Dual-motor control method, system, storage medium and vehicle

Abstract

This invention discloses a dual-motor control method, system, storage medium, and vehicle. The method is applied to a dual-motor controller in a vehicle. The dual-motor controller includes a first control module and a second control module for controlling two motors respectively. The method includes: when a motor control command is detected, the first control module sends control information to the vehicle's CAN bus; the second control module obtains the control information from the vehicle's CAN bus and merges the control information with its own control information; the second control module transmits the merged control information externally through the vehicle's CAN bus according to a communication address to control the motors. This invention solves the problem of communication confusion in the prior art when two motors are controlled separately by two control modules.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a dual-motor control method, system, storage medium and vehicle. Background Art

[0002] With the development of new energy vehicles, the market has put forward higher requirements for the power, economy and comfort of new energy vehicles. The original single-motor drive solution has been increasingly unable to meet the current market requirements. Therefore, now mid-to-high-end four-wheel drive pure electric vehicles, hybrid vehicles, and extended-range vehicles are equipped with two or even more motors.

[0003] In order to solve the above problems, most of them form distributed control by adding a corresponding number of motor controllers to control the added motors. However, adding motor controllers will increase the difficulty of vehicle layout and vehicle manufacturing costs, and will also affect the NVH properties of the vehicle. Therefore, the problem of distributed control of two motors requires the use of a distributed drive integrated control method to save layout space, reduce layout difficulty, and reduce controller costs. The integrated control method is a method in which one motor controller controls two motors at the same time. The controller used to control two motors at the same time is called a dual motor controller.

[0004] In the prior art, the dual motor controller uses two control modules to control the dual motors. However, in order to facilitate signal interaction with the vehicle controller, when the vehicle allocates communication addresses, usually each component is allocated a communication address. Therefore, the two control modules controlling the dual motors will use one communication address to communicate with the vehicle CAN bus at the same time, which is prone to communication signal disorder. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a dual-motor control method, system, storage medium and vehicle, aiming to solve the problem in the prior art that communication confusion is easily caused when two motors are controlled separately by two control modules.

[0006] The embodiment of the present invention is implemented as follows:

[0007] A dual-motor control method is applied to a dual-motor controller of a vehicle, wherein the dual-motor controller includes a first control module and a second control module for controlling two motors respectively, and the method includes:

[0008] When a motor control instruction is detected, the first control module sends control information to the vehicle CAN bus;

[0009] The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information;

[0010] The second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor.

[0011] Furthermore, in the above dual motor control method, when the motor control instruction is detected, the step of the first control module sending control information to the vehicle CAN bus includes:

[0012] When a motor control instruction is detected, the first control module sends a communication message to the vehicle CAN bus, wherein the communication message includes at least the control instruction;

[0013] The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information, including:

[0014] The second control module obtains the communication message from the vehicle CAN bus and integrates the communication message with its own communication message into one frame;

[0015] The second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor, including the following steps:

[0016] The second control module sends the integrated communication message through the vehicle CAN bus according to the communication address to control the motor.

[0017] Furthermore, in the above dual motor control method, when the motor control instruction is detected, the step of the first control module sending control information to the vehicle CAN bus includes:

[0018] When a motor control instruction is detected, the first control module encrypts the control information according to a preset rule and sends it to the vehicle CAN bus;

[0019] The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information, including:

[0020] The second control module obtains the control information from the vehicle CAN bus, decrypts the control information according to a preset rule, and merges the control information with its own control information.

[0021] Furthermore, in the above dual-motor control method, when the motor control instruction is detected, the first control module encrypts the control information according to a preset rule and sends it to the vehicle CAN bus, the step includes:

[0022] The first control module receives the encrypted serial number sent by the server, and each of the control information carries the encrypted serial number;

[0023] The second control module obtains the control information from the vehicle CAN bus, decrypts the control information according to a preset rule, and merges the control information with its own control information, including:

[0024] The second control module receives a decryption password sent by the server that matches the encryption sequence number, and decrypts the control information using the decryption password.

[0025] Furthermore, the above dual-motor control method, wherein the second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor, further comprises:

[0026] The first control module sends a key replacement instruction to the server at a preset interval to dynamically adjust the encryption algorithm of the server.

[0027] Furthermore, in the above dual-motor control method, before the step of the second control module sending the fused control information through the vehicle CAN bus according to the communication address to control the motor, the method further includes:

[0028] The second control module determines whether the fused control information meets a preset condition;

[0029] If so, the second control module executes a step of sending the fused control information through the vehicle CAN bus according to the communication address to control the motor.

