Vehicle control method and device, electric drive assembly equipment and vehicle

Abstract

The invention relates to a vehicle control method and device, electric drive assembly equipment and a vehicle, the electric drive assembly equipment comprises an electric drive box body, a high-voltage domain controller assembly and a motor assembly, the high-voltage domain controller assembly and the motor assembly are located in the electric drive box body, and the high-voltage domain controller assembly comprises a high-voltage domain control system, a power inversion module and a motor drive module; the high-voltage domain control system is connected with the power inversion module and is used for determining first control information of the motor assembly; the power inversion module is connected with the motor assembly and is used for controlling the motor assembly based on the first control information; the high-pressure domain control system is connected with the motor driving module and a sensor group of the hydraulic pump system, and is used for determining second control information of a motor module of the hydraulic pump system based on sensor data collected by the sensor group of the hydraulic pump system; the motor driving module is connected with the motor module and used for controlling the motor module of the hydraulic pump system based on the second control information. In this way, the lightweight and integration level of the vehicle can be improved, and the complexity of a vehicle system architecture is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automobiles, and particularly relates to a control method and device for a vehicle, an electric drive assembly device, and a vehicle. Background Art

[0002] In traditional vehicles, a hydraulic pump system is usually arranged in a hydraulic suspension system, and the hydraulic suspension system and the electric drive assembly device are usually provided by different suppliers, so that the hydraulic pump system and the electric drive assembly device are separately and independently arranged in the vehicle, which not only occupies a large amount of space in the vehicle, but also makes the system architecture of the vehicle complex, further increasing the production cost of the vehicle. Summary of the Invention

[0003] One of the purposes of the present application is to provide an electric drive assembly device to solve the problems that the hydraulic pump system and the electric drive assembly device in the prior art occupy a large amount of space in the vehicle due to being separately and independently arranged in the vehicle, and increase the production cost of the vehicle; the second purpose is to provide a control method for a vehicle; the third purpose is to provide a control device for a vehicle; the fourth purpose is to provide a vehicle.

[0004] To achieve the above purposes, the technical solutions adopted in the present application are as follows:

[0005] An electric drive assembly device is applied to a vehicle. The electric drive assembly device includes an electric drive box body, a high-voltage domain controller assembly and a motor assembly arranged in the electric drive box body. The high-voltage domain controller assembly includes a high-voltage domain control system, a power inverter module and a motor drive module, wherein: the high-voltage domain control system is connected to the power inverter module and is used to determine first control information of the motor assembly; the power inverter module is connected to the motor assembly and is used to control the motor assembly based on the first control information; the high-voltage domain control system is further connected to the motor drive module and a sensor group of the hydraulic pump system, and is used to determine second control information of the motor module of the hydraulic pump system based on sensor data collected by the sensor group of the hydraulic pump system; the motor drive module is connected to the motor module of the hydraulic pump system and is used to control the motor module of the hydraulic pump system based on the second control information.

[0006] According to the above technical means, on the one hand, the hydraulic suspension system is disassembled, and the motor drive module of the core module hydraulic pump system in the hydraulic suspension system is integrated into the high-voltage domain controller assembly of the original electric drive assembly equipment of the vehicle, so that the motor drive module can share some circuit resources with the power inverter module of the original electric drive assembly equipment, realizing the reuse of circuit resources in the high-voltage domain control system, reducing the production cost of the vehicle while reducing the integration difficulty of integrating the hydraulic pump system into the original electric drive assembly equipment; on the other hand, the sensor group of the hydraulic pump system is directly connected to the high-voltage domain control system, so that the high-voltage domain control system can control the motor module of the hydraulic pump system through the sensor data of the sensor group of the hydraulic pump system, realizing that the high-voltage domain control system can control the motor assembly and the motor module in the hydraulic pump system at the same time, improving the lightweight and integration of the vehicle, reducing the complexity of the vehicle system architecture, and further reducing the production cost of the vehicle.

[0007] Furthermore, the sensor group of the hydraulic pump system and / or the motor module of the hydraulic pump system are located in the electric drive box.

[0008] According to the above technical means, on the one hand, setting the sensor group and / or the motor module of the hydraulic pump system in the electric drive assembly box not only simplifies the wiring structure of the vehicle, reduces extra wire harnesses and interfaces, improves the integration and safety of the vehicle, and reduces the production cost of the vehicle. On the other hand, since the distance between the sensor group and the motor module and the high-voltage domain controller assembly is relatively close, the communication duration between the sensor group and the motor module and the high-voltage domain controller assembly respectively is reduced, which not only improves the response speed of the vehicle, but also improves the system reliability of the vehicle.

[0009] Furthermore, when the sensor group of the hydraulic pump system and the motor module of the hydraulic pump system are fixed in the hydraulic pump box, the electric drive assembly equipment further includes a low-voltage interface module located on the electric drive box. The low-voltage interface module includes a first communication interface and a second communication interface, where: the first communication interface is used to establish a connection between the motor drive module and the motor module of the hydraulic pump system; the second communication interface is used to establish a connection between the high-voltage domain control system and the sensor group of the hydraulic pump system.

[0010] According to the above technical means, by setting a low-voltage interface module on the electric drive housing of the electric drive assembly and configuring a first communication interface and a second communication interface, efficient communication between the hydraulic pump system and the high-voltage domain controller assembly is achieved. In this way, the stability and reliability of data transmission between the motor drive module and the motor module of the hydraulic pump system, as well as between the high-voltage domain control system and the sensor group of the hydraulic pump system, can be ensured, so as to integrate the motor module and the sensor group of the hydraulic pump system into the electric drive assembly device. At the same time, the motor drive module and the electric drive assembly device share their original high-voltage domain controller assembly, reducing the production cost of the vehicle and improving the integration degree of the vehicle.

[0011] Furthermore, the high-voltage domain control system further includes a sampling circuit, where: the sampling circuit is used to convert the sensor data collected by the sensor group of the hydraulic pump system into target data; the high-voltage domain control system is further used to determine the second control information of the motor module of the hydraulic pump system based on the target data.

[0012] According to the above technical means, by introducing a sampling circuit into the high-voltage domain control system, not only can the complexity of the peripheral circuit be reduced and the transmission efficiency of sensor data be improved, but also the electromagnetic interference during the signal transmission process can be reduced, and the transmission quality of sensor data can be improved, thereby improving the credibility of the second control information, and further enabling precise control of the motor module.

[0013] Furthermore, the high-voltage domain control system includes a first interface, where: the first interface is used to connect with the second interface of the motor drive module to establish a connection between the high-voltage domain control system and the motor drive module.

[0014] According to the above technical means, by adding a first interface to the high-voltage domain control system and connecting it to the second interface of the motor drive module, communication between the high-voltage domain control system and the motor drive module can be achieved, enabling the motor drive module to obtain the second control information sent by the high-voltage domain control system, and thus enabling precise control of the motor module.

[0015] Furthermore, the electric drive assembly device further includes a filter and wire-splitting module located in the electric drive housing, where: the filter and wire-splitting module is respectively connected to the high-voltage battery pack and the power inverter module, and is used to convert the output voltage of the high-voltage battery pack into a first voltage adapted to the first power supply demand based on the first power supply demand of the power inverter module to provide the first voltage for the power inverter module; the filter and wire-splitting module is also connected to the motor drive module, and is further used to convert the output voltage of the high-voltage battery pack into a second voltage adapted to the second power supply demand based on the second power supply demand of the motor drive module to provide the second voltage for the motor drive module.

[0016] According to the above technical means, by integrating a filtering and wire-splitting module inside the electric drive assembly, the output voltage of the high-voltage battery pack can be intelligently distributed to the power inverter module and the motor drive module, realizing that the motor drive module and the power inverter module share the same input power supply. This can effectively solve problems such as voltage mismatch and complex wiring in traditional independent power supply solutions, simplify the vehicle's electrical architecture, improve the vehicle's integration level, and reduce the vehicle's production cost.

[0017] Furthermore, the filtering and wire-splitting module includes a third interface, where: the third interface is used to connect to the fourth interface of the motor drive module to establish a connection between the filtering and wire-splitting module and the motor drive module.

[0018] According to the above technical means, by adding a third interface to the filtering and wire-splitting module and connecting it to the fourth interface of the motor drive module, communication between the filtering and wire-splitting module and the motor drive module can be achieved. In this way, the motor drive module can obtain the second voltage sent by the filtering and wire-splitting module, thereby ensuring the normal operation of the motor module.

[0019] Furthermore, the high-voltage domain control system is also connected to the vehicle's chassis domain controller, and is used to obtain the vehicle's status data from the chassis domain controller; based on the vehicle's status data and the sensor data collected by the sensor group of the hydraulic pump system, determine the second control information.

[0020] According to the above technical means, through the connection between the chassis domain controller and the high-voltage domain control system, the vehicle's status data and the sensor data collected by the sensor group of the hydraulic pump system are fused and processed, improving the accuracy of the second control information. Thus, the control accuracy of the motor module of the hydraulic pump system is improved, and further, the response speed and accuracy of the hydraulic suspension system for adjusting the vehicle body posture can be enhanced, achieving the purpose of effectively enhancing the vehicle's handling stability and riding comfort under complex road conditions.

[0021] Furthermore, the high-voltage domain control system includes a third communication interface, where: the third communication interface is used to connect to the fourth communication interface of the chassis domain controller to establish a connection between the chassis domain controller and the high-voltage domain control system.

[0022] According to the above technical means, by adding a third communication interface to the high-voltage domain control system and connecting it to the fourth communication interface of the chassis domain controller, communication between the high-voltage domain control system and the chassis domain controller can be achieved, enabling the high-voltage domain control system to obtain the vehicle's status data from the chassis domain controller, thereby generating the second control information suitable for the current vehicle's current working condition and improving the calculation accuracy of the second control information.

[0023] A control method for a vehicle, the vehicle including the electric drive assembly device of any one of the above, comprising: determining first control information of the motor assembly; controlling the motor assembly based on the first control information; determining second control information of the motor module of the hydraulic pump system based on sensor data collected by the sensor group of the hydraulic pump system; and controlling the motor module of the hydraulic pump system based on the second control information.

[0024] According to the above technical means, on the one hand, the control method of the vehicle is applied to the electric drive assembly device, and the motor drive module of the hydraulic pump system is integrated in the high-voltage domain controller assembly of the electric drive assembly device, so that the motor drive module can share some circuit resources with the power inverter module of the original electric drive assembly device, realizing the reuse of circuit resources in the high-voltage domain control system, reducing the production cost of the vehicle and the integration difficulty of integrating the hydraulic pump system into the original electric drive assembly device at the same time; on the other hand, the high-voltage domain control system in the electric drive assembly device is directly connected to the sensor group of the hydraulic pump system, so that the high-voltage domain control system can control the motor module of the hydraulic pump system through the sensor data of the sensor group of the hydraulic pump system, realizing that the high-voltage domain control system can control the motor assembly and the motor module of the hydraulic pump system at the same time, improving the lightweight and integration of the vehicle, reducing the complexity of the vehicle system architecture, and further reducing the production cost of the vehicle.

[0025] Further, determining the second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group of the hydraulic pump system includes: obtaining the state data of the vehicle from the chassis domain controller of the vehicle; and determining the second control information of the motor module of the hydraulic pump system based on the state data of the vehicle and the sensor data collected by the sensor group of the hydraulic pump system.

[0026] According to the above technical means, using the state data of the vehicle and the sensor data collected by the sensor group together to determine the second control information, compared with the traditional method of only relying on the sensor data collected by the sensor group of the hydraulic pump system to determine the second control information, realizes the fusion processing of multi-source data, so that the finally determined second control information can be adapted to the current driving state of the vehicle, improving the credibility of the second control information, and thus enabling precise control of the motor module of the hydraulic pump system.

[0027] A control device for a vehicle, the vehicle including the electric drive assembly device of any one of the above, the control device including: a determination module for determining first control information of the motor assembly; a control module for controlling the motor assembly based on the first control information; a determination module for further determining second control information of the motor module of the hydraulic pump system based on sensor data collected by the sensor group of the hydraulic pump system; and a control module for further controlling the motor module of the hydraulic pump system based on the second control information.

