Method and device for synchronization between a drive wheel module and a PEU and storage medium

Abstract

The present invention provides a method and apparatus for alignment between a drive wheel module and a PEU, as well as a storage medium, the method comprising: a detection step for detecting an offset of a position / angle sensor of the drive wheel module, wherein the drive wheel module has been mechanically mounted to a corresponding wheel according to predetermined conditions; a detection step for detecting the position of a motor of the drive wheel module depending on the detected offset; and a configuration step for configuring a communication identifier to be used by the PEU and a rotation direction of the drive wheel module depending on the detected position of the motor.This can reduce the development costs of the software programs and reduce the configuration and maintenance effort of the software programs, as well as increase the efficiency of the configuration, loading and maintenance of the software programs.

Description

The present invention relates to the field of electronic information technology, and more particularly to a method and apparatus for matching between a drive wheel module and a PEU, and a storage medium.In the relevant prior art, the drive train topology of an electric vehicle can be, for example, a 4 wheel drive topology on vehicle (4WD for short), which means that a four wheel drive is used in the electric vehicle and the four front and rear wheels of the electric vehicle are driven. The electric vehicle power wheel system (PWS) includes a drive wheel module and a power electronic unit (PEU), the drive wheel module including, for example, a motor.Referring to FIG. 1, the vehicle includes a front left side (FL) wheel, a rear left side (RL) wheel, a front right side (FR) wheel, and a rear right side (RR) wheel, wherein the FL wheel stands for the front left wheel and the RL wheel stands for the rear left wheel and the FR wheel stands for the front right wheel and the RR wheel stands for the rear right wheel and the LH stands for the left side and the RH stands for the right side. The FL wheel, the RL wheel, the FR wheel, and the RR wheel of the vehicle are respectively equipped with a corresponding drive wheel module and a PEU (for convenience, the drive wheel module and the PEU for each wheel are not illustrated in FIG. 1 ).It is to be understood that the hardware of the respective PEUs of all wheels of the above-described vehicle are identical to each other and the respective PEUs communicate on the same CAN node, and therefore, the respective PEUs of all wheels are required to have mutually different CAN communication identifiers (ID) in order to avoid occurrence of a communication error due to conflict of the communication IDs of the PEUs. In other words, configuration of the communication identifiers to be used by the respective PEUs of all wheels is required.Moreover, different drive wheel modules have different angular offsets for the position / angle sensors (e.g., resolvers), and it is therefore necessary to configure an angular offset for the respective drive wheel modules of all wheels in the software program. In addition, referring to FIG. 2, upon receiving a request for positive torque, it is necessary that the drive wheel module mounted on the FL wheel be rotated counterclockwise and the drive wheel module mounted on the RH wheel be rotated clockwise. Therefore, configuration of the rotational directions of the respective drive wheel modules of all wheels is still required.From this, it can be seen that it is necessary to configure the angular offset and the rotational direction of the respective drive wheel modules of all wheels as well as the communication identifiers to be used by the respective PEUs.For this purpose, one solution currently consists in generating 4 different software programs, i.e. FR / FL / RR / RL software programs, which correspond to all wheels. These four software programs differ from each other primarily in angular offsets and rotational directions configured for the respective drive wheel modules and communication identifiers configured for the respective PEUs. Then, the corresponding software program is manually loaded into the corresponding PEU to perform the matching between the drive wheel modules and the PEUs on different wheels manually. In order to achieve a configuration of mutually different angular offsets for all wheels, it is necessary to use a scanning gun for scanning QR tags.However, the above solution has the following problems: Due to a requirement for manually loading the respective software programs into the respective PEUs, loading of a software program into an unmatched PEU may be performed, resulting in configuration with a wrong software program, which increases the risk of failure in the configuration of various software programs. Because of a requirement for using 4 different versions of software programs, the development cost of the software programs is increased, the configuration and maintenance effort of the software programs is increased, and the efficiency of the configuration, loading and maintenance of the software programs is reduced. It is necessary to use a scanning gun to scan QR tags, while operating errors may occur when scanning QR tags with a scanning gun. Before shipping, it is necessary to classify and store the four wheels, respectively, so that the cost of the storage logistics is high.Therefore, one of the problems to be solved at present is to solve the problems present in the above solution, like the above.In view of this, the present invention provides a method and apparatus for matching between a drive wheel module and a PEU, and a storage medium.To achieve the above technical object, according to a first aspect of the present invention, there is provided a matching method between a drive wheel module and a PEU applied to a power electronic unit, i.e., a PEU, of a vehicle, the matching method comprising: a detection step of detecting an offset of a position / angle sensor of the drive wheel module, the drive wheel module having been mechanically mounted on a corresponding wheel according to predetermined conditions; a detection step of detecting the position of a motor of the drive wheel module depending on the detected offset; and a configuration step of configuring a communication identifier to be used by the PEU and a rotational direction of the drive wheel module depending on the detected position of the motor.For the above matching method, in one possible