阅读说明：本技术 车辆的车轮驱动状态监测方法、装置和车辆 (Wheel driving state monitoring method and device of vehicle and vehicle ) 是由 耿鹏辉 于 2021-09-17 设计创作，主要内容包括：本发明公开了一种车辆的车轮驱动状态监测方法、装置和车辆。所述方法包括：计算目标车轮的车轮加速度和所述车辆的整车实际加速度；根据所述车轮加速度与所述整车实际加速度的差值,得到所述目标车轮的车轮加速度差；根据所述车轮加速度差与预设的加速度差阈值的比较关系,监测所述目标车轮是否处于打滑驱动状态,当监测到所述目标车轮处于打滑驱动状态时,降低所述目标车轮所对应的电机的需求扭矩。采用本发明实施例的技术手段,能有效提高判断车轮是否打滑的精准性,从而提高对车辆的防滑控制的准确性,优化车辆的安全行驶性能。(The invention discloses a vehicle wheel driving state monitoring method and device and a vehicle. The method comprises the following steps: calculating wheel acceleration of a target wheel and actual vehicle acceleration of the vehicle; obtaining the wheel acceleration difference of the target wheel according to the difference value between the wheel acceleration and the actual acceleration of the whole vehicle; and monitoring whether the target wheel is in a slip driving state or not according to the comparison relation between the wheel acceleration difference and a preset acceleration difference threshold, and reducing the required torque of a motor corresponding to the target wheel when the target wheel is monitored to be in the slip driving state. By adopting the technical means of the embodiment of the invention, the accuracy of judging whether the wheel skids can be effectively improved, so that the accuracy of antiskid control on the vehicle is improved, and the safe driving performance of the vehicle is optimized.)

1. A wheel driving state monitoring method of a vehicle, characterized by comprising:

calculating wheel acceleration of a target wheel and actual vehicle acceleration of the vehicle;

obtaining the wheel acceleration difference of the target wheel according to the difference value between the wheel acceleration and the actual acceleration of the whole vehicle;

monitoring whether the target wheel is in a slip driving state or not according to the comparison relation between the wheel acceleration difference and a preset acceleration difference threshold value;

and when the target wheel is monitored to be in a slip driving state, reducing the required torque of the motor corresponding to the target wheel.

2. The wheel-drive-state monitoring method of a vehicle according to claim 1, wherein the calculating of the wheel acceleration of the target wheel specifically includes:

acquiring the motor rotating speed of the target wheel;

and calculating the wheel acceleration of the target wheel according to the motor rotating speed.

3. The wheel-drive-state monitoring method of a vehicle according to claim 2, wherein the wheel acceleration of the target wheel is calculated based on the motor rotation speed, specifically:

calculating the wheel acceleration of the target wheel according to the motor speed through the following calculation formula:

wherein Acal is the wheel acceleration, N is the motor rotation speed, R is the speed ratio of the vehicle, and R is the tire radius of the target wheel.

4. The wheel driving state monitoring method of a vehicle according to claim 1, wherein the calculating of the entire vehicle actual acceleration of the vehicle specifically includes:

acquiring a measured acceleration measured by an acceleration sensor of the vehicle; the acceleration sensor is used for measuring the acceleration of the whole vehicle of the vehicle;

and calculating the actual acceleration of the whole vehicle according to the measured acceleration.

5. The wheel driving state monitoring method of a vehicle according to claim 4, wherein the calculating the actual acceleration of the entire vehicle based on the measured acceleration is specifically:

according to the measured acceleration, calculating the actual acceleration of the whole vehicle through the following calculation formula:

Aact＝a×G；

wherein, Aact is the actual acceleration of the whole vehicle, a is the measured acceleration, and G is the acceleration of gravity.

6. A wheel driving state monitoring method for a vehicle according to claim 1, wherein said monitoring whether said target wheel is in a slip driving state based on a comparison of said wheel acceleration difference with a preset acceleration difference threshold value, specifically comprises:

when the wheel acceleration difference is larger than the preset acceleration difference threshold value, determining that the target wheel is in a slip driving state;

determining that the target wheel is not in a slip driving state when the wheel acceleration difference is equal to the preset acceleration difference threshold.