[0030] Another object of the present invention is to provide a dual-motor control system, the system comprising a first control module and a second control module, wherein:

[0031] The first control module comprises:

[0032] An information sending unit, used for sending control information to a vehicle CAN bus when a motor control command is detected;

[0033] The second control module includes:

[0034] A fusion unit, used for acquiring the control information from the vehicle CAN bus and fusing the control information with its own control information;

[0035] The control unit is used to send the fused control information through the vehicle CAN bus according to the communication address to control the motor.

[0036] Furthermore, in the above dual-motor control system, the information sending unit comprises:

[0037] An information sending subunit, used for sending a communication message to a vehicle CAN bus when a motor control instruction is detected, wherein the communication message at least includes a control instruction;

[0038] The fusion unit comprises:

[0039] A fusion subunit, used for acquiring the communication message from the vehicle CAN bus, and integrating the communication message with its own communication message into one frame;

[0040] The control unit comprises:

[0041] The control subunit is used to send the integrated communication message through the vehicle CAN bus according to the communication address to control the motor.

[0042] The present invention controls two motors on a vehicle respectively through a first control module and a second control module. When controlling the motors, control information sent by the first control module is first broadcast through a vehicle CAN signal, and then the second control module obtains the control information sent by the first control module and merges it with its own control information. After the fusion, the vehicle CAN signal is used to send the information to a corresponding position through an assigned communication address to complete the control of the motors, thereby avoiding the problem of signal confusion caused by the first control module and the second control module respectively sending control information using one communication address at the same time, and solving the problem of communication confusion when two motors are controlled separately by two control modules in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a flow chart of the dual motor control method provided in the first embodiment of the present invention;

[0044] Figure 2 A flow chart of a dual-motor control method provided in a second embodiment of the present invention;

[0045] Figure 3 is a flow chart of a dual-motor control method provided in a third embodiment of the present invention;

[0046] Figure 4 This is a structural block diagram of a dual-motor control system provided in a fourth embodiment of the present invention.

[0047] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0049] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed types.

[0051] With the development of new energy vehicles, the market has put forward higher requirements for the power, economy and comfort of new energy vehicles. The original single-motor drive solution has been increasingly unable to meet the current market requirements. Therefore, now mid-to-high-end four-wheel drive pure electric vehicles, hybrid vehicles, and extended-range vehicles are equipped with two or even more motors.

[0052] In order to solve the above problems, most of them form distributed control by adding a corresponding number of motor controllers to control the added motors. However, adding motor controllers will increase the difficulty of vehicle layout and vehicle manufacturing costs, and will also affect the NVH properties of the vehicle. Therefore, the problem of distributed control of two motors requires the use of a distributed drive integrated control method to save layout space, reduce layout difficulty, and reduce controller costs. The integrated control method is a method in which one motor controller controls two motors at the same time. The controller used to control two motors at the same time is called a dual motor controller.

[0053] In the prior art, the dual motor controller uses two control modules to control the dual motors. However, in order to facilitate signal interaction with the vehicle controller, when the vehicle allocates communication addresses, usually each component is allocated a communication address. Therefore, the two control modules controlling the dual motors will use one communication address to communicate with the vehicle CAN bus at the same time, which is prone to communication signal disorder.

[0054] The following will describe in detail how to avoid communication disorder when controlling a motor through two control modules in conjunction with specific embodiments and drawings.

[0055] Embodiment 1

[0056] See also Figure 1 , shown is a dual-motor control method in a first embodiment of the present invention, which is applied to a dual-motor controller of a vehicle. The dual-motor controller includes a first control module and a second control module for controlling two motors respectively. The method includes steps S10 to S12.

[0057] Step S10, when a motor control instruction is detected, the first control module sends control information to the vehicle CAN bus.

[0058] Among them, the vehicle motor mainly works under the control of the motor controller. Generally, the motor controller is communicated with the vehicle controller in the vehicle. The vehicle controller can send corresponding instructions to the motor controller so that the motor controller controls the motor to work. Specifically, when the motor control instruction issued by the vehicle controller is detected, the first control module sends the control information to the vehicle CAN bus for broadcasting through the vehicle CAN bus.

[0059] Specifically, in some optional embodiments of the present invention, when a motor control instruction is detected, the step of the first control module sending control information to the vehicle CAN bus may specifically include:

[0060] When a motor control instruction is detected, the first control module sends a communication message to the vehicle CAN bus, and the communication message at least includes the control instruction.

[0061] The first control module may send a communication message containing a control instruction to the vehicle CAN bus in the form of a message.

[0062] Step S11: The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information.