[0028] A vehicle, comprising any one of the above electric drive assembly devices.

[0029] Advantages of the present application:

[0030] 1. The hydraulic suspension system is disassembled, and the motor drive module of the core module hydraulic pump system in the hydraulic suspension system is integrated into the high-voltage domain controller assembly of the original electric drive assembly device of the vehicle, so that the motor drive module can share some circuit resources with the power inverter module of the original electric drive assembly device, realizing the reuse of circuit resources in the high-voltage domain control system, reducing the production cost of the vehicle while reducing the integration difficulty of integrating the hydraulic pump system into the original electric drive assembly device.

[0031] 2. The sensor group of the hydraulic pump system is directly connected to the high-voltage domain control system, so that the high-voltage domain control system can control the motor module of the hydraulic pump system through the sensor data of the sensor group of the hydraulic pump system, realizing that the high-voltage domain control system can control the motor assembly and the motor module in the hydraulic pump system at the same time, improving the lightweight and integration of the vehicle, reducing the complexity of the vehicle system architecture, and further reducing the production cost of the vehicle.

[0032] 3. The sensor group and / or motor module of the hydraulic pump system are arranged in the electric drive assembly box, which not only simplifies the wiring structure of the vehicle, but also reduces additional wiring harnesses and interfaces.

[0033] 4. Since the distance between the sensor group and the motor module and the high-voltage domain controller assembly is relatively short, the communication time between the sensor group and the motor module and the high-voltage domain controller assembly respectively is reduced, which not only improves the response speed of the vehicle, but also improves the system reliability of the vehicle.

[0034] 5. By integrating a filter and wire-splitting module inside the electric drive assembly, the output voltage of the high-voltage battery pack can be intelligently distributed to the power inverter module and the motor drive module. Through this setting, the motor drive module of the hydraulic pump system and the power inverter module in the electric drive assembly system share the same input power supply, which can effectively solve problems such as voltage mismatch and complex wiring in traditional independent power supply schemes.

[0035] 6. The state data of the vehicle and the sensor data collected by the sensor group are jointly used in the determination process of the second control information in the present application, realizing the fusion processing of multi-source data, so that the finally determined second control information can be adapted to the current driving state of the vehicle, improving the credibility of the second control information, and thus realizing the precise control of the motor module of the hydraulic pump system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic implementation of an electric drive assembly device proposed in the present application Figure One ;

[0037] Figure 2 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Two ;

[0038] Figure 3 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Three ;

[0039] Figure 4 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Four ;

[0040] Figure 5 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Five ;

[0041] Figure 6 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Six ;

[0042] Figure 7 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Seven ;

[0043] Figure 8 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Eight ;

[0044] Figure 9 Schematic diagram of the implementation process of a vehicle control method proposed in this application;

[0045] Figure 10 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Nine ;

[0046] Figure 11 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Ten ;

[0047] Figure 12 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Ten One;

[0048] Figure 13 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Ten Two;

[0049] Figure 14 Schematic diagram of the implementation of an electric drive assembly device proposed in this application Figure Ten Three;

[0050] Figure 15Schematic diagram of the composition structure of a control device for a vehicle proposed in this application.

[0051] Among them, 1 - electric drive housing, 100 - electric drive assembly equipment, 140 - kernel, 141 - kernel, 142 - kernel, 143 - kernel, 144 - kernel, 145 - kernel, 2 - high - voltage domain controller assembly, 21 - high - voltage domain control system, 22 - power inverter module, 23 - motor drive module, 3 - motor assembly, 31 - first hydraulic pump chamber, 311 - target connection component, 32 - second hydraulic pump chamber, 33 - third hydraulic pump chamber, 34 - fourth hydraulic pump chamber, 4 - hydraulic pump housing, 41 - sensor group, 411 - hydraulic pump oil pressure sensor, 412 - hydraulic pump oil temperature sensor, 42 - motor module, 421 - right hydraulic pump motor, 422 - left hydraulic pump motor, 400 - mechanical part of the hydraulic pump system, 5 - filtering and wiring module, 6 - high - voltage battery pack, 7 - chassis domain controller, 8 - reducer. Specific embodiments

[0052] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for explaining the present invention, rather than for limiting the protection scope of the present invention.

[0053] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0054] An embodiment of this application provides an electric drive assembly equipment, which is applied to a vehicle, as Figure 1 and as Figure 2 shown, the electric drive assembly equipment includes an electric drive housing 1, a high - voltage domain controller assembly 2 and a motor assembly 3 arranged in the electric drive housing 1. The high - voltage domain controller assembly 2 includes a high - voltage domain control system 21, a power inverter module 22 and a motor drive module 23, wherein:

[0055] The high - voltage domain control system 21 is connected to the power inverter module 22 and is used to determine the first control information of the motor assembly 3;

[0056] The power inverter module 22 is connected to the motor assembly 3 and is used to control the motor assembly based on the first control information;

[0057] The high-voltage domain control system 21 is also connected to the motor drive module 23 and the sensor group 41 of the hydraulic pump system, and is configured to determine the second control information of the motor module 42 of the hydraulic pump system based on the sensor data collected by the sensor group 41 of the hydraulic pump system.

[0058] The motor drive module 23 is connected to the motor module 42 of the hydraulic pump system, and is configured to control the motor module 42 of the hydraulic pump system based on the second control information.

[0059] Here, the electric drive assembly is one of the key components in electric vehicles and hybrid vehicles. It integrates an electric motor, an inverter, a reducer, a controller, and other components. The function of the electric drive assembly is to convert electrical energy into mechanical energy to drive the vehicle.

[0060] The high-voltage domain controller assembly refers to the control system integrated inside the electric drive assembly, which is responsible for coordinating the operation control of the motor assembly and the hydraulic pump system, and includes core components such as the high-voltage domain control system, the power inverter module, and the motor drive module, and has the ability to process high-voltage signals and complex control logic.

[0061] The power inverter module is configured to control the motor assembly through the received electrical energy and control information.

[0062] The motor drive module is configured to control the motor module in the hydraulic pump system through the received electrical energy and control information.

[0063] The motor assembly is the core execution component for power output, which directly determines the driving performance, energy efficiency, and driving experience of the vehicle. It is mainly composed of components such as the motor body and sensors, and drives the vehicle by converting electrical energy into mechanical energy. The hydraulic pump system is the core module of the hydraulic suspension system, providing key power support and hydraulic medium circulation for the normal operation of the hydraulic suspension system.

[0064] In some embodiments, the first control information may include one or more of the following information: motor speed, motor torque, drive current, drive voltage, etc.

[0065] In some embodiments, the power inverter module controls the operation of the motor assembly based on the first control information.

[0066] In some embodiments, the first control information may be determined based on the current driving state of the vehicle, the first control information may be determined based on the control instructions issued by the driver of the vehicle, and the first control information may also be determined based on the current driving scenario of the vehicle; the first control information may also be determined based on the first sensing data collected by the sensors in the electric drive assembly.

[0067] In one example, when the current driving state of the vehicle indicates that the vehicle is in an acceleration phase, the power inverter module increases the driving frequency to increase the motor speed of the motor in the motor assembly, thereby meeting the power demand when the vehicle was in the acceleration phase.

[0068] In one example, when the current driving state of the vehicle indicates that the vehicle is in a braking or decelerating phase, the power inverter module reduces the driving frequency to reduce the motor speed of the motor in the motor assembly, thereby meeting the power demand when the vehicle was in the braking or decelerating phase.

[0069] In some embodiments, the sensor group of the hydraulic pump system and the motor module of the hydraulic pump system are hardware modules of the hydraulic pump system, and the motor drive module is a control module of the hydraulic pump system. That is to say, in this application, the electric drive assembly device is obtained by integrating the hardware module and the control module of the hydraulic pump system on the basis of the original electric drive assembly device.

[0070] It can be understood that the reason for integrating the hardware module and the control module of the hydraulic pump system into the original electric drive assembly device is as follows: First, the hydraulic pump system is a high-pressure component, and the original electric drive assembly device is also a high-pressure component. Integrating these two high-pressure components can reduce the technical barrier for integrating the hardware module and the control module of the hydraulic pump system into the original electric drive assembly device, making the integration method easier to implement; Second, the motor module in the hydraulic pump system and the motor in the motor assembly are essentially both motors. Therefore, for the control logic and detection circuit of the motor, etc., the motor module in the hydraulic pump system can be reused correspondingly when integrated into the electric drive assembly device. On the one hand, it can reduce the technical barrier for integrating the hardware module and the control module of the hydraulic pump system into the original electric drive assembly device, making the integration method easier to implement. On the other hand, it can effectively control the production cost of the integrated electric drive assembly device; Third, during the operation of the control strategy of the hydraulic pump system, the torque information of the electric drive needs to be obtained, and the torque information of the electric drive is provided by the original electric drive assembly device. Integrating the hardware module and the control module of the hydraulic pump system into the original electric drive assembly device can reduce the data transmission duration and improve the response rate of the vehicle.

[0071] It should be noted that existing hydraulic pump systems are generally integrated into hydraulic suspension systems and provided by suppliers of hydraulic suspension systems. Currently, the number of suppliers in the market that support providing hydraulic suspension systems is small, resulting in high production and sales costs for hydraulic suspension systems. Therefore, integrating a hydraulic suspension system into a vehicle will significantly increase the vehicle's production cost, thereby increasing the vehicle's selling price, making it difficult to popularize the hydraulic suspension system in all vehicle models. In this application, the hardware module and control module in the hydraulic pump system of the hydraulic suspension system are integrated into the original electric drive assembly equipment of the vehicle. On the one hand, it can improve the vehicle's lightweight and integration level. On the other hand, splitting the hydraulic suspension system enables the hydraulic suspension system to be jointly produced by different suppliers and finally integrated, which can further reduce the vehicle's production cost and thus reduce the difficulty of popularizing the hydraulic suspension system in all vehicle models.

[0072] In some embodiments, the high-voltage domain control system is connected to the sensor group of the hydraulic pump system. In this way, the high-voltage domain control system can obtain in real time the sensor data collected by the sensor group in the hydraulic pump system. It can be understood that this sensor data can enable the high-voltage domain control system to obtain the current state of the oil in the hydraulic circuit and can also be used as input data for the target strategy for determining the second control information.

[0073] In some embodiments, the sensor data may include oil temperature data and / or oil pressure data. That is to say, the sensor group includes at least an oil temperature sensor and / or an oil pressure sensor.

[0074] In one example, the oil pressure sensor can be in the form of a pressure transmitter, which converts the actual oil pressure value in the hydraulic system into an electrical signal for output.

[0075] In one example, the oil temperature sensor can measure the temperature change through a thermistor and send it to the high-voltage domain control system.

[0076] In some embodiments, the second control information may include one or more of the following information: target oil pressure, motor speed, motor torque, motor control direction, drive current, drive voltage, drive frequency, etc.

[0077] In some embodiments, the power inverter module drives the motor module to operate based on the second control information.

[0078] It can be understood that by integrating the motor drive module into the high-voltage domain controller assembly, the motor drive module can share some circuit resources with the power inverter module, thereby realizing the reuse of circuit resources, reducing the vehicle cost, and improving the vehicle integration level.

[0079] In some embodiments, a sensor group of the hydraulic pump system is connected to the high-voltage domain control system, such that the high-voltage domain control system determines second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group. That is to say, during the process of integrating the control module in the hydraulic pump system into the original electric drive assembly device, the control of the motor module in the hydraulic pump system is integrated into the original high-voltage domain control system. In this way, after the high-voltage domain control system receives the sensor data collected by the sensor group, it generates second control information according to the sensor data.

[0080] It should be noted that the control of other hardware in the hydraulic pump system except for the motor module can also be integrated into the original high-voltage domain control system.

