An integrated motor controller, vehicle control method, apparatus, and vehicle

Abstract

The application provides an integrated motor controller, a vehicle control method and device and a vehicle, and belongs to the technical field of automobile controllers. The integrated motor controller is obtained by integrating the independently arranged parking motor controller in the prior art in a main drive motor controller. The integrated motor controller can reduce the communication distance of the existing electronic parking system signal by multiplexing the communication unit, and can realize the control of the drive motor and the parking motor under various working conditions according to the vehicle state signal by only configuring one processor. Therefore, it is not necessary to separately configure a parking motor controller for the electronic parking system and the connection wiring between the parking motor controller and other components, thereby reducing the space occupied by the electronic parking system in the automobile, reducing the manufacturing cost, and effectively avoiding the problem that the existing electronic parking system signal is prone to electromagnetic interference when being transmitted by long-distance CAN bus communication.

Description

Technical Field

[0001] This application relates to the field of automotive controller technology, and in particular to an integrated motor controller, vehicle control method, device, and vehicle. Background Technology

[0002] In traditional motor control systems, the main drive motor controller and the parking motor controller of the electronic parking brake (EPB) system are two independent controllers. The main drive motor controller is used to control the operation of the drive motor and change the vehicle speed; the parking motor controller is used to control the forward or reverse rotation of the parking motor to clamp or release the parking brake caliper.

[0003] Most current electronic parking systems are independent systems, requiring a separate parking motor controller and wiring to connect it to other components. This not only results in large vehicle space requirements and high manufacturing costs, but also makes them susceptible to electromagnetic interference due to their reliance on long-distance CAN bus communication for signal transmission. This can lead to signal loss, delayed response times to safety logic judgments under various parking conditions, and ultimately, inaccurate judgments and erroneous actions. Summary of the Invention

[0004] This application provides an integrated motor controller, vehicle control method, device, and vehicle to solve the problems of existing independently configured electronic parking systems occupying large vehicle space, high manufacturing costs, and susceptibility of electronic parking system signal transmission to electromagnetic interference.

[0005] To solve the above problems, this application adopts the following technical solution:

[0006] In a first aspect, embodiments of this application provide an integrated motor controller, which is obtained by integrating a main drive motor controller and a parking motor controller. The integrated motor controller includes a processor and a communication unit, a first drive unit and a second drive unit respectively connected to the processor.

[0007] The communication unit is used to receive vehicle status signals and send the vehicle status signals to the processor;

[0008] The processor is used to generate corresponding drive motor control commands based on the vehicle status signal; it is also used to generate parking motor control commands corresponding to the preset conditions when the vehicle status signal meets preset conditions; different preset conditions correspond to different parking motor control commands.

[0009] The first drive unit is connected to the drive motor and is used to drive the drive motor to work based on the drive motor control command issued by the processor, so as to control the vehicle's driving speed;

[0010] The second drive unit is connected to the parking motor and is used to drive the parking motor based on the parking motor control command issued by the processor, so that the parking motor drives the electronic caliper to perform the action corresponding to the parking motor control command.

[0011] In one embodiment of this application, the communication unit is connected to the vehicle controller via a CAN bus.

[0012] The communication unit is used to acquire the vehicle status signal sent by the vehicle controller via the CAN bus.

[0013] In one embodiment of this application, the second driving unit is a driving circuit composed of a MOSFET driving chip and a MOSFET module.

[0014] Secondly, based on the same inventive concept, embodiments of this application provide a vehicle control method, applied to the integrated motor controller proposed in the first aspect of this application, the method comprising:

[0015] Acquire vehicle status signals;

[0016] Based on the vehicle status signal, a corresponding drive motor control command is generated, and / or, when the vehicle status signal meets a preset condition, a parking motor control command corresponding to the preset condition is generated; different preset conditions correspond to different parking motor control commands.

[0017] Send the drive motor control command to the drive motor so that the drive motor controls the vehicle's speed; and / or send the parking motor control command to the parking motor so that the parking motor drives the electronic caliper to perform the action corresponding to the parking motor control command.

