Vehicle control method and system, electronic equipment, storage medium and product

Abstract

The invention provides a vehicle control method and system, electronic equipment, a storage medium and a product, and relates to the technical field of vehicles, and the method comprises the steps: configuring an associated rotary transformer for each motor of a target vehicle, so as to input an excitation signal to the rotary transformer associated with each motor, obtaining an electromagnetic induction signal output by each rotary transformer based on the excitation signal; performing wheel slip detection on the target vehicle based on the driving parameters of the at least one motor to obtain a wheel slip result of at least one wheel of the target vehicle; the torque of the at least one electric machine is adjusted by the dTCS based on a wheel slip result of the at least one wheel. Due to the fact that the rotary transformer is utilized, the MCU can directly conduct slip detection according to the driving parameters of the motor, torque is transmitted through the dTCS, torque signal transmission hysteresis is eliminated, the response speed is higher, the control precision is higher, and the stability, the dynamic property and the safety of a vehicle are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically to a vehicle control method, system, electronic device, storage medium, and product. Background Technology

[0002] Vehicle skidding is a common occurrence during driving. In this field, the vehicle's TCS (Traction Control System) can be used to control the vehicle and ensure safe driving when skidding occurs.

[0003] In related technologies, the vehicle control process includes: first, the vehicle's wheel speed sensors detect the wheel status and transmit the wheel status to the IPB (Integrated Power Brake); then, the IPB determines whether the vehicle is slipping. If slippage occurs, the IPB transmits torque to the VCU (Vehicle Control Unit) based on the slippage situation, and the VCU then transmits it to the MCU (Motor Control Unit), which controls the motor's torque output.

[0004] However, the torque transmission path in the above process includes: IPB→VCU→MCU→motor→wheel. The torque transmission path is relatively long, which causes a lag in the transmission of torque signals, resulting in a low response speed in the vehicle control process and poor vehicle stability. Summary of the Invention

[0005] This invention provides a vehicle control method, system, electronic device, storage medium, and product that can effectively eliminate torque signal transmission lag, improve response speed and control accuracy, and enhance vehicle stability, power, and safety.

[0006] The technical solution provided by this invention is as follows: On the one hand, a vehicle control method is provided, the method comprising: An excitation signal is input to the rotary transformer associated with each motor of the target vehicle, and the electromagnetic induction signal output by each rotary transformer based on the excitation signal is obtained; wherein the target vehicle is equipped with at least one motor, and each motor is equipped with an associated rotary transformer; For each motor, the driving parameters of each motor are determined based on the electromagnetic induction signal output by the rotary transformer associated with each motor; Based on the driving parameters of the at least one motor, wheel slippage detection is performed on the target vehicle to obtain the wheel slippage result of at least one wheel of the target vehicle. The torque of the at least one motor is adjusted based on the wheel slippage result of the at least one wheel using the distributed traction control system (dTCS) of the target vehicle.

[0007] In one possible implementation, the step of detecting wheel slippage of the target vehicle based on the driving parameters of the at least one motor to obtain the wheel slippage result of at least one wheel of the target vehicle includes: The driving parameters of each motor are compared. If the difference between the driving parameters of any motor and the driving parameters of the other motors reaches the target threshold, it is determined that the wheel corresponding to any motor in the target vehicle is slipping. If the difference between the driving parameters of the motor on one side and the driving parameters of the motor on the other side reaches the target threshold, it is determined that the wheel on the coaxial side of the target vehicle corresponding to the motor on the other side is slipping.

[0008] In one possible implementation, the method further includes: Obtain the actual speed of the target vehicle; Accordingly, the step of detecting wheel slippage of the target vehicle based on the driving parameters of the at least one motor to obtain the wheel slippage result of at least one wheel of the target vehicle includes: Based on the driving parameters of the at least one motor, calculate the vehicle speed corresponding to each wheel of the target vehicle; If the difference between the speed of each wheel and the actual speed of the whole vehicle meets the slippage condition, then it is determined that each wheel of the target vehicle is slipping.

[0009] In one possible implementation, adjusting the torque of the at least one motor based on wheel slippage results of the at least one wheel via the distributed traction control system (dTCS) of the target vehicle includes: If the wheel corresponding to any of the motors in the target vehicle slips, the torque of the motor corresponding to the target vehicle is reduced by the dTCS of the target vehicle, and the torque of the other motors is increased. If the wheel on the coaxial side of the target vehicle corresponding to the motor on either side slips, the torque of the motor on either side is reduced by the dTCS of the target vehicle. If any wheel in the target vehicle slips, a control request is sent from the target vehicle's dTCS to the target vehicle's integrated power braking system (IPB), so that the IPB performs hydraulic braking control on the target vehicle based on the control request.

