Methods, devices, equipment, and media for preventing motor stalling when a vehicle is rolling backwards.

Abstract

The present application discloses a method, device, equipment and medium for preventing a motor from stalling when a vehicle is preventing a vehicle from rolling down a slope. After the drive motor enters a stalled state, the torque of the drive motor is adjusted according to the internal temperature of the drive motor, so that the drive motor stops stalling; after the drive motor stops stalling, the torque of the drive motor is adjusted again according to the rolling down distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the stalled state again. The stalling phase of the drive motor is adjusted when the vehicle is preventing a vehicle from rolling down a slope, avoiding overheating and damage to the drive motor caused by a long-term stalling of the drive motor, and at the same time controlling the distance the vehicle retreats when rolling down a slope, greatly improving the driving safety of the vehicle and the driving experience of the user.

Description

Technical Field

[0001] The present application relates to the field of vehicle power system control technology, and in particular to a method, device, equipment and medium for preventing a motor from stalling when a vehicle is preventing from rolling down a slope. Background Art

[0002] like Figure 1 As shown, when a vehicle starts on a slope, if the vehicle is heavily loaded or the slope angle is large, the vehicle may slide down the slope, which will have a certain impact on the driving safety of the vehicle.

[0003] In the related art, the speed of the drive motor is usually controlled to be near 0 through a preset algorithm, that is, the drive motor is controlled to be in a stalled state. However, when the drive motor is in a stalled state, the rotor position of the drive motor is random, and the current of the three-phase stator winding in the drive motor is a DC current with different amplitudes, rather than a symmetrical sinusoidal AC current. At this time, the temperature of the three-phase stator winding will rise sharply, causing the temperature of the drive motor to rise. Long-term stalling will cause the drive motor to overheat, which can easily cause the electrical components of the drive motor and its controller to overheat and burn.

[0004] Therefore, how to prevent the drive motor from overheating when the vehicle enters the anti-slope state is a technical problem to be solved. Summary of the invention

[0005] The main purpose of the present application is to provide a method, device, equipment and medium for preventing the motor from stalling when the vehicle is preventing the vehicle from rolling down a slope, aiming to solve the technical problem that when the vehicle enters the anti-rolling state, the drive motor stalling will cause the drive motor temperature to be too high.

[0006] In a first aspect, the present application provides a method for preventing a motor from stalling when a vehicle is preventing a vehicle from rolling down a slope, the method comprising the following steps:

[0007] After the drive motor enters a stalled state, adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling;

[0008] After the drive motor stops being locked, the torque of the drive motor is adjusted again according to the slope sliding distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the locked state again.

[0009] In some embodiments, after the drive motor enters a stalled state, adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling includes:

[0010] Determining whether the internal temperature of the drive motor is greater than or equal to a preset first temperature threshold;

[0011] When the internal temperature of the drive motor is greater than or equal to the first temperature threshold, adjusting the torque of the drive motor so that the drive motor stops stalling;

[0012] When the internal temperature of the drive motor is lower than the first temperature threshold, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling.

[0013] In some embodiments, when the internal temperature of the drive motor is less than the first temperature threshold, adjusting the torque of the drive motor after each preset time interval so that the drive motor stops stalling includes:

[0014] When the internal temperature of the drive motor is less than the first temperature threshold, determining whether a vehicle operation control signal is received;

[0015] If the vehicle operation control signal is received, adjusting the torque of the drive motor according to the vehicle operation control signal so that the drive motor operates in a state corresponding to the vehicle operation control signal;

[0016] If the vehicle operation control signal is not received, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling;

[0017] Wherein, the vehicle operation signal includes an accelerator signal, a brake signal and a handbrake signal.