implementation, the detecting step comprises detecting the offset by self-learning.For the above matching method, the predefined conditions comprise, in a possible implementation, the respective mounting positions of all drive wheel modules and / or the respective offsets, which differ from one another, of the position / angle sensors of all drive wheel modules in a multi-wheel drive topology used by the vehicle.For the above matching method, in one possible implementation, the detecting step comprises: detecting the position of the motor corresponding to the detected offset as the position of the motor of the drive wheel module depending on the relationship between the offset of the position / angle sensor of the drive wheel module and the position of the motor of the drive wheel module.For the above adjustment method, in one possible implementation, the detecting step includes: detecting an offset range in which the offset of the position / angle sensor falls; and detecting the position of the motor corresponding to the offset range as the position of the motor of the drive wheel module depending on the detected offset range.For the above matching method, in one possible implementation when employing a four-wheel drive topology in the vehicle, recognizing the position of the motor corresponding to the offset range as the position of the motor of the drive wheel module depending on the recognized offset range includes: indicating, by recognizing the position of the motor of the drive wheel module, that the motor is a rear-left motor when the recognized offset range is a range greater than 270°; indicating, by recognizing the position of the motor of the drive wheel module, that the motor is a rear-right motor when the recognized offset range is a range less than 270° and greater than 180°; displaying that the motor is a front-right motor by detecting the position of the motor of the driving wheel module when the detected offset range is a range of less than 180° and greater than 90°; and displaying that the motor is a front-left motor by detecting the position of the motor of the driving wheel module when the detected offset range is a range of less than 90°.For the above matching method, in one possible implementation, the configuring step includes: configuring a communication identifier for the PEU corresponding to the detected position of the motor, the motors at different positions corresponding to the different communication identifiers; changing the rotational direction of the motor when the detected position of the motor indicates that the motor is a motor to the right; and maintaining the rotational direction of the motor unchanged when the detected position of the motor indicates that the motor is a motor to the left.To achieve the above technical object, according to a second aspect of the present invention, there is provided an alignment device between a drive wheel module and a PEU applied to a power electronic unit, i.e., a PEU, of a vehicle, the alignment device comprising: a detection module for detecting an offset of a position / angle sensor of the drive wheel module, the drive wheel module having been mechanically mounted on a corresponding wheel according to predetermined conditions; a detection module for detecting the position of a motor of the drive wheel module depending on the detected offset; and a configuration module for configuring a communication identifier to be used by the PEU and a rotational direction of the drive wheel module depending on the detected position of the motor.To achieve the above technical object, according to a third aspect of the present invention, there is provided a matching device between a drive wheel module and a PEU facing a power electronic unit, i.e., a PEU, of a vehicle, the matching device comprising: a processor; and a memory for storing instructions executable by the processor, the processor being configured to implement a matching method described above when executing the instructions stored in the memory.To achieve the above technical object, according to a fourth aspect of the present invention, there is provided a computer-readable storage medium that, when instructions are executed in the storage medium by a processor, causes the processor to perform a matching method described above.To achieve the above technical object, according to a fifth aspect of the present invention, there is provided a computer program product including a computer readable code or a computer readable storage medium carrying the computer readable code, wherein a processor performs a matching method described above when the computer readable code is executed in the processor.In the method and apparatus for matching between a drive wheel module and a PEU according to the present invention, an offset of a position / angle sensor of the drive wheel module that has been mechanically mounted to a corresponding wheel according to predetermined conditions is detected, and the position of a motor of the drive wheel module is detected depending on the detected offset, and a communication identifier to be used and a rotational direction of the drive wheel module are configured depending on the detected position of the motor. As compared with using a plurality of different versions of software programs, it is thereby sufficient in the present invention to use a single version of software programs, which can thus reduce the development costs of the software programs and reduce the configuration and maintenance effort of the software programs and increase the efficiency of the configuration, loading and maintenance of the software programs.In addition, since only one version of software programs is used, it is sufficient to store the four wheels uniformly before shipping without classifying and storing the four wheels respectively, whereby the cost for storage logistics can be reduced.Moreover, in the present invention, as compared with using a plurality of different versions of software programs, it is only necessary to use a single version of software programs, so that it is not necessary to use a software program adapted to this PEU for each PEU, whereby loading of a software program into an unmated PEU and thus configuration with a wrong software program and hence the risk of failure due to configuration with a plurality of versions of software programs can be avoided.Moreover, in the present invention, instead of using a sensing gun for sensing QR tags to obtain the angular offset, the offset of a position / angle sensor of the drive wheel module mechanically mounted