7. The method for monitoring a driving state of a wheel of a vehicle according to claim 1, wherein the reducing the required torque of the motor corresponding to the target wheel when the target wheel is monitored to be in the slip driving state specifically includes:

when the target wheel is monitored to be in a slip driving state, acquiring the current speed of the vehicle;

acquiring a torque adjustment value of a motor corresponding to the target wheel according to a preset corresponding relation among the vehicle speed, the wheel acceleration difference and the torque adjustment value; wherein, in the corresponding relation, the torque adjustment value and the vehicle speed are in a negative correlation relation, and the torque adjustment value and the wheel acceleration difference are in a positive correlation relation;

and reducing the required torque of the motor corresponding to the target wheel according to the torque adjusting value.

8. A wheel driving state monitoring apparatus of a vehicle, characterized by comprising:

the acceleration calculation module is used for calculating the wheel acceleration of a target wheel of the vehicle and the actual acceleration of the whole vehicle of the vehicle;

the acceleration difference calculation module is used for obtaining the wheel acceleration difference of the target wheel according to the difference value between the wheel acceleration and the actual acceleration of the whole vehicle;

the driving state monitoring module is used for monitoring whether the target wheel is in a slipping driving state or not according to the comparison relation between the wheel acceleration difference and a preset acceleration difference threshold value;

and the torque control module is used for reducing the required torque of the motor corresponding to the target wheel when the target wheel is monitored to be in a slip driving state.

9. A wheel driving state monitoring apparatus of a vehicle, characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the wheel driving state monitoring method of the vehicle according to any one of claims 1 to 7 when executing the computer program.

10. A vehicle characterized by comprising a wheel, and a wheel driving state monitoring device of the vehicle according to claim 8 or 9.

Technical Field

The invention relates to the technical field of vehicles, in particular to a vehicle and a method and a device for monitoring a wheel driving state of the vehicle.

Background

With the development of the automobile industry and economy, the use of automobiles is more and more popular. When the automobile runs at a high speed, if the road condition or the weather is severe, the wheels of the automobile are likely to slide violently, which affects the stability and the safety of the automobile in the running process.

Currently, the related art proposes some monitoring and control methods for the occurrence of skidding in a vehicle, for example, by comparing an actual wheel speed with a theoretical wheel speed to determine the skidding state of a wheel, and then adjusting the operating parameters of the vehicle to prevent skidding. However, the inventors found that the prior art has at least the following problems: the existing control method has the problems of inaccurate skid judgment, slow control response and the like, and some control methods are complex and have poor practicability and applicability.

Disclosure of Invention

The embodiment of the invention aims to provide a vehicle wheel driving state monitoring method and device and a vehicle, which can effectively improve the accuracy of judging whether a wheel skids, so that the accuracy of antiskid control on the vehicle is improved, and the acceleration performance of the vehicle is optimized.

In order to achieve the above object, an embodiment of the present invention provides a wheel driving state monitoring method for a vehicle, including:

calculating wheel acceleration of a target wheel and actual vehicle acceleration of the vehicle;

obtaining the wheel acceleration difference of the target wheel according to the difference value between the wheel acceleration and the actual acceleration of the whole vehicle;

monitoring whether the target wheel is in a slip driving state or not according to the comparison relation between the wheel acceleration difference and a preset acceleration difference threshold value;

and when the target wheel is monitored to be in a slip driving state, reducing the required torque of the motor corresponding to the target wheel.

As an improvement of the above scheme, the calculating of the wheel acceleration of the target wheel specifically includes:

acquiring the motor rotating speed of the target wheel;

and calculating the wheel acceleration of the target wheel according to the motor rotating speed.

As an improvement of the above scheme, the calculating the wheel acceleration of the target wheel according to the motor rotation speed specifically includes:

calculating the wheel acceleration of the target wheel according to the motor speed through the following calculation formula:

wherein Acal is the wheel acceleration, N is the motor rotation speed, R is the speed ratio of the vehicle, and R is the tire radius of the target wheel.

As an improvement of the above scheme, the calculating of the actual acceleration of the whole vehicle specifically includes:

acquiring a measured acceleration measured by an acceleration sensor of the vehicle; the acceleration sensor is used for measuring the acceleration of the whole vehicle of the vehicle;

and calculating the actual acceleration of the whole vehicle according to the measured acceleration.

As an improvement of the above scheme, the calculating the actual acceleration of the entire vehicle according to the measured acceleration specifically includes:

according to the measured acceleration, calculating the actual acceleration of the whole vehicle through the following calculation formula:

Aact＝a×G；

wherein, Aact is the actual acceleration of the whole vehicle, a is the measured acceleration, and G is the acceleration of gravity.