[0010] In one possible implementation, the driving parameters of each motor include the angle and rotational speed of each motor; For each motor, the driving parameters of each motor are determined based on the electromagnetic induction signal output by the rotary transformer associated with that motor, including: For each motor, the electromagnetic induction signal output by the rotary transformer associated with each motor is decoded to obtain the angle of each motor; The rotational speed of each motor is calculated based on the angle of each motor.

[0011] In one possible implementation, the rotary transformer associated with each motor includes a stator and a rotor, the stator including a stator excitation winding and a stator quadrature shaft winding, and the rotor including a sine output winding and a cosine output winding; The step of inputting an excitation signal to the resolver associated with each motor of the target vehicle and acquiring the electromagnetic induction signal output by each resolver based on the excitation signal includes: For each motor-associated rotary transformer, an excitation signal is input to the excitation winding of that rotary transformer; The sinusoidal voltage signal and cosine voltage signal output by the rotary transformer based on the sinusoidal output winding and the cosine output winding respectively are obtained, and the sinusoidal voltage signal and cosine voltage signal are used as the electromagnetic induction signal.

[0012] On the other hand, a vehicle control system is provided, which includes a motor controller (MCU), a rotary transformer, and a distributed traction control system (dTCS) for the target vehicle. The MCU is used to input excitation signals to the rotary transformer associated with each motor. The rotary transformer is used to receive the excitation signal from the MCU and output an electromagnetic induction signal based on the excitation signal; The MCU is also used to acquire the electromagnetic induction signal output by each rotary transformer based on the excitation signal; The MCU is also used to determine the driving parameters of each motor based on the electromagnetic induction signal output by the rotary transformer associated with each motor. The MCU is also used to detect wheel slippage of the target vehicle based on the driving parameters of the at least one motor, and to obtain the wheel slippage result of at least one wheel of the target vehicle. The dTCS is used to adjust the torque of the at least one motor based on the wheel slippage result of the at least one wheel.

[0013] In one possible implementation, the MCU is further configured to: The driving parameters of each motor are compared. If the difference between the driving parameters of any motor and the driving parameters of the other motors reaches the target threshold, it is determined that the wheel corresponding to any motor in the target vehicle is slipping. If the difference between the driving parameters of the motor on one side and the driving parameters of the motor on the other side reaches the target threshold, it is determined that the wheel on the coaxial side of the target vehicle corresponding to the motor on the other side is slipping.

[0014] In one possible implementation, the MCU is further configured to acquire the actual speed of the target vehicle. Accordingly, when the MCU performs wheel slip detection on the target vehicle based on the driving parameters of the at least one motor and obtains the wheel slip result of at least one wheel of the target vehicle, it is also used to calculate the vehicle speed corresponding to each wheel of the target vehicle based on the driving parameters of the at least one motor; if the difference between the vehicle speed corresponding to each wheel and the actual vehicle speed meets the slip condition, then it is determined that each wheel of the target vehicle is slipping.

[0015] In one possible implementation, the dTCS is used for: If the wheel corresponding to any of the motors in the target vehicle slips, the torque of the motor corresponding to the target vehicle is reduced by the dTCS of the target vehicle, and the torque of the other motors is increased. If the wheel on the coaxial side of the target vehicle corresponding to the motor on either side slips, the torque of the motor on either side is reduced by the dTCS of the target vehicle. If any wheel in the target vehicle slips, a control request is sent from the target vehicle's dTCS to the target vehicle's integrated power braking system (IPB), so that the IPB performs hydraulic braking control on the target vehicle based on the control request.

[0016] In one possible implementation, the driving parameters of each motor include the angle and rotational speed of each motor; The MCU is also used for: For each motor, the electromagnetic induction signal output by the rotary transformer associated with each motor is decoded to obtain the angle of each motor; The rotational speed of each motor is calculated based on the angle of each motor.