[0018] In some embodiments, after the drive motor stops stalling, adjusting the torque of the drive motor again according to the slope sliding distance of the vehicle and the temperature of the drive motor so that the drive motor enters the stalling state again includes:

[0019] When the slope sliding distance of the vehicle is greater than or equal to a preset slope sliding distance threshold, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again;

[0020] When the slope sliding distance of the vehicle is less than the slope sliding distance threshold, determining whether the temperature of the drive motor is less than a second temperature threshold;

[0021] If yes, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; otherwise, not adjusting the torque of the drive motor;

[0022] The second temperature threshold is lower than the first temperature threshold.

[0023] In some embodiments, the method further comprises:

[0024] The temperature of the drive motor is determined according to the state of an insulated gate bipolar transistor (IGBT) in the drive motor.

[0025] In some embodiments, adjusting the torque of the drive motor so that the drive motor enters a stalled state includes:

[0026] Setting the given speed of the driving motor to 0;

[0027] Integral proportional PI control is performed according to the given rotation speed of the drive motor and the current rotation speed of the drive motor to control the torque of the drive motor so that the drive motor enters a stalled state.

[0028] In some embodiments, after the drive motor enters a stalled state, before adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling, the method further includes:

[0029] Determining whether the vehicle is rolling down a slope according to the gear position of the vehicle and the rotational speed direction of the drive motor;

[0030] When it is determined that the vehicle is rolling down the slope, the torque of the drive motor is adjusted so that the drive motor enters a stalled state.

[0031] In a second aspect, the present application further provides a device for preventing a motor from stalling when a vehicle is preventing a vehicle from sliding down a slope, the device comprising:

[0032] A first regulating module, which is used to adjust the torque of the driving motor according to the internal temperature of the driving motor after the driving motor enters a stalled state, so that the driving motor stops stalling;

[0033] The second regulating module is used to adjust the torque of the driving motor again according to the slope sliding distance of the vehicle and the temperature of the driving motor after the driving motor stops stalling, so that the driving motor enters the stalling state again.

[0034] In some embodiments, the first adjustment module is further configured to:

[0035] Determining whether the internal temperature of the drive motor is greater than or equal to a preset first temperature threshold;

[0036] When the internal temperature of the drive motor is greater than or equal to the first temperature threshold, adjusting the torque of the drive motor so that the drive motor stops stalling;

[0037] When the internal temperature of the drive motor is lower than the first temperature threshold, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling.

[0038] In some embodiments, the first adjustment module is further configured to:

[0039] When the internal temperature of the drive motor is less than the first temperature threshold, determining whether a vehicle operation control signal is received;

[0040] If the vehicle operation control signal is received, adjusting the torque of the drive motor according to the vehicle operation control signal so that the drive motor operates in a state corresponding to the vehicle operation control signal;

[0041] If the vehicle operation control signal is not received, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling;

[0042] Wherein, the vehicle operation signal includes an accelerator signal, a brake signal and a handbrake signal.

[0043] In some embodiments, the second adjustment module is further configured to:

[0044] When the slope sliding distance of the vehicle is greater than or equal to a preset slope sliding distance threshold, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again;

[0045] When the slope sliding distance of the vehicle is less than the slope sliding distance threshold, determining whether the temperature of the drive motor is less than a second temperature threshold;

[0046] If yes, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; otherwise, not adjusting the torque of the drive motor;

[0047] The second temperature threshold is lower than the first temperature threshold.

[0048] In some embodiments, the device is further used to determine the temperature of the drive motor according to the state of an insulated gate bipolar transistor IGBT in the drive motor.

[0049] In some embodiments, the device is further configured to:

[0050] Set the given speed of the drive motor to 0;

[0051] Integral proportional PI control is performed according to the given rotation speed of the drive motor and the current rotation speed of the drive motor to control the torque of the drive motor so that the drive motor enters a stalled state.

[0052] In some embodiments, the device further comprises a third adjustment module, which is used to:

[0053] Determining whether the vehicle is rolling down a slope according to the gear position of the vehicle and the rotational speed direction of the drive motor;

[0054] When it is determined that the vehicle is rolling down the slope, the torque of the drive motor is adjusted so that the drive motor enters a stalled state.