to a corresponding wheel according to predetermined conditions is directly detected by the PEU, so that the risk of error due to operation errors in sensing QR tags with the sensing gun can be avoided.Other features and aspects of the present invention will become apparent from the following detailed description of the exemplary embodiments with reference to the accompanying drawings.The accompanying drawings, which are incorporated in and constitute a part of the specification, together with the specification, illustrate exemplary embodiments, features, and aspects of the present invention and serve to explain the principles of the present invention. FIG. 1 is a schematic illustration of a four-wheel topology of a vehicle shown according to an example embodiment. FIG. 2 is a schematic illustration of a drive wheel module shown according to an example embodiment. FIG. 3 ais a flowchart of a matching method between a drive wheel module and a PEU, shown according to an example embodiment. FIG. 3 bis a schematic illustration of an offset of a pre-assembled position / angle sensor shown according to an exemplary embodiment. FIG. 4 is a flowchart of a matching method between a drive wheel module and a PEU, according to an example embodiment. FIG. 5 is a flowchart of a matching method between a drive wheel module and a PEU, according to an example embodiment. FIG. 6 is a flowchart of a matching method between a drive wheel module and a PEU, according to an example embodiment. FIG. 7 is a block diagram of a matching device between a drive wheel module and a PEU, according to an example embodiment.The individual exemplary embodiments, features, and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numerals designate functionally like or analogous elements. Although the individual aspects of the embodiments are illustrated in the accompanying drawings, the drawings need not be to scale unless particularly stated.The word "exemplary" as used herein is used in the sense of "exemplary, embodiment, or illustrative.". Each embodiment described herein as "exemplary" need not be explained as superior to the other embodiments or better than the other embodiments.In order to better illustrate the present invention, numerous specific details are set forth in the specific embodiments below. It should be understood by those skilled in the art that the present invention may be practiced without some of the specific details as well. In some other examples, methods, acts, elements, and circuits well known to those skilled in the art are not described in detail to emphasize the gist of the present invention.As described in the prior art section, in the existing solutions for realizing the matching between a drive wheel module and a PEU, there are problems such as increased risk of failure of the configuration of various software programs, increased development cost of the software programs, increased configuration and maintenance cost of the software programs, and reduced efficiency of the configuration, loading and maintenance of the software programs, high cost for inventory logistics, etc.To this end, the present invention proposes a method and an apparatus for matching between a drive wheel module and a PEU, wherein the PEU detects an offset of a position / angle sensor of the drive wheel module that has been mechanically mounted to a corresponding wheel according to predetermined conditions, and the position of a motor of the drive wheel module is detected depending on the detected offset, and a communication identifier to be used by the PEU and a rotational direction of the drive wheel module are configured depending on the detected position of the motor. As compared with using several different versions of software programs, it is thereby sufficient in the present invention to use a single version of software programs, which thus reduces the development costs of the software programs and reduces the configuration and maintenance effort of the software programs and increases the efficiency of the configuration, loading and maintenance of the software programs. In addition, since only one version of software programs is used, it is sufficient to store the four wheels uniformly before shipping without classifying and storing the four wheels respectively, thereby reducing the cost of storage logistics.Moreover, in the present invention, as compared with using a plurality of different versions of software programs, it is only necessary to use a single version of software programs, so that it is not necessary to use a software program adapted to this PEU for each PEU, whereby loading of a software program into an unmated PEU and thus configuration with a wrong software program can be avoided, and thus the risk of failure due to configuration with a plurality of different versions of software programs is avoided.Moreover, in the present invention, instead of using a sensing gun for sensing QR tags to obtain the angular offset, the offset of a position / angle sensor of the drive wheel module mechanically mounted to a corresponding wheel according to predetermined conditions is directly detected by the PEU, so that the risk of error due to operation errors in sensing QR tags with the sensing gun can be avoided.For a better understanding of the present invention, a detailed description will be given below in conjunction with the flowcharts shown in FIGS. 3a to 6.FIG. 3 ais a flow chart of a matching method between a drive wheel module and a PEU, shown according to an exemplary embodiment, wherein the matching method may be applied to a power electronic unit, i.e. PEU, of a vehicle. That is, the individual PEUs of the vehicle can enable matching between this PEU and the drive wheel module with the matching method in this embodiment. Moreover, in the vehicle, a multi-wheel drive topology such as a two-wheel drive topology (2WD) or a four-wheel drive topology (4WD) may be employed. In this case, in the case of a two-wheel drive topology, only the front wheels serve as drive wheels; in the case of a four-wheel drive topology, on the other hand, both the front wheels and the rear wheels serve as drive wheels.Referring to FIG. 3 a, the matching method may include the following steps:In step S 320, an offset of a position / angle sensor of the drive wheel module is detected, wherein the drive wheel module has been mechanically mounted to a corresponding wheel according to predetermined conditions. Step S 320 corresponds to a detection step.In this embodiment, the drive wheel module may be mechanically mounted to the