[0017] In one possible implementation, the rotary transformer associated with each motor includes a stator and a rotor, the stator including a stator excitation winding and a stator quadrature shaft winding, and the rotor including a sine output winding and a cosine output winding; The MCU is also used to input an excitation signal to the excitation winding of the rotary transformer associated with each motor. The MCU is also used to acquire the sinusoidal voltage signal and cosine voltage signal output by the rotary transformer based on the sinusoidal output winding and the cosine output winding, respectively, and use the sinusoidal voltage signal and cosine voltage signal as the electromagnetic induction signal.

[0018] On the other hand, an electronic device is provided, comprising: Memory, used to store computer programs; A processor is configured to execute a computer program stored in the memory, and when the computer program is executed, to implement the vehicle control method described above.

[0019] On the other hand, a computer-readable storage medium is provided that stores a computer program thereon, which, when executed by a processor, implements the vehicle control method described above.

[0020] On the other hand, a computer program product is provided, including computer program instructions that, when executed by a processor, implement the vehicle control method described above.

[0021] The vehicle control method provided in this invention configures an associated rotary transformer for each motor of the target vehicle to input an excitation signal to the rotary transformer associated with each motor and acquire the electromagnetic induction signal output by each rotary transformer based on the excitation signal. Therefore, for each motor, the driving parameters of each motor can be determined based on the electromagnetic induction signal output by the rotary transformer associated with that motor. Since the rotary transformer has a faster signal acquisition speed and higher accuracy than wheel speed sensors in related technologies, control efficiency and accuracy are improved. Next, wheel slippage detection is performed on the target vehicle based on the driving parameters of at least one motor to obtain the wheel slippage result of at least one wheel of the target vehicle. The torque of at least one motor is adjusted by a dTCS based on the wheel slippage result of at least one wheel. Because of the use of rotary transformers, the MCU can directly detect slippage based on the motor's driving parameters, and the torque is transmitted using dTCS, simplifying the torque transmission path to: MCU → motor → wheel. This simplifies the torque transmission path based on wheel speed sensors in related technologies using IPB. This eliminates torque signal transmission lag, greatly improves response speed and control accuracy, and enhances vehicle stability, power, and safety. Attached Figure Description

[0022] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention. Figure 2 A schematic diagram of the principle of a rotary transformer provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a dTCS control method based on a rotary transformer provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a vehicle control structure provided in an embodiment of the present invention. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0024] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this invention is for describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0025] Figure 1 This is a flowchart illustrating a vehicle control method according to an embodiment of the present invention. The method is executed by an electronic device, which can be a vehicle's electronic equipment, such as the vehicle's MCU. This embodiment of the invention does not specifically limit the type of electronic device. Figure 1 As shown, the method includes: Step S101: Input an excitation signal to the rotary transformer associated with each motor of the target vehicle, and obtain the electromagnetic induction signal output by each rotary transformer based on the excitation signal.

[0026] The target vehicle is equipped with at least one motor, and each motor is equipped with an associated rotary transformer.

[0027] In this step, the excitation signal can be a high-frequency excitation signal. The MCU can input the excitation signal to the resolver associated with each motor, causing the resolver to perform electromagnetic induction and output an electromagnetic induction signal. The target vehicle can be a multi-motor driven vehicle, such as a three-motor four-wheel drive electric vehicle, a four-motor four-wheel drive electric vehicle, or a hybrid electric vehicle.

[0028] For example, each motor may be configured with an associated resolver. For each motor, the driving parameters of the motor can be determined by the electromagnetic induction process of the resolver associated with that motor; for example, driving parameters such as speed and angle.

[0029] In one possible example, the MCU can periodically input excitation signals to each resolver to periodically detect the driving parameters of the corresponding motor using each resolver, and use the driving parameters of each motor to detect wheel slippage of the vehicle, and then adjust the motor torque in a timely manner according to the slippage situation.

[0030] In one possible implementation, the rotary transformer associated with each motor includes a stator and a rotor, the stator including a stator excitation winding and a stator quadrature shaft winding, and the rotor including a sine output winding and a cosine output winding. The system inputs an excitation signal to the resolver associated with each motor of the target vehicle and acquires the electromagnetic induction signal output by each resolver based on the excitation signal, including: For each motor-associated rotary transformer, an excitation signal is input to the excitation winding of that rotary transformer; The sinusoidal voltage signal and cosine voltage signal output by the rotary transformer based on the sinusoidal output winding and the cosine output winding respectively are obtained, and the sinusoidal voltage signal and cosine voltage signal are used as the electromagnetic induction signal.

