A method, device, vehicle-mounted terminal and medium for handling motor system failure

Abstract

The present application is applicable to the field of automotive technology, and provides a method, device, vehicle-mounted terminal and medium for handling motor system failures, the method comprising: when a hardware failure is detected in the motor system of the vehicle, controlling the motor system to enter a safe state of safety pulse shutdown; when the motor system has entered the safe state of safety pulse shutdown, obtaining the current electrical parameter value of the motor system; according to the electrical parameter value, controlling the motor system to enter a safe state of active short circuit or to remain in a safe state of safety pulse shutdown. Compared with the prior art, in which the motor system is controlled to enter and remain in an ASC safe state when a hardware failure occurs in the motor system, the present method needs to first control the motor system to enter a safe state of safety pulse shutdown, and then control the motor system to enter a safe state of active short circuit or to remain in a safe state of safety pulse shutdown according to the electrical parameter value of the motor system, thereby reducing the risk of thermal hazards caused by the ASC safe state.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and in particular relates to a method, device, vehicle-mounted terminal and medium for processing motor system failure. Background Art

[0002] At present, the electric four-wheel drive system of new energy vehicles uses a permanent magnet synchronous motor system for both front and rear drives. When the above motor system fails, the existing processing method is usually to judge the size of the back electromotive force generated by the motor based on the motor speed. If the speed is higher than the threshold, the generated back electromotive force is higher than the bus voltage, and the motor system is controlled to enter the active short circuit (active short circuit, ASC) safety state; if the speed is lower than the fixed threshold, the generated back electromotive force is lower than the bus voltage, and the motor system is controlled to enter the safe pulse off (Safty Pulse Off, SPO) safety state. Among them, SPO is also called the free safety state (Free Wheeling, FW).

[0003] However, when some key hardware in the motor system fails, such as a resolver failure, a watchdog failure, or a microcontroller failure, the motor speed signal cannot be identified at this time, so the motor system can only enter and remain in the safe state of the ASC, increasing the risk of thermal hazards caused by the safe state of the ASC. Summary of the invention

[0004] The embodiments of the present application provide a method, device, vehicle-mounted terminal, and medium for processing a motor system failure, which can reduce the risk of thermal hazards caused by the safety state of the ASC.

[0005] In a first aspect, an embodiment of the present application provides a method for processing a motor system fault, comprising:

[0006] When a hardware fault is detected in the motor system of the vehicle, the motor system is controlled to enter a safe state of safety pulse shutdown;

[0007] When the motor system has entered a safe state of safety pulse shutdown, obtaining a current electrical parameter value of the motor system;

[0008] According to the electrical parameter value, the motor system is controlled to enter a safe state of active short circuit or to remain in a safe state of safety pulse shutoff.

[0009] Optionally, controlling the motor system to enter an active short-circuit safety state or maintain a safety pulse-off safety state according to the electrical parameter value includes:

[0010] If the electrical parameter value is greater than or equal to a first threshold, controlling the motor system to enter an active short-circuit safety state;

[0011] If the electrical parameter value is less than the first threshold, the motor system is controlled to maintain a safe state of safety pulse shutoff.

[0012] Optionally, the motor system includes a front drive motor system and a rear drive motor system, and after controlling the motor system to maintain a safe state in which the safety pulse is turned off, further includes:

[0013] When it is detected that the front drive motor system is in a safety state with safety pulse shutoff, obtaining a first torque output by the rear drive motor system;

[0014] The vehicle is controlled to travel according to the first torque.

[0015] Optionally, the motor system includes a front drive motor system and a rear drive motor system, and after controlling the motor system to maintain a safe state in which the safety pulse is turned off, further includes:

[0016] When it is detected that the rear-drive motor system is in a safety state with safety pulse shutoff, obtaining a second torque output by the front-drive motor system;

[0017] The vehicle is controlled to travel according to the second torque.

[0018] Optionally, controlling the motor system to enter an active short-circuit safety state or maintain a safety pulse-off safety state according to the electrical parameter value includes:

[0019] determining a motor speed of the motor system according to the electrical parameter value;

[0020] If the motor speed is greater than or equal to a second threshold, controlling the motor system to enter an active short-circuit safety state;

[0021] If the motor speed is less than the second threshold, the motor system is controlled to maintain a safe state with a safety pulse shutoff.

