: Determine a first fluctuation amplitude of a first wheel speed within a first preset time period, and a second fluctuation amplitude of a first output shaft speed within the first preset time period.

[0039] In some embodiments, the difference between the maximum and minimum values ​​of the first wheel speed within the first preset time period is used as the first fluctuation amplitude; the difference between the maximum and minimum values ​​of the first output shaft speed within the first preset time period is used as the second fluctuation amplitude.

[0040] S103: Compare the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result.

[0041] In some embodiments, the first fluctuation amplitude and the second fluctuation amplitude are compared according to the following formula: ;in, is the first comparison result, is the first fluctuation amplitude, and are respectively the maximum and minimum values ​​of the first wheel speed within the first preset time period, is the second fluctuation amplitude, and are respectively the maximum and minimum values ​​of the first output shaft speed within the first preset time period, is the tire rolling radius, is the total reduction ratio, is a constant.

[0042] It is understandable that because the first fluctuation amplitude represents the fluctuation of the first wheel speed, and the second fluctuation amplitude represents the fluctuation of the first output shaft speed, and the first wheel speed and the second output shaft speed have different physical meanings, directly comparing the first fluctuation amplitude and the second fluctuation amplitude will result in a low precision first comparison result. Therefore, this embodiment uses the above formula to convert the first output shaft speed into the corresponding wheel speed based on the tire rolling radius and the total reduction ratio, and then compares it with the first wheel speed, thereby improving the precision of the first comparison result and further ensuring the reliability of vehicle shifting after the output shaft speed sensor fails.

[0043] S104 : If the first comparison result indicates that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state based on the first motor speed.

[0044] S105 , when the first comparison result indicates that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed.

[0045] S106 , when the first comparison result shows that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, controlling the vehicle to reduce the current motor torque and motor speed.

[0046] Regarding S104 to S106, specifically, when the first comparison result is greater than the first preset threshold, whether the vehicle needs to enter the gear shift state is detected based on the first motor speed; when the first comparison result is less than the second preset threshold, whether the vehicle needs to enter the gear shift state is detected based on the first wheel speed; when the first comparison result is greater than or equal to the second preset threshold and less than or equal to the first preset threshold, the vehicle is controlled to reduce the current motor torque and motor speed.

[0047] In some embodiments, the first preset threshold and the second preset threshold are not specifically limited and can be set according to actual needs.

[0048] For ease of understanding, the vehicle control method of this embodiment is specifically described below by taking the first preset time length as 100ms, the first preset threshold as 0.9, and the second preset threshold as 1.1 as an example: 1. Before the vehicle enters the gear shift state, the motor torque is greater than 0, and the first wheel speed is continuously collected within 100ms and the first output shaft speed .

[0049] 2. Calculate the first comparison result , The value is 98%.

[0050] 3. When When the first output shaft speed fluctuates significantly, the TCU receives the first wheel speed sensed by the wheel speed sensor, estimates the output shaft speed based on the first wheel speed, and then detects whether the TCU itself needs to enter a gear shift state based on the estimated output shaft speed. It can be understood that when the output shaft speed reaches the shift point output shaft speed, the TCU indicates that it needs to enter a gear shift state. If the TCU detects that a gear shift state is required, it indicates that the TCU will begin executing the gear shift action at the next moment.

[0051] 4. When When the output shaft speed fluctuates greatly due to the bumpy road surface, it can be determined that the failure is caused by the large fluctuation in the output shaft speed. It is necessary to delay the gear shift response and actively reduce the motor torque and speed to avoid sudden changes in power that affect driving safety.

[0052] 5. When The TCU receives the first motor speed sensed by the motor speed sensor, estimates the output shaft speed based on the first motor speed, and then detects whether the TCU needs to enter a gear shift state based on the estimated output shaft speed.