[0063] In this embodiment, the dual-motor controller includes a first control module and a second control module for controlling two motors respectively, wherein the first control module and the second control module communicate with the entire vehicle through a communication address. In order to avoid the problem of communication confusion when the first control module and the second control module communicate with the entire vehicle at the same time using the same communication address, the control information of the first control module and the second control module are merged and then sent to the corresponding location through the assigned communication address. Specifically, the second control module obtains the control information sent by the first control module broadcasted by the vehicle CAN bus from the vehicle CAN bus, and merges the obtained control information with its own control information.

[0064] Furthermore, in some optional embodiments of the present invention, the step of the second control module acquiring the control information from the vehicle CAN bus and fusing the control information with its own control information includes:

[0065] The second control module obtains the communication message from the vehicle CAN bus, integrates the communication message with its own communication message into one frame, and sends the message within a message sending cycle.

[0066] Correspondingly, the second control module obtains the communication message from the vehicle CAN bus, and integrates the communication message with its own communication message into one frame, so as to simultaneously send the communication messages sent by the first control module and the second control module to the corresponding positions through the communication address.

[0067] In addition, in this embodiment, the first control module and the second control module are only for the convenience of identification and do not represent specific control modules. In some optional embodiments of the present invention, the first control module may also be called the second control module, and the second control module may also be called the first control module.

[0068] Step S12: the second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor.

[0069] Among them, the second control module merges its own control information with the control information sent by the first control module and sends it to the vehicle CAN bus through the communication address, so as to send the merged control information to the corresponding address through the vehicle CAN bus to realize the control of the motor, avoiding the problem of communication confusion when the first control module and the second control module send information through the same communication address at the same time. In addition, in reality, the performance requirements for controlling two motors through one control module are relatively high, and therefore, the R&D and manufacturing costs are relatively high. The hardware requirements for controlling the motors through two control modules are low, easy to manufacture, and can also effectively reduce the R&D costs.

[0070] Furthermore, in some optional embodiments of the present invention, the second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor, the step includes:

[0071] The second control module sends the integrated communication message through the vehicle CAN bus according to the communication address to control the motor.

[0072] The fused control information is sent to the vehicle CAN bus in the form of a communication message, so that the communication message is delivered to the corresponding address through the vehicle CAN bus.

[0073] In summary, the dual-motor control method in the above-mentioned embodiment of the present invention controls the two motors on the vehicle respectively through the first control module and the second control module. When controlling the motor, the control information sent by the first control module is first broadcast through the vehicle CAN signal, and then the control information sent by the first control module is obtained by the second control module and merged with its own control information. After the fusion, the vehicle CAN signal is used to send it to the corresponding position through the assigned communication address to complete the control of the motor, thereby avoiding the problem of signal confusion caused by the first control module and the second control module respectively sending control information using the same communication address, and solving the problem of communication confusion when two motors are controlled separately by two control modules in the prior art.

[0074] Embodiment 2

[0075] See also Figure 2 , which shows a dual-motor control method in a second embodiment of the present invention, and the method includes steps S20 to S23.

[0076] Step S20, when a motor control instruction is detected, the first control module encrypts the control information according to a preset rule and sends it to the vehicle CAN bus.

[0077] Furthermore, since the control information sent by the first control module is mainly broadcast through the vehicle CAN bus for reception by the second control module, on the one hand, it is necessary to ensure that the second control module accurately receives the control information sent by the first control module, and on the other hand, it is necessary to ensure that the control information sent by the first control module is not received and used by other controllers. Therefore, before sending the control information, the control information is encrypted to improve the security of information reception between the first control module and the second control module.

[0078] Specifically, in some embodiments of the present invention, when a motor control instruction is detected, the first control module encrypts the control information according to a preset rule and sends it to the vehicle CAN bus, the step includes:

[0079] The first control module receives the encrypted serial number sent by the server, and each of the control information carries the encrypted serial number.

[0080] Among them, the first control module and the second control module are both connected to the preset server in communication. The preset server is equipped with an encryption algorithm, through which the corresponding encryption serial number and the corresponding decryption password can be obtained. When the issued serial number matches the decryption password, it indicates that the security authentication of the object currently issuing the serial number and decryption password is successful.

[0081] Step S21, the second control module obtains the control information from the vehicle CAN bus, decrypts the control information according to a preset rule, and merges the control information with its own control information.

[0082] Furthermore, the second control module decrypts the control information sent by the first module to obtain corresponding control information.