[0022] Optionally, after controlling the motor system to enter a safe state of safety pulse shutdown when a hardware failure of the motor system of the vehicle is detected, the method further includes:

[0023] Obtaining a bus voltage value of the motor system;

[0024] If the bus voltage value is greater than or equal to a third threshold, the motor system is controlled to enter an active short-circuit safety state.

[0025] Optionally, after obtaining the bus voltage value of the motor system, the method further includes:

[0026] If the bus voltage value is less than the third threshold, the step of obtaining the current electrical parameter value of the motor system and subsequent steps are performed.

[0027] In a second aspect, an embodiment of the present application provides a device for processing a motor system fault, comprising:

[0028] A first control unit, configured to control the motor system to enter a safety state of safety pulse shutdown when a hardware failure of the motor system of the vehicle is detected;

[0029] A first acquisition unit, configured to acquire a current electrical parameter value of the motor system when the motor system has entered a safe state of safety pulse shutdown;

[0030] The second control unit is used to control the motor system to enter a safe state of active short circuit or maintain a safe state of safety pulse shutdown according to the electrical parameter value.

[0031] In a third aspect, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements a method for processing a motor system failure as described in any one of the first aspects above.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for processing a motor system failure as described in any one of the first aspects above is implemented.

[0033] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle-mounted terminal, the vehicle-mounted terminal can execute the method for handling motor system failure described in any one of the above-mentioned first aspects.

[0034] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0035] The embodiment of the present application provides a method for handling a motor system failure, which controls the motor system to enter a safe state of safety pulse shutdown when a hardware failure is detected in the motor system of the vehicle; obtains the current electrical parameter value of the motor system when the motor system has entered the safe state of safety pulse shutdown; and controls the motor system to enter a safe state of active short circuit or maintain a safe state of safety pulse shutdown according to the electrical parameter value. Compared with the prior art, in which the motor system is directly controlled to enter and remain in the safe state of ASC when a hardware failure occurs in the motor system, the present method needs to first control the motor system to enter a safe state of safety pulse shutdown, so as to avoid the short-circuit current of the motor system being large and uncontrollable after the motor system directly enters the safe state of ASC, thereby avoiding the occurrence of thermal hazards. At the same time, it is determined whether the safe state of the motor system needs to be switched according to the electrical parameter value of the motor system, and then the motor system is controlled to enter a safe state of active short circuit or maintain a safe state of safety pulse shutdown, so that when a hardware failure occurs in the motor system, the safe state of the motor system can be switched according to the electrical parameter value of the motor system, thereby reducing the risk of thermal hazards caused by the ASC safe state. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only 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.

[0037] Figure 1 is a flowchart of a method for processing a motor system failure provided by an embodiment of the present application;

[0038] Figure 2 is a flowchart of a method for processing a motor system failure provided by another embodiment of the present application;

[0039] Figure 3 is a curve diagram of current-motor speed when the motor system is in different safety states provided by an embodiment of the present application;

[0040] Figure 4 is a flowchart of a method for processing a motor system failure provided by another embodiment of the present application;

[0041] Figure 5 is a flowchart of a method for processing a motor system failure provided by another embodiment of the present application;

[0042] Figure 6 It is a structural schematic diagram of a motor system fault processing device provided by an embodiment of the present application;

[0043] Figure 7 It is a structural diagram of a vehicle-mounted terminal provided in one embodiment of the present application. DETAILED DESCRIPTION

[0044] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0045] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0046] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0047] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0048] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0049] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0050] In all embodiments of the present application, the vehicle may be a new energy vehicle, such as a four-wheel drive electric vehicle.

[0051] See also Figure 1 , Figure 1 This is a flowchart of a method for processing a motor system failure provided by an embodiment of the present application. In the embodiment of the present application, the execution subject of the method for processing a motor system failure is a vehicle-mounted terminal.

[0052] like Figure 1 As shown, the method for processing a motor system fault provided by an embodiment of the present application may include S101 to S103, which are described in detail as follows:

[0053] In S101 , when a hardware failure is detected in a motor system of a vehicle, the motor system is controlled to enter a safety state of safety pulse shutoff.

[0054] In practical applications, the vehicle's motor system includes but is not limited to: drive motor, motor controller, reduction gearbox and automatic driving control unit (ACU).

