CN113147406A - Method and system for processing speed fault of electric vehicle and computer storage medium - Google Patents

Method and system for processing speed fault of electric vehicle and computer storage medium Download PDF

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Publication number
CN113147406A
CN113147406A CN202110617686.9A CN202110617686A CN113147406A CN 113147406 A CN113147406 A CN 113147406A CN 202110617686 A CN202110617686 A CN 202110617686A CN 113147406 A CN113147406 A CN 113147406A
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vehicle
speed
vehicle speed
wheel
current
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CN202110617686.9A
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CN113147406B (en
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张雅
张明
尚武刚
严习胜
周壮
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Lantu Automobile Technology Co Ltd
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Dongfeng Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application relates to a processing method, a system and a computer storage medium for speed faults of an electric vehicle, relating to the technical field of electronic control of vehicles, wherein the processing method is applied to a VCU (vehicle control unit) and comprises the following steps: judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state; after the two-wheel drive state/the four-wheel drive state is determined, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft/the driving shaft acquired by the electronic stability control system ESC; if the vehicle speed is normal, the vehicle speed fault is not reported; if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle and sending a corresponding alarm according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor according to the fault grade, or controlling the power interruption of the whole vehicle. The driving method and the driving device can meet the requirement that vehicle speed faults of different degrees are properly processed under all driving working conditions, and the safety and reliability of the whole vehicle in driving are improved.

Description

Method and system for processing speed fault of electric vehicle and computer storage medium
Technical Field
The application relates to the technical field of automobile electronic control, in particular to a method and a system for processing speed faults of an electric automobile and a computer storage medium.
Background
In the technical field of automobile electronic control, vehicle speed fault diagnosis in an automobile electronic control system provides a reference basis for safe driving of a user, and the vehicle speed fault diagnosis can be reported in time after the vehicle speed diagnosed by the automobile electronic control system has a fault.
In the related art, the diagnosis processing of the vehicle speed fault mainly uses an electrical fault of a transmission case output shaft or an electrical fault of a wheel speed sensor, and the vehicle speed fault signal can be sent out when the vehicle speed is normal when the vehicle climbs a slope or at a low speed, so that false alarm is caused.
Therefore, it is an urgent need to develop a technology capable of comprehensively diagnosing vehicle speed faults.
Disclosure of Invention
The embodiment of the application provides a method and a system for processing a vehicle speed fault of an electric vehicle and a computer storage medium, so as to solve the problem that the vehicle speed fault is easy to report by mistake in the related technology.
In a first aspect, a method for processing a vehicle speed fault of an electric vehicle is provided, and is applied to a vehicle control unit VCU, and the method includes the following steps:
judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state;
if the vehicle speed is in the two-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC;
if the vehicle speed is in the four-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts, which are acquired by an electronic stability control system ESC;
if the vehicle speed is normal, the vehicle speed fault is not reported;
if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
In some embodiments, before the step of determining whether the current driving condition of the entire vehicle is the two-drive state or the four-drive state, the method further includes the steps of:
and judging whether the current finished automobile is in a two-drive state or a four-drive state, if the current finished automobile is in the two-drive state, defaulting that the current finished automobile is in the two-drive state, and if the current finished automobile is in the four-drive state, judging whether the driving working condition of the current finished automobile is in the two-drive state or the four-drive state.
In some embodiments, the specific step of determining whether the current vehicle speed of the entire vehicle is normal according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC includes:
judging whether the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC is true;
if at least one is true, judging that the current speed of the whole vehicle is normal;
if all the vehicle speed is not normal, judging that the current vehicle speed of the whole vehicle is abnormal.
In some embodiments, when the current whole vehicle is a two-drive vehicle or in a two-drive state, after the determination that the vehicle speed of the current whole vehicle is normal, the method further includes the steps of:
obtaining a wheel speed average value according to the wheel speeds of the wheels with real effective bits on the non-driving shafts;
and setting the speed of the whole vehicle as the obtained wheel speed average value.
In some embodiments, the specific step of determining whether the current vehicle speed of the entire vehicle is normal according to the valid bits of the wheel speeds of the wheels on all the driving shafts acquired by the electronic stability control system ESC includes:
and judging whether the effective position of the wheel speed of each wheel on the driving shaft acquired by the electronic stability control system ESC is true, if at least half of the effective positions are not true, judging that the current speed of the whole vehicle is abnormal, and otherwise, judging that the current speed of the whole vehicle is normal.