[0018] In one embodiment of this application, the vehicle status signal includes the vehicle's engine status, current vehicle speed, current torque, and current engine speed;

[0019] The step of generating a parking motor control command corresponding to the preset conditions when the vehicle status signal meets the preset conditions includes:

[0020] When the first preset conditions are met—the engine is in a shut-off state, the current vehicle speed is less than or equal to a vehicle speed threshold, the current torque is less than or equal to a torque threshold, and the current speed is less than or equal to a speed threshold—a first parking motor control command corresponding to the first preset conditions is generated. The first parking motor control command is used to control the parking motor to drive the electronic caliper to brake at the maximum parking force.

[0021] In one embodiment of this application, the vehicle status signal includes the vehicle's gear position signal, current vehicle speed, current torque, and current engine speed;

[0022] The step of generating a parking motor control command corresponding to the preset conditions when the vehicle status signal meets the preset conditions includes:

[0023] When the second preset conditions are met—the gear signal is in parking gear, the current vehicle speed is less than or equal to a vehicle speed threshold, the current torque is less than or equal to a torque threshold, and the current speed is less than or equal to a speed threshold—a second parking motor control command corresponding to the second preset conditions is generated. The second parking motor control command is used to control the parking motor to drive the electronic caliper to brake at the maximum parking force.

[0024] In one embodiment of this application, the vehicle status signal includes the vehicle's engine status, gear position signal, seat belt status, driver's door status, slope, accelerator pedal opening, current torque, and starting torque;

[0025] The step of generating a parking motor control command corresponding to the preset conditions when the vehicle status signal meets the preset conditions includes:

[0026] When the following third preset conditions are met: the engine is in the started state, the gear signal is in forward or reverse gear, the seat belt is in the engaged state, the driver's door is in the closed state, and the slope is less than a slope threshold and the accelerator pedal opening is greater than or equal to an opening threshold; or when the following fourth preset conditions are met: the engine is in the started state, the gear signal is in forward or reverse gear, the seat belt is in the engaged state, the driver's door is in the closed state, the slope is greater than or equal to the slope threshold, and the current torque is greater than the starting torque, a third parking motor control command is generated; the third parking motor control command is used to control the parking motor to drive the electronic caliper to release the parking state.

[0027] In one embodiment of this application, the vehicle status signal includes an electronic parking switch signal, current vehicle speed, and current engine speed;

[0028] The steps of generating corresponding drive motor control commands based on the vehicle status signals, and / or generating parking motor control commands corresponding to the preset conditions when the vehicle status signals meet preset conditions, include:

[0029] When the current vehicle speed is greater than a second vehicle speed threshold, the current rotational speed is greater than a second rotational speed threshold, and the electronic parking switch signal is continuously detected, a first drive motor control command is generated. This first drive motor control command is used to control the drive motor to enter a one-pedal mode to decelerate the vehicle; and / or,

[0030] When the current vehicle speed is greater than the second vehicle speed threshold, the current rotational speed is greater than the second rotational speed threshold, and the electronic parking switch signal is continuously detected, a fourth parking motor control command containing the target parking force is dynamically generated based on the current vehicle speed and the current rotational speed. The fourth parking motor control command is used to control the parking motor to drive the electronic caliper to perform dynamic braking according to the target parking force.

[0031] Thirdly, based on the same inventive concept, embodiments of this application provide a vehicle control device, the device being located within an integrated motor controller as proposed in the first aspect of this application, the device comprising:

[0032] The signal acquisition module is used to acquire vehicle status signals;

[0033] The instruction generation module is used to generate corresponding drive motor control instructions based on the vehicle status signal, and / or, when the vehicle status signal meets preset conditions, generate parking motor control instructions corresponding to the preset conditions; different preset conditions correspond to different parking motor control instructions.

[0034] The instruction sending module is used to send the drive motor control instruction to the drive motor so that the drive motor controls the vehicle's driving speed; and / or, to send the parking motor control instruction to the parking motor so that the parking motor drives the electronic caliper to perform the action corresponding to the parking motor control instruction.