corresponding wheel according to predetermined conditions. In other words, the drive wheel module may be mechanically mounted to the corresponding wheel to meet the predetermined conditions. These predefined conditions may include the respective mounting positions of all drive wheel modules and / or the respective offsets, different from one another, of the position / angle sensors of all drive wheel modules in a multi-wheel drive topology used by the vehicle.In one possible implementation, all drive wheel modules may be mechanically mounted to the corresponding wheels such that the respective offsets of the position / angle sensors are different from each other. Taking a vehicle with a four-wheel drive topology as an example, the 4 drive wheel modules may be mechanically mounted to the respective wheels such that the offset of the position / angle sensor on the FL wheel is 45° and the offset of the position / angle sensor on the FR wheel is 135° and the offset of the position / angle sensor on the RL wheel is 215° and the offset of the position / angle sensor on the RR wheel is 305 °.In one possible implementation, the respective mounting positions of all drive wheel modules can be predefined and all drive wheel modules can be mechanically mounted at the respective mounting positions. Taking a vehicle with a four-wheel drive topology as an example, a mounting position of the FL wheel may be set to have a mechanical angle of 5°, a mounting position of the FR wheel may be set to have a mechanical angle of 15°, a mounting position of the RL wheel may be set to have a mechanical angle of 25°, and a mounting position of the RR wheel may be set to have a mechanical angle of 35°, and then the FL wheel, the FR wheel, the RL wheel, and the RR wheel may be mounted to have the set mechanical angles.After the drive wheel modules are mechanically mounted to the respective wheels according to the predetermined conditions, an offset of the position / angle sensor of the already mounted drive wheel module may be detected. In one possible implementation, the offset of the position / angle sensor of the already mounted drive wheel module can be detected by self-learning. By way of example, the principles and measures for implementing self-learning typically include two types, a first type of which is a motor fundamental wave modeling method, examples of a typical motor fundamental wave modeling method being BEMF zero crossing, flux linkage estimation, and the like, and a second type of which is a Abnormality Tracking method in which a motor rotor's own salient pole structure or the characteristic of a "small salient pole" formed by the magnetic saturation effect is used. Of course, still other suitable self-learning methods are to be used in the prior art to detect the offset of the position / angle sensor of the already mounted drive wheel module and are not discussed herein for space reasons.Referring to FIG. 3 b, in the example of the vehicle having a four-wheel drive topology, by self-learning, an offset of 45° for the position / angle sensor of the drive wheel module already mounted on the FL wheel, an offset of 135° for the position / angle sensor of the drive wheel module already mounted on the FR wheel, an offset of 225° for the position / angle sensor of the drive wheel module already mounted on the RR wheel, and an offset of 315° for the position / angle sensor of the drive wheel module already mounted on the RL wheel may be detected.After detecting the offset of the position / angle sensor of the drive wheel module, the following step S 340 is continued.In step S 340, the position of a motor of the drive wheel module is detected as a function of the detected offset. Step S 340 corresponds to a recognition step.In this embodiment, given a possibly present correspondence between the position of the motor of the drive wheel module and the offset of the position / angle sensor of the drive wheel module, the position of the motor corresponding to this offset can be detected depending on the detected offset of the position / angle sensor of the drive wheel module.After detecting the position of the motor of the drive wheel module, the following step S 360 is continued.In step S 360, a communication identifier to be used by the PEU and a rotational direction of the drive wheel module are configured depending on the detected position of the motor. Step S 360 corresponds to a configuration step.In this embodiment, it is recognized that a communication conflict occurs when the PEUs to which different motors correspond use the same communication identifier. Therefore, in order to avoid the occurrence of a communication conflict due to the use of the same communication identifier, it is necessary to configure the communication identifier to be used by the PEU to which the motor corresponds depending on the detected position of the motor such that the communication identifier to be used by the PEU to which the motor corresponds is different from the communication identifiers to be used by the PEUs to which the other motors correspond. In other words, the communication identifier to be used by the PEU to which the motor corresponds is configured depending on the detected position of the motor such that the communication identifiers to be used by all the PEUs are different from each other in the multi-wheel drive topology.Moreover, given a possibly unsuitable, originally configured direction of rotation of the drive wheel module of a motor, which may not, for example, meet the requirements of the received torque request, it may be necessary to adjust the direction of rotation of the drive wheel module corresponding to that motor. For example, when the originally configured rotation direction of the drive wheel module of a certain motor is clockwise, upon receiving a torque request, a rotation direction satisfying the requests of the torque request is determined, and it is judged whether the determined rotation direction coincides with the current rotation direction of the drive wheel module of the motor, and if so, adjustment of the rotation direction of the drive wheel module of the motor is not required, and if no, adjustment of the rotation direction of the drive wheel module of the motor is required.In this embodiment, an offset of a position / angle sensor of the drive wheel module mechanically mounted to a corresponding wheel according to predetermined conditions is detected by the PEU, and the position of a motor of the drive wheel module is detected depending on the detected offset, and a communication