[0055] It should be noted that the hardware failure of the motor system of the vehicle includes but is not limited to: at least one key hardware failure in the motor system. Among them, the failure of the above key hardware includes but is not limited to: resolver failure, watchdog or single-chip microcomputer failure.

[0056] In practical applications, the existing methods for handling motor system failures are that when certain key hardware in the motor system fails, such as a resolver failure, a watchdog failure, or a single-chip microcomputer failure, the motor speed signal cannot be identified at this time, so the motor system can only directly enter and remain in an active short-circuit safety state. However, when the vehicle's motor system enters the active short-circuit safety state, the short-circuit current of the motor system is large and uncontrollable, which will cause thermal hazards. If it is in the active short-circuit safety state for a long time, there is a risk of burning the motor system. Therefore, when the vehicle terminal detects that the vehicle's motor system has a hardware failure, in order to reduce the risk of the motor system being burned and increase the service life of the motor system, the vehicle terminal can control the motor system to enter a safe state of safety pulse shutdown.

[0057] Among them, the active short circuit (ASC) safety state specifically refers to closing the upper bridge arm or lower bridge arm of the drive motor in the motor system, short-circuiting the three phases of the drive motor, so that the back electromotive force generated by the drive motor is consumed in the form of short-circuit current inside the drive motor.

[0058] The safety state of safe pulse off (Safty Pulse Off, SPO), also known as the free safety state (Free Wheeling, FW), specifically refers to the situation that all power tubes in the motor system are disconnected, and the back electromotive force generated by the high-speed rotation of the drive motor is lower than the bus voltage of the motor system. The drive motor has no current and no torque, and the shaft end of the drive motor is in a free state.

[0059] In S102 , when the motor system has entered a safe state of safety pulse shutdown, a current electrical parameter value of the motor system is obtained.

[0060] In one implementation of the embodiment of the present application, when the vehicle terminal detects that the motor system has entered a safe state of safety pulse shutdown, the current electrical parameter value of the motor system can be obtained in real time through the hardware electrical parameter sampling circuit. The electrical parameter can be voltage or current, which is not limited here.

[0061] It should be noted that the hardware electrical parameter sampling circuit can be an existing current sampling circuit or an existing voltage sampling circuit. Specifically, when the vehicle-mounted terminal needs to obtain the current current value of the motor system, the hardware electrical parameter sampling circuit can be a current sampling circuit, and when the vehicle-mounted terminal needs to obtain the current voltage value of the motor system, the hardware electrical parameter sampling circuit can be a voltage sampling circuit.

[0062] In S103, according to the electrical parameter value, the motor system is controlled to enter an active short-circuit safety state or to remain in a safety pulse-off safety state.

[0063] In practical applications, since the vehicle-mounted terminal usually determines the magnitude of the back electromotive force generated by the motor system according to the motor speed of the driving motor in the motor system, and then controls the motor system to enter a safe state of active short circuit or maintain a safe state of safety pulse shutdown according to the comparison between the magnitude of the back electromotive force and the bus voltage in the motor system, therefore, in one embodiment of the present application, the vehicle-mounted terminal can specifically determine the magnitude of the back electromotive force generated by the motor system according to the comparison between the magnitude of the back electromotive force and the bus voltage in the motor system. Figure 2 The steps S201 to S203 shown in FIG. 103 are described in detail as follows:

[0064] In S201 , a motor speed of the motor system is determined according to the electrical parameter value.

[0065] In S202 , if the motor speed is greater than or equal to a second threshold, the motor system is controlled to enter an active short-circuit safety state.

[0066] In S203 , if the motor speed is less than the second threshold, the motor system is controlled to maintain a safe state in which the safety pulse is turned off.

[0067] In this embodiment, after acquiring the current electrical parameter value of the motor system, the vehicle-mounted terminal can determine the motor speed of the motor system according to the electrical parameter value and a set electrical parameter-motor speed curve.

[0068] For example, taking the electrical parameter as current, see Figure 3 , Figure 3 It is a curve diagram of the current and motor speed when the motor system is in different safety states.

[0069] In this embodiment, after determining the motor speed of the motor system, the vehicle-mounted terminal may compare the motor speed with a second threshold value, wherein the second threshold value may be set according to actual needs and is not limited here.