[0055] In a third aspect, the present application also provides a computer device, comprising a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the method for preventing the motor from stalling when the vehicle is preventing from rolling down a slope as described above are implemented.

[0056] In a fourth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for preventing a motor from stalling when a vehicle is preventing from rolling down a slope as described above are implemented.

[0057] The present application provides a method, device, equipment and medium for preventing a motor from stalling when a vehicle is preventing a vehicle from rolling down a slope. After the drive motor enters a stalled state, the torque of the drive motor is adjusted according to the internal temperature of the drive motor, so that the drive motor stops stalling; after the drive motor stops stalling, the torque of the drive motor is adjusted again according to the rolling distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the stalled state again. The stall phase of the drive motor is adjusted when the vehicle is preventing a vehicle from rolling down a slope, avoiding overheating and damage to the drive motor caused by a long-term stall of the drive motor, and at the same time controlling the distance the vehicle retreats when rolling down a slope, greatly improving the driving safety of the vehicle and the driving experience of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0059] Figure 1 This is a schematic diagram of a vehicle sliding down a slope;

[0060] Figure 2 A flow chart of a method for preventing a motor from stalling when a vehicle is preventing from rolling down a slope provided in an embodiment of the present application;

[0061] Figure 3 It is the flow chart of PI control;

[0062] Figure 4 A schematic diagram of a driving motor control method;

[0063] Figure 5A schematic block diagram of a device for preventing a motor from stalling when a vehicle is preventing from sliding down a slope;

[0064] Figure 6 The present invention is a block diagram showing the structure of a computer device according to an embodiment of the present application.

[0065] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0068] The embodiment of the present application provides a method, device, equipment and medium for preventing a motor from stalling when a vehicle is preventing a slope. The method for preventing a motor from stalling when a vehicle is preventing a slope can be applied to a computer device, which can be a vehicle controller or an onboard computer.

[0069] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0070] Please refer to Figure 2 , Figure 2 A flow chart of a method for preventing a motor from stalling when a vehicle is preventing from rolling down a slope is provided in an embodiment of the present application.

[0071] like Figure 2 As shown, the method includes steps S1 to S2.

[0072] Step S1: After the drive motor enters a stalled state, adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling.

[0073] It is worth noting that after the drive motor enters a stalled state, the torque of the drive motor is adjusted according to the internal temperature of the drive motor so that before the drive motor stops stalling, it also includes: determining whether the vehicle is rolling down a slope according to the gear position of the vehicle and the rotational speed direction of the drive motor; when it is determined that the vehicle is rolling down a slope, adjusting the torque of the drive motor so that the drive motor enters a stalled state.

[0074] Taking a pure electric direct drive vehicle as an example, the gear position of the vehicle corresponds to the running direction of the drive motor. Under normal operating temperature of the vehicle, when the vehicle gear position is in the forward gear, the speed direction of the vehicle drive motor is positive speed, and when the vehicle gear position is in the reverse gear, the speed direction of the vehicle drive motor is negative speed. Therefore, when the vehicle gear position is in the forward gear and the motor has a negative speed, it is determined that the vehicle is slipping backward; when the vehicle gear position is in the reverse gear and the motor has a positive speed, it is determined that the vehicle is slipping forward.

[0075] Furthermore, it should be understood that the torque of the drive motor is a variable for adjusting the speed of the drive motor. In this embodiment, after determining that the vehicle is rolling down a slope, the drive motor controller adjusts the torque of the drive motor, thereby adjusting the speed of the drive motor, and adjusting the speed of the drive motor to 0, that is, controlling the drive motor to enter a stalled state. After the drive motor enters a stalled state, the vehicle can be controlled to stop rolling down a slope.

[0076] As a preferred implementation, adjusting the torque of the drive motor so that the drive motor enters a stalled state includes: setting the given speed of the drive motor to 0; performing integral proportional PI control according to the given speed of the drive motor and the current speed of the drive motor to control the torque of the drive motor so that the drive motor enters a stalled state.