[0031] In one possible example, the stator slots of the rotary transformer contain two windings with identical structures, arranged at a 90° angle: one is the stator excitation winding, and the other is the stator quadrature-axis winding. Similarly, the rotor slots of the rotary transformer can contain two windings arranged at a 90° angle to each other: one is a sine output winding, and the other is a cosine output winding.

[0032] Figure 2 This is a schematic diagram illustrating the principle of a rotary transformer, provided as an embodiment of the present invention. Figure 2 As shown, a high-frequency excitation signal can be supplied to the stator excitation winding of the rotary transformer, that is... Figure 2 The carrier signal in the circuit. The sine output winding and cosine output winding will induce voltage signals of a certain amplitude and frequency, and the sine output winding and cosine output winding will output sine voltage signals and cosine voltage signals respectively.

[0033] It should be noted that in the relevant technology, the wheel speed sensor of the vehicle first detects the wheel status and transmits the wheel status to the IPB; then, the IPB detects vehicle slippage, and the IPB transmits the torque to the VCU according to the slippage situation, and then the VCU transmits it to the MCU, which controls the torque output of the motor.

[0034] In this embodiment of the invention, a rotary transformer is used to determine the driving parameters of the motors, and then the driving parameters of each motor are used to detect vehicle slippage. Compared with wheel speed sensors, the signal acquisition speed and accuracy of the rotary transformer are greatly improved. Typically, the wheel speed sensors in ESP electronic stability systems divide each wheel rotation into 32 or 48 acquisition points, while the rotary transformer increases the acquisition points to 4096. The rotary transformer has higher control accuracy and faster response speed than wheel speed sensors. Therefore, this embodiment of the invention can greatly save data acquisition time and improve data accuracy, thereby improving control efficiency and accuracy, and ultimately improving vehicle stability and safety.

[0035] Step S102: For each motor, determine the driving parameters of each motor based on the electromagnetic induction signal output by the rotary transformer associated with each motor.

[0036] In this step, for each motor, the MCU can determine the motor's speed, angle, and other driving parameters based on the electromagnetic induction signal from the rotary transformer associated with that motor.

[0037] In one possible implementation, the driving parameters of each motor include the angle and rotational speed of each motor; For each motor, based on the electromagnetic induction signal output by the resolver associated with that motor, the driving parameters of that motor are determined, including: For each motor, the electromagnetic induction signal output by the rotary transformer associated with each motor is decoded to obtain the angle of each motor; Based on the angle of each motor, the rotational speed of each motor is calculated.

[0038] In this step, for each motor, the MCU can decrypt the sinusoidal and cosine voltage signals from the resolver to obtain the rotor position information. Based on the rotor position information, the motor angle is calculated. Then, the motor speed is calculated based on the motor angle. Therefore, the speed and angle of each motor can be obtained.

[0039] Step S103: Based on the driving parameters of the at least one motor, perform wheel slippage detection on the target vehicle to obtain the wheel slippage result of at least one wheel of the target vehicle.

[0040] In this embodiment of the invention, wheel slippage detection is performed by the MCU directly based on the motor's driving parameters. In this step, vehicle slippage detection is performed on the target vehicle based on the differences in driving parameters between the various motors; that is, it determines whether the wheels corresponding to each motor of the target vehicle are slipping. For example, for each motor, if the driving parameters of that motor differ significantly from those of other motors—for instance, if the speed and angle of that motor exceed those of other motors—it can be determined that the wheel corresponding to that motor is slipping.

[0041] The wheel slippage result for each wheel can include whether the wheel slips or not.

[0042] In one possible implementation, the wheel slip detection of the target vehicle based on the driving parameters of the at least one motor, to obtain the wheel slip result of at least one wheel of the target vehicle, includes: The driving parameters of each motor are compared. If the difference between the driving parameters of any motor and the driving parameters of the other motors reaches the target threshold, it is determined that the wheel corresponding to that motor in the target vehicle is slipping. If the difference between the driving parameters of the motor on one side and the driving parameters of the motor on the other side reaches the target threshold, it is determined that the wheel on the coaxial side corresponding to the motor on that side in the target vehicle is slipping.

[0043] For example, if the speed and angle of any motor are both greater than the speed and angle of all other motors, specifically, if the speed exceeds the first target threshold for the speed of all other motors and the angle exceeds the second target threshold for the angle of all other motors, then it can be determined that the wheel corresponding to that motor is slipping.