[0070] When the vehicle-mounted terminal detects that the motor speed is greater than or equal to the second threshold, it indicates that the back electromotive force generated by the motor system is higher than the bus voltage of the motor system. Therefore, the vehicle-mounted terminal can control the motor system to enter a safe state of active short circuit.

[0071] When the vehicle terminal detects that the motor speed is less than the second threshold, it indicates that the back electromotive force generated by the motor system is lower than the bus voltage of the motor system. Therefore, the vehicle terminal can control the motor system to maintain a safe state of safety pulse shutdown.

[0072] In another embodiment of the present application, in order to improve the working efficiency of the vehicle-mounted terminal, when the vehicle-mounted terminal obtains the above-mentioned electrical parameter value, it can directly determine whether the motor system needs to switch to a safe state based on the size of the electrical parameter value, that is, whether the motor system needs to be controlled to enter a safe state of active short circuit, or to remain in a safe state of safety pulse shutdown.

[0073] In some possible embodiments, the vehicle terminal pre-stores a first threshold value corresponding to the electrical parameter, so the vehicle terminal can compare the acquired electrical parameter value with the first threshold value, and control the motor system to enter a safe state of active short circuit or maintain a safe state of safety pulse off according to the comparison result. The first threshold value can be set according to actual needs, and is not limited here. For example, the first threshold value can be 0.

[0074] Specifically, the vehicle terminal can be Figure 4 The steps S301 to S302 shown in FIG. 103 are described in detail as follows:

[0075] In S301 , if the electrical parameter value is greater than or equal to a first threshold, the motor system is controlled to enter an active short-circuit safety state.

[0076] In this embodiment, when the vehicle-mounted terminal detects that the electrical parameter value of the motor system is greater than or equal to the first threshold value, it means that the voltage of the back electromotive force generated by the motor system is higher than the bus voltage of the motor system. At this time, the back electromotive force generated by the motor system will charge the battery and motor controller of the vehicle through the reverse diode of the power module in the vehicle, and the current passing through the reverse diode is uncontrollable, which is easy to cause damage to the hardware in the motor system. Therefore, at this time, the vehicle-mounted terminal can control the motor system to enter an active short-circuit safety state to consume the back electromotive force generated by the motor system in the form of a short-circuit current inside the drive motor.

[0077] In S302 , if the electrical parameter value is less than the first threshold, the motor system is controlled to maintain a safe state of safety pulse shutoff.

[0078] In this embodiment, when the vehicle-mounted terminal detects that the electrical parameter value of the motor system is less than the first threshold value, it means that the voltage of the back electromotive force generated by the motor system is lower than the bus voltage of the motor system. In other words, the back electromotive force generated by the motor system will not charge the battery and motor controller of the vehicle through the reverse diode of the power module in the vehicle. Therefore, the vehicle-mounted terminal can control the motor system to remain in a safe state of safety pulse shutdown to avoid thermal hazards caused by the motor system in the safe state of ASC, thereby reducing the risk of damage to the motor system and thereby increasing the service life of the motor system.

[0079] In some possible embodiments, when the vehicle is a four-wheel drive electric vehicle, the motor system includes a front-drive motor system and a rear-drive motor system, and the front-drive motor system and the rear-drive motor system are independent motor systems.

[0080] Therefore, in one embodiment of the present application, after controlling the motor system to maintain a safe state in which the safety pulse is turned off, the vehicle-mounted terminal may perform the following steps:

[0081] When it is detected that the front drive motor system is in a safety state with safety pulse shutoff, obtaining a first torque output by the rear drive motor system;

[0082] The vehicle is controlled to travel according to the first torque.

[0083] In this embodiment, when the on-board terminal detects that the front-drive motor system of the vehicle is in a safe state of safety pulse shutdown, it indicates that the front-drive power system corresponding to the front-drive motor system in the vehicle has been shut down, that is, the front-drive power system stops power output. However, the rear-drive motor system has not failed at this time, and the front-drive motor system and the rear-drive motor system are independent of each other. In other words, the rear-drive power system corresponding to the rear-drive motor system is still in a working state and has not stopped power output. Therefore, the on-board terminal can obtain the first torque output by the rear-drive motor system and control the vehicle driving according to the first torque.