[0077] Exemplary, such as Figure 3 As shown, the given speed r(t) of the drive motor is set to 0, and the deviation is formed according to the given speed r(t) of the drive motor and the current speed y(t) of the drive motor: e(t) = r(t)-y(t), where e(t) is the speed deviation. The proportion (P), integral (I) and differential (D) of the deviation are linearly combined to form the control quantity to control the controlled object. The control law is:

[0078]

[0079] Among them, Kp is the proportional coefficient, Ti is the integral time constant, Td is the differential time constant; Ki=Kp / Ti, is the integral coefficient; Kd=Kp*Td, is the differential coefficient.

[0080] The control adopts PI control, that is, Kd=0, adjust Kp and Ki, Kp proportionally reflects the speed deviation signal e(t) of the control system. Once the deviation occurs, the drive motor controller immediately produces a control effect to control the torque of the drive motor to control the speed of the drive motor, thereby reducing the error. When the deviation e=0, the control effect is also 0. Ki can memorize the error, mainly used to eliminate static error and improve the system's zero difference. The strength of the integral effect depends on the integral time constant Ti. The larger Ti is, the weaker the integral effect is, and vice versa.

[0081] Specifically, after the drive motor enters a stalled state, adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling includes:

[0082] Determine whether the internal temperature of the drive motor is greater than or equal to a preset first temperature threshold; when the internal temperature of the drive motor is greater than or equal to the first temperature threshold, adjust the torque of the drive motor so that the drive motor stops stalling. In this embodiment, the power of the drive motor is limited by the drive motor controller, thereby achieving the effect of reducing the torque of the drive motor. After the torque is reduced, the drive motor cannot maintain a stalled state, and will rotate slowly, and its phase will also change. At the same time, its current will also change from a DC current in a stalled state to a sinusoidal AC current, and its temperature will slowly drop. Therefore, this embodiment sets a first temperature threshold. When the temperature of the drive motor exceeds or is equal to the first temperature threshold when the drive motor is in a stalled state, it indicates that its temperature is high. By reducing the torque of the drive motor and stopping it from stalling, the temperature of the drive motor can be reduced, thereby avoiding damage to the drive motor and the entire motor system due to excessive temperature.

[0083] When the internal temperature of the drive motor is less than the first temperature threshold, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling. In this embodiment, the preset time interval is 5 seconds. In this embodiment, after the engine enters the stalled state, if the temperature does not exceed the preset threshold, the drive motor is controlled to stop stalling once after stalling for 5 seconds, so that the temperature of the drive motor can be adjusted after stalling for 5 seconds, so as to better avoid the overheating of the drive motor.

[0084] As a preferred embodiment, Figure 4As shown, when the internal temperature of the drive motor is less than the first temperature threshold, it is determined whether a vehicle operation control signal is received; if the vehicle operation control signal is received, the torque of the drive motor is adjusted according to the vehicle operation control signal, so that the drive motor operates in the state corresponding to the vehicle operation control signal; if the vehicle operation control signal is not received, the torque of the drive motor is adjusted after each preset time interval, so that the drive motor stops stalling; wherein, the vehicle operation signal includes a throttle signal, a brake signal and a handbrake signal. When the throttle signal is received, it indicates that the vehicle is accelerating, and when the brake signal and the handbrake signal are received, it indicates that the driver controls the vehicle to stop. At this time, the vehicle will not continue to slide down the slope. Therefore, after receiving these three signals, it is not necessary to control the drive motor to take anti-slope control, and the drive motor can be directly controlled to operate according to the state corresponding to the received signal.

[0085] Step S2: after the drive motor stops being locked, adjusting the torque of the drive motor again according to the slope sliding distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the locked state again.

[0086] Specifically, after the drive motor stops being locked, adjusting the torque of the drive motor again according to the slope sliding distance of the vehicle and the temperature of the drive motor so that the drive motor enters the locked state again includes:

[0087] When the slope sliding distance of the vehicle is greater than or equal to a preset slope sliding distance threshold, the torque of the drive motor is adjusted again so that the drive motor enters the stalled state again; when the slope sliding distance of the vehicle is less than the slope sliding distance threshold, it is determined whether the temperature of the drive motor is less than a second temperature threshold; if so, the torque of the drive motor is adjusted again so that the drive motor enters the stalled state again, otherwise, the torque of the drive motor is not adjusted; wherein the second temperature threshold is lower than the first temperature threshold.