[0044] For example, in a four-wheeled vehicle driven by four motors, each motor can correspond to one wheel, such as a wheel-side four-motor system, where the four motors are installed on the inner side of the corresponding four wheels. If the speed of the front right motor exceeds the first target threshold of the speed of the other motors and the angle exceeds the second target threshold of the angle of the other motors, then it can be considered that the front right wheel corresponding to the front right motor is slipping.

[0045] For example, for a wheel on one side of a four-wheeled vehicle driven by four motors, such as the two wheels on the left or the two wheels on the right; if the rotational speed of the two motors on the left exceeds the first target threshold for the rotational speed of the two motors on the right, and the angle exceeds the second target threshold for the angle of the two motors on the right, then it can be considered that the two wheels on the left corresponding to the two motors on the left are slipping.

[0046] In one possible implementation, vehicle slippage detection can be further performed by combining the vehicle's overall speed. For example, the vehicle control method of this embodiment further includes the following step: obtaining the actual overall speed of the target vehicle; Accordingly, the wheel slippage detection of the target vehicle based on the driving parameters of the at least one motor is performed to obtain the wheel slippage result of at least one wheel of the target vehicle, including: Based on the driving parameters of the at least one motor, calculate the vehicle speed corresponding to each wheel of the target vehicle; If the difference between the speed of each wheel and the actual speed of the whole vehicle meets the slippage condition, then it is determined that each wheel of the target vehicle is slipping.

[0047] For example, the vehicle speed corresponding to the wheel of each motor can be calculated based on the driving parameters of each motor.

[0048] The slippage conditions may include, but are not limited to: the difference reaching a target speed threshold, or the difference being within the target threshold range. For example, if the actual speed of the entire vehicle is less than the speed corresponding to each wheel—for instance, if the speed corresponding to each wheel exceeds the target speed threshold for the actual speed of the entire vehicle—then it can be determined that each wheel is slipping.

[0049] Step S104: Based on the wheel slippage result of the at least one wheel, adjust the torque of the at least one motor through the distributed traction control system dTCS of the target vehicle.

[0050] In this step, the MCU can adjust the torque of the corresponding motor for each wheel based on the slippage status of each wheel using dTCS, so that each motor drives the corresponding wheel based on the adjusted torque. For example, the motor torque of the slipping wheel can be reduced, while the motor torque of the non-slipping wheel can be increased.

[0051] In one possible implementation, the distributed traction control system (dTCS) of the target vehicle adjusts the torque of the at least one motor based on the wheel slippage result of the at least one wheel, including: If the wheel corresponding to any motor in the target vehicle slips, the torque of that motor is reduced and the torque of the other motors is increased through the dTCS of the target vehicle. If the wheel on the coaxial side of the target vehicle corresponding to the motor on either side slips, the torque of the motor on either side is reduced by the dTCS of the target vehicle. If any wheel in the target vehicle slips, a control request is sent from the target vehicle's dTCS to the target vehicle's integrated power braking system (IPB), so that the IPB can perform hydraulic braking control on the target vehicle based on the control request.

[0052] In one possible scenario, if the wheel corresponding to any motor slips, the torque of that motor can be reduced to avoid wasting energy, while the torque of the other motors can be increased to ensure that the vehicle speed does not decrease.

[0053] For example, in one possible scenario, if a single wheel slips, the torque of the motor corresponding to that wheel can be transferred to the other motors. In another possible scenario, when going over a speed bump, if the front or rear wheels spin freely, the torque of the drive motor on the spinning side can be reduced, while the torque of the drive motor on the side still on the ground can be increased, thus avoiding energy waste while ensuring that the vehicle speed does not decrease.

[0054] In another possible scenario, if a wheel on either side slips, the torque of the motor on the coaxial side of that side can be reduced, while the torque of the motor on the other side can be increased. For example, in a turning scenario, if two wheels on one side slip (e.g., the two wheels on the left or the two wheels on the right), the torque of the motors on those two wheels can be reduced, while the torque of the motors on the two wheels on the other side can be increased.

[0055] In another possible scenario, if both the front and rear wheels slip, meaning every wheel slips beyond the dTCS control range, the dTCS can request the IPB to perform hydraulic braking control. This uses hydraulic pressure to transfer braking force to the wheels, thereby slowing down or stopping the vehicle. In this case, the torque transmission path is: IPB → wheels. For example, if all four wheels of a four-wheeled vehicle are slipping, the IPB can intervene.