identifier to be used by the PEU and a rotational direction of the drive wheel module are configured depending on the detected position of the motor. As compared with using a plurality of different versions of software programs, it is thereby sufficient in this embodiment to use a single version of software programs, which can thus reduce the development costs of the software programs and reduce the configuration and maintenance effort of the software programs and increase the efficiency of the configuration, loading and maintenance of the software programs. In addition, since only one version of software programs is used, it is sufficient to store the four wheels uniformly before shipping without classifying and storing the four wheels respectively, whereby the cost for storage logistics can be reduced.Moreover, in this embodiment, as compared with using a plurality of different versions of software programs, it is only necessary to use a single version of software programs, so that it is not necessary to use a software program adapted to this PEU for each PEU, whereby loading of a software program into an unaligned PEU and thus configuration with a wrong software program and hence the risk of failure due to configuration with a plurality of versions of software programs can be avoided.Moreover, in this embodiment, instead of using a sensing gun for sensing QR tags to obtain the angular offset, the offset of a position / angle sensor of the drive wheel module mechanically mounted to a corresponding wheel according to predetermined conditions is directly detected by the PEU, so that the risk of error due to operation errors in sensing QR tags with the sensing gun can be avoided.FIG. 4 is a flowchart of a matching method between a drive wheel module and a PEU, according to an example embodiment. Referring to FIG. 4, the matching method may include the following steps:In step S 420, an offset of a position / angle sensor of the drive wheel module is detected, wherein the drive wheel module has been mechanically mounted to a corresponding wheel according to predetermined conditions. This step corresponds to the above-described step S 320 and is not repeated here for space reasons.In step S 440, the position of the motor corresponding to the detected offset is detected as a position of the motor of the drive wheel module depending on the relationship between the offset of the position / angle sensor of the drive wheel module and the position of the motor of the drive wheel module.In this embodiment, the relationship between the offset of the position / angle sensor of the drive wheel module and the position of the motor of the drive wheel module can be detected and, depending on this relationship and the detected offset of the position / angle sensor of the drive wheel module, the position of the motor corresponding to this offset can be detected, wherein the detected position of the motor is namely the position of the motor of the drive wheel module.In step S 460, a communication identifier corresponding to the detected position of the motor is configured for the PEU, the motors at different positions corresponding to the different communication identifiers; and the rotation direction of the motor is changed when the detected position of the motor indicates that the motor is a motor on the right; and the rotation direction of the motor is maintained unchanged when the detected position of the motor indicates that the motor is a motor on the left.In this embodiment, all PEUs to which all motors at different positions correspond may be configured with communication identifiers different from each other. In the example of the vehicle having a four-wheel drive topology, a first communication identifier for transmission and a second communication identifier for reception may be configured for the FL wheel, a third communication identifier for transmission and a fourth communication identifier for reception may be configured for the FR wheel, a fifth communication identifier for transmission and a sixth communication identifier for reception may be configured for the RR wheel, and a seventh communication identifier for transmission and an eighth communication identifier for reception may be configured for the RL wheel, these communication identifiers, namely the first to eighth communication identifiers, being different from each other.Moreover, the originally configured rotational directions of the motors on the left and right are the same, and in consideration of a possibly improper rotational direction of the motor on the right, it may be judged whether this motor is the motor on the left or the motor on the right after the position of the motor is detected depending on the position of this motor. When this motor is the motor on the left, the originally configured rotational direction of the motor is still applicable, and thus it is not necessary to adjust the rotational direction of the motor on the left, and it is therefore sufficient to maintain the rotational direction of the motor on the left unchanged. On the other hand, when this motor is the motor on the right, the originally configured rotation direction of the motor is not applicable, and thus it is necessary to adjust the rotation direction of the motor on the right to meet the requirements of the received torque request, for example.Therefore, in this embodiment, an offset of a position / angle sensor of the drive wheel module mechanically mounted to a corresponding wheel according to predetermined conditions is detected by the PEU, and the position of the motor corresponding to the detected offset is detected as the position of the motor of the drive wheel module depending on the relationship between the offset and the position of the motor, and a communication identifier corresponding to the detected position of the motor is configured for the PEU, and the rotational direction of the motor is changed to the right while the rotational direction of the motor is maintained unchanged to the left. This can reduce the development cost of the software programs and reduce the configuration and maintenance cost of the software programs, increase the efficiency of configuration, loading and maintenance of the software programs and reduce the cost of inventory logistics. Moreover, the risk of error due to configuration with multiple versions of software programs and the risk of error due to operational errors in scanning QR tags with the scanning gun can be avoided.FIG. 5 is a flowchart of a matching method between a drive wheel module and a