[0084] Alternatively, in another embodiment of the present application, after controlling the motor system to maintain a safe state in which the safety pulse is turned off, the vehicle-mounted terminal may perform the following steps:

[0085] When it is detected that the rear-drive motor system is in a safety state with safety pulse shutoff, obtaining a second torque output by the front-drive motor system;

[0086] The vehicle is controlled to travel according to the second torque.

[0087] In this embodiment, when the on-board terminal detects that the rear-drive motor system of the vehicle is in a safe state of safety pulse shutdown, it indicates that the rear-drive power system corresponding to the rear-drive motor system in the vehicle has been shut down, that is, the rear-drive power system stops power output. However, the front-drive motor system has not failed at this time, and the front-drive motor system and the rear-drive motor system are independent of each other. In other words, the front-drive power system corresponding to the front-drive motor system is still in a working state and has not stopped power output. Therefore, the on-board terminal can obtain the second torque output by the front-drive motor system and control the vehicle driving according to the second torque.

[0088] As can be seen from the above, the embodiment of the present application provides a method for handling a motor system fault, which controls the motor system to enter a safe state of safety pulse shutdown when a hardware fault is detected in the motor system of the vehicle; when the motor system has entered the safe state of safety pulse shutdown, the current electrical parameter value of the motor system is obtained; according to the electrical parameter value, the motor system is controlled to enter a safe state of active short circuit or remain in a safe state of safety pulse shutdown. Compared with the prior art, when a hardware fault occurs in the motor system, the motor system is directly controlled to enter and remain in the safe state of ASC, the present method needs to first control the motor system to enter a safe state of safety pulse shutdown, so as to avoid the short-circuit current of the motor system being large and uncontrollable after the motor system directly enters the safe state of ASC, thereby avoiding the occurrence of thermal hazards. At the same time, it is determined whether the safe state of the motor system needs to be switched according to the electrical parameter value of the motor system, and then the motor system is controlled to enter a safe state of active short circuit or remain in a safe state of safety pulse shutdown, so that when a hardware fault occurs in the motor system, the safe state of the motor system can be switched according to the electrical parameter value of the motor system, thereby reducing the risk of thermal hazards caused by the ASC safe state.

[0089] See also Figure 5 , Figure 5 Another embodiment of the present invention provides a method for processing a motor system failure. Figure 1 Corresponding embodiment, this embodiment may further include S401 to S402 after S103, which are described in detail as follows:

[0090] In S401, a bus voltage value of the motor system is obtained.

[0091] In actual applications, when the motor system is in the safe state of safety pulse shutdown, there will be a small current that continues to charge the vehicle battery pack and capacitor. There will also be a small current charging the bus capacitor in the motor system. Therefore, at this time, the on-board terminal needs to obtain the bus voltage value of the motor system in real time.

[0092] After obtaining the bus voltage value of the motor system, the vehicle-mounted terminal may compare the bus voltage value with a third threshold value, wherein the third threshold value may be set according to actual needs and is not limited here.

[0093] In some possible embodiments, the third threshold may be set according to the minimum withstand voltage value of each component in the motor system.

[0094] In one embodiment of the present application, when the vehicle-mounted terminal detects that the bus voltage value of the motor system is greater than or equal to the third threshold, step S402 may be executed.

[0095] In another embodiment of the present application, when the vehicle terminal detects that the bus voltage value of the motor system is less than the third threshold, it indicates that the bus voltage value of the motor system does not exceed the withstand voltage of each component in the motor system. Therefore, the vehicle terminal can continue to execute steps S102 to S103.

[0096] In S402, if the bus voltage value is greater than or equal to a third threshold, the motor system is controlled to enter an active short-circuit safety state.

[0097] In this embodiment, when the vehicle-mounted terminal detects that the bus voltage value of the motor system is greater than or equal to the third threshold, it indicates that the bus voltage value of the motor system has exceeded the withstand voltage of each component in the motor system. Therefore, the vehicle-mounted terminal needs to control the motor system to enter a safe state of active short circuit.

[0098] From the above, it can be seen that the method for handling motor system faults provided in this embodiment can obtain the bus voltage value of the motor system after controlling the motor system to enter a safe state of safety pulse shutdown when a hardware fault is detected in the motor system of the vehicle; and directly control the motor system to enter a safe state of active short circuit when it is detected that the bus voltage value is greater than or equal to the third threshold value, so as to prevent the bus voltage from exceeding the withstand voltage of the components in the motor system, so as to avoid damage to the components in the motor system.