[0081] In the embodiments of the present application, on the one hand, the hydraulic suspension system is disassembled, and the motor drive module of the hydraulic pump system, which is the core module in the hydraulic suspension system, is integrated into the high-voltage domain controller assembly of the original electric drive assembly device of the vehicle, such that the motor drive module can share some circuit resources with the power inverter module of the original electric drive assembly device, realizing the reuse of the circuit resources in the high-voltage domain control system, reducing the production cost of the vehicle while also reducing the integration difficulty of integrating the hydraulic pump system into the original electric drive assembly device; on the other hand, the sensor group of the hydraulic pump system is directly connected to the high-voltage domain control system, such that the high-voltage domain control system can generate second control information for controlling the motor module of the hydraulic pump system through the sensor data of the sensor group of the hydraulic pump system, realizing that the high-voltage domain control system can simultaneously control the motor assembly and the motor module in the hydraulic pump system, improving the lightweight and integration degree of the vehicle, reducing the complexity of the vehicle system architecture, and further reducing the production cost of the vehicle.

[0082] In some embodiments, the sensor group of the hydraulic pump system and / or the motor module of the hydraulic pump system is located inside the electric drive box.

[0083] Here, the motor module is the core execution unit of the hydraulic pump system, responsible for converting electrical energy into mechanical energy to drive the pump head gear to complete the oil suction and oil discharge operations.

[0084] In some embodiments, as Figure 2 shown, the sensor group 41 of the hydraulic pump system and the motor module 42 of the hydraulic pump system are located inside the electric drive box 1.

[0085] It can be understood that the motor module and the sensor group of the hydraulic pump system are the hardware modules of the hydraulic pump system. By arranging the motor module and / or the sensor group in the electric drive box, on the one hand, the hardware modules of the hydraulic pump system share the housing with the electric drive assembly device, eliminating the need to add a housing for the hardware modules of the hydraulic pump system and reducing the production cost of the vehicle. On the other hand, since the hardware modules of the hydraulic pump system are arranged inside the housing of the electric drive assembly device, the complexity of the wiring outside the electric drive box is reduced, and the integration degree of the vehicle is improved.

[0086] Next, the hardware modules of the hydraulic pump system will be described. As Figure 3 shown, the hardware modules of the hydraulic pump system include four hydraulic pump chambers, namely the first hydraulic pump chamber 31, the second hydraulic pump chamber 32, the third hydraulic pump chamber 33, and the fourth hydraulic pump chamber 34. Among them, a target connection component 311 is provided on the first hydraulic pump chamber, and this target connection component 311 is used to connect the motor module of the hydraulic pump system to the motor drive module. An motor module 42 is arranged in the second hydraulic pump chamber 32, and the motor module 42 includes a motor stator and rotor (not shown in the figure). In this way, by connecting the first hydraulic pump chamber 31 and the second hydraulic pump chamber 32, and through the target connection component 311 in the first hydraulic pump chamber 31, the motor module 42 in the second hydraulic pump chamber 32 can be connected to the motor drive module. A pump head gear (not shown in the figure) and a pump head gear ring (not shown in the figure) are arranged and connected in the third hydraulic pump chamber 33. The third hydraulic pump chamber 33 is connected to the second hydraulic pump chamber 32. In this way, by driving the motor stator and rotor in the second hydraulic pump chamber 32, the pump head gear and the pump head gear ring can be driven, so that the pump head gear and the pump head gear ring perform oil suction and / or oil discharge operations when rotating. A sensor group 41 and a bypass channel (not shown in the figure) are arranged in the fourth hydraulic pump chamber 34. One side of the bypass channel is connected to the sensor group, and the other side of the bypass channel is connected to the hydraulic circuit through a pump cover (not shown in the figure) arranged in the fourth hydraulic pump chamber 34. In this way, the sensor group 41 can collect sensor data flowing from the hydraulic circuit into the bypass channel.

[0087] In one example, the sensor group includes an oil pressure sensor, so that the oil pressure sensor can detect the pressure of the oil flowing from the hydraulic circuit into the bypass channel.

[0088] In one example, the sensor group includes an oil temperature sensor, so that the oil temperature sensor can detect the temperature of the oil flowing from the hydraulic circuit into the bypass channel.

[0089] In some embodiments, the target connection component can be implemented based on a three-phase through-cylinder part, and the target connection component can also be implemented based on a three-phase wire harness.

[0090] In the embodiments of the present application, on the one hand, setting the sensor group and / or the motor module of the hydraulic pump system in the electric drive assembly box not only simplifies the wiring structure of the vehicle, reduces the additional wire harnesses and interfaces, improves the integration and safety of the vehicle, but also reduces the production cost of the vehicle. On the other hand, since the sensor group and the motor module are relatively close to the high-voltage domain controller assembly, the communication time between the sensor group and the motor module and the high-voltage domain controller assembly respectively is reduced, which not only improves the response speed of the vehicle, but also improves the system reliability of the vehicle.

[0091] In some embodiments, as Figure 4 shown, when the sensor group 41 of the hydraulic pump system and the motor module 42 of the hydraulic pump system are fixed in the hydraulic pump box 4, the electric drive assembly device further includes a low-voltage interface module (not shown in the figure) located on the electric drive box. The low-voltage interface module includes a first communication interface and a second communication interface, where:

[0092] The first communication interface is used to establish a connection between the motor drive module 23 and the motor module 42 of the hydraulic pump system;

[0093] The second communication interface is used to establish a connection between the high-voltage domain control system 21 and the sensor group 41 of the hydraulic pump system.

[0094] Here, the low-voltage interface module is a physical interface unit integrated on the electric drive assembly box, used to connect the low-voltage signals between different subsystems. Among them, the low-voltage interface module includes a first communication interface and a second communication interface, and the first communication interface and the second communication interface are respectively responsible for the transmission of different types of signals.

[0095] In some embodiments, when the sensor group of the hydraulic pump system and the motor module of the hydraulic pump system are fixed in the hydraulic pump box, that is to say, the sensor group of the hydraulic pump system and the motor module of the hydraulic pump system are arranged outside the electric drive box. In this scenario, a low-voltage interface module is provided on the electric drive box for connecting the high-voltage domain controller to the hardware module of the hydraulic pump system.

[0096] In some embodiments, the low-voltage interface module may include multiple standardized communication ports, such as Controller Area Network (CAN), Local Interconnect Network (LIN), Low Voltage Differential Signaling (LVDS), etc., to support multiple communication protocols.

[0097] In some embodiments, the motor drive module communicates with the motor module of the hydraulic pump system through a first communication interface to monitor and control the motor module.

[0098] In some embodiments, the first communication interface can be implemented through a three-phase through-cylinder component or a three-phase wire harness.

[0099] In some embodiments, the high-voltage domain control system communicates with the sensor group of the hydraulic pump system through a second communication interface, enabling the high-voltage domain control system to obtain sensor data collected by the sensor group of the hydraulic pump system, such as sensor data of oil temperature, oil pressure, etc., to provide a data basis for the subsequent control of the motor module.

[0100] In some embodiments, the second communication interface is implemented through a through-cylinder component or a wire harness.

[0101] In one example, during the driving of the vehicle, if the oil temperature in the hydraulic circuit is too high, the temperature sensor in the sensor group will send the collected oil temperature to the high-voltage domain control system through the second communication interface. In this way, the high-voltage domain control system can automatically adjust the motor speed of the motor module according to the preset control strategy to reduce the risk probability of vehicle failure caused by overheating.

[0102] It should be noted that the low-voltage interface module, as the core communication hub of the hardware module of the hydraulic pump system and the high-voltage domain controller assembly, connects the motor drive module and the motor module of the hydraulic pump system through the first communication interface, realizing the closed-loop control of the motor module. At the same time, it connects the high-voltage domain control system and the sensor group of the hydraulic pump system through the second communication interface, realizing the real-time monitoring of the system state. The two communication channels are independent and cooperate with each other to jointly support the intelligent operation of the motor module.

[0103] In the embodiments of the present application, by setting a low-voltage interface module on the electric drive housing of the electric drive assembly and configuring the first communication interface and the second communication interface, efficient communication between the hydraulic pump system and the high-voltage domain controller assembly is achieved. In this way, the stability and reliability of data transmission between the motor drive module and the motor module of the hydraulic pump system, as well as between the high-voltage domain control system and the sensor group of the hydraulic pump system, can be ensured, thereby realizing the integration of the motor module and the sensor group of the hydraulic pump system into the electric drive assembly device. At the same time, the motor drive module and the electric drive assembly device share the original high-voltage domain controller assembly, reducing the production cost of the vehicle and improving the integration degree of the vehicle.

[0104] In some embodiments, the high-voltage domain control system further includes a sampling circuit, where:

[0105] The sampling circuit is used to convert the sensor data collected by the sensor group of the hydraulic pump system into target data;

[0106] The high-voltage domain control system is also used to determine second control information for the motor module of the hydraulic pump system based on target data.

[0107] Here, the sampling circuit is used to preprocess the sensor data collected by the sensor group of the hydraulic pump system and convert it into a data form recognizable by the high-voltage domain control system. Target data refers to the data that can be recognized and processed by the high-voltage domain control system after being processed by the sampling circuit.

[0108] In some embodiments, the sampling circuit may include at least one of the following components: an analog-to-digital converter, a filter, an amplifier, etc.

[0109] In some embodiments, the setting of the sampling circuit is related to the data form of the sensor data collected by the sensor group and the data form recognizable by the high-voltage domain control system.

[0110] In an example, the data form recognizable by the high-voltage domain control system is an analog signal. In this case, when the sensor data collected by the sensor group is represented as a digital signal, the sampling circuit can convert the sensor data represented by the digital signal into target data represented by an analog signal.

[0111] In an example, the data form recognizable by the high-voltage domain control system is a digital signal. In this case, when the sensor data collected by the sensor group is an analog signal, the sampling circuit can convert the sensor data represented by the analog signal into target data represented by a digital signal.

[0112] It can be understood that the sampling circuit can also be connected to the high-voltage domain control system as an independent module. In this application, the sampling circuit is integrated into the high-voltage domain control system. On the one hand, it can reduce the complexity of the peripheral circuit and improve the transmission efficiency of sensor data. On the other hand, it can also reduce the electromagnetic interference during signal transmission and improve the transmission quality of sensor data.

[0113] In some embodiments, after receiving the target data, the high-voltage domain control system determines the second control information based on the target data.

[0114] In the embodiments of this application, by introducing a sampling circuit into the high-voltage domain control system, not only can the complexity of the peripheral circuit be reduced and the transmission efficiency of sensor data be improved, but also the electromagnetic interference during signal transmission can be reduced, the transmission quality of sensor data can be improved, and the credibility of the second control information can be improved, thereby enabling precise control of the motor module.

[0115] In some embodiments, the high-voltage domain control system includes a first interface, where:

[0116] The first interface is used to connect to the second interface of the motor drive module to establish a connection between the high-voltage domain control system and the motor drive module.

[0117] Here, the first interface refers to the physical connection interface provided on the high-voltage domain control system; the second interface refers to the physical connection interface provided on the motor drive module.

[0118] In some embodiments, the motor drive module includes a high-voltage part and a low-voltage part, and the high-voltage domain control system is connected to the low-voltage part of the motor drive module. That is to say, the first interface and the second interface are implemented based on low-voltage connectors.

[0119] In some embodiments, the high-voltage domain control system sends the second control information to the motor drive module through the first interface and the second interface. It can be understood that the first interface should be adapted to the second interface, so as to ensure the connection reliability of the first interface and the second interface.

[0120] In an example, the first interface and the second interface can adopt the form of standardized connectors. In this way, the first interface and the second interface can be compatible with various types of connection methods. For example, the first interface and the second interface can be implemented in the form of connectors, and the first interface and the second interface can be implemented in the form of three-phase copper bars.

[0121] In some embodiments, the design of the first interface and the second interface should meet the requirements of electrical performance (such as voltage level, current-carrying capacity) and mechanical performance (such as size, durability).

[0122] It can be understood that the connection between the first interface and the second interface not only realizes the electrical connection between the high-voltage domain control system and the motor drive module, but also constructs the logical communication channel between the two. Through this connection method, the operating state information, fault information, etc. of the motor drive module can be fed back to the high-voltage domain control system in real time. At the same time, the high-voltage domain control system can also send control instructions to the motor drive module to achieve precise control of the operation of the motor module. This connection mechanism helps to improve the overall cooperative control ability of the system, and improve the response speed and control accuracy.