[0053] Compared to related technologies, the embodiments of the present application have at least the following advantages: When the output shaft speed sensor is in failure mode, by collecting the first output shaft speed and first wheel speed of the vehicle in real time, the fluctuation amplitude of the first output shaft speed and the first wheel speed within a first preset time period can be determined. If the first wheel speed fluctuates significantly, the first motor speed is used to detect whether the vehicle needs to enter a gear shift state, thereby avoiding power interruption or gear shift shock caused by large first wheel speed fluctuations, thereby improving the reliability of vehicle gear shifting. If the first output shaft speed fluctuates significantly, i.e., if the first wheel speed fluctuates slightly, detecting whether the vehicle needs to enter a gear shift state based on the first wheel speed can account for the impact of transmission efficiency loss on output shaft speed estimation, thereby improving the accuracy and reliability of vehicle gear shifting. If the fluctuations of the first wheel speed and the first output shaft speed are consistent, it indicates that the current road surface is bumpy and the output shaft speed has fluctuated significantly, resulting in a failure. By controlling the vehicle to reduce the current motor torque and motor speed, i.e., delaying the gear shift response, it is possible to avoid sudden power changes that could affect driving safety, thereby improving the reliability of vehicle gear shifting. In addition, when the output shaft speed sensor is in failure mode, the above-mentioned vehicle control method does not need to control the vehicle to maintain the current gear. Different methods can be selected according to the actual driving conditions to detect whether the vehicle can enter the gear shifting state, thereby improving the efficiency of the vehicle gear shifting.

[0054] Please refer to Figure 2 , Figure 2 This is a flowchart of the steps of one embodiment of the vehicle control method of the present application. Depending on different needs, the order of the steps in this flowchart may be changed, and some steps may be omitted. This vehicle control method can be applied to the aforementioned vehicle control device, but is not limited thereto, and this embodiment of the present application is not limited thereto.

[0055] This embodiment is a further improvement on the previous embodiment. The main improvement is that, when the vehicle is in a gear shifting state, the second output shaft speed and the second wheel speed of the vehicle are again collected within a second preset time period. The vehicle shifting method is selected based on the third fluctuation amplitude of the second wheel speed within the second preset time period and the fourth fluctuation amplitude of the second output shaft speed within the second preset time period. This method ensures that the vehicle can complete the gear shift, thereby further improving the reliability of the vehicle's gear shifting.

[0056] The specific process of this embodiment is as follows Figure 2 As shown, the following steps are included: S201 , when it is detected that the output shaft speed sensor is in a failure mode, collecting in real time a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period.

[0057] S202: Determine a first fluctuation amplitude of a first wheel speed within a first preset time period, and a second fluctuation amplitude of a first output shaft speed within the first preset time period.

[0058] S203: Compare the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result.

[0059] S204 , when the first comparison result indicates that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first motor speed.

[0060] S205 , when the first comparison result indicates that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed.

[0061] S206 , when the first comparison result shows that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, controlling the vehicle to reduce the current motor torque and motor speed.

[0062] S201 to S206 of this embodiment are similar to S101 to S106 of the aforementioned embodiment, and are not described again here to avoid repetition.

[0063] S207 , when the vehicle is in a gear shifting state, collecting in real time the second output shaft speed and the second wheel speed of the vehicle within a second preset time period.

[0064] In some embodiments, the second preset duration is not specifically limited and can be set according to actual needs. For example, the second preset duration can be 80ms, 100ms, 120ms, etc.

[0065] S208: Determine a third fluctuation amplitude of the second wheel speed within a second preset time period, and a fourth fluctuation amplitude of the second output shaft speed within the second preset time period.

[0066] In some embodiments, the difference between the maximum and minimum values ​​of the second wheel speed within the second preset time period is used as the third fluctuation amplitude; the difference between the maximum and minimum values ​​of the second output shaft speed within the second preset time period is used as the fourth fluctuation amplitude.

[0067] S209: Compare the third fluctuation amplitude and the fourth fluctuation amplitude to obtain a second comparison result.