[0035] In one embodiment of this application, the vehicle status signal includes the vehicle's engine status, current vehicle speed, current torque, and current engine speed; the instruction generation module includes:

[0036] The first instruction generation submodule is used to generate a first parking motor control instruction corresponding to the first preset condition when the engine is in a shut-off state, the current vehicle speed is less than or equal to a vehicle speed threshold, the current torque is less than or equal to a torque threshold, and the current speed is less than or equal to a speed threshold. The first parking motor control instruction is used to control the parking motor to drive the electronic caliper to brake at the maximum parking force.

[0037] In one embodiment of this application, the vehicle status signal includes the vehicle's gear position signal, current vehicle speed, current torque, and current engine speed; the instruction generation module further includes:

[0038] The second instruction generation submodule is used to generate a second parking motor control instruction corresponding to the second preset condition when the second preset condition is met: the gear signal is in parking gear, the current vehicle speed is less than or equal to a vehicle speed threshold, the current torque is less than or equal to a torque threshold, and the current speed is less than or equal to a speed threshold. The second parking motor control instruction is used to control the parking motor to drive the electronic caliper to brake at the maximum parking force.

[0039] In one embodiment of this application, the vehicle status signals include the vehicle's engine status, gear position signal, seat belt status, driver's door status, slope, accelerator pedal opening, current torque, and starting torque; the instruction generation module further includes:

[0040] The third instruction generation submodule is used to generate a third parking motor control instruction when the following conditions are met: the engine is in the started state, the gear signal is in forward or reverse gear, the seat belt is in the engaged state, the driver's door is in the closed state, and the slope is less than a slope threshold and the accelerator pedal opening is greater than or equal to an opening threshold; or when the following conditions are met: the engine is in the started state, the gear signal is in forward or reverse gear, the seat belt is in the engaged state, the driver's door is in the closed state, the slope is greater than or equal to the slope threshold, and the current torque is greater than the starting torque. The third parking motor control instruction is used to control the parking motor to drive the electronic caliper to release the parking state.

[0041] In one embodiment of this application, the vehicle status signal includes an electronic parking switch signal, current vehicle speed, and current engine speed; the instruction generation module further includes:

[0042] The drive motor control command generation submodule is used to generate a first drive motor control command when the current vehicle speed is greater than a second vehicle speed threshold, the current rotation speed is greater than a second rotation speed threshold, and the electronic parking switch signal is continuously detected. The first drive motor control command is used to control the drive motor to enter a single-pedal mode so as to decelerate the vehicle.

[0043] The fourth instruction generation submodule is used to dynamically generate a fourth parking motor control instruction containing a target parking force based on the current vehicle speed and current rotation speed when the current vehicle speed is greater than the second vehicle speed threshold, the current rotation speed is greater than the second rotation speed threshold, and the electronic parking switch signal is continuously detected. The fourth parking motor control instruction is used to control the parking motor to drive the electronic caliper to perform dynamic braking according to the target parking force.

[0044] Fourthly, based on the same inventive concept, embodiments of this application provide a vehicle including the integrated motor controller proposed in the first aspect of this application. The integrated motor controller further includes a memory storing machine-executable instructions that can be executed by the processor. The processor is used to execute the machine-executable instructions to implement the vehicle control method proposed in the second aspect of this application.

[0045] Compared with the prior art, this application has the following advantages:

[0046] This application provides an integrated motor controller, which integrates the parking motor controller, which is independently set in the prior art, into the main drive motor controller. The integrated motor controller reduces the communication distance of the existing electronic parking system signal by multiplexing the communication unit, and only requires a processor to control the drive motor and parking motor under various operating conditions based on the vehicle status signal. Therefore, there is no need to configure a separate parking motor controller for the electronic parking system and the connection wiring between the parking motor controller and other components, thereby reducing the space occupied by the electronic parking system in the vehicle and reducing manufacturing costs. At the same time, it effectively avoids the problem of electromagnetic interference caused by the long-distance CAN bus communication for signal transmission in the existing electronic parking system, thereby improving the control response speed and motor control accuracy. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of an integrated motor controller according to one embodiment of this application.

[0049] Figure 2 This is a schematic diagram of the software configuration of an integrated motor controller according to one embodiment of this application.

[0050] Figure 3This is a flowchart of the steps of a vehicle control method according to an embodiment of this application.