[0099] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0100] Corresponding to the method for processing a motor system failure described in the above embodiment, Figure 6 The structure block diagram of a motor system fault processing device provided by an embodiment of the present application is shown. For the convenience of description, only the part related to the embodiment of the present application is shown. Figure 6 The motor system fault processing device 600 includes: a first control unit 61, a first acquisition unit 62 and a second control unit 63. Among them:

[0101] The first control unit 61 is used to control the motor system to enter a safe state of safety pulse shutdown when a hardware failure is detected in the motor system of the vehicle.

[0102] The first acquisition unit 62 is used for acquiring the current electrical parameter value of the motor system when the motor system has entered the safety state of safety pulse shutdown.

[0103] The second control unit 63 is used to control the motor system to enter an active short-circuit safety state or maintain a safety pulse-off safety state according to the electrical parameter value.

[0104] In one embodiment of the present application, the second control unit 63 specifically includes: a first control subunit and a second control subunit.

[0105] The first control subunit is used for controlling the motor system to enter an active short-circuit safety state if the electrical parameter value is greater than or equal to a first threshold value.

[0106] The second control subunit is used for controlling the motor system to maintain a safe state of safety pulse shutdown if the electrical parameter value is less than the first threshold value.

[0107] In one embodiment of the present application, the motor system includes a front drive motor system and a rear drive motor system, and the motor system failure processing device 600 further includes: a second acquisition unit and a third control unit.

[0108] The second acquisition unit is used to acquire the first torque output by the rear-drive motor system when it is detected that the front-drive motor system is in a safe state with safety pulse shutoff.

[0109] The third control unit is used for controlling the vehicle to travel according to the first torque.

[0110] In one embodiment of the present application, the motor system includes a front drive motor system and a rear drive motor system, and the motor system failure processing device 600 further includes: a third acquisition unit and a fourth control unit.

[0111] The third acquisition unit is used to acquire the second torque output by the front-drive motor system when it is detected that the rear-drive motor system is in a safe state with safety pulse shutoff.

[0112] The fourth control unit is used for controlling the vehicle to travel according to the second torque.

[0113] In one embodiment of the present application, the second control unit 63 specifically includes: a determination unit, a fifth control unit and a sixth control unit. Among them:

[0114] The determination unit is used to determine the motor speed of the motor system according to the electrical parameter value.

[0115] The fifth control unit is used to control the motor system to enter an active short-circuit safety state if the motor speed is greater than or equal to a second threshold.

[0116] The sixth control unit is used for controlling the motor system to maintain a safe state of safety pulse shutoff if the motor speed is less than the second threshold.

[0117] In one embodiment of the present application, the motor system fault processing device 600 further includes: a fourth acquisition unit and a seventh control unit.

[0118] The fourth acquisition unit is used to acquire the bus voltage value of the motor system.

[0119] The seventh control unit is used to control the motor system to enter an active short-circuit safety state if the bus voltage value is greater than or equal to a third threshold value.

[0120] In one embodiment of the present application, the motor system fault processing device 600 further includes: an execution unit.

[0121] The execution unit is used for executing the step of obtaining the current electrical parameter value of the motor system and subsequent steps if the bus voltage value is less than the third threshold value.

[0122] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0123] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0124] Figure 7 This is a schematic diagram of the structure of a vehicle-mounted terminal provided in one embodiment of the present application. Figure 7 As shown, the vehicle terminal 7 of this embodiment includes: at least one processor 70 ( Figure 7 Only one is shown in the figure) a processor, a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, and when the processor 70 executes the computer program 72, the steps in any of the above-mentioned embodiments of the method for processing a motor system fault are implemented.

[0125] The vehicle-mounted terminal may include, but is not limited to, a processor 70 and a memory 71. Those skilled in the art will appreciate that Figure 7 It is only an example of the vehicle-mounted terminal 7 and does not constitute a limitation on the vehicle-mounted terminal 7. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0126] The processor 70 may be a central processing unit (CPU), or 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. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0127] In some embodiments, the memory 71 may be an internal storage unit of the vehicle-mounted terminal 7, such as the memory of the vehicle-mounted terminal 7. In other embodiments, the memory 71 may also be an external storage device of the vehicle-mounted terminal 7, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the vehicle-mounted terminal 7. Further, the memory 71 may also include both the internal storage unit of the vehicle-mounted terminal 7 and an external storage device. The memory 71 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 71 may also be used to temporarily store data that has been output or is to be output.