[0083] Specifically, in some embodiments of the present invention, the second control module obtains the control information from the vehicle CAN bus, decrypts the control information according to a preset rule, and merges the control information with its own control information, including:

[0084] The second control module receives a decryption password sent by the server that matches the encryption sequence number, and decrypts the control information using the decryption password.

[0085] Specifically, each time control information is sent, the server sends an encryption serial number and a decryption password to the first control module and the second control module respectively. After the second control module receives the decryption password sent by the server, it decrypts the encrypted control information to facilitate the fusion of subsequent information.

[0086] Step S22: the second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor.

[0087] Step S23: the first control module sends a key replacement instruction to the server at a preset interval to dynamically adjust the encryption algorithm of the server.

[0088] In order to further improve the security of receiving and sending control information, a key replacement instruction is sent to the server at preset intervals to dynamically adjust the encryption algorithm of the server.

[0089] In summary, the dual-motor control method in the above-mentioned embodiment of the present invention controls the two motors on the vehicle respectively through the first control module and the second control module. When controlling the motor, the control information sent by the first control module is first broadcast through the vehicle CAN signal, and then the control information sent by the first control module is obtained by the second control module and merged with its own control information. After the fusion, the vehicle CAN signal is used to send it to the corresponding position through the assigned communication address to complete the control of the motor, thereby avoiding the problem of signal confusion caused by the first control module and the second control module respectively sending control information using the same communication address, and encrypting and decrypting the control information, thereby solving the problem of communication confusion when two motors are controlled separately by two control modules in the prior art and improving the safety of motor control.

[0090] Embodiment 3

[0091] See also Figure 3 , which shows a dual-motor control method proposed in the third embodiment of the present invention, and the method includes steps S30 to S33.

[0092] Step S30: When a motor control instruction is detected, the first control module sends control information to the vehicle CAN bus.

[0093] Step S31: the second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information.

[0094] Step S32, the second control module determines whether the fused control information meets the preset conditions; if so, execute step S33.

[0095] In practice, due to the uncertainty of information fusion, data loss may occur after information fusion, resulting in inaccurate fused information, which in turn affects the safety of motor control. Therefore, it is necessary to confirm and judge the fused control information to determine whether the fused information meets the preset conditions, where the preset conditions are the conditions that the fused information is not lost. For example, when the control information is sent in the form of a communication message, it can be determined by obtaining the number of bytes occupied by the communication message to determine whether the information is lost after fusion.

[0096] Step S33: the second control module sends the integrated control information through the vehicle CAN bus according to the communication address to control the motor.

[0097] In summary, the dual-motor control method of the above-mentioned embodiment of the present invention controls the two motors on the vehicle respectively through the first control module and the second control module. When controlling the motor, the control information sent by the first control module is first broadcast through the vehicle CAN signal, and then the control information sent by the first control module is obtained by the second control module and merged with its own control information. After fusion, the vehicle CAN signal is used to send it to the corresponding position through the assigned communication address to complete the control of the motor, avoiding the problem of signal confusion caused by the first control module and the second control module respectively sending control information using the same communication address, and making a judgment after the information is merged, thereby solving the problem of communication confusion when two motors are controlled separately by two control modules in the prior art and improving the safety of motor control.

[0098] Embodiment 4

[0099] See also Figure 4 , which shows a dual-motor control system provided in a fourth embodiment of the present invention, the system comprises:

[0100] The first control module 100 and the second control module 200, wherein:

[0101] The first control module comprises:

[0102] The information sending unit 101 is used to send control information to the vehicle CAN bus when a motor control instruction is detected;

[0103] The second control module includes:

[0104] A fusion unit 201 is used to obtain the control information from the vehicle CAN bus and fuse the control information with its own control information;

[0105] The control unit 202 is used to send the integrated control information through the vehicle CAN bus according to the communication address to control the motor.

[0106] Furthermore, in the above dual-motor control system, the information sending unit comprises:

[0107] An information sending subunit, used for sending a communication message to a vehicle CAN bus when a motor control instruction is detected, wherein the communication message at least includes a control instruction;

[0108] The fusion unit comprises:

[0109] A fusion subunit, used for acquiring the communication message from the vehicle CAN bus, and integrating the communication message with its own communication message into one frame;

[0110] The control unit comprises:

[0111] The control subunit is used to send the integrated communication message through the vehicle CAN bus according to the communication address to control the motor.

[0112] Furthermore, in the above dual-motor control system, the information sending unit further includes:

[0113] The encryption subunit is used to encrypt the control information according to preset rules and then send it to the vehicle CAN bus when a motor control instruction is detected;

[0114] The fusion unit also includes:

[0115] The decryption subunit is used to obtain the control information from the vehicle CAN bus, decrypt the control information according to preset rules, and merge the control information with its own control information.