As an improvement of the above scheme, the monitoring whether the target wheel is in a slip driving state according to a comparison relationship between the wheel acceleration difference and a preset acceleration difference threshold specifically includes:

when the wheel acceleration difference is larger than the preset acceleration difference threshold value, determining that the target wheel is in a slip driving state;

determining that the target wheel is not in a slip driving state when the wheel acceleration difference is equal to the preset acceleration difference threshold.

As an improvement of the above scheme, when it is monitored that the target wheel is in a slip driving state, reducing a required torque of a motor corresponding to the target wheel specifically includes:

when the target wheel is monitored to be in a slip driving state, acquiring the current speed of the vehicle;

acquiring a torque adjustment value of a motor corresponding to the target wheel according to a preset corresponding relation among the vehicle speed, the wheel acceleration difference and the torque adjustment value; wherein, in the corresponding relation, the torque adjustment value and the vehicle speed are in a negative correlation relation, and the torque adjustment value and the wheel acceleration difference are in a positive correlation relation;

and reducing the required torque of the motor corresponding to the target wheel according to the torque adjusting value.

An embodiment of the present invention further provides a wheel driving state monitoring device for a vehicle, including:

the acceleration calculation module is used for calculating the wheel acceleration of a target wheel of the vehicle and the actual acceleration of the whole vehicle of the vehicle;

the acceleration difference calculation module is used for obtaining the wheel acceleration difference of the target wheel according to the difference value between the wheel acceleration and the actual acceleration of the whole vehicle;

the driving state monitoring module is used for monitoring whether the target wheel is in a slipping driving state or not according to the comparison relation between the wheel acceleration difference and a preset acceleration difference threshold value;

and the torque control module is used for reducing the required torque of the motor corresponding to the target wheel when the target wheel is monitored to be in a slip driving state.

The embodiment of the invention also provides a wheel driving state monitoring device of a vehicle, which comprises a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to realize the wheel driving state monitoring method of the vehicle.

The embodiment of the invention also provides a vehicle, which comprises wheels and the wheel driving state monitoring device of the vehicle.

Compared with the prior art, the method and the device for monitoring the wheel driving state of the vehicle and the vehicle disclosed by the embodiment of the invention have the advantages that the wheel acceleration generated by the rotation of the wheel is calculated by detecting the motor rotating speeds of the front wheel and the rear wheel of the vehicle in real time, so that the accuracy of calculating the wheel acceleration can be improved; the acceleration of the whole vehicle is detected through the acceleration sensor, and then the slipping condition of the vehicle is judged according to the difference value of the wheel rotating speed and the actual acceleration of the whole vehicle, so that the slipping condition of the vehicle can be monitored more accurately. And when the target wheel is in a slipping state, combining the current speed of the vehicle to obtain a proper torque adjustment value so as to reduce the required torque of the motor corresponding to the wheel in the slipping state. The slipping condition of the target wheel can be effectively reduced or even eliminated by reducing the required torque of the wheel-side motor. In addition, the embodiment of the invention is suitable for the condition that the double high-power driving motors slip on a single shaft or both the front wheel and the rear wheel, can quickly respond to anti-slip control when the wheels slip, effectively ensures the safety and the stability of the vehicle, and further ensures the driving safety of users.

Drawings

Fig. 1 is a schematic flow chart of a wheel driving state monitoring method for a vehicle according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a preferred method of monitoring the driving state of the wheels of a vehicle in accordance with an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a wheel driving state monitoring device of a vehicle according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a wheel driving state monitoring device of another vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.

Fig. 1 is a schematic flow chart of a method for monitoring a driving state of a wheel of a vehicle according to an embodiment of the present invention. In order to effectively monitor the condition that single-axle slip or double-axle simultaneous slip occurs in large throttle driving, the wheel driving state monitoring method for the vehicle provided by the embodiment of the invention specifically executes the following steps from S11 to S14:

and S11, calculating the wheel acceleration of the target wheel and the actual acceleration of the whole vehicle of the vehicle.

And S12, obtaining the wheel acceleration difference of the target wheel according to the difference value between the wheel acceleration and the actual acceleration of the whole vehicle.

And S13, monitoring whether the target wheel is in a slip driving state or not according to the comparison relation between the wheel acceleration difference and a preset acceleration difference threshold value.

The target wheel is a front wheel or a rear wheel of the vehicle.

In the embodiment of the invention, the slip working condition of the wheel is judged by detecting the acceleration generated when the wheel of the vehicle rotates and the actual acceleration of the whole vehicle of the vehicle in real time and acquiring the difference value of the acceleration of the wheel and the actual acceleration of the whole vehicle, so that whether each wheel of the vehicle is in a slip state can be quickly and accurately judged.