PEU, according to an example embodiment. Referring to FIG. 5, the matching method may include the following steps:In step S 520, an offset of a position / angle sensor of the drive wheel module is detected, wherein the drive wheel module has been mechanically mounted to a corresponding wheel according to predetermined conditions. This step corresponds to the above-described step S 320 and is not repeated here for space reasons.In step S 540, an offset range is detected in which the offset of the position / angle sensor of the drive wheel module falls.In step S 560, the position of the motor corresponding to the offset range is detected as the position of the motor of the drive wheel module depending on the detected offset range.In this embodiment, in consideration of a possibly present correspondence between the position of the motor of the drive wheel module and the offset range in which the offset of the position / angle sensor of the drive wheel module falls, after detecting the offset of the position / angle sensor of the drive wheel module, the offset range in which the offset falls can be detected, wherein the position of the motor corresponding to the offset range is detected depending on the offset range, namely, the detected position of the motor is the position of the motor of the drive wheel module.In step S 580, a communication identifier corresponding to the detected position of the motor is configured for the PEU, the motors at different positions corresponding to the different communication identifiers; and the rotation direction of the motor is changed when the detected position of the motor indicates that the motor is a motor on the right; and the rotation direction of the motor is maintained unchanged when the detected position of the motor indicates that the motor is a motor on the left. This step corresponds to the above-described step S 460 and is not repeated here for space reasons.Therefore, in this embodiment, an offset of a position / angle sensor of the drive wheel module mechanically mounted to a corresponding wheel according to predetermined conditions is detected by the PEU, and depending on the offset range in which the offset falls, the position of the motor corresponding to the offset range in which the offset falls is detected as the position of the motor of the drive wheel module, and a communication identifier corresponding to the detected position of the motor is configured for the PEU, and the rotation direction of the motor on the right is changed while the rotation direction of the motor on the left is maintained unchanged. This can reduce the development cost of the software programs and reduce the configuration and maintenance cost of the software programs, increase the efficiency of configuration, loading and maintenance of the software programs and reduce the cost of inventory logistics. Moreover, the risk of error due to configuration with multiple versions of software programs and the risk of error due to operational errors in scanning QR tags with the scanning gun can be avoided.FIG. 6 is a flowchart of a matching method between a drive wheel module and a PEU, according to an example embodiment. Referring to FIG. 6, the matching method may include the following steps:In step S 6101, self-learning starts to detect an offset of a position / angle sensor of the drive wheel module, the drive wheel module having been mechanically mounted to a corresponding wheel according to predetermined conditions. This step corresponds to the above-described step S 320 and is not repeated here for space reasons.In step S6102, it is judged whether the detected offset is larger than 180°. If "yes", step S6103 is performed; otherwise, step S6104 is performed.In step S6103, it is judged whether the detected offset is greater than 270°. If "yes", step S6106 is performed; otherwise, step S6105 is performed.In step S6104, it is judged whether the detected offset is less than 90°. If "yes", step S6107 is performed; otherwise, step S6108 is performed.In step S 6105, the motor is detected as the motor mounted on the RR wheel (this motor is referred to as an RR motor for short). Then, step S6109 is performed.In step S 6106, the motor is detected as the motor mounted on the RL wheel (this motor is referred to as the RL motor for short). Then, step S6110 is performed.In step S6107, the motor is detected as the motor mounted on the FL wheel (this motor is referred to as an FL motor for short). Then, step S 6111 is performed.In step S 6108, the motor is detected as the motor mounted on the FR wheel (this motor is referred to as FR motor for short). Then, step S6112 is performed.Steps S 6102 to S 6108 correspond to steps S 540 to S 560 described above, and are not repeated here for space reasons.In step S 6109, a communication identifier for transmission is configured for the PEU mounted on the RR wheel (this communication identifier is referred to as an RR-CAN transmission ID for short). Then, step S6113 is performed.In step S 61310, for the PEU mounted on the RL wheel, a communication identifier is configured for transmission (this communication identifier is referred to as an RL-CAN transmission ID for short). Then, step S6113 is performed.In step S 6111, for the PEU mounted on the FL wheel, a communication identifier is configured for transmission (this communication identifier is referred to as an FL-CAN transmission ID for short). Then, step S6113 is performed.In step S 6112, a communication identifier for transmission is configured for the PEU mounted on the FR wheel (this communication identifier is referred to as a FR-CAN transmission ID for short). Then, step S6113 is performed.Steps S6109 to S6112 correspond to the above-described steps S460 and S580 and are not repeated here for space reasons.In step S6113, it is judged whether the motor is a right motor (i.e., RH motor). If "yes", step S6114 is performed; otherwise, step S6115 is performed.In step S6114, the rotational direction of the motor is changed.In step S6115, the rotational direction of the motor is maintained.Steps S 613 to S 6115 correspond to steps S 460 and S 580 described above, and are not repeated here for space reasons.Thus, according to this embodiment, the development cost of the software programs can be reduced and the configuration and maintenance cost of the software programs can be reduced, and the efficiency of the configuration, loading and maintenance of the software programs can be increased and the cost for the inventory logistics can be reduced. Moreover, the risk of error due to configuration