[0068] In some embodiments, the third fluctuation amplitude and the fourth fluctuation amplitude are compared according to the following formula: ;in, is the second comparison result, is the third fluctuation amplitude, and are the maximum and minimum values ​​of the second wheel speed within the second preset time period, is the fourth fluctuation amplitude, and are respectively the maximum and minimum values ​​of the second output shaft speed within the second preset time period, is the tire rolling radius, is the total reduction ratio, is a constant.

[0069] It can be understood that the calculation formula for the second comparison result of this embodiment is the same as the calculation formula for the first comparison result of the aforementioned embodiment, and the technical effects are not repeated here.

[0070] S210 , when the second comparison result indicates that the fluctuation of the second wheel speed is large, determining the historical motor speed of the vehicle before entering the gear shifting state, and controlling the vehicle to shift gears according to the historical motor speed.

[0071] S211 , when the second comparison result shows that the fluctuation of the second output shaft rotation speed is large, controlling the vehicle to shift gears according to the second wheel speed.

[0072] S212: When the second comparison result shows that the second wheel speed and the second output shaft speed fluctuate in a consistent manner, a fault reminder message is sent to remind the driver to perform manual gear shifting.

[0073] Regarding S210 to S212, specifically, when the second comparison result is greater than the third preset threshold, that is, the fluctuation of the second wheel speed is large, the historical motor speed of the vehicle before entering the shifting state is determined, and the vehicle is controlled to shift gears according to the historical motor speed; when the second comparison result is less than the fourth preset threshold, that is, the fluctuation of the second output shaft speed is large, the vehicle is controlled to shift gears according to the second wheel speed; when the second comparison result is greater than or equal to the fourth preset threshold and less than or equal to the third preset threshold, a fault reminder message is sent to remind the driver to perform manual shifting.

[0074] In some embodiments, after sending a fault reminder message prompting the driver to manually shift gears, the method further includes: detecting in real time within a third preset time period whether the vehicle has entered manual shift mode; if the vehicle is not detected to have entered manual shift mode within the third preset time period, controlling the vehicle to maintain the current gear and limiting the vehicle's motor torque until the vehicle speed is detected to be zero. In this way, the vehicle can be stopped even if the vehicle is unable to automatically shift gears and has not entered manual shift mode, thereby improving the safety of the vehicle control method.

[0075] In some embodiments, the third preset duration, the third preset threshold, and the fourth preset threshold are not specifically limited and can be set according to actual needs. It is understood that the fourth preset threshold and the first preset threshold, as well as the third preset threshold and the second preset threshold in this embodiment, can be the same or different and can be set according to actual circumstances.

[0076] For ease of understanding, the vehicle control method of this embodiment is specifically described below by taking the second preset time length as 100ms, the third preset threshold value as 1.1, the fourth preset threshold value as 0.9, and the third preset time length as 200ms as an example: 1. When the vehicle is in gear shifting state, the motor torque is equal to 0, and the second wheel speed is continuously collected within 100ms and the second output shaft speed .

[0077] 2. Calculate the second comparison result , The value is 98%.

[0078] 3. When At this time, the second output shaft speed fluctuates greatly. The TCU receives the second wheel speed sensed by the wheel speed sensor, calculates the output shaft speed based on the second wheel speed, and then adjusts the motor speed based on the calculated output shaft speed and the target gear. When the gear speed difference is reached (such as ±50rpm), the target gear is engaged, and the motor torque delay responds to the vehicle target demand (such as the torque increase slope is reduced from 1000Nm / s to 500Nm / s), and the gear shift is completed.

[0079] 4. When When the vehicle is on a bumpy road, it can be determined that the speed is fluctuating significantly. The dynamic speed fluctuations of the motor during a gear shift are too great, making it unsuitable as a substitute signal. A fault alert is issued to the instrument panel, prompting the driver to shift manually. If the vehicle does not enter manual mode 200ms after the fault alert is issued, the current gear is maintained and motor torque is actively limited until the vehicle stops.