[0051] Figure 4 This is a schematic diagram of the functional modules of a vehicle control device according to an embodiment of this application.

[0052] Figure 5 This is a structural schematic diagram of a vehicle according to one embodiment of this application. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] It should be noted that current electronic parking systems require the control of a DC motor (brushed DC motor) or a BLDC motor (permanent magnet synchronous DC motor) to actuate the brake calipers and brake the vehicle, either when the vehicle is stationary or in emergency high-speed coasting conditions, in order to park the vehicle or reduce its speed to a safe level.

[0055] Most current electronic parking systems are standalone systems, requiring a separate parking motor controller and wiring to connect it to other components. This results in significant space requirements, high manufacturing costs, and high overall vehicle footprint. Furthermore, the signal transmission of electronic parking systems relies on long-distance CAN bus communication, making them susceptible to electromagnetic interference, which can lead to CAN node loss or CAN communication bus-off failures. In the event of a failure in a standalone electronic parking system, it is impossible to determine the vehicle's torque and speed output, hindering rapid and effective emergency maneuvering. Additionally, in the event of a malfunctioning electronic parking system, it is impossible to determine when the vehicle is on a slope and to quickly engage the parking brake. Prolonged electromagnetic assisted parking can also cause the drive motor to overheat.

[0056] To address the shortcomings of existing technologies, this application aims to provide an integrated motor controller, vehicle control method, device, and vehicle. The main drive motor controller and parking motor controller are deeply integrated into a single integrated motor controller. By reusing communication units, the communication distance of existing electronic parking systems can be reduced. Furthermore, only one processor is needed to control the drive motor and parking motor under various operating conditions based on vehicle status signals. This solves the problems of low integration, large vehicle space occupation, high manufacturing costs, and susceptibility to electromagnetic interference in signal transmission of existing electronic parking systems.

[0057] Firstly, referring to Figure 1The diagram shows a structural schematic of an integrated motor controller 10 according to this application. This integrated motor controller 10 is obtained by integrating the parking motor controller of the electronic parking system into the main drive motor controller of the motor control system, such as... Figure 1 As shown, the integrated motor controller 10 includes a processor 101 and a communication unit 102, a first drive unit 103 and a second drive unit 104 respectively connected to the processor 101.

[0058] In this embodiment, the communication unit 102 is used to receive external vehicle status signals and send the vehicle status signals to the processor 101. Specifically, the communication unit 102 is connected to the vehicle controller 20 via a CAN bus and is used to obtain the vehicle status signals sent by the vehicle controller 20 via the CAN bus.

[0059] In this embodiment, compared to the existing parking motor controller and main drive motor controller, which each require their own corresponding communication units and communication lines to connect with the vehicle controller, the integrated motor controller 10 can obtain the vehicle status signal sent by the vehicle controller 20 by multiplexing the communication unit 102 and only needing to configure one communication unit 102 and one communication line. This effectively reduces the communication distance of the electronic parking system signal, improves the control response speed, and reduces the risk of electromagnetic interference.

[0060] In this embodiment, the processor 101 is also connected to a power module 50, which provides operating power to the processor 101. Compared with the existing parking motor controller and main drive motor controller, which each require their own corresponding power module 50 and power supply line, by reusing the power module 50, only one power module 50 and one power line are needed to meet the power supply requirements of the integrated motor controller 10, further optimizing the vehicle wiring and reducing the overall vehicle cost.

[0061] In this embodiment, the processor 101 can control the drive motor 30 and the parking motor 40 under various operating conditions based on the vehicle status signal. Specifically, the processor 101 can generate corresponding control commands for the drive motor 30 based on the vehicle status signal; it can also generate control commands for the parking motor 40 corresponding to preset conditions when the vehicle status signal meets preset conditions; different preset conditions correspond to different control commands for the parking motor 40.