[0056] The vehicle control method of this invention can be a dTCS control method based on a rotary transformer.

[0057] In related technologies, the IPB determines whether there is slippage based on the wheel status of the wheel speed sensor. The torque transmission path includes: IPB→VCU→MCU→motor→wheel. The long torque transmission path results in a delay in the transmission of torque signals, a low response speed in the vehicle control process, and poor vehicle stability.

[0058] In this embodiment of the invention, a rotary transformer is used to determine the motor's driving parameters, and then these parameters are used to detect vehicle slippage. Because a rotary transformer is used, the MCU can directly detect slippage based on the motor's driving parameters and directly transmit torque through the dTCS, resulting in a torque transmission path of: MCU → motor → wheel. This optimizes the torque transmission path of the IPB based on wheel speed sensors in related technologies. This eliminates torque signal transmission lag, resulting in faster response speed, higher control precision, and improved vehicle stability, power, and safety.

[0059] Furthermore, in this embodiment of the invention, the rotary transformer offers faster signal acquisition and higher accuracy than wheel speed sensors, significantly reducing data acquisition time and thus improving control efficiency. As can be seen from the above steps, this is a dTCS control method based on a rotary transformer. This improves control efficiency and accuracy, further enhancing vehicle stability and safety.

[0060] Figure 3 This is a schematic diagram of a dTCS control method based on a rotary transformer provided in an embodiment of the present invention; as shown. Figure 3 As shown, the dTCS control strategy based on a resolver in this embodiment of the invention, under the condition of starting and accelerating on a low-friction surface, in addition to acquiring signals such as vehicle speed, gear position, steering wheel angle, pedal opening, drive motor related signals, combined sensor signals, and acceleration sensor signals, also receives resolver sensor signals. Figure 3 The dTCS detects a rotational speed difference between the drive axle and the target axle, or a speed difference between the drive wheels on the same side, exceeding a certain range. When this difference is detected to exceed a certain range, the system assumes the wheels are slipping and initiates drive torque control. If the speed difference between the two drive wheels exceeds a certain range, the system assumes all four wheels are slipping and requests IPB hydraulic braking control to improve vehicle safety and stability.

[0061] The vehicle control method provided in this invention configures an associated rotary transformer for each motor of the target vehicle to input an excitation signal to the rotary transformer associated with each motor and acquire the electromagnetic induction signal output by each rotary transformer based on the excitation signal. Therefore, for each motor, the driving parameters of each motor can be determined based on the electromagnetic induction signal output by the rotary transformer associated with that motor. Since the rotary transformer has a faster signal acquisition speed and higher accuracy than wheel speed sensors in related technologies, control efficiency and accuracy are improved. Next, wheel slippage detection is performed on the target vehicle based on the driving parameters of at least one motor to obtain the wheel slippage result of at least one wheel of the target vehicle. The torque of at least one motor is adjusted using a dTCS based on the wheel slippage result of at least one wheel. Because of the use of rotary transformers, the MCU can directly detect slippage based on the motor's driving parameters, and the torque is transmitted using dTCS, simplifying the torque transmission path to: MCU → motor → wheel. This optimizes the torque transmission path based on wheel speed sensors in related technologies using IPB. This eliminates torque signal transmission lag, greatly improves response speed and control accuracy, and enhances vehicle stability, power, and safety.

[0062] Figure 4 A schematic diagram of a vehicle control system is provided. Figure 4 As shown, the vehicle control system includes the target vehicle's motor controller MCU401, rotary transformer 402, and distributed traction control system dTCS403. The MCU401 is used to input excitation signals to the rotary transformer associated with each motor. The rotary transformer 402 is used to receive the excitation signal from the MCU and output an electromagnetic induction signal based on the excitation signal; The MCU401 is also used to acquire the electromagnetic induction signal output by each resolver based on the excitation signal; The MCU401 is also used to determine the driving parameters of each motor based on the electromagnetic induction signal output by the resolver associated with each motor. The MCU401 is also used to detect wheel slippage of the target vehicle based on the driving parameters of the at least one motor, and to obtain the wheel slippage result of at least one wheel of the target vehicle. The dTCS403 is used to adjust the torque of the at least one motor based on the wheel slippage result of the at least one wheel.