[0123] In the embodiments of the present application, by adding a first interface in the high-voltage domain control system and connecting it to the second interface of the motor drive module, communication between the high-voltage domain control system and the motor drive module can be realized, so that the motor drive module can obtain the second control information sent by the high-voltage domain control system, thereby realizing precise control of the motor module.

[0124] In some embodiments, such as Figure 5 and Figure 6 shown, the electric drive assembly device further includes a filter and wiring module 5 located in the electric drive box, where:

[0125] The filtering and branching module 5 is respectively connected to the high-voltage battery pack 6 and the power inverter module 22, and is used to convert the output voltage of the high-voltage battery pack 6 into a first voltage adapted to the first power supply demand based on the first power supply demand of the power inverter module 22, so as to provide the first voltage for the power inverter module 22;

[0126] The filtering and branching module 5 is also connected to the motor drive module 23, and is further used to convert the output voltage of the high-voltage battery pack 6 into a second voltage adapted to the second power supply demand based on the second power supply demand of the motor drive module 23, so as to provide the second voltage for the motor drive module 22.

[0127] Here, the filtering and branching module is a power processing unit integrated inside the electric drive assembly box body, which can adjust and distribute the output voltage from the high-voltage battery pack according to different load demands.

[0128] In some embodiments, the filtering and branching module may be composed of multiple filtering circuits, a direct current (DC) / DC converter, a power distribution line, etc., and can realize functions such as voltage step-down, voltage stabilization, isolation, and multi-channel output.

[0129] In some embodiments, the filtering and branching module receives the input of the DC high voltage from the high-voltage battery pack, and then processes the DC high voltage of the high-voltage battery pack according to the first power supply demand of the power inverter module, and provides the first voltage corresponding to the first power supply demand for the power inverter module.

[0130] It can be understood that the power inverter module is connected to the motor assembly. After receiving the first voltage, the power inverter module processes the first voltage according to the received first control information, and inputs the processed voltage into the motor assembly to control the operation of the motor assembly.

[0131] In some embodiments, the filtering and branching module receives the input of the DC high voltage from the motor drive module, and then processes the DC high voltage of the high-voltage battery pack according to the second power supply demand of the motor drive module, and provides the second voltage corresponding to the second power supply demand for the motor drive module.

[0132] It can be understood that the motor drive module is connected to the motor assembly. After receiving the second voltage, the motor drive module processes the second voltage according to the received second control information, and inputs the processed voltage into the motor assembly to control the operation of the motor module in the hydraulic pump system.

[0133] In the embodiments of the present application, by integrating a filtering and wiring module inside the electric drive assembly, the output voltage of the high-voltage battery pack can be intelligently distributed to the power inverter module and the motor drive module, realizing that the motor drive module of the hydraulic pump system and the power inverter module in the electric drive assembly system share the same input power supply. This can effectively solve problems such as voltage mismatch and complex wiring in the traditional independent power supply scheme, simplify the vehicle's electrical architecture, improve the vehicle's integration level, and reduce the vehicle's production cost.

[0134] In some embodiments, the filtering and wiring module includes a third interface, where:

[0135] The third interface is used to connect to the fourth interface of the motor drive module to establish a connection between the filtering and wiring module and the motor drive module.

[0136] Here, the third interface refers to a physical connection interface provided on the filtering and wiring module; the fourth interface refers to a physical connection interface provided on the motor drive module.

[0137] In some embodiments, the motor drive module includes a high-voltage part and a low-voltage part, and the filtering and wiring module is connected to the high-voltage part of the motor drive module. That is to say, the third interface and the fourth interface are implemented based on high-voltage connectors.

[0138] In some embodiments, the high-voltage domain control system sends a second voltage to the motor drive module through the third interface and the fourth interface. It can be understood that the third interface should be adapted to the fourth interface to ensure the connection reliability between the third interface and the fourth interface.

[0139] In an example, the third interface and the fourth interface can adopt a standardized connector form. In this way, the third interface and the fourth interface can be compatible with various types of connection methods. For example, the third interface and the fourth interface can be implemented in the form of connectors, the third interface and the fourth interface can be implemented in the form of three-phase copper bars, and the third interface and the fourth interface can also be implemented in the form of high-speed communication interfaces.

[0140] In some embodiments, the design of the third interface and the fourth interface should meet the requirements of electrical performance (such as voltage level, current-carrying capacity) and mechanical performance (such as size, durability).

[0141] It can be understood that the connection between the third interface and the fourth interface not only realizes the electrical connection between the filter and distribution module and the motor drive module, but also constructs a logical communication channel between the two. Through this connection method, the second charging requirement of the motor drive module can be fed back to the filter and distribution module, so that the second voltage corresponding to the second charging requirement can be sent to the motor drive module through the filter and distribution module, thereby providing energy for the operation of the motor module. This connection mechanism helps to improve the overall collaborative control ability of the system, and improve the response speed and control accuracy.

[0142] In the embodiment of the present application, by adding a third interface in the filter and distribution module and connecting it to the fourth interface of the motor drive module, communication between the filter and distribution module and the motor drive module can be realized, so that the motor drive module can obtain the second voltage sent by the filter and distribution module, and thus the normal operation of the motor module can be determined.

[0143] In some embodiments, such as Figure 7 and as Figure 8 shown, the high-voltage domain control system is also connected to the vehicle's chassis domain controller 7, and is used to obtain the vehicle's state data from the chassis domain controller 7; based on the vehicle's state data and the sensor data collected by the sensor group of the hydraulic pump system, determine the second control information.

[0144] Here, the chassis domain controller is an electronic control unit based on the domain controller architecture. Through a unified hardware platform and software algorithm, it integrates the scattered electronic control units (Electronic Control Unit, ECU) in the traditional chassis system to achieve data sharing, collaborative control and function integration. The vehicle's state data refers to a set of various parameters reflecting the current operating state of the vehicle, including but not limited to vehicle speed, acceleration, body attitude (such as pitch angle, roll angle), steering angle, brake pedal position, throttle pedal opening, etc.

[0145] It can be understood that the chassis domain controller is connected to each subsystem of the vehicle, such as the power system and the steering system. In this way, each subsystem can upload the real-time collected vehicle state data to the chassis domain controller.

[0146] In some embodiments, the chassis domain controller can obtain the vehicle's state data. After connecting the chassis domain controller to the high-voltage domain control system, the chassis domain controller sends the vehicle's state data to the high-voltage domain control system. In this way, the high-voltage domain control system can determine the second control information based on the vehicle's state data and the sensor data collected by the sensor group of the hydraulic pump system, which can improve the calculation accuracy of the second control information, thereby realizing the precise control of the motor module.

[0147] In some embodiments, the chassis domain controller may periodically send the vehicle's status data to the high-voltage domain control system based on a preset duration.

[0148] In some embodiments, the chassis domain controller may send the vehicle's status data to the high-voltage domain control system when there is an update to the vehicle's status data.

[0149] In some embodiments, the chassis domain controller may send the vehicle's status data to the high-voltage domain control system in response to a data request sent by the high-voltage domain control system.

[0150] In the embodiments of the present application, through the connection between the chassis domain controller and the high-voltage domain control system, the vehicle's status data is fused with the sensor data collected by the sensor group of the hydraulic pump system, improving the accuracy of the second control information, thereby improving the control accuracy of the motor module of the hydraulic pump system, and thus enhancing the response speed and accuracy of the hydraulic suspension system for adjusting the vehicle body posture, achieving the purpose of effectively enhancing the handling stability and riding comfort of the vehicle under complex road conditions.

[0151] In some embodiments, the high-voltage domain control system includes a third communication interface, where:

[0152] The third communication interface is used to connect to the fourth communication interface of the chassis domain controller to establish a connection between the chassis domain controller and the high-voltage domain control system.

[0153] Here, the third communication interface refers to the communication interface provided on the high-voltage domain control system; the fourth communication interface refers to the communication interface provided on the chassis controller.

[0154] In some embodiments, the chassis domain controller sends the vehicle's status data to the high-voltage domain control system through the third communication interface and the fourth communication interface. It can be understood that the third communication interface should be adapted to the fourth communication interface, which can ensure the connection reliability of the third communication interface and the fourth communication interface.

[0155] In an example, the third communication interface and the fourth communication interface may adopt a standardized communication protocol interface, so that the third communication interface and the fourth communication interface can be compatible with various types of communication methods.

[0156] It can be understood that the connection between the third communication interface and the fourth communication interface realizes the communication connection between the high-voltage domain control system and the chassis domain controller. Through this connection method, the high-voltage domain control system can obtain the vehicle's status data from the chassis domain controller. And since the third communication interface and the fourth communication interface adopt a standardized communication protocol interface, the development complexity and cost of the system can be reduced.

[0157] In the embodiments of the present application, by adding a third communication interface to the high-voltage domain control system and connecting it to the fourth communication interface of the chassis domain controller, communication between the high-voltage domain control system and the chassis domain controller can be achieved, enabling the high-voltage domain control system to obtain the status data of the vehicle from the chassis domain controller, thereby generating the second control information applicable to the current vehicle condition and improving the calculation accuracy of the second control information.

[0158] The embodiments of the present application provide a control method for a vehicle, as Figure 9 shown. The vehicle includes the electric drive assembly device described in any of the above embodiments. The control method of the vehicle includes the following steps S910 to step S940:

[0159] Step S910: Determine the first control information of the motor assembly;

[0160] Here, the first control information may include one or more of the following information: motor speed, motor torque, motor control direction, drive current, drive voltage, etc.

[0161] The determination method of the first control information can be any suitable method.

[0162] In some embodiments, obtain the first sensing data collected by the sensors in the electric drive assembly; based on the first sensing data, determine the first control information. Among them, the sensors in the electric drive assembly may include, but are not limited to, temperature sensors, voltage sensors, current sensors, force sensors, angle sensors, position sensors, etc.

[0163] In some embodiments, the first sensing data can be input into a preset first control model, and then the first control information can be obtained. The first control model can be any suitable mathematical model, neural network model, etc. that can achieve this function.

[0164] In some embodiments, the corresponding relationship between various first sensing data and various first control information can be established in advance. According to this corresponding relationship, the first control information adapted to the first sensing data can be obtained.

[0165] In one example, when the first sensing data includes the pedal opening and the motor temperature, the first control information may include the motor torque. The process of determining the motor torque may include: first, looking up the first initial torque corresponding to the pedal opening from a preset first motor torque mapping table; determining the torque correction coefficient corresponding to the motor temperature; and taking the product of the first initial torque and the torque correction coefficient as the motor torque. Among them, the first motor torque mapping table includes the corresponding relationships between various pedal angles and various first initial torques, and the torque correction coefficient may be determined in advance through bench testing of the motor, or may be calculated based on a torque-temperature mapping function.

[0166] In some embodiments, obtain the control instruction issued by the operator; based on the control instruction and the first sensing data, determine the first control information. The control instruction may include any suitable content, for example, the driving mode, etc.

[0167] In some embodiments, the control instruction and the first sensing data may be input into a second control model, and then the first control information can be obtained. The second control model may be any suitable mathematical model, neural network model, etc. that can implement this function.

[0168] In some embodiments, the corresponding relationships between various first sensing data, various control instructions, and various first control information may be established in advance, and according to this corresponding relationship, the first control information that is adapted to both the first sensing data and the control instruction can be obtained.

[0169] In one example, when the control instruction includes that the driving mode of the vehicle is the economy mode and the first sensing data includes the motor temperature, the first control information may include the motor torque. The process of determining the motor torque may include: determining the pedal opening and the vehicle gear when the vehicle is in the economy mode; looking up the second initial torque corresponding to both the pedal opening and the vehicle gear from a preset second motor torque mapping table; determining the torque correction coefficient corresponding to the motor temperature; and taking the product of the second initial torque and the torque correction coefficient as the motor torque. Among them, the second motor torque mapping table includes the corresponding relationships between various pedal openings, various gears, and various initial torques.

[0170] Step S920: Control the motor assembly based on the first control information;

[0171] In some embodiments, control the operation of the motor assembly according to the first control information.

[0172] In one example, when the first control information includes the first drive current, drive the motor of the motor assembly to operate according to the first drive current.