And S14, when the target wheel is monitored to be in a slip driving state, reducing the required torque of the motor corresponding to the target wheel.

In the embodiment of the invention, if the target wheel is in a slipping state, the required torque of the motor corresponding to the wheel in the slipping state is reduced. The slipping condition of the target wheel can be effectively reduced or even eliminated by reducing the required torque of the wheel-side motor.

By adopting the technical means of the embodiment of the invention, the skidding condition of the vehicle can be more accurately monitored, so that the antiskid control can be rapidly carried out when the skidding condition occurs, the safety and the stability of the vehicle are effectively ensured, and the driving safety of a user is ensured.

Specifically, referring to fig. 2, a flow chart of a method for monitoring a driving state of a wheel of a vehicle according to an embodiment of the present invention is schematically shown. In step S11, the calculating of the wheel acceleration of the target wheel specifically includes:

and S111, acquiring the motor rotating speed of the target wheel.

And S112, calculating the wheel acceleration of the target wheel according to the motor rotating speed.

It should be noted that the vehicle according to the embodiment of the present invention is configured as a vehicle in which both front and rear wheels have high-power motors, and the wheel acceleration of the target wheel is calculated by acquiring the motor rotation speed of the target wheel.

Specifically, the motor rotation speed is obtained through a motor controller corresponding to the wheel motor, and the motor rotation speed of the target wheel is obtained through obtaining a motor rotation speed signal sent by the motor controller.

After calculating the motor rotation speed, fixed parameter information of the vehicle is obtained, wherein the fixed parameter information comprises a speed ratio R of the vehicle and a tire radius R of the target wheel. Further, the wheel acceleration of the target wheel is calculated from the motor speed N, the speed ratio R of the vehicle, and the tire radius R of the target wheel by the following calculation formula:

wherein Acal is the wheel acceleration, N is the motor rotation speed, R is the speed ratio of the vehicle, and R is the tire radius of the target wheel.

As a preferred embodiment, after calculating the wheel acceleration of the target wheel of the vehicle, the method further includes:

and smoothing the acceleration of the wheel by adopting a preset low-pass filter.

It should be noted that, the smoothing operation may adopt a data smoothing method in the prior art, such as a simple averaging method, and is not limited in particular herein.

By adopting the technical means of the embodiment of the invention, the interference signals can be effectively filtered and the accuracy of calculating the wheel acceleration is improved by smoothly filtering the wheel acceleration obtained by calculation.

It should be noted that, in addition to calculating the wheel acceleration of the target wheel by adopting the steps of steps S111 to S112, the wheel acceleration may also be obtained by obtaining the current wheel speed of the target wheel, converting the wheel speed into the vehicle speed, and then performing inverse calculation on the vehicle speed; other algorithms can be adopted to calculate the wheel acceleration, and the beneficial effects of the invention are not influenced.

Further, referring to fig. 2, in step S11, the calculating an actual vehicle acceleration of the vehicle specifically includes:

s113, acquiring the measured acceleration measured by the acceleration sensor of the vehicle; the acceleration sensor is used for measuring the acceleration of the whole vehicle of the vehicle;

and S114, calculating the actual acceleration of the whole vehicle according to the measured acceleration.

In the embodiment of the invention, the acceleration sensor is arranged on the vehicle and is used for measuring the acceleration of the whole vehicle of the vehicle. And obtaining the measured acceleration by acquiring an acceleration signal returned after the acceleration sensor measures.

The unit of the acceleration measured by the acceleration sensor is g, and therefore, it is necessary to further convert the measured acceleration into a unit of m/s²Actual acceleration of the whole vehicle.

According to the measured acceleration a, calculating the actual acceleration of the whole vehicle through the following calculation formula:

Aact＝a×G；

wherein, Aact is the actual acceleration of the whole vehicle, a is the measured acceleration, G is the acceleration of gravity, and G is 9.8G.

In step S12, a wheel acceleration difference Δ a of the target wheel is calculated from the wheel acceleration Acal and the vehicle actual acceleration Aact.

Specifically, step S13 specifically executes through steps S131 to S132:

s131, when the wheel acceleration difference is larger than the preset acceleration difference threshold value, determining that the target wheel is in a slip driving state.

And S132, when the wheel acceleration difference is equal to the preset acceleration difference threshold value, determining that the target wheel is not in a slip driving state.