[0063] In one possible implementation, the MCU 401 is also used for: The driving parameters of each motor are compared. If the difference between the driving parameters of any motor and the driving parameters of the other motors reaches the target threshold, it is determined that the wheel corresponding to that motor in the target vehicle is slipping. If the difference between the driving parameters of the motor on one side and the driving parameters of the motor on the other side reaches the target threshold, it is determined that the wheel on the coaxial side corresponding to the motor on that side in the target vehicle is slipping.

[0064] In one possible implementation, the MCU401 is also used to obtain the actual speed of the target vehicle. Accordingly, when the MCU401 detects wheel slippage of the target vehicle based on the driving parameters of the at least one motor and obtains the wheel slippage result of at least one wheel of the target vehicle, it is also used to calculate the vehicle speed corresponding to each wheel of the target vehicle based on the driving parameters of the at least one motor; if the difference between the vehicle speed corresponding to each wheel and the actual vehicle speed meets the slippage condition, it is determined that each wheel of the target vehicle is slipping.

[0065] In one possible implementation, the dTCS403 is used for: If the wheel corresponding to any motor in the target vehicle slips, the torque of that motor is reduced and the torque of the other motors is increased through the dTCS of the target vehicle. If the wheel on the coaxial side of the target vehicle corresponding to the motor on either side slips, the torque of the motor on either side is reduced by the dTCS of the target vehicle. If any wheel in the target vehicle slips, a control request is sent from the target vehicle's dTCS to the target vehicle's integrated power braking system (IPB), so that the IPB can perform hydraulic braking control on the target vehicle based on the control request.

[0066] In one possible implementation, the driving parameters of each motor include the angle and rotational speed of each motor; The MCU401 is also used for: For each motor, the electromagnetic induction signal output by the rotary transformer associated with each motor is decoded to obtain the angle of each motor; Based on the angle of each motor, the rotational speed of each motor is calculated.

[0067] In one possible implementation, the rotary transformer associated with each motor includes a stator and a rotor, the stator including a stator excitation winding and a stator quadrature shaft winding, and the rotor including a sine output winding and a cosine output winding. The MCU401 is also used to input an excitation signal to the excitation winding of the rotary transformer associated with each motor. The MCU401 is also used to acquire the sinusoidal voltage signal and cosine voltage signal output by the rotary transformer based on the sinusoidal output winding and the cosine output winding, respectively, and use the sinusoidal voltage signal and cosine voltage signal as the electromagnetic induction signal.

[0068] The vehicle control system provided in this invention configures an associated rotary transformer for each motor of the target vehicle to input an excitation signal to the rotary transformer associated with each motor and acquire the electromagnetic induction signal output by each rotary transformer based on the excitation signal. Therefore, for each motor, the driving parameters of each motor can be determined based on the electromagnetic induction signal output by the rotary transformer associated with that motor. Since the rotary transformer has a faster signal acquisition speed and higher accuracy than wheel speed sensors in related technologies, control efficiency and accuracy are improved. Next, wheel slippage detection is performed on the target vehicle based on the driving parameters of at least one motor to obtain the wheel slippage result of at least one wheel of the target vehicle. The torque of at least one motor is adjusted by the dTCS based on the wheel slippage result of at least one wheel. Because of the use of rotary transformers, the MCU can directly detect slippage based on the motor's driving parameters, and the torque is transmitted using the dTCS, simplifying the torque transmission path to: MCU → motor → wheel. This optimizes the torque transmission path based on wheel speed sensors in related technologies using IPB. This eliminates torque signal transmission lag, resulting in faster response speed, higher control accuracy, and improved vehicle stability, power, and safety.

[0069] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

[0070] This invention also provides an electronic device, comprising: Memory, used to store computer programs; A processor is used to execute a computer program stored in the memory, and when the computer program is executed, it implements the vehicle control method described above.

[0071] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle control method described above.

[0072] This invention also provides a computer program product, including computer program instructions, which, when executed by a processor, implement the vehicle control method described above.

[0073] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0075] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A vehicle control method, characterized in that, The method includes: An excitation signal is input to the rotary transformer associated with each motor of the target vehicle, and the electromagnetic induction signal output by each rotary transformer based on the excitation signal is obtained; wherein the target vehicle is equipped with at least one motor, and each motor is equipped with an associated rotary transformer; For each motor, the driving parameters of each motor are determined based on the electromagnetic induction signal output by the rotary transformer associated with each motor; Based on the driving parameters of the at least one motor, wheel slippage detection is performed on the target vehicle to obtain the wheel slippage result of at least one wheel of the target vehicle. The torque of the at least one motor is adjusted based on the wheel slippage result of the at least one wheel using the distributed traction control system (dTCS) of the target vehicle.