[0173] In one example, when the first control information includes a first driving voltage, the motor of the motor assembly is driven to operate according to the first driving voltage.

[0174] In some embodiments, the current operating information of the motor assembly is obtained; based on the current operating information of the motor assembly and the first control information, a first adjustment amount of the motor assembly is determined; and the motor assembly is controlled based on the first adjustment amount. The current operating information of the motor assembly may include, but is not limited to, current speed, current torque, current temperature, current position, etc.

[0175] In one example, when the first control information includes the motor speed, the speed difference between the motor speed and the current speed is determined; based on the speed difference, the drive current, frequency, and / or drive voltage are determined, and the motor is driven to operate according to the drive current, frequency, and / or drive current to adjust the current speed of the motor to the motor speed.

[0176] In one example, when the first control information includes the motor torque, the torque difference between the motor torque and the current torque is determined; based on the torque difference, the drive current, frequency, and / or drive voltage are determined, and the motor is driven to operate according to the drive current, frequency, and / or drive current to adjust the current torque of the motor to the motor torque.

[0177] Step S930: Determine the second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group of the hydraulic pump system;

[0178] In some embodiments, the second control information may include one or more of the following information: target oil pressure, motor speed, motor torque, motor control direction, drive current, drive voltage, drive frequency, and other information.

[0179] In some embodiments, the sensor data collected by the sensor group of the hydraulic pump system is obtained; the control information corresponding to the sensor data is obtained from a pre-established mapping table of various sensor data and various control information, and the control information is used as the second control information.

[0180] In some embodiments, the sensor data collected by the sensor group of the hydraulic pump system is obtained; the target oil pressure corresponding to the sensor data is determined; and the target oil pressure is input into a preset third control model to obtain the second control information. The third control model may include, but is not limited to, a neural network model, a mathematical model, etc.

[0181] In one example, the sensor data includes the current oil temperature, and the process of determining the target oil pressure includes: determining the current viscosity corresponding to the current oil temperature from a preset oil temperature-viscosity mapping table; determining the target oil pressure corresponding to the current viscosity from a preset viscosity-oil pressure mapping table. The oil temperature-viscosity mapping table is the correspondence between various oil temperatures and various viscosities, and the viscosity-oil pressure mapping table is the correspondence between various viscosities and various oil pressures.

[0182] In one example, the sensor data includes the current oil temperature, and the process of determining the target oil pressure includes: determining the current viscosity corresponding to the current oil temperature from a preset oil temperature-viscosity mapping table; determining the oil pressure loss corresponding to the current viscosity based on the established mathematical model of oil pressure loss and viscosity; taking the sum of the current oil pressure and the oil pressure loss as the target oil pressure.

[0183] Step S940: Control the motor module of the hydraulic pump system based on the second control information.

[0184] In some embodiments, control the operation of the motor of the motor module according to the second control information.

[0185] In one example, when the second control information includes a second drive current, drive the operation of the motor of the motor module according to the second drive current.

[0186] In one example, when the second control information includes a second drive voltage, drive the operation of the motor of the motor module according to the second drive voltage.

[0187] In some embodiments, obtain the current operation information of the motor module; determine the second adjustment amount of the motor module based on the current operation information of the motor module and the second control information; control the operation of the motor module based on the second adjustment amount. Wherein, the current operation information of the motor module may include but is not limited to the current speed, the current torque, the current oil temperature, the current position, the current oil pressure, the current position, etc.

[0188] In the embodiments of the present application, on the one hand, the control method of the vehicle is applied to the electric drive assembly device, and the motor drive module of the hydraulic pump system is integrated in the high-voltage domain controller assembly of the electric drive assembly device, so that the motor drive module can share some circuit resources with the power inverter module of the original electric drive assembly device, realizing the reuse of the circuit resources in the high-voltage domain control system, reducing the production cost of the vehicle and the integration difficulty of integrating the hydraulic pump system into the original electric drive assembly device at the same time; on the other hand, the high-voltage domain control system in the electric drive assembly device is directly connected to the sensor group of the hydraulic pump system, so that the high-voltage domain control system can control the motor module of the hydraulic pump system through the sensor data of the sensor group of the hydraulic pump system, realizing that the high-voltage domain control system can control the motor assembly and the motor module of the hydraulic pump system at the same time, improving the lightweight and integration of the vehicle, reducing the complexity of the vehicle system architecture, and further reducing the production cost of the vehicle.

[0189] In some embodiments, the above step S930 includes step S931 and step S932:

[0190] Step S931: Obtain the state data of the vehicle from the chassis domain controller of the vehicle;

[0191] In some embodiments, the state data of the vehicle can be reported by each subsystem connected to the chassis domain controller and / or sensors connected to the chassis controller, or read by the electric drive assembly device from the chassis domain controller.

[0192] Step S932: Determine the second control information of the motor module of the hydraulic pump system based on the state data of the vehicle and the sensor data collected by the sensor group of the hydraulic pump system.

[0193] In some embodiments, the state data of the vehicle is compared with a preset state threshold to determine the target working condition of the vehicle; according to a pre-established working condition - oil pressure mapping table, the oil pressure corresponding to the target working condition is determined; based on the current oil temperature in the sensor data collected by the sensor group, the oil viscosity corresponding to the current oil temperature is determined from a preset oil temperature - viscosity mapping table; based on a mathematical model of pressure loss and viscosity established, the oil pressure loss corresponding to the oil viscosity is determined; the sum of the oil pressure loss and the working condition oil pressure is determined as the target oil pressure; the target oil pressure is input into a conversion model, and the second control information is determined through the conversion model. Among them, the target working condition may include one of the following working conditions: starting working condition, decelerating working condition, accelerating working condition, stopping working condition, etc.

[0194] In one example, the state threshold includes a first speed threshold, and the state data of the vehicle includes the driving speed of the vehicle. When the driving speed of the vehicle is less than or equal to the first speed threshold within a first preset duration, it is determined that the target operating condition of the vehicle is the stop operating condition. The first speed threshold can be any suitable relatively small speed. The first preset duration can be any suitable duration.

[0195] In one example, the state threshold includes a second speed threshold, and the state data of the vehicle includes the driving speed of the vehicle. When the driving speed of the vehicle is less than or equal to the second speed threshold within a first preset duration, it is determined that the target operating condition of the vehicle is the start operating condition; the second speed threshold is greater than the first speed threshold.

[0196] In one example, the state threshold includes a first rotational speed threshold and a first opening threshold. The state data of the vehicle includes the throttle opening of the vehicle and the engine of the vehicle. When the throttle opening of the vehicle is less than or equal to the first opening threshold within a second preset duration and the engine speed of the vehicle is less than or equal to the first rotational speed threshold, it is determined that the target operating condition of the vehicle is the stop operating condition. The first rotational speed threshold can be any suitable relatively small rotational speed. The first opening threshold can be any suitable relatively small opening.

[0197] The conversion model can be any suitable model that can implement this function.

[0198] In one example, the second control information includes the motor speed. The conversion model can include a flow-pressure mapping table. The determination process of the second control information includes: determining the target flow rate corresponding to the target oil pressure from the flow-pressure mapping table; according to the conversion relationship between the flow rate and the speed, the motor speed adapted to the target flow rate can be obtained.

[0199] In one example, the second control information includes the motor speed. The conversion model can include an oil pressure-speed mapping model. The determination process of the second control information includes: inputting the target oil pressure into the oil pressure-speed mapping model, and the motor speed can be obtained. Among them, the oil pressure-speed mapping model can be obtained by polynomial fitting of multiple oil pressure data and the speeds respectively corresponding to the multiple oil pressure data, or the oil pressure-speed mapping model can be realized by a fluid mechanics equation.

[0200] In some embodiments, the driving road condition of the vehicle is determined based on the state data of the vehicle; from the driving road condition - suspension parameter mapping information table, the expected suspension parameters of the hydraulic suspension system applicable to the driving road condition are determined; the oil flow rate corresponding to the expected suspension parameters is obtained; the oil flow rate is substituted into the relationship between the flow rate and the motor speed to determine the expected motor speed; based on the expected motor speed and the sensor data, the second control information is determined. Among them, the driving road condition may include one or more of the following road conditions: bumpy road condition, flat road condition, slope, curve. The suspension parameters include one or more of the following parameters: suspension stiffness, suspension damping, suspension height, etc.

[0201] The driving road condition can be determined in any suitable way.

[0202] In one example, by inputting the state data of the vehicle into a machine learning classification model, the driving road condition of the vehicle can be obtained. The machine learning classification model can be any suitable model that can implement this function.

[0203] In one example, the state data of the vehicle includes the image data collected by the vehicle, and the process of determining the driving road condition includes: performing feature extraction processing on the image data to obtain the feature information of the image data; calculating the similarity between the feature information and each feature information in the feature information set of all road conditions, and determining the road condition with the highest similarity as the driving road condition of the vehicle.

[0204] In one example, the state data of the vehicle includes the pitch angle data of the vehicle, and the process of determining the driving road condition includes: when the pitch angle data of the vehicle is greater than the preset angle within the preset time period, determining the driving road condition of the vehicle as a curve.

[0205] The oil flow rate can be determined in any suitable way.

[0206] In one example, the expected suspension parameters include the expected suspension height, and the process of determining the oil flow rate includes: obtaining the current suspension height of the hydraulic suspension system; determining the difference between the current suspension height and the expected suspension height as the target height; taking the product between the cylinder area and the target height as the oil flow rate corresponding to the expected suspension parameters.

[0207] In one example, the expected suspension parameters include the expected suspension damping, and the process of determining the oil flow rate includes: determining the quotient of the expected suspension damping and the preset damping coefficient as the oil flow rate corresponding to the expected suspension parameters.

[0208] The second control information can be determined in any suitable way.

[0209] In one example, the sensor data includes the current oil pressure, the second control information includes the motor speed, and the determination process of the second control information includes: substituting the current oil pressure into the pressure-load compensation formula, solving the pressure-load compensation formula to obtain the load compensation coefficient; taking the product of the load compensation coefficient and the desired motor speed as the motor speed.

[0210] In one example, the sensor data includes the current oil temperature, the second control information includes the motor speed, and the determination process of the second control information includes: determining the current oil viscosity corresponding to the current oil temperature from the temperature-viscosity mapping table; determining the viscosity change rate through the oil viscosity at the rated temperature and the current oil viscosity; taking the value obtained by multiplying the preset temperature compensation coefficient by the viscosity change rate and then adding 1 as the oil temperature correction coefficient; taking the product of the oil temperature correction coefficient and the desired motor speed as the motor speed.

[0211] In one example, the sensor data includes the current oil temperature and the current oil pressure, the second control information includes the motor speed, and the determination process of the second control information includes: determining the oil temperature correction coefficient corresponding to the current oil temperature and the speed compensation coefficient corresponding to the current oil pressure; multiplying the oil temperature correction coefficient, the load compensation coefficient and the desired motor speed to obtain the motor speed.

[0212] In the embodiments of the present application, the state data of the vehicle and the sensor data collected by the sensor group are jointly used to determine the second control information. Compared with the traditional method of only relying on the sensor data collected by the sensor group of the hydraulic pump system to determine the second control information, the present application jointly uses the state data of the vehicle and the sensor data collected by the sensor group for the second control information, realizing the fusion processing of multi-source data. In this way, the finally determined second control information can be adapted to the current driving state of the vehicle, improving the credibility of the second control information, and thus enabling precise control of the motor module of the hydraulic pump system.

[0213] The following describes the application of the embodiments of the present application in actual scenarios.

[0214] The intelligent chassis is the latest technical form in the evolution of chassis technology towards wire control and domain integration. Among them, the active hydraulic suspension system (i.e., the above-mentioned hydraulic suspension system) is a key subsystem of the intelligent chassis, and the hydraulic pump system is the core component of the active hydraulic suspension system.

[0215] In a traditional vehicle chassis system, the hydraulic pump system and the electric drive assembly are usually provided by different suppliers, making the hydraulic pump system and the electric drive assembly structurally independent. This not only results in a complex vehicle system architecture and high vehicle costs, but also makes it difficult to achieve coordinated control of the high-precision hydraulic pump system and the electric drive assembly. In addition, since the hydraulic pump system and the electric drive assembly are independently arranged in the vehicle, it will also occupy a large amount of interior space of the vehicle, which is not conducive to the lightweight design of the whole vehicle and further increases the production cost of the vehicle.