[0128] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0129] An embodiment of the present application provides a computer program product. When the computer program product runs on a vehicle-mounted terminal, the vehicle-mounted terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0130] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the vehicle-mounted terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0131] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0132] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for processing a motor system failure, characterized in that: include: When a hardware failure is detected in the motor system of the vehicle, the motor system is first controlled to enter a safe state of safety pulse shutdown; The hardware failure includes a failure of at least one key hardware in the motor system; the failure of at least one key hardware includes a resolver failure, a watchdog failure or a single-chip microcomputer failure; the hardware failure refers to a failure that cannot identify the speed signal of the motor; When the motor system has entered a safe state of safety pulse shutdown, obtaining a current electrical parameter value of the motor system; According to the electrical parameter value, the motor system is controlled to enter a safe state of active short circuit or to remain in a safe state of safety pulse shutoff.

2. The method for handling a motor system failure according to claim 1, characterized in that: The step of controlling the motor system to enter an active short-circuit safety state or maintain a safety pulse-off safety state according to the electrical parameter value includes: If the electrical parameter value is greater than or equal to a first threshold, controlling the motor system to enter an active short-circuit safety state; If the electrical parameter value is less than the first threshold, the motor system is controlled to maintain a safe state of safety pulse shutoff.

3. The method for processing a motor system failure as claimed in claim 2, characterized in that: The motor system includes a front drive motor system and a rear drive motor system, and after controlling the motor system to maintain a safe state of safety pulse shutoff, further includes: When it is detected that the front drive motor system is in a safety state with safety pulse shutoff, obtaining a first torque output by the rear drive motor system; The vehicle is controlled to travel according to the first torque.

4. The method for processing a motor system failure as claimed in claim 2, characterized in that: The motor system includes a front drive motor system and a rear drive motor system, and after controlling the motor system to maintain a safe state of safety pulse shutoff, further includes: When it is detected that the rear-drive motor system is in a safety state with safety pulse shutoff, obtaining a second torque output by the front-drive motor system; The vehicle is controlled to travel according to the second torque.

5. The method for processing a motor system failure according to claim 1, characterized in that: The step of controlling the motor system to enter an active short-circuit safety state or maintain a safety pulse-off safety state according to the electrical parameter value includes: determining a motor speed of the motor system according to the electrical parameter value; If the motor speed is greater than or equal to a second threshold, controlling the motor system to enter an active short-circuit safety state; If the motor speed is less than the second threshold, the motor system is controlled to maintain a safe state with a safety pulse shutoff.

6. The method for handling a motor system failure according to any one of claims 1 to 5, characterized in that: After the motor system of the vehicle is controlled to enter a safe state of safety pulse shutdown when a hardware fault is detected in the motor system of the vehicle, the method further includes: Obtaining a bus voltage value of the motor system; If the bus voltage value is greater than or equal to a third threshold, the motor system is controlled to enter an active short-circuit safety state.

7. The method for processing a motor system failure according to claim 6, characterized in that: After obtaining the bus voltage value of the motor system, the method further includes: If the bus voltage value is less than the third threshold, the step of obtaining the current electrical parameter value of the motor system and subsequent steps are performed.

8. A device for processing a motor system failure, characterized in that: include: A first control unit is used to control the motor system to enter a safe state of safety pulse shutdown when a hardware failure of the motor system of the vehicle is detected; The hardware failure includes a failure of at least one key hardware in the motor system; the failure of at least one key hardware includes a resolver failure, a watchdog failure or a single-chip microcomputer failure; the hardware failure refers to a failure that cannot identify the speed signal of the motor; A first acquisition unit, configured to acquire a current electrical parameter value of the motor system when the motor system has entered a safe state of safety pulse shutdown; The second control unit is used to control the motor system to enter a safe state of active short circuit or maintain a safe state of safety pulse shutdown according to the electrical parameter value.

9. A vehicle-mounted terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method for processing a motor system failure according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for processing a motor system failure according to any one of claims 1 to 7 is implemented.

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