[0088] It is worth noting that after the drive motor stops stalling, the vehicle may continue to slide down the slope at a slow speed. By detecting the speed of the drive motor when the vehicle slides down the slope and the backward sliding time (the time when the drive motor stops stalling), the distance of the vehicle sliding down the slope can be obtained by integration. The threshold value of the sliding distance in this embodiment is 50mm. This embodiment controls the backward distance of the vehicle when sliding down the slope, which not only achieves the purpose of reducing the temperature of the drive motor, but also controls the backward distance of the vehicle when sliding down the slope to ensure the safety of the vehicle. Through the control of the anti-secondary slope sliding strategy, although the rapid accumulation of heat causes the internal temperature of the motor to rise rapidly when the vehicle starts on a slope, the motor torque is slowly reduced to allow the vehicle to retreat about 50mm, thereby switching the controller phase, avoiding the motor from burning out when it is stalled, and extremely effectively protecting the IGBT.

[0089] As a preferred implementation manner, this embodiment determines the temperature of the drive motor according to the state of an insulated gate bipolar transistor IGBT in the drive motor.

[0090] The negative temperature coefficient thermistor NTC inside the IGBT in the drive motor is connected in series in the voltage divider circuit of the drive motor through an external pin. Since the resistance of NTC decreases as the temperature increases, its voltage divider value or the voltage divider value on the series resistor also changes as the temperature changes. After modulating the voltage divider value, a voltage signal corresponding to the NTC temperature can be obtained. This voltage signal is sent to the voltage comparator and compared with the voltage value corresponding to the set protection temperature. The comparison value is used to control the input signal of the IGBT to obtain the module temperature information, because a larger load current will cause a higher heat loss inside the IGBT, and a smaller load current will cause a lower heat loss inside the IGBT. Therefore, the temperature of the drive motor can be determined by determining the state of the IBGT. Specifically, when it is judged that the temperature of the drive motor is low (lower than the second temperature threshold), the drive motor torque can be immediately restored to make it enter the stall state again to prevent the vehicle from sliding down the slope. This not only effectively controls the distance of the vehicle sliding back when starting on a slope, but also reduces the impact during the two anti-slip processes, avoiding the risk of damaging the motor system, and at the same time controlling the vehicle to retreat to a minimum. It greatly improves the user's driving safety and driving experience.

[0091] The embodiment of the present application provides a method, device, equipment and medium for preventing the motor from stalling when the vehicle is preventing from rolling down a slope. After the drive motor enters the stalled state, the torque of the drive motor is adjusted according to the internal temperature of the drive motor, so that the drive motor stops stalling; after the drive motor stops stalling, the torque of the drive motor is adjusted again according to the rolling down distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the stalled state again. The stall phase of the drive motor is adjusted when the vehicle is preventing from rolling down a slope, avoiding overheating and damage of the drive motor caused by long-term stalling of the drive motor, and at the same time controlling the distance of the vehicle retreating when rolling down a slope, greatly improving the driving safety of the vehicle and the driving experience of the user.

[0092] Please refer to Figure 5 , Figure 5 A schematic block diagram of a device for preventing a motor from stalling when a vehicle is preventing from rolling down a slope provided in an embodiment of the present application.

[0093] like Figure 5 As shown, the device comprises:

[0094] A first regulating module, which is used to adjust the torque of the driving motor according to the internal temperature of the driving motor after the driving motor enters a stalled state, so that the driving motor stops stalling;

[0095] The second regulating module is used to adjust the torque of the driving motor again according to the slope sliding distance of the vehicle and the temperature of the driving motor after the driving motor stops stalling, so that the driving motor enters the stalling state again.