[0216] Based on the above problems, the embodiments of the present application provide an electric drive assembly device. By splitting the hydraulic pump system and integrating it with the electric drive assembly, the integration degree of the hydraulic pump system and the electric drive assembly is improved, thereby realizing the lightweight design of the whole vehicle, reducing the production cost of the vehicle, and enhancing the vehicle performance.

[0217] Among them, in the process of splitting the hydraulic pump system and integrating it with the electric drive assembly, the mechanical part of the hydraulic pump system (i.e., the hardware module of the above-mentioned hydraulic pump system) is deeply physically integrated with the electric drive assembly, and the control module of the hydraulic pump system is electronically integrated with the control module of the electric drive assembly (i.e., the above-mentioned high-voltage domain controller assembly).

[0218] As Figure 10 shown, the electric drive assembly device 100 integrating the mechanical part and the control module of the hydraulic pump system is described. It can be seen that the motor drive module 23 in the hydraulic pump system is respectively connected to the mechanical part 400 of the hydraulic pump system and the high-voltage domain control system 21, and the high-voltage domain control system 21 is also connected to the motor assembly 3.

[0219] Next, the electric drive assembly device integrating the mechanical part and the control module of the hydraulic pump system will be described in detail from four dimensions: hardware structure, control module, control strategy, and system diagnosis.

[0220] In the first aspect, from the dimension of the hardware structure, the structural integration scheme of the mechanical part of the hydraulic pump system and the electric drive housing.

[0221] As Figure 11 and 12 shown, the mechanical part of the hydraulic pump system mainly includes a sensor group and a motor module. Among them, the sensor group includes a hydraulic pump oil pressure sensor 411 and a hydraulic pump oil temperature sensor 412, and the motor module includes a right hydraulic pump motor 421 and a left hydraulic pump motor 422. The structural integration scheme of the mechanical part of the hydraulic pump system and the electric drive housing includes Scheme 1 and Scheme 2.

[0222] Scheme 1, as Figure 11As shown, the mechanical part of the hydraulic pump system is located in the housing of the common electric drive assembly (i.e., the above-mentioned electric drive housing). Among them, the mechanical part of the hydraulic pump system is located in the housing of the electric drive assembly in a centralized distributed structure, and each component of the mechanical part of the hydraulic pump system is arranged in the housing of the electric drive assembly in an up-and-down symmetric structure or a left-and-right symmetric structure.

[0223] Solution 2: As Figure 12 shown, the mechanical part of the hydraulic pump system is set on the housing of the electric drive assembly as a module assembly. Among them, a hydraulic pump mounting base should be reserved on the housing of the electric drive assembly, and the mechanical part of the hydraulic pump system is fixed in the hydraulic pump mounting base through bolts to realize setting the mechanical part of the hydraulic pump system on the housing of the electric drive assembly.

[0224] For the above two solutions, the mechanical part of the hydraulic pump system is described. The mechanical part of the hydraulic pump system also includes a hydraulic pump motor stator and rotor, multiple hydraulic chambers, a pump head gear, a pump head ring gear, a three-phase through-cylinder part, a high- and low-voltage wire harness or a copper busbar.

[0225] Among them, the multiple hydraulic chambers include a first hydraulic chamber (i.e., the above-mentioned third hydraulic pump chamber), a second hydraulic chamber (i.e., the above-mentioned second hydraulic pump chamber), a third hydraulic chamber (i.e., the above-mentioned first hydraulic pump chamber), and a fourth hydraulic chamber (i.e., the above-mentioned fourth hydraulic pump chamber). The first hydraulic chamber is set with a structure that can drive the corresponding pump head gear and pump head ring gear to rotate in the first hydraulic chamber to complete oil suction and oil discharge; the second hydraulic chamber is set as a hydraulic pump motor stator and rotor assembly structure, so that the pump head gear and pump head ring gear in the first hydraulic chamber can be driven by the hydraulic pump motor stator and rotor to rotate in the first hydraulic chamber to complete oil suction and oil discharge; the third hydraulic chamber is provided with a three-phase through-cylinder part (i.e., the above-mentioned first communication interface), so that the motor module can be connected to the motor drive module through the three-phase through-cylinder part; the fourth hydraulic chamber is set as a sensor arrangement structure, and a bypass channel is also provided in the fourth oil pump chamber. After the oil in the hydraulic circuit flows into the bypass channel, the oil can flow to the hydraulic pump oil temperature sensor and the hydraulic pump oil pressure sensor (i.e., the above-mentioned sensor group of the hydraulic pump system) through the bypass channel, so that the oil temperature and oil pressure in the hydraulic circuit can be indirectly measured.

[0226] In some embodiments, a pump cover is provided on the fourth hydraulic chamber. An oil suction port and an oil discharge port are also provided at the pump cover. The oil suction port and the oil discharge port respectively correspond to a bypass channel. In this way, the oil suction port at the pump cover can be connected to the oil suction port in the hydraulic circuit, and the oil discharge port at the pump cover can be connected to the oil discharge port in the hydraulic circuit. Among them, when the oil in the hydraulic circuit flows to the first bypass channel corresponding to the oil suction port at the pump cover, the sensor in the first bypass channel can measure the oil temperature and oil pressure in the first bypass channel; when the oil in the hydraulic circuit flows to the second bypass channel corresponding to the oil discharge port at the pump cover, the sensor in the second bypass channel can measure the oil temperature and oil pressure in the second bypass channel.

[0227] In some embodiments, the sensor in the mechanical part of the hydraulic pump system is connected to the high-voltage domain control system in the electric drive assembly through a low-voltage wire harness or a low-voltage through-cylinder component (i.e., the above-mentioned second communication interface). In this way, after the sensor collects the sensing data (i.e., the above-mentioned sensor data), the sensing data is reported to the high-voltage domain control system through the low-voltage wire harness or the low-voltage through-cylinder component.

[0228] In some embodiments, the hydraulic pump motor includes a hydraulic pump motor stator and rotor. That is to say, the right and left of the hydraulic pump motor are arranged in the second hydraulic chamber.

[0229] Second, from the dimension of the control module, an integration solution of the hydraulic pump system and the control module of the electric drive assembly.

[0230] Integrate the control module of the hydraulic pump system into the high-voltage domain controller assembly of the electric drive assembly. By sharing the control chip and power supply circuit in the high-voltage domain controller assembly, the active hydraulic suspension system can realize the coordinated control of the hydraulic pump motor (i.e., the motor module of the above-mentioned hydraulic pump system) in the hydraulic pump system and the electric drive assembly. As Figure 11 Or Figure 12 As shown, the high-voltage domain controller assembly 2 includes: a filtering and wire-splitting module 5, a motor drive module 23, a high-voltage domain control system 21, a power inverter module 22, a reducer 8, and connecting wire harnesses and bolts (not shown in the figure), etc.

[0231] In some embodiments, based on the working power of the active hydraulic suspension system, determine the module model of the motor drive module. For example, the module model can be the chip model. It can be understood that the working power of the finally selected motor drive module should be adapted to the working power of the active hydraulic suspension system.

[0232] In some embodiments, based on the boundary and interface definition of the motor drive module, draw the high-voltage electrical schematic diagram of the electric drive assembly + hydraulic pump and set it in the high-voltage domain control system.

[0233] In some embodiments, a high-voltage domain control system incorporating a control module for a hydraulic pump system is described. The high-voltage domain control board includes functional circuits such as a main control microcontroller unit (MCU) circuit, a system basic low-voltage power supply and power management circuit, an input reverse connection prevention and sleep wake-up circuit, a CAN communication circuit, a resolver excitation and decoding processing circuit, an analog input sampling circuit, a pulse width modulation (PWM) output control circuit, a low-voltage plug interface processing circuit, a fault diagnosis circuit, an active short-circuit asynchronous serial communication (ASC) and safety logic circuit, etc.

[0234] As Figure 13 shown, the high-voltage domain control system 21 incorporating a control module for a hydraulic pump system includes a main control MCU circuit located on the main control chip, communication CAN, vehicle CAN, calibration CAN, oil temperature sampling circuit, and oil pressure sampling circuit. Among them, the oil temperature sampling circuit is used to convert the sensing data collected by the hydraulic pump oil temperature sensor into a data format recognizable by the main control chip; the oil pressure sampling circuit is used to convert the sensing data collected by the hydraulic pump oil pressure sensor into a data format recognizable by the main control chip; communication CAN is used for data communication between various modules within the high-voltage domain control system; vehicle CAN is used to connect various subsystems of the vehicle to achieve vehicle-level data communication; calibration CAN is used for debugging and parameter calibration of the high-voltage domain control system, facilitating engineers to optimize the performance of the high-voltage domain control system.

[0235] In some embodiments, the system basic low-voltage power supply and power management circuit is implemented as a BUCK-BOOST power supply, a switched-boost converter (SBC) power supply, a drive power supply, a resolver power supply, and a power supply voltage (PSV) power supply; the CAN communication circuit is implemented as communication CAN, vehicle CAN, calibration CAN; the resolver excitation and decoding processing circuit is implemented as a resolver soft decoder, and the analog input sampling circuit is implemented as a hardware overcurrent (OC) or hardware overvoltage (OV); the PWM output control circuit is implemented as a PWM logic circuit, the low-voltage plug interface processing circuit located in the low-voltage connector (i.e., the above-mentioned low-voltage interface module), and KL30&KL15.

[0236] It should be noted that the BUCK-BOOST power supply, resolver power supply, and drive power supply are optional power circuits; in KL30&KL15, KL30 is a low-voltage electrical circuit, KL15 is a control circuit, and both KL30&KL15 need to be connected to the low-voltage connector.

[0237] In some embodiments, the high-voltage domain control board further includes a chassis high-speed CAN communication (i.e., the above-mentioned third communication interface), an oil pump motor communication (i.e., the above-mentioned first interface), and an oil temperature and oil pressure sampling function circuit (i.e., the above-mentioned sampling circuit).

[0238] As Figure 13 shown, the motor drive module 23 further includes a module drive, wherein the module drive is implemented based on a Metal-Oxide Semiconductor Field-Effect Transistor (MOSFET) / Insulated Gate Bipolar Transistor (IGBT), and is used to control the state of the MOSFET / IGBT to control the motor module connected to the motor drive module.

[0239] In some embodiments, the motor drive module further includes current sampling, voltage sampling, overvoltage sampling, module temperature, and motor stator temperature. Among them, current sampling, voltage sampling, and overvoltage sampling are used to send the collected voltage and current data to the hardware OC or hardware OV, decode the data through the hardware OC or hardware OV, and send the decoded data to the main control chip; the module temperature is used to collect the temperature of the motor drive module; the motor stator temperature is used to obtain the temperature of the stator and rotor of the hydraulic pump motor in the third hydraulic chamber of the mechanical part.

[0240] It should be noted that Figure 13 the motor drive module in is used to drive the hydraulic pump motor, and the high-voltage domain control assembly further includes the motor drive module of the motor assembly, wherein the motor drive module of the motor assembly is located in the above-mentioned power inverter module.

[0241] In some embodiments, the high-voltage domain control system is respectively connected to the low-voltage domain of the power inverter module and the low-voltage domain of the motor drive module through a wire harness or a low-voltage connector; the filter and wiring module is respectively connected to the high-voltage domain of the power inverter module and the high-voltage domain of the motor drive module through a copper busbar or a copper wire.

[0242] It can be understood that the motor drive module includes a high-voltage domain and a low-voltage domain. Among them, the filtering and wiring module can provide high-voltage electricity. The high-voltage domain in the motor drive module is connected to the filtering and wiring module. The motor drive module is used to drive the hydraulic pump motor. The filtering and wiring module provides high-voltage electricity to the motor drive module (high-voltage) and the power inverter module (high-voltage) respectively. The control signals for the motor drive module (low-voltage) and the power inverter module (low-voltage) are provided by the high-voltage domain control system. After receiving the high-voltage electricity and control signals, the motor drive module drives the hydraulic pump motor to operate; after receiving the high-voltage electricity and control signals, the power inverter module drives the electric drive assembly to operate.