[0080] 5. When When the first wheel speed fluctuates significantly, the wheel speed fails. The TCU determines the historical motor speed before the motor torque is reset and adjusts the motor speed accordingly. It's worth noting that increasing the speed differential for selectable gears (for example, from ±50 rpm to ±100 rpm) can improve the success rate of gear engagement and avoid power loss due to prolonged gear engagement failures, which can affect driving safety.

[0081] It's worth noting that this embodiment balances vehicle dynamics and safety by implementing multi-level safety fault tolerance and progressive fault tolerance control. Specifically, in the initial stage of output shaft speed sensor failure (i.e., before the TCU enters the shift state), the system uses the first motor speed or first wheel speed to respond to shift requests, limiting the ramp rate of motor torque and preventing sudden power changes. In the second stage of fault tolerance, if the TCU detects persistent abnormalities in the second output shaft speed and second wheel speed while the TCU is in the shift state, the transmission position is locked and the user is prompted to shift manually. In the third stage of fault tolerance, if no response is received in manual mode, the system switches to limp home mode, locking the transmission position and actively limiting torque until the vehicle comes to a stop.

[0082] Compared to related technologies, the embodiments of the present application have at least the following advantages: When the output shaft speed sensor is in failure mode, by collecting the first output shaft speed and first wheel speed of the vehicle in real time, the fluctuation amplitude of the first output shaft speed and the first wheel speed within a first preset time period can be determined. If the first wheel speed fluctuates significantly, the first motor speed is used to detect whether the vehicle needs to enter a gear shift state, thereby avoiding power interruption or gear shift shock caused by large first wheel speed fluctuations, thereby improving the reliability of vehicle gear shifting. If the first output shaft speed fluctuates significantly, i.e., if the first wheel speed fluctuates slightly, detecting whether the vehicle needs to enter a gear shift state based on the first wheel speed can account for the impact of transmission efficiency loss on output shaft speed estimation, thereby improving the accuracy and reliability of vehicle gear shifting. If the fluctuations of the first wheel speed and the first output shaft speed are consistent, it indicates that the current road surface is bumpy and the output shaft speed has fluctuated significantly, resulting in a failure. By controlling the vehicle to reduce the current motor torque and motor speed, i.e., delaying the gear shift response, it is possible to avoid sudden power changes that could affect driving safety, thereby improving the reliability of vehicle gear shifting. In addition, when the output shaft speed sensor is in failure mode, the above-mentioned vehicle control method does not need to control the vehicle to maintain the current gear. Different methods can be selected according to the actual driving conditions to detect whether the vehicle can enter the gear shifting state, thereby improving the efficiency of the vehicle gear shifting.

[0083] Please refer to Figure 3 , Figure 3 This is a flowchart of the steps of one embodiment of the vehicle control method of the present application. Depending on different needs, the order of the steps in this flowchart may be changed, and some steps may be omitted. This vehicle control method can be applied to the aforementioned vehicle control device, but is not limited thereto, and this embodiment of the present application is not limited thereto.

[0084] This embodiment is a detailed description of the above embodiment, mainly illustrating how to detect whether the output shaft speed sensor is in failure mode. In this way, the accuracy of output shaft speed sensor fault diagnosis can be improved, thereby further improving the reliability of the vehicle control method.

[0085] The specific process of this embodiment is as follows Figure 3 As shown, the following steps are included: S301, during the driving process of the vehicle, obtaining a third motor speed, a third output shaft speed, and a third wheel speed of the vehicle.

[0086] S302 : Detecting whether the output shaft speed sensor is in a failure mode based on the third motor speed, the third output shaft speed, and the third wheel speed.

[0087] In some embodiments, the theoretical rotational speed of the first output shaft is calculated according to the following formula: ;in, is the theoretical speed of the first output shaft, is the third motor speed, is the gear ratio of the gearbox; Calculate the theoretical speed of the second output shaft according to the following formula: ;in, is the theoretical speed of the second output shaft, are the third wheel speeds of the four wheels of the vehicle, is the tire rolling radius, A first difference between the third output shaft speed and the theoretical speed of the first output shaft, and a second difference between the third output shaft speed and the theoretical speed of the second output shaft are calculated; and whether the output shaft speed sensor is in a failure mode is detected based on the first difference and the second difference.