with multiple versions of software programs and the risk of error due to operational errors in scanning QR tags with the scanning gun can be avoided.FIG. 7 is a block diagram of a matching device between a drive wheel module and a PEU, shown according to an exemplary embodiment, wherein the matching device may be applied to a power electronic unit, i.e. a PEU, of a vehicle. As shown in FIG. 7, the matching device 700 may include a detection module 710, a detection module 720, and a configuration module 730.The sensing module 710 is to sense an offset of a position / angle sensor of the drive wheel module, wherein the drive wheel module has been mechanically mounted to a corresponding wheel of the vehicle according to predetermined conditions. The detection module 720 is connected to the detection module 710 and serves to detect the position of a motor of the drive wheel module depending on the detected offset. The configuration module 730 is connected to the recognition module 720, and is for configuring a communication identifier to be used by the PEU and a rotation direction of the drive wheel module depending on the recognized position of the motor.In one possible implementation, the detection module 710 is configured to detect the offset by self-learning.In one possible implementation, the predefined conditions comprise the respective mounting positions of all drive wheel modules and / or the respective offsets, which differ from one another, of the position / angle sensors of all drive wheel modules in a multi-wheel drive topology used by the vehicle.In one possible implementation, the detection module 720 is configured to detect the position of the motor corresponding to the detected offset as the position of the motor of the drive wheel module depending on the relationship between the offset of the position / angle sensor of the drive wheel module and the position of the motor of the drive wheel module.In one possible implementation, the detection module 720 is configured to detect an offset range in which the offset of the position / angle sensor falls; and detect the position of the motor corresponding to the offset range as the position of the motor of the drive wheel module depending on the detected offset range.In one possible implementation, when employing a four-wheel drive topology in the vehicle, the detection module 720 is configured such that by detecting the position of the motor of the drive wheel module, it is indicated that the motor is a rear left motor when the detected offset range is a range greater than 270°; by detecting the position of the motor of the drive wheel module, it is indicated that the motor is a rear right motor when the detected offset range is a range less than 270° and greater than 180°; by detecting the position of the motor of the drive wheel module, it is indicated that the motor is a front right motor when the detected offset range is a range less than 180° and greater than 90°; By detecting the position of the motor of the drive wheel module, it is indicated that the motor is a front left motor when the detected offset range is a range of less than 90°.In one possible implementation, the configuration module 730 is configured to configure a communication identifier for the PEU corresponding to the detected position of the motor, wherein the motors at different positions correspond to the different communication identifiers; change the direction of rotation of the motor when the detected position of the motor indicates that the motor is a motor to the right; and maintain the direction of rotation of the motor unchanged when the detected position of the motor indicates that the motor is a motor to the left.As for the apparatus in the above embodiments, the specific manner of performing operations by the individual modules therein will already be described in detail in the embodiments with respect to the method, and will not be explained and described in detail here.Those of ordinary skill in the art can appreciate that the individual example units and algorithm steps in the embodiments described herein may be implemented in electronic hardware or in a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and the design limitations of the technical solutions. Those skilled in the art can choose various methods for specific applications to implement the described functions, but such implementation should not be considered to go beyond the scope of the present invention.If the described functions are implemented in the form of computer software and sold or used as a stand-alone product, it can be assumed to some extent that all or some (e.g., the part contributing to the prior art) of the technical solutions of the present invention are embodied in the form of a computer software product. The computer software product is typically stored in a computer readable, non-transitory storage medium and includes a plurality of instructions that enable a computing device (which may be a personal computer, server, or network device, etc.) to perform all or some of the steps of the method according to individual embodiments of the present invention. The above storage medium includes various media capable of storing program codes such as USB stick, portable hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk, or CD-ROM, etc.Only specific embodiments of the present invention are described above, but the scope of the present invention is not limited thereto. Any person skilled in the art skilled in the art can easily understand variations or substitutions within the technical scope disclosed in the present invention, all of which are intended to be included within the scope of the present invention. Therefore, the scope of the present invention is intended to be within the scope of the claims.List of reference charactersS320 Detection step in which an offset of a position / angle sensor is detected. S 340 Detection Step of Detecting the Position of Motor. S 360 Configuration Step of Configuring a Communication Identifier and a Rotational Direction. S 420 Another acquisition step, similar to S 320. S 440 Detecting the position of the motor based on the offset. S 460 Configuration step similar to S 360. S 520 Re-acquisition step. S 540 Detection of an offset range. S560 Detection of the position of the motor corresponding to the offset range. S 580 Configuration of a communication identifier. S6101-S6115 steps within a flow chart for specific sensing and configuration tasks. 700 Matching device. 710 sensing module. 720 Detection module. 730 Configuration Module.