In some embodiments, when the current vehicle is in a four-wheel drive state, after the determination that the vehicle speed of the current vehicle is normal, the method further includes the steps of:
obtaining a wheel speed average value according to the wheel speed of each wheel with real effective position on the driving shaft;
and setting the speed of the whole vehicle as the obtained wheel speed average value.
In some embodiments, the specific steps of distinguishing a fault level of the current vehicle speed of the whole vehicle according to the valid bit of the rotation speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle to a vehicle speed calculated according to the rotation speed of the motor and issuing a first alarm, or controlling power interruption of the whole vehicle and issuing a second alarm include:
judging whether the effective bit of the rotating speed of each motor acquired by the motor controller MCU is true;
if at least one of the motor speed signals is true, judging that the current vehicle speed of the whole vehicle is a common fault of vehicle speed signal loss, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor, and sending a first alarm;
if the vehicle speed signal is not the current vehicle speed signal, judging that the current vehicle speed is the serious fault of vehicle speed signal loss, controlling the power interruption of the whole vehicle and sending a second alarm.
In some embodiments, the specific steps of determining that the current vehicle speed of the whole vehicle is a serious vehicle speed signal loss fault, controlling power interruption of the whole vehicle, and sending a second alarm include:
judging that the current vehicle speed of the whole vehicle is a serious fault of vehicle speed signal loss, and sending a second alarm;
and setting the speed of the whole vehicle as a set limit speed so as to interrupt the power of the whole vehicle.
In a second aspect, a system for processing a vehicle speed fault of an electric vehicle is further provided, including:
the electronic stability control system ESC is used for acquiring the wheel speed and the effective position of the wheel speed of each wheel on the whole vehicle;
the motor controller MCU is used for acquiring the rotating speed and the effective position of the rotating speed of each motor on the whole vehicle;
VCU of vehicle control unit for
Judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state;
if the vehicle speed is in the two-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC;
if the vehicle speed is in the four-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts, which are acquired by an electronic stability control system ESC;
if the vehicle speed is normal, the vehicle speed fault is not reported;
if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
In a third aspect, a computer storage medium is provided, and the readable computer storage medium stores a processing program of the electric vehicle speed fault, wherein when the processing program of the electric vehicle speed fault is executed by a processor, the steps of the processing method of the electric vehicle speed fault are realized.
The beneficial effect that technical scheme that this application provided brought includes: and a proper judgment strategy is adopted according to the configuration of the whole vehicle, the vehicle speed fault is comprehensively identified and processed, and the driving safety of the whole vehicle is improved.
The embodiment of the application provides a method, a system and a computer storage medium for processing speed faults of an electric vehicle, wherein according to whether the driving working condition of the current finished vehicle is a two-wheel drive state or a four-wheel drive state, whether the speed of the current finished vehicle is normal or not is determined by selecting a valid bit of wheel speed on a non-driving shaft or a valid bit of wheel speed on a driving shaft, if the speed of the current finished vehicle is normal, the speed faults are not reported, if the speed of the current finished vehicle is abnormal, the fault grade of the abnormal speed of the current finished vehicle is judged according to the valid bit of the rotating speed of a motor and a corresponding alarm is sent, and power interruption is controlled according to the fault grade or the speed of the finished vehicle is calculated according to the rotating speed of the motor. In the embodiment of the application, when the vehicle speed is abnormal, the fault level of the vehicle speed is further distinguished, different execution strategies are adopted for different fault levels, so that vehicle speed faults of different degrees are properly processed under all driving conditions, and the safety and reliability of the whole vehicle in driving are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for processing a vehicle speed fault of an electric vehicle according to an embodiment of the present application;
fig. 2 is a block diagram of a processing system for a vehicle speed fault of an electric vehicle according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides a method for processing speed faults of an electric automobile, which can meet the requirement that speed faults of different degrees are properly processed under all driving working conditions, and the safety and reliability of the whole automobile in driving are improved.