By presetting an acceleration difference threshold value delta A₀For characterizing a reasonable range of said wheel acceleration difference. When the wheel acceleration difference is larger than the preset acceleration difference threshold value, namely delta A>ΔA₀And when the target wheel is in the slipping state, the wheel acceleration difference is abnormal. When the wheel acceleration difference approaches the preset acceleration difference threshold value, namely delta A is approximately equal to delta A₀And if so, indicating that the acceleration difference of the wheels is normal and the target wheel is in a normal driving state currently.

Preferably, the acceleration difference threshold Δ a₀＝0。

By adopting the technical means of the embodiment of the invention, the wheel acceleration generated by the rotation of the wheel is calculated by detecting the rotating speeds of the front wheel motor and the rear wheel motor of the vehicle in real time, so that the accuracy of calculating the wheel acceleration can be improved; the acceleration sensor is used for detecting the acceleration of the whole vehicle, and then the skid working condition of the vehicle is judged according to the difference value of the rotating speed of the wheel and the actual acceleration of the whole vehicle, so that the skid condition of the vehicle can be monitored more accurately, the skid-proof control is rapidly carried out when the skid condition occurs, the safety and the stability of the vehicle are effectively guaranteed, and the driving safety of a user is guaranteed.

Specifically, step S14 specifically executes through steps S141 to S143:

s141, when the target wheel is monitored to be in a slip driving state, acquiring the current speed of the vehicle;

s142, acquiring torque adjustment of a motor corresponding to the target wheel according to a preset corresponding relation among the vehicle speed, the wheel acceleration difference and the torque adjustment value;

and S143, reducing the required torque of the motor corresponding to the target wheel according to the torque adjusting value.

In the embodiment of the invention, the corresponding relation among the vehicle speed, the wheel acceleration difference and the torque adjusting value of the vehicle is preset and stored. When the vehicle speed of the vehicle is obtained, and the wheel acceleration difference is obtained through calculation, a corresponding torque adjustment value can be obtained through inquiry according to the two parameter values and is used as an adjustment step length for reducing the required torque of the corresponding motor.

It should be noted that the correspondence relationship between the vehicle speed, the wheel acceleration difference, and the torque adjustment value is obtained by a preliminary test for a vehicle of a specific vehicle type. The vehicle speed is adjusted according to the torque adjustment value, and the vehicle speed is adjusted according to the torque adjustment value.

For example, see table 1, which is a table of correspondence relationships between a vehicle type and preset vehicle speeds, wheel acceleration differences, and torque adjustment values. Wherein the horizontal axis represents the vehicle speed V (km/h) and the vertical axis represents the wheel acceleration difference Delta A (m/s)²) (ii) a The torque adjustment upper limit value is 720N · m.

By way of example, an acceleration difference threshold Δ A is set₀And when the acceleration difference delta A calculated corresponding to the target wheel of the vehicle is 0.6, determining that the target wheel is in a slipping state, acquiring the current vehicle speed of the vehicle, and if the current vehicle speed is 70km/h and the torque adjustment value obtained by corresponding to the table lookup 1 is 180N m, reducing the required torque of the motor corresponding to the target wheel by 180N m. That is, assuming that the current base torque of the motor is 1000N · m, the adjusted torque is 1000 and 180 equals 820N · m.

And adjusting the required torque of the motor corresponding to the target wheel until the acceleration difference of the wheel approaches the acceleration difference threshold value, so that the whole vehicle does not slip, and the acceleration performance of the whole vehicle is good.

It can be understood that the specific values referred to in the above scenarios are only examples, and in practical applications, the correspondence table may be obtained according to a test of an actual condition of the vehicle, and the torque adjustment of the motor corresponding to the slipping wheel is implemented.

By adopting the technical means of the embodiment of the invention, the wheel acceleration generated by the rotation of the wheel is calculated by detecting the rotating speeds of the front wheel motor and the rear wheel motor of the vehicle in real time, so that the accuracy of calculating the wheel acceleration can be improved; the acceleration of the whole vehicle is detected through the acceleration sensor, and then the slipping condition of the vehicle is judged according to the difference value of the wheel rotating speed and the actual acceleration of the whole vehicle, so that the slipping condition of the vehicle can be monitored more accurately. And when the target wheel is in a slipping state, combining the current speed of the vehicle to obtain a proper torque adjustment value so as to reduce the required torque of the motor corresponding to the wheel in the slipping state. The slipping condition of the target wheel can be effectively reduced or even eliminated by reducing the required torque of the wheel-side motor. In addition, the embodiment of the invention is suitable for the condition that the double high-power driving motors slip on a single shaft or both the front wheel and the rear wheel, can quickly respond to anti-slip control when the wheels slip, effectively ensures the safety and the stability of the vehicle, and further ensures the driving safety of users.