[0116] Furthermore, in some optional embodiments of the present invention, the encryption subunit is specifically used for:

[0117] Receiving an encrypted serial number sent by a server, wherein each of the control information carries the encrypted serial number;

[0118] The decryption subunit is specifically used for:

[0119] Receive a decryption password matching the encrypted sequence number sent by the server, and decrypt the control information using the decryption password.

[0120] Furthermore, in some optional embodiments of the present invention, the first control module further includes:

[0121] The adjustment unit is used to send a key change instruction to the server at a preset interval to dynamically adjust the encryption algorithm of the server.

[0122] Further, in some optional embodiments of the present invention, the second control module further includes a judgment unit, configured to judge whether the fused control information satisfies a preset condition;

[0123] If so, the second control module executes a step of sending the fused control information through the vehicle CAN bus according to the communication address to control the motor.

[0124] The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and will not be repeated here.

[0125] Embodiment 5

[0126] Another aspect of the present invention further provides a readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of the method described in any one of the above embodiments one to three are implemented.

[0127] Embodiment 6

[0128] Another aspect of the present invention provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method described in any one of the above-mentioned embodiments one to three are implemented.

[0129] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0130] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0131] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0132] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0133] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0134] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A dual motor control method, characterized in that: In a dual-motor controller applied to a vehicle, the dual-motor controller includes a first control module and a second control module for controlling two motors respectively, and the method includes: When a motor control instruction is detected, the first control module sends control information to the vehicle CAN bus; The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information; The second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor; When the motor control instruction is detected, the step of the first control module sending control information to the vehicle CAN bus includes: When a motor control instruction is detected, the first control module sends a communication message to the vehicle CAN bus, wherein the communication message includes at least the control instruction; The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information, including: The second control module obtains the communication message from the vehicle CAN bus and integrates the communication message with its own communication message into one frame; The second control module sends the fused control information through the vehicle CAN bus according to the communication address to control the motor, including the following steps: The second control module sends the integrated communication message through the vehicle CAN bus according to the communication address to control the motor.

2. The dual motor control method according to claim 1, characterized in that: When the motor control instruction is detected, the step of the first control module sending control information to the vehicle CAN bus includes: When a motor control instruction is detected, the first control module encrypts the control information according to a preset rule and sends it to the vehicle CAN bus; The second control module obtains the control information from the vehicle CAN bus and merges the control information with its own control information, including: The second control module obtains the control information from the vehicle CAN bus, decrypts the control information according to a preset rule, and merges the control information with its own control information.

3. The dual motor control method according to claim 2, characterized in that: When the motor control instruction is detected, the first control module encrypts the control information according to a preset rule and sends it to the vehicle CAN bus, the step comprising: The first control module receives the encrypted serial number sent by the server, and each of the control information carries the encrypted serial number; The second control module obtains the control information from the vehicle CAN bus, decrypts the control information according to a preset rule, and merges the control information with its own control information, including: The second control module receives a decryption password sent by the server that matches the encryption serial number, and decrypts the control information using the decryption password.

4. The dual motor control method according to claim 3, characterized in that: After the step of the second control module sending the fused control information outward through the vehicle CAN bus according to the communication address to control the motor, the step further includes: The first control module sends a key replacement instruction to the server at a preset interval to dynamically adjust the encryption algorithm of the server.

5. The dual motor control method according to claim 1, characterized in that: Before the step of the second control module sending the fused control information through the vehicle CAN bus according to the communication address to control the motor, the step also includes: The second control module determines whether the fused control information meets a preset condition; If so, the second control module executes a step of sending the fused control information through the vehicle CAN bus according to the communication address to control the motor.

6. A dual-motor control system, characterized in that: The system comprises a first control module and a second control module, wherein: The first control module comprises: An information sending unit, used for sending control information to a vehicle CAN bus when a motor control command is detected; The second control module includes: A fusion unit, used for acquiring the control information from the vehicle CAN bus and fusing the control information with its own control information; A control unit, used to send the fused control information through the vehicle CAN bus according to the communication address to control the motor; The information sending unit comprises: An information sending subunit, used for sending a communication message to a vehicle CAN bus when a motor control instruction is detected, wherein the communication message at least includes a control instruction; The fusion unit comprises: A fusion subunit, used for acquiring the communication message from the vehicle CAN bus, and integrating the communication message with its own communication message into one frame; The control unit comprises: The control subunit is used to send the integrated communication message through the vehicle CAN bus according to the communication address to control the motor.

7. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A vehicle, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the program.

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