[0096] Wherein, the first adjustment module is further used for:

[0097] Determining whether the internal temperature of the drive motor is greater than or equal to a preset first temperature threshold;

[0098] When the internal temperature of the drive motor is greater than or equal to the first temperature threshold, adjusting the torque of the drive motor so that the drive motor stops stalling;

[0099] When the internal temperature of the drive motor is lower than the first temperature threshold, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling.

[0100] Wherein, the first adjustment module is further used for:

[0101] When the internal temperature of the drive motor is less than the first temperature threshold, determining whether a vehicle operation control signal is received;

[0102] If the vehicle operation control signal is received, adjusting the torque of the drive motor according to the vehicle operation control signal so that the drive motor operates in a state corresponding to the vehicle operation control signal;

[0103] If the vehicle operation control signal is not received, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling;

[0104] Wherein, the vehicle operation signal includes an accelerator signal, a brake signal and a handbrake signal.

[0105] Wherein, the second adjustment module is further used for:

[0106] When the slope sliding distance of the vehicle is greater than or equal to a preset slope sliding distance threshold, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again;

[0107] When the slope sliding distance of the vehicle is less than the slope sliding distance threshold, determining whether the temperature of the drive motor is less than a second temperature threshold;

[0108] If yes, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; otherwise, not adjusting the torque of the drive motor;

[0109] The second temperature threshold is lower than the first temperature threshold.

[0110] The device is also used to determine the temperature of the drive motor according to the state of the insulated gate bipolar transistor IGBT in the drive motor.

[0111] The device is also used for:

[0112] Setting the given speed of the driving motor to 0;

[0113] Integral proportional PI control is performed according to the given rotation speed of the drive motor and the current rotation speed of the drive motor to control the torque of the drive motor so that the drive motor enters a stalled state.

[0114] The device further comprises a third adjustment module, which is used for:

[0115] Determining whether the vehicle is rolling down a slope according to the gear position of the vehicle and the rotational speed direction of the drive motor;

[0116] When it is determined that the vehicle is rolling down the slope, the torque of the drive motor is adjusted so that the drive motor enters a stalled state.

[0117] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned embodiments and will not be repeated here.

[0118] The apparatus provided in the above embodiment may be implemented in the form of a computer program. The computer program may be Figure 6 Runs on the computer device shown.

[0119] See also Figure 6 , Figure 6 A schematic block diagram of the structure of a computer device provided in an embodiment of the present application. The computer device may be a terminal.

[0120] like Figure 6 As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0121] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any method for preventing the motor from being blocked when the vehicle is preventing from rolling down a slope.

[0122] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0123] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any method for preventing the motor from stalling when the vehicle is preventing from rolling down a slope.

[0124] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0125] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0126] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the various embodiments of the present application.

[0127] The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the computer device.

[0128] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0129] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for preventing a motor from stalling when a vehicle is preventing a vehicle from sliding down a slope, characterized in that: include: After the drive motor enters a stalled state, adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling; After the drive motor stops stalling, adjusting the torque of the drive motor again according to the slope sliding distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the stalling state again; Wherein, after the drive motor enters a stalled state, adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling includes: Determining whether the internal temperature of the drive motor is greater than or equal to a preset first temperature threshold; When the internal temperature of the drive motor is greater than or equal to the first temperature threshold, adjusting the torque of the drive motor so that the drive motor stops stalling; When the internal temperature of the drive motor is lower than the first temperature threshold, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling; Wherein, when the internal temperature of the drive motor is lower than the first temperature threshold, adjusting the torque of the drive motor after each preset time interval so that the drive motor stops stalling includes: When the internal temperature of the drive motor is less than the first temperature threshold, determining whether a vehicle operation control signal is received; If the vehicle operation control signal is received, adjusting the torque of the drive motor according to the vehicle operation control signal so that the drive motor operates in a state corresponding to the vehicle operation control signal; If the vehicle operation control signal is not received, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling; Wherein, the vehicle operation control signal includes an accelerator signal, a brake signal and a handbrake signal; After the drive motor stops stalling, adjusting the torque of the drive motor again according to the slope sliding distance of the vehicle and the temperature of the drive motor so that the drive motor enters the stalling state again includes: When the slope sliding distance of the vehicle is greater than or equal to a preset slope sliding distance threshold, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; When the slope sliding distance of the vehicle is less than the slope sliding distance threshold, determining whether the temperature of the drive motor is less than a second temperature threshold; If yes, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; otherwise, not adjusting the torque of the drive motor; The second temperature threshold is lower than the first temperature threshold.