[0243] In some embodiments, the motor drive module is connected to the hydraulic pump motor in the mechanical part of the hydraulic pump system through a three-phase copper bar through-cylinder part or a three-phase wire harness; the high-voltage domain control system is connected to the hydraulic pump oil pressure sensor and the hydraulic pump oil temperature sensor in the mechanical part of the hydraulic pump system through a low-voltage connector or a low-voltage through-cylinder part.

[0244] In the third aspect, from the dimension of the control strategy, a control logic scheme.

[0245] In some embodiments, the chassis domain controller is used to collect the state information of the vehicle (such as vehicle speed, acceleration, body attitude, etc.) in real time, and transmit the state information of the vehicle (i.e., the above-mentioned state data of the vehicle) to the high-voltage domain control system in the electric drive assembly through the high-speed CAN, so that the high-voltage domain control system combines the sensing data collected by the sensors in the mechanical part and the state information of the vehicle to calculate the target oil pressure of the hydraulic pump.

[0246] Among them, the accurate implementation of the target oil pressure can be achieved based on the control strategy described below.

[0247] 1. Real-time dynamic demand analysis;

[0248] In order to synchronize the input signals of the electric drive assembly and the hydraulic resolver, the target pressure command is received from the chassis domain controller (or suspension ECU) through the CAN FD bus. This command is generated based on the body attitude sensor data and the road condition prediction algorithm to ensure the predictive response of the active hydraulic suspension system to complex working conditions. During this period, signals such as the speed and position feedback by the motor encoder, the bus current, and the sensor data feedback by the oil pressure sensor are collected to form a multi-dimensional closed-loop feedback mechanism. Through signal synchronization processing and multi-source data fusion, the time delay between the electric drive execution and the response of the active hydraulic suspension system can be eliminated, and the millisecond-level matching between the command execution and the actual working conditions can be achieved, which can significantly improve the dynamic control accuracy and system response efficiency of the hydraulic pump system.

[0249] 2. Dynamic decoupling control

[0250] According to the characteristics of the hydraulic pump compression ratio, pipeline impedance, etc. of the hydraulic pump system, a non-linear model of hydraulic pump displacement - motor speed - output pressure is established. In this way, through the non-linear model of hydraulic pump displacement - motor speed - output pressure, the coupling relationship between the hydraulic pump displacement and the output pressure can be clarified. The feed-forward compensator can utilize this coupling relationship to generate a signal opposite to the coupling effect, cancel the coupling effect at the output end, thereby eliminating the coupling effect of flow and pressure, and realizing pressure-flow decoupling.

[0251] 3. Motor Torque Distribution

[0252] Determine the target current corresponding to the target oil pressure; based on the Field-Oriented Control (FOC) algorithm, convert the target current into two orthogonal direct-axis coordinate systems, for example, the d-axis (direct axis) and the q-axis (quadrature axis). In this way, the current reference values corresponding to the d-axis and the q-axis can be obtained, realizing precise control of the torque and speed of the hydraulic pump motor, and thus realizing precise adjustment of the hydraulic pump displacement.

[0253] 4. High-Frequency Dynamic Response Optimization, Current Loop Optimization

[0254] Adopt the Predictive Current Control (PCC) algorithm to increase the current loop bandwidth until the current loop bandwidth is increased to more than 2 kHz. In this way, the torque response time of the motor can be less than 1 ms. By this method, the torque fluctuation caused by hydraulic pulsation can be effectively suppressed. In this way, when the vehicle accelerates, brakes or steers, through the coordinated control of the electric drive assembly and the active hydraulic suspension system, the torque fluctuation caused by hydraulic pulsation can be effectively suppressed to optimize the vehicle body attitude and driving stability.

[0255] 5. Adaptive PID Gain

[0256] Based on the oil temperature detected by the hydraulic pump temperature sensor, determine the oil viscosity corresponding to this temperature through the pre-obtained viscosity-temperature look-up table model; based on this oil viscosity, dynamically adjust the PID parameters of the speed loop so that the adjusted PID parameters of the speed loop are adapted to this oil viscosity to reduce the influence of oil viscosity change on oil pressure control, thereby improving the accuracy of oil pressure control.

[0257] 6. Brake Energy Utilization

[0258] During the suspension compression stroke, recover hydraulic energy through the regenerative braking mode of the motor's four-quadrant operation, and convert it into electrical energy and store it in the high-voltage battery to reduce the overall system energy consumption and improve the endurance.

[0259] It is understandable that in the compression stroke of the active hydraulic suspension system (such as when the vehicle passes over potholes, speed bumps, or is impacted by the road surface), the vehicle body weight and road surface impact force will force the suspension spring to compress and the shock absorber damper to work, resulting in hydraulic energy generated by the piston movement of the hydraulic oil in the active hydraulic suspension system, driving the hydraulic oil to flow at high speed in the pipeline. If this part of the hydraulic energy cannot be recovered, it will be converted into heat energy through the throttle orifice of the damper and wasted. Therefore, in this scenario, the hydraulic pump motor can be switched to the forward power generation state (second quadrant) in the four-quadrant operation, so that the hydraulic pump motor acts as a generator to convert hydraulic energy into electrical energy and store it in the high-voltage battery of the vehicle, realizing the recycling and reuse of hydraulic energy, which can reduce the energy consumption of the vehicle and improve the endurance of the vehicle.

[0260] Fourthly, from the dimension of system diagnosis, the system diagnosis solution.

[0261] By reusing the high-computing power MCU chip and multi-functional sampling and detection circuit in the high-voltage domain controller assembly of the electric drive assembly, the functional safety of the hydraulic suspension system can meet the Automotive Safety Integrity Level D (ASIL D).

[0262] 1. Bus voltage monitoring

[0263] In the process of integrating the control module in the hydraulic pump system into the control module of the original electric drive assembly, the control module in the hydraulic pump system can reuse the voltage fluctuation detection circuit of the 400V / 800V high-voltage bus in the control module of the electric drive assembly. In this way, the original voltage fluctuation detection circuit in the control module of the electric drive assembly can simultaneously monitor the power supply stability of the hydraulic pump system and the electric drive assembly.

[0264] 2. Low-voltage power supply diagnosis

[0265] The control module in the hydraulic pump system shares the 12V / 48V power supply connected to the control module of the original electric drive assembly and the undervoltage / overvoltage protection circuit corresponding to the 12V / 48V power supply, which can avoid redundant design of independent power modules.

[0266] 3. Sensor sampling reuse diagnosis

[0267] Current / voltage sampling: The control module in the hydraulic pump system reuses the three-phase current sampling circuit in the control module of the original electric drive assembly. Through the three-phase current sampling circuit, the current ripple of the hydraulic pump motor can be analyzed to indirectly judge whether the mechanical load of the hydraulic pump motor is abnormal. For example, plunger jamming will cause current harmonic distortion.

[0268] Bus voltage sampling: The control module in the hydraulic pump system reuses the bus voltage sampling circuit in the control module of the original electric drive assembly. Based on the sampling data obtained from the bus voltage acquisition, the power consumption of the hydraulic pump system is calculated in real time. By analyzing the calculated power consumption, it is possible to identify whether there is an abnormal power consumption phenomenon in the system, such as a continuous high-load situation caused by a leakage problem.

[0269] Temperature monitoring: The control module in the hydraulic pump system reuses the IGBT junction temperature estimation model (through a thermal resistance network) and the Negative Temperature Coefficient (NTC) temperature sensor in the control module of the original electric drive assembly. Based on the data collected by the NTC temperature sensor and the IGBT junction temperature estimation model, the temperature rise correlation between the high-voltage domain control module and the hydraulic pump is monitored, such as overheating of power devices caused by too high oil temperature.

[0270] 4. Communication and functional safety reuse diagnosis

[0271] CAN FD bus diagnosis: The control module in the hydraulic pump system reuses the communication verification mechanism (such as cyclic redundancy check, confirmation timeout detection) in the control module of the original electric drive assembly, which can ensure the accuracy and reliability of data during transmission. On this basis, the status codes of the hydraulic pump system, such as pressure overlimit, flow anomaly, etc., can also be transmitted using this communication verification mechanism.

[0272] Bus load rate monitoring: The control module in the hydraulic pump system reuses the bus load rate monitoring in the control module of the original electric drive assembly. By setting a reasonable threshold (for example, setting the threshold to less than 70%), the control module in the hydraulic pump system can monitor the bus load to avoid communication conflict problems caused by multiple independent communication modules running simultaneously.

[0273] 5. Functional safety mechanism

[0274] Reuse ASIL-D level safety monitoring (such as watchdog, logic test) to perform co-chip redundancy verification on the hydraulic control algorithm and motor drive tasks.

[0275] 6. Actuator drive reuse diagnosis

[0276] IGBT drive diagnosis: The control module in the hydraulic pump system reuses the desaturation detection (DESAT) and short-circuit protection functions of the IGBT in the control module of the original electric drive assembly to synchronously protect the motor drive circuit of the hydraulic pump system.

[0277] Dead-time compensation strategy: The control module in the hydraulic pump system reuses the dead-time compensation strategy in the control module of the original electric drive assembly. In this way, the dead time is compensated through the dead-time compensation strategy, making the voltage and current changes of the hydraulic pump motor smoother during commutation, and thus effectively avoiding the occurrence of current impact phenomena.

[0278] 7. Dynamic behavior collaborative diagnosis

[0279] Energy flow coupling analysis: Through the joint power-pressure observation of the electric drive system and the hydraulic pump system, abnormal energy conversion is identified, such as the problem of steep oil pressure rise caused by motor stall.

[0280] 8. Mechanical-electrical correlation diagnosis

[0281] Using the theoretical relationship between the rotational speed of the hydraulic pump motor and the displacement of the oil pump, the actual flow matching is verified in real time to detect whether there are blockage or leakage problems in the hydraulic pipeline.

[0282] 9. Detection of oil pump motor stall

[0283] The control module in the hydraulic pump system reuses the overcurrent protection function of the current loop of the electric drive controller in the control module of the original electric drive assembly. In this way, when the hydraulic system gets stuck and causes the current of the hydraulic pump motor to increase abnormally, the overcurrent protection function of the current loop is triggered, making the hydraulic pump motor enter the torque reduction mode, limiting the torque of the hydraulic pump motor to 50%, thereby reducing the load of the hydraulic pump motor and avoiding damage to the mechanical components of the hydraulic pump motor due to overload.

[0284] 10. Diagnosis of hydraulic pipeline leakage

[0285] In the hydraulic pump system, there is a specific expected relationship between the rotational speed of the hydraulic pump motor and the oil pressure. When there is a leakage in the system, this expected relationship will deviate. Therefore, the actual relationship between the rotational speed of the hydraulic pump motor and the oil pressure can be monitored in real time and compared with the expected relationship to obtain the deviation of the expected relationship between the motor speed and the oil pressure. Thus, through this deviation of the expected relationship combined with the monitoring of the electric drive power, the leakage point in the hydraulic pump system can be accurately located, providing a clear direction for subsequent repair and maintenance work.

[0286] 11. Multi-system thermal coupling management

[0287] The control module in the hydraulic pump system reuses the temperature model of the electric drive controller in the control module of the original electric drive assembly. Through this temperature model, the temperature of the IGBT can be monitored in real time. In this way, when the IGBT is detected to be overheated, the power of the hydraulic pump motor is synchronously reduced, thereby reducing the overall heat generation of the hydraulic pump system and indirectly reducing the temperature of the IGBT, avoiding the overheating damage of the IGBT caused by the response delay of the independent cooling system, and ensuring the safe and stable operation of the hydraulic pump system under the condition of IGBT overheating.

[0288] 12. AI (Artificial Intelligence)-Driven Predictive Diagnosis

[0289] The control module in the hydraulic pump system reuses the AI acceleration core (such as a neural network processing unit) in the control module of the original electric drive assembly, and trains a hydraulic system degradation model through the AI acceleration core, so that faults such as seal ring aging can be predicted in advance through the hydraulic system degradation model.