2. The method according to claim 1, characterized in that, The step of detecting wheel slippage of the target vehicle based on the driving parameters of the at least one motor, and obtaining the wheel slippage result of at least one wheel of the target vehicle, includes: The driving parameters of each motor are compared. If the difference between the driving parameters of any motor and the driving parameters of the other motors reaches the target threshold, it is determined that the wheel corresponding to any motor in the target vehicle is slipping. If the difference between the driving parameters of the motor on one side and the driving parameters of the motor on the other side reaches the target threshold, it is determined that the wheel on the coaxial side of the target vehicle corresponding to the motor on the other side is slipping.

3. The method according to claim 2, characterized in that, The method further includes: Obtain the actual speed of the target vehicle; Accordingly, the step of detecting wheel slippage of the target vehicle based on the driving parameters of the at least one motor to obtain the wheel slippage result of at least one wheel of the target vehicle includes: Based on the driving parameters of the at least one motor, calculate the vehicle speed corresponding to each wheel of the target vehicle; If the difference between the speed of each wheel and the actual speed of the whole vehicle meets the slippage condition, then it is determined that each wheel of the target vehicle is slipping.

4. The method according to claim 3, characterized in that, The method of adjusting the torque of at least one motor based on the wheel slippage result of at least one wheel through the distributed traction control system (dTCS) of the target vehicle includes: If the wheel corresponding to any of the motors in the target vehicle slips, the torque of the motor corresponding to the target vehicle is reduced by the dTCS of the target vehicle, and the torque of the other motors is increased. If the wheel on the coaxial side of the target vehicle corresponding to the motor on either side slips, the torque of the motor on either side is reduced by the dTCS of the target vehicle. If any wheel in the target vehicle slips, a control request is sent from the target vehicle's dTCS to the target vehicle's integrated power braking system (IPB), so that the IPB performs hydraulic braking control on the target vehicle based on the control request.

5. The method according to claim 1, characterized in that, The driving parameters of each motor include the angle and speed of each motor; For each motor, the driving parameters of each motor are determined based on the electromagnetic induction signal output by the rotary transformer associated with that motor, including: For each motor, the electromagnetic induction signal output by the rotary transformer associated with each motor is decoded to obtain the angle of each motor; The rotational speed of each motor is calculated based on the angle of each motor.

6. The method according to claim 1, characterized in that, The rotary transformer associated with each motor includes a stator and a rotor, the stator including a stator excitation winding and a stator quadrature shaft winding, and the rotor including a sine output winding and a cosine output winding; The step of inputting an excitation signal to the resolver associated with each motor of the target vehicle and acquiring the electromagnetic induction signal output by each resolver based on the excitation signal includes: For each motor-associated rotary transformer, an excitation signal is input to the excitation winding of that rotary transformer; The sinusoidal voltage signal and cosine voltage signal output by the rotary transformer based on the sinusoidal output winding and the cosine output winding respectively are obtained, and the sinusoidal voltage signal and cosine voltage signal are used as the electromagnetic induction signal.

7. A vehicle control system, characterized in that, The vehicle control system includes the target vehicle's motor controller MCU, rotary transformer, and distributed traction control system dTCS; The MCU is used to input excitation signals to the rotary transformer associated with each motor. The rotary transformer is used to receive the excitation signal from the MCU and output an electromagnetic induction signal based on the excitation signal; The MCU is also used to acquire the electromagnetic induction signal output by each rotary transformer based on the excitation signal; The MCU is also used to determine the driving parameters of each motor based on the electromagnetic induction signal output by the rotary transformer associated with each motor. The MCU is also used to detect wheel slippage of the target vehicle based on the driving parameters of the at least one motor, and to obtain the wheel slippage result of at least one wheel of the target vehicle. The dTCS is used to adjust the torque of the at least one motor based on the wheel slippage result of the at least one wheel.

8. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor is configured to execute a computer program stored in the memory, wherein when the computer program is executed, it implements the vehicle control method according to any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method according to any one of claims 1-6.

10. A computer program product comprising computer program instructions, characterized in that, When the computer program instructions are executed by the processor, they implement the vehicle control method according to any one of claims 1-6.

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