As shown in fig. 1, an embodiment of the present application provides a method for processing a vehicle speed fault of an electric vehicle, which is applied to a vehicle control unit VCU, and the method includes the following steps:
judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state;
if the vehicle speed is in the two-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC;
if the vehicle speed is in the four-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts, which are acquired by an electronic stability control system ESC;
if the vehicle speed is normal, the vehicle speed fault is not reported;
if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
The embodiment of the application provides a method for processing speed faults of an electric vehicle, which is characterized in that according to whether the driving working condition of the current finished vehicle is a two-wheel drive state or a four-wheel drive state, whether the speed of the current finished vehicle is normal or not is determined by selecting a valid bit of wheel speed on a non-driving shaft or a valid bit of wheel speed on a driving shaft, if the speed of the current finished vehicle is normal, the speed faults are not reported, if the speed of the current finished vehicle is abnormal, the fault grade of the abnormal speed of the current finished vehicle is judged according to the valid bit of the rotating speed of a motor and a corresponding alarm is sent out, and power interruption is controlled according to the fault grade or the speed of the finished vehicle is calculated according to the rotating speed of the motor. In the embodiment of the application, when the vehicle speed is abnormal, the fault level of the vehicle speed is further distinguished, different execution strategies are adopted for different fault levels, so that vehicle speed faults of different degrees are properly processed under all driving conditions, and the safety and reliability of the whole vehicle in driving are improved.
In the embodiment of the present application, the processing method specifically includes the following steps:
s1: judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state, if the current driving working condition is the two-wheel drive state, turning to S21, and if the current driving working condition is the four-wheel drive state, turning to S22;
s21: judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC, if so, turning to S3, otherwise, turning to S4;
s22: judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts acquired by an electronic stability control system ESC, if so, turning to S3, otherwise, turning to S4;
s3: not reporting the vehicle speed fault;
s4: and distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
As a preferred scheme of the embodiment of the present application, before the step of determining whether the driving condition of the entire vehicle is the two-wheel drive state or the four-wheel drive state, the method further includes the steps of:
and judging whether the current finished automobile is in a two-drive state or a four-drive state, if the current finished automobile is in the two-drive state, defaulting that the current finished automobile is in the two-drive state, and if the current finished automobile is in the four-drive state, judging whether the driving working condition of the current finished automobile is in the two-drive state or the four-drive state.
In the actual use of the whole vehicle, not only two-drive vehicles but also four-drive vehicles exist, and in the four-drive vehicles, the conversion between the two-drive state and the four-drive state also exists, and the two-drive vehicles only have the two-drive state, so if the whole vehicle controller VCU judges that the whole vehicle is the two-drive vehicle, the current whole vehicle is directly defaulted to be in the two-drive state, and then whether the current speed of the whole vehicle is normal is judged according to a strategy adopted when the whole vehicle is in the two-drive state, if the whole vehicle controller VCU judges that the whole vehicle is the four-drive vehicle, whether the current driving working condition of the whole vehicle is the four-drive state or the two-drive state needs to be further determined, and then whether the current speed of the whole vehicle is normal is judged according to the corresponding strategy according to the corresponding driving working condition, thus the embodiment of the application can be adapted to different driving vehicles or different driving working conditions.
In the embodiment of the application, the whole vehicle comprises four wheels, namely a left front wheel, a left rear wheel, a right front wheel and a right rear wheel, and the whole vehicle is provided with a driving shaft and a non-driving shaft if the driving working condition of the whole vehicle is in a two-drive state, and is provided with two driving shafts if the driving working condition of the whole vehicle is in a four-drive state, and each wheel is arranged at two ends of each shaft.
Further, the specific step of judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC includes:
judging whether the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC is true;
if at least one is true, judging that the current speed of the whole vehicle is normal;
if all the vehicle speed is not normal, judging that the current vehicle speed of the whole vehicle is abnormal.
Furthermore, when the current whole vehicle is in a two-drive state or a two-drive state, after the vehicle speed of the current whole vehicle is judged to be normal, the method further comprises the following steps:
obtaining a wheel speed average value according to the wheel speeds of the wheels with real effective bits on the non-driving shafts;
and setting the speed of the whole vehicle as the obtained wheel speed average value.