[0088] Specifically, the first difference is divided by the third output shaft speed to obtain a first percentage, and the second difference is divided by the third output shaft speed to obtain a second percentage. If the first percentage is greater than the percentage threshold for a duration greater than a fourth preset duration, and the second percentage is greater than the percentage threshold for a duration greater than the fourth preset duration, it is determined that the output shaft speed sensor is in failure mode.

[0089] In some embodiments, the percentage threshold is not specifically limited and can be set according to actual needs. For example, the percentage threshold can be 4%, 5%, 6%, etc.

[0090] In some embodiments, the fourth preset duration is not specifically limited and can be set according to actual needs. For example, the fourth preset duration can be 180ms, 200ms, 220ms, etc.

[0091] S303 , when it is detected that the output shaft speed sensor is in a failure mode, collecting in real time a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period.

[0092] S304: Determine a first fluctuation amplitude of the first wheel speed within a first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period.

[0093] S305: Compare the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result.

[0094] S306 , when the first comparison result indicates that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state based on the first motor speed.

[0095] S307 : If the first comparison result shows that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed.

[0096] S308 : When the first comparison result shows that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, control the vehicle to reduce the current motor torque and motor speed.

[0097] S303 to S308 of this embodiment are similar to S101 to S106 of the above embodiment, and are not described again here to avoid repetition.

[0098] Compared to related technologies, the embodiments of the present application have at least the following advantages: When the output shaft speed sensor is in failure mode, by collecting the first output shaft speed and first wheel speed of the vehicle in real time, the fluctuation amplitude of the first output shaft speed and the first wheel speed within a first preset time period can be determined. If the first wheel speed fluctuates significantly, the first motor speed is used to detect whether the vehicle needs to enter a gear shift state, thereby avoiding power interruption or gear shift shock caused by large first wheel speed fluctuations, thereby improving the reliability of vehicle gear shifting. If the first output shaft speed fluctuates significantly, i.e., if the first wheel speed fluctuates slightly, detecting whether the vehicle needs to enter a gear shift state based on the first wheel speed can account for the impact of transmission efficiency loss on output shaft speed estimation, thereby improving the accuracy and reliability of vehicle gear shifting. If the fluctuations of the first wheel speed and the first output shaft speed are consistent, it indicates that the current road surface is bumpy and the output shaft speed has fluctuated significantly, resulting in a failure. By controlling the vehicle to reduce the current motor torque and motor speed, i.e., delaying the gear shift response, it is possible to avoid sudden power changes that could affect driving safety, thereby improving the reliability of vehicle gear shifting. In addition, when the output shaft speed sensor is in failure mode, the above-mentioned vehicle control method does not need to control the vehicle to maintain the current gear. Different methods can be selected according to the actual driving conditions to detect whether the vehicle can enter the gear shifting state, thereby improving the efficiency of the vehicle gear shifting.

[0099] Based on the same concept as the vehicle control method in the above-mentioned embodiment, the present application also provides a vehicle control device that can be used to execute the above-mentioned vehicle control method. For ease of explanation, the structural diagram of the vehicle control device embodiment only shows the parts relevant to the embodiment of the present application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation of the device, and the device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0100] like Figure 4As shown, the vehicle control device 40 includes an acquisition module 401, a determination module 402, a comparison module 403, and a control module 404. In some embodiments, these modules may be programmable software instructions stored in a memory and executed by a processor. It is understood that in other embodiments, these modules may also be program instructions or firmware embedded in the processor.