Claims

A matching method between a drive wheel module and a PEU applied to a power electronic unit, i.e. a PEU, of a vehicle, characterized in that the matching method comprises: a detection step (S320) of detecting an offset of a position / angle sensor of the drive wheel module, the drive wheel module having been mechanically mounted on a corresponding wheel of the vehicle according to predetermined conditions; a detection step (S340) of detecting the position of a motor of the drive wheel module depending on the detected offset; and a configuration step (S360) of configuring a communication identifier to be used by the PEU and a rotational direction of the drive wheel module depending on the detected position of the motor.The matching method according to claim 1, characterized in that the detecting step (S320) comprises detecting the offset by self-learning.The balancing method according to claim 1, characterized in that the predefined conditions comprise the respective mounting positions of all drive wheel modules and / or the respective offsets of the position / angle sensors of all drive wheel modules, which offsets differ from one another, in a multi-wheel drive topology used by the vehicle.The matching method according to claim 1, characterized in that the detecting step (S340) comprises: detecting the position of the motor corresponding to the detected offset as the position of the motor of the drive wheel module depending on the relationship between the offset of the position / angle sensor of the drive wheel module and the position of the motor of the drive wheel module.The adjustment method according to claim 1, characterized in that the detecting step (S340) comprises: detecting an offset range in which the offset of the position / angle sensor falls; and detecting the position of the motor corresponding to the offset range as the position of the motor of the drive wheel module depending on the detected offset range.The matching method according to claim 5, characterized in that when a four-wheel drive topology is employed in the vehicle, detecting the position of the motor corresponding to the offset range as the position of the motor of the drive wheel module depending on the detected offset range comprises: indicating, by detecting the position of the motor of the drive wheel module, that the motor is a rear-left motor when the detected offset range is a range greater than 270°; indicating, by detecting the position of the motor of the drive wheel module, that the motor is a rear-right motor when the detected offset range is a range less than 270° and greater than 180°; displaying that the motor is a front-right motor by detecting the position of the motor of the driving wheel module when the detected offset range is a range of less than 180° and greater than 90°; and displaying that the motor is a front-left motor by detecting the position of the motor of the driving wheel module when the detected offset range is a range of less than 90°.The matching method according to any one of claims 1-6, characterized in that the configuring step (S360) comprises: configuring a communication identifier corresponding to the detected position of the motor for the PEU, wherein the motors at different positions correspond to the different communication identifiers; changing the rotation direction of the motor when the detected position of the motor indicates that the motor is a motor on the right; and keeping the rotation direction of the motor unchanged when the detected position of the motor indicates that the motor is a motor on the left.A matching device between a drive wheel module and a PEU applied to a power electronic unit, i.e. a PEU, of a vehicle, characterized in that the matching device comprises: a detection module (710) for detecting an offset of a position / angle sensor of the drive wheel module, wherein the drive wheel module has been mechanically mounted on a corresponding wheel of the vehicle according to predetermined conditions; a detection module (720) for detecting the position of a motor of the drive wheel module depending on the detected offset; and a configuration module (730) for configuring a communication identifier to be used by the PEU and a rotational direction of the drive wheel module depending on the detected position of the motor.A matching device between a drive wheel module and a PEU applied to a power electronic unit, i.e. a PEU, of a vehicle, characterized in that the matching device comprises: a processor; and a memory for storing instructions executable by the processor, wherein the processor is configured to implement a matching method according to any one of claims 1-7 when executing the instructions stored in the memory.A computer readable storage medium which, when instructions are executed in the storage medium by a processor, causes the processor to perform a matching method according to any one of claims 1-7.

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