Compared with the wheel speed of the wheels on the driving shaft, the wheel speed of the wheels on the non-driving shaft is higher in real reliability, so that when the non-driving shaft exists, the wheel signal on the non-driving shaft is preferentially adopted as a basis for judging whether the whole vehicle is normal or not. In the embodiment of the present application, it is determined whether valid bits of wheel speeds of two wheels on one non-driving shaft, which are acquired by the electronic stability control system ESC, are true, and when the valid bits of the two wheels are both false, it may be determined that no valid wheel speed is acquired, that is, a wheel speed signal on the non-driving shaft is lost; and when the valid bit of one or two wheels is true, judging that the current speed of the whole vehicle is normal, if the valid bit of one wheel is true, setting the speed of the whole vehicle as the wheel speed of the wheel, and if the valid bits of the two wheels are true, setting the speed of the whole vehicle as the wheel speed average value of the two wheels.
Further, the specific step of judging whether the current vehicle speed of the entire vehicle is normal according to the effective positions of the wheel speeds of all the wheels on the driving shafts acquired by the electronic stability control system ESC includes:
and judging whether the effective position of the wheel speed of each wheel on the driving shaft acquired by the electronic stability control system ESC is true, if at least half of the effective positions are not true, judging that the current speed of the whole vehicle is abnormal, and otherwise, judging that the current speed of the whole vehicle is normal.
Furthermore, when the current whole vehicle is in a four-wheel drive state, after the vehicle speed of the current whole vehicle is judged to be normal, the method further comprises the following steps:
obtaining a wheel speed average value according to the wheel speed of each wheel with real effective position on the driving shaft;
and setting the speed of the whole vehicle as the obtained wheel speed average value.
In the embodiment of the present application, it is determined whether valid bits of wheel speeds of four wheels on two driving shafts acquired by the electronic stability control system ESC are true, and when valid bits of more than two (including two) wheels are no, that is, valid bits of zero or one wheel are true, it is determined that a valid wheel speed is not acquired, and it is determined that a wheel speed signal on a driving shaft is lost; and when the valid bits of three or four wheels are true, judging that the current speed of the whole vehicle is normal, and if the valid bits of the three or four wheels are true, setting the speed of the whole vehicle as the wheel speed average value of the three or four wheels.
It can be seen from the fact that the current driving condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state, when the current vehicle is judged to be normal, effective wheels are taken as the vehicle speed of the whole vehicle to be processed, if the number of the effective wheels is two or more, the obtained wheel speed mean value of the effective wheel speed is taken as the vehicle speed of the whole vehicle, and if the number of the effective wheels is single, the obtained wheel speed of the effective wheel speed is taken as the vehicle speed of the whole vehicle.
Further, the specific steps of distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor according to the fault grade, and sending a first alarm, or controlling the power interruption of the whole vehicle and sending a second alarm include:
judging whether the effective bit of the rotating speed of each motor acquired by the motor controller MCU is true;
if at least one of the motor speed signals is true, judging that the current vehicle speed of the whole vehicle is a common fault of vehicle speed signal loss, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor, and sending a first alarm;
if the vehicle speed signal is not the current vehicle speed signal, judging that the current vehicle speed is the serious fault of vehicle speed signal loss, controlling the power interruption of the whole vehicle and sending a second alarm.
Furthermore, the specific steps of judging that the current vehicle speed of the whole vehicle is a serious fault of vehicle speed signal loss, controlling the power interruption of the whole vehicle and sending out a second alarm comprise:
judging that the current vehicle speed of the whole vehicle is a serious fault of vehicle speed signal loss, and sending a second alarm;
and setting the speed of the whole vehicle as a set limit speed so as to interrupt the power of the whole vehicle.
In the embodiment of the application, the current vehicle speed of the whole vehicle is abnormal, not limited to the two-drive state and the four-drive state, no matter which driving condition is, after the current vehicle speed of the whole vehicle is judged to be abnormal, whether the effective position of the rotating speed of each motor (one motor in the two-drive state and two motors in the four-drive state) acquired by the motor controller MCU is true is judged, when the effective rotating speed is one or two, the current vehicle speed of the whole vehicle is judged to be a general failure of vehicle speed signal loss, and the yellow failure indicator lamp is controlled to be on, when the effective rotating speed is not available, the current vehicle speed of the whole vehicle is judged to be a serious failure of vehicle speed signal loss, namely, a wheel speed signal and a rotating speed signal are simultaneously lost, the vehicle speed of the whole vehicle is set limit vehicle speed, and a second alarm is sent, the limit vehicle speed is 255km/h, so that the vehicle speed calculated by the whole vehicle controller MCU is an eye-obstructed vehicle speed, in order to ensure the safety of the whole vehicle in running, the whole vehicle brake cannot continue power output, namely the power of the whole vehicle is interrupted.