[0101] The acquisition module 401 is configured to acquire, in real time, a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period when it is detected that the output shaft speed sensor is in a failure mode; a determination module 402 configured to determine a first fluctuation amplitude of the first wheel speed within the first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period; A comparison module 403 is configured to compare the first fluctuation amplitude with the second fluctuation amplitude to obtain a first comparison result; a control module 404 configured to detect whether the vehicle needs to enter a gear shift state based on the speed of the first motor when the first comparison result indicates that the fluctuation of the first wheel speed is large; The control module 404 is further configured to detect whether the vehicle needs to enter a gear shift state according to the first wheel speed when the first comparison result indicates that the fluctuation of the first output shaft speed is large; The control module 404 is further configured to control the vehicle to reduce the current motor torque and motor speed when the first comparison result indicates that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed.

[0102] Please refer to 5. Figure 5 This is a schematic diagram of an embodiment of an electronic device of the present application.

[0103] In some embodiments, the processor 501 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 502 , such as the vehicle control method of the present invention.

[0104] In some embodiments, processor 501 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 501 may be local or remote. In some embodiments, processor 501 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an on-premises cloud, a multi-cloud, or any combination thereof.

[0105] In some embodiments, the memory 502 may be an internal storage unit of the electronic device 500, such as a hard disk or memory of the electronic device 500. In other embodiments, the memory 502 may also be an external storage device of the electronic device 500, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 500.

[0106] Furthermore, the memory 502 may include both an internal storage unit of the electronic device 500 and an external storage device. The memory 502 is used to store application software installed in the electronic device 500 and various data.

[0107] In some embodiments, display 503 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 503 is used to display information on electronic device 500 and to display a visual user interface. Components 501-503 of electronic device 500 communicate with each other via a system bus.

[0108] In one embodiment, when the processor 501 executes the vehicle control program in the memory 502, the following steps may be implemented: When it is detected that the output shaft speed sensor is in a failure mode, collecting in real time a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period; determining a first fluctuation amplitude of the first wheel speed within the first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period; comparing the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result; If the first comparison result indicates that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first motor speed; If the first comparison result indicates that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed; When the first comparison result shows that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, the vehicle is controlled to reduce the current motor torque and motor speed.

[0109] It should be understood that, when the processor 501 executes the vehicle control program in the memory 502 , in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0110] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 500 mentioned. The electronic device 500 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, or the like. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices equipped with IOS, Android, Microsoft, or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 500 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0111] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, it can implement the steps or functions in the vehicle control method provided by the above-mentioned method embodiments.

[0112] Those skilled in the art will appreciate that all or part of the process flow of the above-described method embodiment can be implemented by instructing related hardware (such as a processor, controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0113] The above is a detailed introduction to the vehicle control method, device, electronic device and computer-readable storage medium provided by the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, based on the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle control method, characterized in that: Applicable to vehicles with output shaft speed sensor; The method comprises: When it is detected that the output shaft speed sensor is in a failure mode, collecting in real time a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period; determining a first fluctuation amplitude of the first wheel speed within the first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period; comparing the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result; If the first comparison result indicates that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first motor speed; If the first comparison result indicates that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed; When the first comparison result shows that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, the vehicle is controlled to reduce the current motor torque and motor speed.

2. The vehicle control method according to claim 1, characterized in that: The comparing the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result includes: The first fluctuation amplitude and the second fluctuation amplitude are compared according to the following formula: ;in, is the first comparison result, is the first fluctuation amplitude, and are respectively the maximum and minimum values ​​of the first wheel speed within the first preset time period, is the second fluctuation amplitude, and are respectively the maximum and minimum values ​​of the first output shaft speed within the first preset time period, is the tire rolling radius, is the total reduction ratio, is a constant.

3. The vehicle control method according to claim 2, characterized in that: When the first comparison result indicates that the fluctuation of the first wheel speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first motor speed includes: If the first comparison result is greater than a first preset threshold, detecting whether the vehicle needs to enter a gear shift state according to the speed of the first motor; When the first comparison result indicates that the fluctuation of the first output shaft speed is large, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed includes: If the first comparison result is less than a second preset threshold, detecting whether the vehicle needs to enter a gear shift state according to the first wheel speed; When the first comparison result shows that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed, controlling the vehicle to reduce the current motor torque and motor speed includes: When the first comparison result is greater than or equal to the second preset threshold and less than or equal to the first preset threshold, the vehicle is controlled to reduce the current motor torque and motor speed.