[0062] In this embodiment, the first drive unit 103 is connected to the drive motor 30 and is used to drive the drive motor 30 to work based on the control commands issued by the processor 101, so as to control the vehicle's driving speed. The second drive unit is connected to the parking motor 40 and is used to drive the parking motor 40 based on the control commands issued by the processor 101, so that the parking motor 40 drives the electronic caliper to perform the actions corresponding to the control commands. The parking motor 40 can be a parking DC motor, a parking BLDC motor, or both. For example, depending on the different needs of front-wheel drive or rear-wheel drive vehicles, a parking DC motor or a parking BLDC motor can be used alone, or both can be used simultaneously, such as equipping a parking BLDC motor in the front-wheel drive and a parking DC motor in the rear-wheel drive of a four-wheel drive vehicle.

[0063] In this embodiment, the second drive unit 104 can be a drive circuit composed of a MOSFET drive chip and a MOSFET module. This drive circuit can drive and control the parking DC motor with open-loop current control or drive and control the parking BLDC motor with closed-loop current control through the MOSFET. At the same time, the integrated motor controller 10 can also be configured with a hardware sampling circuit to collect the current and voltage signal data of the parking DC motor, as well as the speed, current, voltage and rotor position data of the parking BLDC motor. This provides the universality and compatibility of the drive circuit and the hardware sampling circuit, reduces the cost and workload of hardware design, development and testing, and enables platform-based design.

[0064] In this embodiment, refer to Figure 2 The diagram illustrates the software configuration of an integrated motor controller 10 according to this application. Figure 1 As shown, the processor 101 can use a quad-core chip, including Core0, Core1, Core2, and Core3. Core0 is allocated the main drive motor control program to control the drive motor 30; Core1 is allocated the DC motor control program to control the parking DC motor; Core2 is allocated the BLDC motor control program to control the parking BLDC motor; and Core3 is allocated the safety monitoring program to monitor the various electronic components contained in the integrated motor controller 10, drive motor 30, parking DC motor, and parking BLDC motor, so as to provide a safety response when at least one electronic component fails.

[0065] In this embodiment, by assigning separate control programs to different cores for different motors, vehicles with different parking motors 40 can be accommodated. The front drive system can control the parking BLDC motor, and the rear drive system can control the DC motor, demonstrating strong versatility. Furthermore, based on the overall vehicle power performance, the integrated motor controller 10 can achieve internal data interaction within the Core memory according to the vehicle's power output and status. Compared to the traditional method of controlling the electronic parking system and motor control system separately, this approach can more quickly and accurately identify emergency braking and dynamic braking, thereby controlling the drive motor 30, parking DC motor, and parking BLDC motor for rapid response.

[0066] This application provides an integrated motor controller 10, which integrates the parking motor controller, which is independently set in the prior art, into the main drive motor controller. This eliminates the need to configure a separate parking motor controller for the electronic parking system and the wiring between the parking motor controller and other components. This reduces the space occupied by the electronic parking system in the vehicle and lowers manufacturing costs. At the same time, it effectively avoids the problem of electromagnetic interference caused by the long-distance CAN bus communication for signal transmission in the existing electronic parking system, thereby improving the control response speed and motor control accuracy.

[0067] Secondly, based on the same inventive concept, and referring to... Figure 3 This application provides a vehicle control method, applied to the integrated motor controller as proposed in the first aspect of this application. The vehicle control method may specifically include the following steps:

[0068] S301: Obtain vehicle status signals.

[0069] In this embodiment, the vehicle status signal is a signal sent by the vehicle controller to the integrated motor controller via the CAN bus. Specifically, it may include: wheel speed, vehicle gear, engine speed, torque, steering wheel angle, seat belt signal, accelerator pedal, vehicle brake pedal travel, driver's door status, acceleration sensor, and other signals.

[0070] S302: Generate corresponding drive motor control commands based on vehicle status signals, and / or, when the vehicle status signals meet preset conditions, generate parking motor control commands corresponding to the preset conditions; different preset conditions correspond to different parking motor control commands.

[0071] In this embodiment, the integrated motor controller will process the vehicle status signal to determine whether the vehicle status signal meets one of a number of preset conditions. Then, when the vehicle status signal meets the corresponding preset condition, it will generate a parking motor control command corresponding to the preset condition to realize the control of the drive motor and parking motor under various working conditions.

[0072] S303: Send a drive motor control command to the drive motor so that the drive motor controls the vehicle's speed; and / or send a parking motor control command to the parking motor so that the parking motor drives the electronic caliper to perform the action corresponding to the parking motor control command.