As shown in fig. 2, an embodiment of the present application further provides a system for processing a vehicle speed fault of an electric vehicle, including:
the electronic stability control system ESC is used for acquiring the wheel speed and the effective position of the wheel speed of each wheel on the whole vehicle;
the motor controller MCU is used for acquiring the rotating speed and the effective position of the rotating speed of each motor on the whole vehicle;
VCU of vehicle control unit for
Judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state;
if the vehicle speed is in the two-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC;
if the vehicle speed is in the four-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts, which are acquired by an electronic stability control system ESC;
if the vehicle speed is normal, the vehicle speed fault is not reported;
if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
The system for processing the speed fault of the electric vehicle mainly comprises an electronic stability control system ESC, a motor controller MCU and a vehicle control unit VCU, wherein new hardware is not added, wheel speed signals of different wheels acquired by the electronic stability control system ESC are configured only according to the state of a driving working condition, whether the wheel speed signals are lost or not is reasonably judged, when the wheel speed signals are lost, the vehicle speed of the whole vehicle is calculated by adopting the motor controller MCU, if the rotating speed signals of a motor acquired by the motor controller MCU are considered to be lost, the power of the whole vehicle is controlled to be interrupted, and a second alarm is sent; if only the wheel speed signal of the wheel acquired by the electronic stability control system ESC is considered to be lost, the speed is converted through the rotating speeds of all the motors acquired by the motor controller MCU, and the converted speed is taken as the speed of the whole vehicle, and the converted speed is equal to the rotating speed of the motor multiplied by the radius of the wheel multiplied by a conversion coefficient converted from r/min to km/h divided by a main reduction ratio, wherein the rotating speed of the motor represents the average rotating speed of the double motors in the four-wheel drive state.
According to whether the driving working condition of the current finished automobile is a two-wheel driving state or a four-wheel driving state, whether the current finished automobile is normal or not is determined by selecting a valid bit of a wheel speed on a non-driving shaft or a valid bit of a wheel speed on a driving shaft, if the current finished automobile is normal, the automobile speed fault is not reported, if the current finished automobile is abnormal, the fault level of the current finished automobile with abnormal automobile speed is judged according to the valid bit of the rotating speed of a motor, a corresponding alarm is sent, and power interruption is controlled according to the fault level or the finished automobile speed is set to be the automobile speed calculated according to the rotating speed of the motor. In the embodiment of the application, when the vehicle speed is abnormal, the fault level of the vehicle speed is further distinguished, different execution strategies are adopted for different fault levels, so that vehicle speed faults of different degrees are properly processed under all driving conditions, and the safety and reliability of the whole vehicle in driving are improved.
The system embodiments provided in the embodiments of the present application have been explained in detail in the above method embodiments, and are not repeated herein.
The embodiment of the application also provides a computer storage medium, which can be read, and the computer storage medium stores a processing program of the electric vehicle speed fault, wherein when the processing program of the electric vehicle speed fault is executed by a processor, the steps of the processing method of the electric vehicle speed fault are realized.
In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A processing method for a vehicle speed fault of an electric vehicle is applied to a VCU (vehicle control unit), and is characterized by comprising the following steps:
judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state;
if the vehicle speed is in the two-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC;
if the vehicle speed is in the four-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts, which are acquired by an electronic stability control system ESC;
if the vehicle speed is normal, the vehicle speed fault is not reported;
if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
2. The method for processing the vehicle speed fault of the electric vehicle as claimed in claim 1, wherein before the step of judging whether the current driving condition of the whole vehicle is the two-wheel drive state or the four-wheel drive state, the method further comprises the steps of:
and judging whether the current finished automobile is in a two-drive state or a four-drive state, if the current finished automobile is in the two-drive state, defaulting that the current finished automobile is in the two-drive state, and if the current finished automobile is in the four-drive state, judging whether the driving working condition of the current finished automobile is in the two-drive state or the four-drive state.
3. The method for processing the vehicle speed fault of the electric vehicle according to claim 2, wherein the specific step of judging whether the current vehicle speed of the whole vehicle is normal according to the effective wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC comprises:
judging whether the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC is true;
if at least one is true, judging that the current speed of the whole vehicle is normal;
if all the vehicle speed is not normal, judging that the current vehicle speed of the whole vehicle is abnormal.