4. The vehicle control method according to claim 1, wherein: The method further comprises: When the vehicle is in a gear shifting state, collecting a second output shaft speed and a second wheel speed of the vehicle in real time within a second preset time period; determining a third fluctuation amplitude of the second wheel speed within the second preset time period, and a fourth fluctuation amplitude of the second output shaft speed within the second preset time period; comparing the third fluctuation amplitude and the fourth fluctuation amplitude to obtain a second comparison result; If the second comparison result indicates that the fluctuation of the second wheel speed is large, determining a historical motor speed of the vehicle before entering a gear shift state, and controlling the vehicle to shift gears according to the historical motor speed; If the second comparison result indicates that the fluctuation of the second output shaft speed is large, controlling the vehicle to shift gears according to the second wheel speed; When the second comparison result shows that the second wheel speed and the second output shaft speed fluctuate in a consistent manner, a fault reminder message is sent to remind the driver to perform manual gear shifting.

5. The vehicle control method according to claim 4, characterized in that: After sending the fault reminder information for reminding the driver to perform manual shifting, the method further includes: detecting in real time within a third preset time period whether the vehicle enters a manual shift mode; When the vehicle is not detected to enter the manual shift mode within the third preset time period, the vehicle is controlled to maintain the current gear position, and the motor torque of the vehicle is limited until the vehicle speed is detected to be 0.

6. The vehicle control method according to claim 1, characterized in that: Methods for detecting whether the output shaft speed sensor is in a failure mode include: During the driving of the vehicle, obtaining a third motor speed, a third output shaft speed, and a third wheel speed of the vehicle; Whether the output shaft speed sensor is in a failure mode is detected according to the third motor speed, the third output shaft speed, and the third wheel speed.

7. The vehicle control method according to claim 6, characterized in that: The detecting whether the output shaft speed sensor is in a failure mode according to the third motor speed, the third output shaft speed, and the third wheel speed includes: Calculate the theoretical speed of the first output shaft according to the following formula: ;in, is the theoretical speed of the first output shaft, is the third motor speed, is the gear ratio of the gearbox; Calculate the theoretical speed of the second output shaft according to the following formula: ;in, is the theoretical speed of the second output shaft, are the third wheel speeds of the four wheels of the vehicle, is the tire rolling radius, is the total reduction ratio; Calculating a first difference between the third output shaft speed and the first output shaft theoretical speed, and a second difference between the third output shaft speed and the second output shaft theoretical speed; Whether the output shaft speed sensor is in a failure mode is detected according to the first difference and the second difference.

8. A vehicle control device, characterized in that: Applicable to a vehicle having an output shaft speed sensor, the vehicle control device comprises: an acquisition module, a determination module, a comparison module and a control module; The acquisition module is configured to acquire, in real time, a first motor speed, a first output shaft speed, and a first wheel speed of the vehicle within a first preset time period when it is detected that the output shaft speed sensor is in a failure mode; The determining module is configured to determine a first fluctuation amplitude of the first wheel speed within the first preset time period, and a second fluctuation amplitude of the first output shaft speed within the first preset time period; The comparison module is used to compare the first fluctuation amplitude and the second fluctuation amplitude to obtain a first comparison result; The control module is configured to detect whether the vehicle needs to enter a gear shift state according to the speed of the first motor when the first comparison result indicates that the fluctuation of the first wheel speed is large; The control module is further configured to detect whether the vehicle needs to enter a gear shift state according to the first wheel speed when the first comparison result indicates that the fluctuation of the first output shaft speed is large; The control module is further configured to control the vehicle to reduce the current motor torque and motor speed when the first comparison result indicates that the fluctuation of the first wheel speed is consistent with the fluctuation of the first output shaft speed.

9. An electronic device comprising a processor and a memory, characterized in that: The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which, when executed on an electronic device, cause the electronic device to execute the vehicle control method according to any one of claims 1 to 7 .

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