2. The method for preventing a motor from stalling when a vehicle is preventing a vehicle from rolling down a slope according to claim 1, characterized in that: Also includes: The temperature of the drive motor is determined according to the state of an insulated gate bipolar transistor (IGBT) in the drive motor.

3. The method for preventing a motor from stalling when a vehicle is preventing a vehicle from rolling down a slope according to claim 1, characterized in that: Adjusting the torque of the drive motor so that the drive motor enters a stalled state includes: Setting the given speed of the driving motor to 0; Integral proportional PI control is performed according to the given rotation speed of the drive motor and the current rotation speed of the drive motor to control the torque of the drive motor so that the drive motor enters a stalled state.

4. The method for preventing a motor from stalling when a vehicle is preventing from rolling down a slope according to claim 1, characterized in that: After the drive motor enters a stalled state, before adjusting the torque of the drive motor according to the internal temperature of the drive motor so that the drive motor stops stalling, the method further includes: Determining whether the vehicle is rolling down a slope according to the gear position of the vehicle and the rotational speed direction of the drive motor; When it is determined that the vehicle is rolling down the slope, the torque of the drive motor is adjusted so that the drive motor enters a stalled state.

5. A device for preventing a motor from stalling when a vehicle is rolling down a slope, characterized in that: include: A first regulating module, which is used to adjust the torque of the driving motor according to the internal temperature of the driving motor after the driving motor enters a stalled state, so that the driving motor stops stalling; A second regulating module, which is used to adjust the torque of the drive motor again according to the slope sliding distance of the vehicle and the temperature of the drive motor after the drive motor stops being locked, so that the drive motor enters the locked state again; Wherein, the first adjustment module is further used for: Determining whether the internal temperature of the drive motor is greater than or equal to a preset first temperature threshold; When the internal temperature of the drive motor is greater than or equal to the first temperature threshold, adjusting the torque of the drive motor so that the drive motor stops stalling; When the internal temperature of the drive motor is lower than the first temperature threshold, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling; Wherein, the first adjustment module is further used for: When the internal temperature of the drive motor is less than the first temperature threshold, determining whether a vehicle operation control signal is received; If the vehicle operation control signal is received, adjusting the torque of the drive motor according to the vehicle operation control signal so that the drive motor operates in a state corresponding to the vehicle operation control signal; If the vehicle operation control signal is not received, the torque of the drive motor is adjusted after each preset time interval so that the drive motor stops stalling; Wherein, the vehicle operation control signal includes an accelerator signal, a brake signal and a handbrake signal; Wherein, the second adjustment module is further used for: When the slope sliding distance of the vehicle is greater than or equal to a preset slope sliding distance threshold, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; When the slope sliding distance of the vehicle is less than the slope sliding distance threshold, determining whether the temperature of the drive motor is less than a second temperature threshold; If yes, adjusting the torque of the drive motor again so that the drive motor enters the stalled state again; otherwise, not adjusting the torque of the drive motor; The second temperature threshold is lower than the first temperature threshold.

6. A computer device, characterized in that: The computer device includes a processor, a memory, and a computer program stored in the memory and executable by the processor, wherein when the computer program is executed by the processor, the steps of the method for preventing motor jamming when the vehicle is preventing from rolling down a slope as described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the steps of the method for preventing a motor from stalling when a vehicle is preventing from rolling down a slope as claimed in any one of claims 1 to 4 are implemented.

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