4. The method for processing the vehicle speed fault of the electric vehicle as claimed in claim 3, wherein when the current whole vehicle is a two-drive vehicle or in a two-drive state, after the vehicle speed of the current whole vehicle is determined to be normal, the method further comprises the steps of:
obtaining a wheel speed average value according to the wheel speeds of the wheels with real effective bits on the non-driving shafts;
and setting the speed of the whole vehicle as the obtained wheel speed average value.
5. The method for processing the vehicle speed fault of the electric vehicle according to claim 1, wherein the specific step of judging whether the current vehicle speed of the whole vehicle is normal according to the valid bits of the wheel speeds of the wheels on all the driving shafts acquired by the electronic stability control system ESC comprises:
and judging whether the effective position of the wheel speed of each wheel on the driving shaft acquired by the electronic stability control system ESC is true, if at least half of the effective positions are not true, judging that the current speed of the whole vehicle is abnormal, and otherwise, judging that the current speed of the whole vehicle is normal.
6. The method for processing the vehicle speed fault of the electric vehicle as claimed in claim 5, wherein when the current vehicle is in a four-wheel drive state, after the determination that the current vehicle speed of the vehicle is normal, the method further comprises the steps of:
obtaining a wheel speed average value according to the wheel speed of each wheel with real effective position on the driving shaft;
and setting the speed of the whole vehicle as the obtained wheel speed average value.
7. The method for processing the vehicle speed fault of the electric vehicle according to claim 1, wherein the specific steps of distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the valid bit of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm or controlling the power interruption of the whole vehicle and sending a second alarm comprise:
judging whether the effective bit of the rotating speed of each motor acquired by the motor controller MCU is true;
if at least one of the motor speed signals is true, judging that the current vehicle speed of the whole vehicle is a common fault of vehicle speed signal loss, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor, and sending a first alarm;
if the vehicle speed signal is not the current vehicle speed signal, judging that the current vehicle speed is the serious fault of vehicle speed signal loss, controlling the power interruption of the whole vehicle and sending a second alarm.
8. The method for processing the vehicle speed fault of the electric vehicle as claimed in claim 7, wherein the specific steps of determining the current vehicle speed of the whole vehicle as the serious fault of vehicle speed signal loss, controlling the power interruption of the whole vehicle, and sending out the second alarm comprise:
judging that the current vehicle speed of the whole vehicle is a serious fault of vehicle speed signal loss, and sending a second alarm;
and setting the speed of the whole vehicle as a set limit speed so as to interrupt the power of the whole vehicle.
9. A system for processing a vehicle speed fault of an electric vehicle is characterized by comprising:
the electronic stability control system ESC is used for acquiring the wheel speed and the effective position of the wheel speed of each wheel on the whole vehicle;
the motor controller MCU is used for acquiring the rotating speed and the effective position of the rotating speed of each motor on the whole vehicle;
VCU of vehicle control unit for
Judging whether the current driving working condition of the whole vehicle is a two-wheel drive state or a four-wheel drive state;
if the vehicle speed is in the two-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective position of the wheel speed of each wheel on the non-driving shaft acquired by the electronic stability control system ESC;
if the vehicle speed is in the four-wheel drive state, judging whether the current vehicle speed of the whole vehicle is normal or not according to the effective positions of the wheel speeds of all wheels on all driving shafts, which are acquired by an electronic stability control system ESC;
if the vehicle speed is normal, the vehicle speed fault is not reported;
if the vehicle speed is abnormal, distinguishing the fault grade of the current vehicle speed of the whole vehicle according to the effective position of the rotating speed of the motor acquired by the motor controller MCU, setting the vehicle speed of the whole vehicle as the vehicle speed calculated according to the rotating speed of the motor and sending a first alarm according to the fault grade, or controlling the power interruption of the whole vehicle and sending a second alarm.
10. A computer storage medium, wherein the readable computer storage medium stores thereon a processing program of a vehicle speed fault of an electric vehicle, and when the processing program of the vehicle speed fault of the electric vehicle is executed by a processor, the steps of the method for processing the vehicle speed fault of the electric vehicle according to any one of claims 1 to 8 are implemented.
CN202110617686.9A 2021-05-31 2021-05-31 Method and system for processing speed fault of electric vehicle and computer storage medium Active CN113147406B (en)

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