Fig. 3 is a schematic structural diagram of a wheel driving state monitoring device for a vehicle according to an embodiment of the present invention. An embodiment of the present invention provides a wheel driving state monitoring device 20 for a vehicle, including: an acceleration calculation module 21, an acceleration difference calculation module 22, a driving state monitoring module 23, and a torque control module 24, wherein,

the acceleration calculation module 21 is configured to calculate a wheel acceleration of a target wheel of the vehicle and an actual vehicle acceleration of the vehicle.

The acceleration difference calculating module 22 is configured to obtain a wheel acceleration difference of the target wheel according to a difference between the wheel acceleration and the actual acceleration of the entire vehicle.

The driving state monitoring module 23 is configured to monitor whether the target wheel is in a slip driving state according to a comparison relationship between the wheel acceleration difference and a preset acceleration difference threshold.

The torque control module 24 is configured to reduce a required torque of a motor corresponding to the target wheel when it is monitored that the target wheel is in a slip driving state.

In the embodiment of the invention, the slip working condition of the wheel is judged by detecting the acceleration generated when the wheel of the vehicle rotates and the actual acceleration of the whole vehicle of the vehicle in real time and acquiring the difference value between the acceleration of the wheel and the actual acceleration of the whole vehicle, so that whether each wheel of the vehicle is in a slip state can be quickly and accurately judged.

And if the target wheel is in a slipping state, reducing the required torque of the motor corresponding to the wheel in the slipping state. The slipping condition of the target wheel can be effectively reduced or even eliminated by reducing the required torque of the wheel-side motor.

By adopting the technical means of the embodiment of the invention, the skidding condition of the vehicle can be more accurately monitored, so that the antiskid control can be rapidly carried out when the skidding condition occurs, the safety and the stability of the vehicle are effectively ensured, and the driving safety of a user is ensured.

As a preferred embodiment, the acceleration calculating module 21 is specifically configured to:

acquiring the motor rotating speed of the target wheel;

calculating the wheel acceleration of the target wheel according to the motor speed through the following calculation formula:

wherein Acal is the wheel acceleration, N is the motor rotation speed, R is the speed ratio of the vehicle, and R is the tire radius of the target wheel.

Acquiring a measured acceleration measured by an acceleration sensor of the vehicle; the acceleration sensor is used for measuring the acceleration of the whole vehicle of the vehicle;

according to the measured acceleration, calculating the actual acceleration of the whole vehicle through the following calculation formula:

Aact＝a×G；

wherein, Aact is the actual acceleration of the whole vehicle, a is the measured acceleration, and G is the acceleration of gravity.

As a preferred embodiment, the driving state monitoring module 23 is specifically configured to:

when the wheel acceleration difference is larger than the preset acceleration difference threshold value, determining that the target wheel is in a slip driving state;

determining that the target wheel is not in a slip driving state when the wheel acceleration difference is equal to the preset acceleration difference threshold.

In a preferred embodiment, the torque control module 24 is specifically configured to:

when the target wheel is monitored to be in a slip driving state, acquiring the current speed of the vehicle;

acquiring a torque adjustment value of a motor corresponding to the target wheel according to a preset corresponding relation among the vehicle speed, the wheel acceleration difference and the torque adjustment value; wherein, in the corresponding relation, the torque adjustment value and the vehicle speed are in a negative correlation relation, and the torque adjustment value and the wheel acceleration difference are in a positive correlation relation;

and reducing the required torque of the motor corresponding to the target wheel according to the torque adjusting value.

It should be noted that the wheel driving state monitoring apparatus for a vehicle according to the embodiment of the present invention is used for executing all the process steps of the wheel driving state monitoring method for a vehicle according to the embodiment, and the working principles and beneficial effects of the two are in one-to-one correspondence, so that details are not repeated.

Fig. 4 is a schematic structural diagram of another wheel driving state monitoring device for a vehicle according to an embodiment of the present invention. The embodiment of the present invention provides a wheel driving state monitoring device 30 of a vehicle, which includes a processor 31, a memory 32, and a computer program stored in the memory and configured to be executed by the processor, and the processor executes the computer program to implement the wheel driving state monitoring method of the vehicle provided in the above embodiment.

The embodiment of the invention also provides a vehicle, which comprises wheels and the wheel driving state monitoring device of the vehicle provided by the embodiment.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), or the like.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.