[0290] 13. Silicon Carbide Global Integration

[0291] SiC MOSFET semiconductor devices are used to package the control modules of the electric drive assembly and the hydraulic pump system. Based on the excellent performance of the SiC MOSFET semiconductor devices and the rationality of the packaging design, the system efficiency has finally successfully exceeded 99%, achieving a significant improvement in system performance.

[0292] In some embodiments, a high-computing-power MCU chip in the high-voltage domain control module is exemplarily described, as Figure 14 shown. The MCU chip has 6 cores, including core 140, core 141, core 142, core 143, core 144, and core 145 respectively. Among them, core 142 is the original control strategy in the control module of the electric drive assembly, which is used to control the motor assembly; core 143 is the control strategy of the hydraulic pump system after being integrated into the control module of the electric drive assembly, which is used to control the hydraulic pump motor.

[0293] Next, the above 6 cores are specifically described:

[0294] Core 140 is divided into an upper layer module and a lower layer module. Among them, the lower layer module is used to provide underlying support for the upper layer module, and the lower layer module includes a service layer, an ECU abstraction layer, and a microcontroller abstraction layer. The upper layer module is used to implement the basic functions of the electric drive assembly after being integrated into the hydraulic pump system, and the upper layer module includes power management, communication signal processing, electronic control thermal management, diagnosis and protection, and wheel-end anti-skid.

[0295] Core 141 is divided into an upper layer module and a lower layer module. Among them, the lower layer module is used to provide underlying support for the upper layer module, and the lower layer module includes a security library, a security monitor, and a security initialization check. The upper layer module is used to implement the functional safety of the electric drive assembly after being integrated into the hydraulic pump system, and the upper layer module includes torque monitoring, other monitoring, safety shutdown, and resolver decoding.

[0296] The kernel 142 is divided into an upper layer module and a lower layer module. Among them, the lower layer module is used to provide underlying support for the upper layer module. The lower layer module includes an operating system, a digital signal analog-to-digital converter, a complex driver, and a power analog-to-digital converter. The upper layer module is used to implement the control of the motor assembly of the electric drive assembly. The upper layer module includes mode management, torque current calibration, random PWM, speed control, torque management, pulse heating, torque control, current management, variable frequency control, current vector control, motor thermal management, stall heating, field orientation, torque temperature compensation, high-voltage interlock self-check, Space Vector Pulse Width Modulation (SVPWM), active / passive anti-theft, carrier discharge, resolver zero offset learning, active vibration damping, boost charging, diagnosis and protection, harmonic injection, and variable resistance drive.

[0297] The kernel 143 is divided into an upper layer module and a lower layer module. Among them, the lower layer module is used to provide underlying support for the upper layer module. The lower layer module includes an operating system, a digital signal analog-to-digital converter, a complex driver, and a power analog-to-digital converter. The upper layer module is used to implement the control of the hydraulic pump motor. The upper layer module includes mode management, torque current calibration, random PWM, speed control, torque management, variable frequency control, torque control, current management, high-voltage interlock self-check, current vector control, motor thermal management, carrier phase shift, field orientation, torque temperature compensation, dynamic decoupling control, SVPWM, active / passive discharge, resolver zero offset learning, energy recovery, diagnosis and protection, and harmonic injection.

[0298] The kernel 144 is divided into an upper layer module and a lower layer module. Among them, the lower layer module is used to provide underlying support for the upper layer module. The lower layer module includes an operating system, a digital signal analog-to-digital converter, a complex driver, and a power analog-to-digital converter. The upper layer module is responsible for functions such as vehicle wheel end anti-skid, pump control, wheel speed signal output, oil circuit and water cooling system valve control, etc. The upper layer module includes wheel end anti-skid, IPUMP control, wheel speed signal output, oil circuit valve control, sensorless control, and water cooling request control.

[0299] The kernel 145 is divided into an upper layer module and a lower layer module. Among them, the lower layer module is used to provide underlying support for the upper layer module. The lower layer module includes an operating system, a digital signal analog-to-digital converter, a complex driver, and a power analog-to-digital converter. The upper layer module is used to implement the functional expansion of the domain fusion function.

[0300] Based on the above embodiments, the following beneficial effects can be obtained:

[0301] 1. Lightweight and cost reduction

[0302] The mechanical part of the hydraulic pump system can save the housing of the hydraulic pump system by integrating with the housing structure of the electric drive assembly, achieving vehicle weight reduction and cost reduction; the control module of the hydraulic pump system is integrated with the control module of the electric drive assembly, and cost reduction of the whole vehicle is achieved by sharing the processing chip and detection circuit; the motor drive module in the control module and the electric drive assembly can share the filter block to achieve cost reduction of the whole vehicle; the hydraulic pump motor drive module is directly powered through the internal copper busbar of the electric drive, which can save the cost of high-voltage connectors and external connecting wire harnesses, achieving cost reduction of the whole vehicle.

[0303] 2. Technical autonomy and controllability

[0304] By separating the drive and control of the hydraulic pump motor, separating the software and hardware, and separating the execution and drive, the monopoly of chassis suppliers on the active hydraulic suspension technology can be broken, the vertical integration and horizontal division of labor of the supply chain can be completed, and the technical autonomy of vehicle manufacturers can be improved.

[0305] 3. Performance improvement

[0306] Achieve a high degree of integration between the chassis domain and the power domain, improving the vehicle's handling, comfort and energy efficiency, such as improving the response speed and suppressing high-frequency vibrations on complex roads; sharing the power supply and detection circuit, etc. to reduce energy consumption by 50%, and increase the endurance by 3% - 5%; dual redundant control and detection circuit can achieve functional safety ASILD.

[0307] Through the deep integration of hardware reuse and diagnostic logic, the integration of the mechanical part and control module of the hydraulic pump system of the active hydraulic suspension system with the electric drive assembly not only achieves the ultimate compression of cost and space, but also constructs a three-dimensional fault defense system through cross-system data linkage. Its core value lies in upgrading the traditional "independent control island" to an "intelligent cooperation body", providing a highly reliable and highly responsive integrated solution for the next-generation intelligent chassis.

[0308] Based on the foregoing embodiments, the embodiments of the present application provide a control device for a vehicle, as Figure 15 shown, the vehicle includes the electric drive assembly device described in some or all of the above embodiments, and the control device 1500 of the vehicle includes:

[0309] A determination module 1501, configured to determine first control information of the motor assembly;

[0310] A control module 1502, configured to control the motor assembly based on the first control information;

[0311] The determination module 1501 is further configured to determine second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group of the hydraulic pump system;

[0312] The control module 1502 is further configured to control the motor module of the hydraulic pump system based on the second control information.

[0313] In some embodiments, the above-mentioned determination module includes: an acquisition unit configured to acquire the status data of the vehicle from the chassis domain controller of the vehicle; a determination unit configured to determine the second control information of the motor module of the hydraulic pump system based on the status data of the vehicle and the sensor data collected by the sensor group of the hydraulic pump system.

[0314] An embodiment of the present application also provides a vehicle, including the electric drive assembly device described in some or all of the above embodiments.

[0315] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the control device of the vehicle, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0316] An embodiment of the present application also provides a computer program, including computer-readable code. When the computer-readable code runs in an electronic device, the control device in the vehicle executes to implement some or all of the steps in the above method.

[0317] An embodiment of the present application also provides a computer program product, which includes a computer program or instruction. When the computer program or instruction is executed by the control device of the vehicle, some or all of the steps in the above method are implemented. The computer program product can be specifically implemented in a manner of hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium. In other embodiments, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), etc.

[0318] The above embodiments are only preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention.

Claims

1. An electric drive assembly device, characterized in that, Applied to a vehicle, the electric drive assembly device includes an electric drive housing, a high-voltage domain controller assembly and a motor assembly disposed in the electric drive housing. The high-voltage domain controller assembly includes a high-voltage domain control system, a power inverter module and a motor drive module, wherein: The high-voltage domain control system is connected to the power inverter module and is used to determine first control information of the motor assembly; The power inverter module is connected to the motor assembly and is used to control the motor assembly based on the first control information; The high-voltage domain control system is further connected to the motor drive module and a sensor group of the hydraulic pump system, and is used to determine second control information of the motor module of the hydraulic pump system based on sensor data collected by the sensor group of the hydraulic pump system; The motor drive module is connected to the motor module of the hydraulic pump system and is used to control the motor module of the hydraulic pump system based on the second control information.

2. The electric drive assembly device according to claim 1, wherein The sensor group of the hydraulic pump system and / or the motor module of the hydraulic pump system is located in the electric drive housing.

3. The electric drive assembly device according to claim 2, characterized in that, When the sensor group of the hydraulic pump system and the motor module of the hydraulic pump system are fixed in a hydraulic pump housing, the electric drive assembly device further includes a low-voltage interface module located on the electric drive housing. The low-voltage interface module includes a first communication interface and a second communication interface, wherein: The first communication interface is used to establish a connection between the motor drive module and the motor module of the hydraulic pump system; The second communication interface is used to establish a connection between the high-voltage domain control system and the sensor group of the hydraulic pump system.

4. The electric drive assembly device according to claim 3, characterized in that, The high-voltage domain control system further includes a sampling circuit, wherein: The sampling circuit is used to convert sensor data collected by the sensor group of the hydraulic pump system into target data; The high-voltage domain control system is further used to determine second control information of the motor module of the hydraulic pump system based on the target data.

5. The electric drive assembly device according to claim 1, characterized in that, The high-voltage domain control system includes a first interface, wherein: The first interface is used to connect to a second interface of the motor drive module to establish a connection between the high-voltage domain control system and the motor drive module.

6. The electric drive assembly device according to claim 1, characterized in that, The electric drive assembly device further includes a filter and wire distribution module located in the electric drive housing, wherein: The filter and wire distribution module is respectively connected to a high-voltage battery pack and the power inverter module, and is used to convert the output voltage of the high-voltage battery pack into a first voltage adapted to the first power supply requirement based on the first power supply requirement of the power inverter module, so as to provide the first voltage for the power inverter module; The filter and wire distribution module is further connected to the motor drive module, and is further used to convert the output voltage of the high-voltage battery pack into a second voltage adapted to the second power supply requirement based on the second power supply requirement of the motor drive module, so as to provide the second voltage for the motor drive module.

7. The electric drive assembly device according to claim 6, wherein, The filter and wire distribution module includes a third interface, wherein: The third interface is used to connect to the fourth interface of the motor drive module to establish a connection between the filtering and branching module and the motor drive module.

8. The electric drive assembly device according to any one of claims 1 to 7, characterized in that The high-voltage domain control system is further connected to the chassis domain controller of the vehicle and is configured to obtain the state data of the vehicle from the chassis domain controller; and determine the second control information based on the state data of the vehicle and the sensor data collected by the sensor group of the hydraulic pump system.

9. The electric drive assembly device according to claim 8, characterized in that, The high-voltage domain control system includes a third communication interface, wherein: The third communication interface is used to connect to the fourth communication interface of the chassis domain controller to establish a connection between the chassis domain controller and the high-voltage domain control system.

10. A control method for a vehicle, characterized in that, The vehicle includes the electric drive assembly device according to any one of claims 1 to 9, including: Determine the first control information of the motor assembly; Control the motor assembly based on the first control information; Determine the second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group of the hydraulic pump system; Control the motor module of the hydraulic pump system based on the second control information.

11. The control method according to claim 10, wherein The determining the second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group of the hydraulic pump system includes: Obtain the state data of the vehicle from the chassis domain controller of the vehicle; Determine the second control information of the motor module of the hydraulic pump system based on the state data of the vehicle and the sensor data collected by the sensor group of the hydraulic pump system.

12. A control device for a vehicle, characterized in that, The vehicle includes the electric drive assembly device according to any one of claims 1 to 9, including: A determination module for determining the first control information of the motor assembly; A control module for controlling the motor assembly based on the first control information; The determination module is further configured to determine the second control information of the motor module of the hydraulic pump system based on the sensor data collected by the sensor group of the hydraulic pump system; The control module is further configured to control the motor module of the hydraulic pump system based on the second control information.

13. A vehicle, characterized in that, Includes the electric drive assembly device according to any one of claims 1 to 9.

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