[0073] In this embodiment, the integrated motor controller is connected to the drive motor via a first drive unit, and is used to control the operation of the drive motor through the first drive unit, so that the drive motor controls the vehicle to accelerate or decelerate. The integrated motor controller is also connected to the parking motor via a second drive unit, and is used to control the operation of the parking motor through the second drive unit, so that the rotation of the parking motor pushes the parking electronic caliper to clamp or release. The parking motor can be a parking DC motor, a parking BLDC motor, or both of these types. For example, depending on the different needs of front-wheel drive or rear-wheel drive vehicles, a parking DC motor or a parking BLDC motor can be used alone, or both can be used simultaneously, such as equipping a parking BLDC motor in the front-wheel drive and a parking DC motor in the rear-wheel drive of a four-wheel drive vehicle.

[0074] In this embodiment, compared to the traditional method of controlling the electronic parking system and the motor control system separately, the integrated motor controller can realize the internal interaction of Core memory data based on the vehicle status signal when the electronic parking system fails. This enables faster and more accurate identification of emergency braking and dynamic braking, thereby controlling the drive motor, parking DC motor and parking BLDC motor to respond quickly, perform emergency avoidance of the vehicle and improve driving safety.

[0075] In one feasible implementation, the integrated motor controller has an automatic parking function when the engine is off. The vehicle status signals include the vehicle's engine status, current vehicle speed, current torque, and current engine speed. S302 may specifically include the following sub-steps:

[0076] S302-1: When the first preset conditions are met, namely, the engine is in a shut-off state, the current vehicle speed is less than or equal to the vehicle speed threshold, the current torque is less than or equal to the torque threshold, and the current speed is less than or equal to the speed threshold, a first parking motor control command corresponding to the first preset conditions is generated; the first parking motor control command is used to control the parking motor to drive the electronic caliper to brake according to the maximum parking force.

[0077] In this embodiment, the vehicle speed threshold can be set to 3 km / h, the torque threshold can be set to ±2 N·m, and the speed threshold can be set to 100 rpm. That is, when the first preset conditions are met—the engine is off, the current vehicle speed is ≤3 km / h, the current torque is ≤±2 N·m, and the current speed is ≤100 rpm—it indicates that the vehicle needs to be parked after being turned off. At this time, the automatic parking function will be activated, and the first parking motor control command will be automatically generated to control the parking motor to drive the right rear EPB electronic caliper to clamp with the maximum parking force, so that the vehicle enters the parking state.

[0078] In one feasible implementation, the integrated motor controller has a P-gear automatic parking function, and the vehicle status signals include the vehicle's gear signal, current vehicle speed, current torque, and current speed. S302 may specifically include the following sub-steps:

[0079] S302-2: When the second preset conditions are met, namely, the gear signal is in parking gear, the current vehicle speed is less than or equal to the vehicle speed threshold, the current torque is less than or equal to the torque threshold, and the current speed is less than or equal to the speed threshold, a second parking motor control command corresponding to the second preset conditions is generated; the second parking motor control command is used to control the parking motor to drive the electronic caliper to brake according to the maximum parking force.

[0080] In this embodiment, the vehicle speed threshold can be set to 3 km / h, the torque threshold can be set to ±2 N·m, and the speed threshold can be set to 100 rpm. That is, when the second preset condition is met—the gear signal is switching from other gears to parking gear, the current vehicle speed is ≤3 km / h, the current torque is ≤±2 Nm, and the current speed is ≤100 rpm—it indicates that the vehicle needs to be parked. At this time, the P gear automatic parking function will be activated, and a second parking motor control command will be automatically generated to control the parking motor to drive the right rear EPB electronic caliper to clamp with the maximum parking force, so that the vehicle enters the parking state.

[0081] In one feasible implementation, the integrated motor controller has an automatic departure function, and the vehicle status signals include the vehicle's engine status, gear position signal, seat belt status, driver's door status, slope, accelerator pedal opening, current torque, and starting torque. S302 may specifically include the following sub-steps:

[0082] S302-3: When the third preset condition is met—the engine is in the started state, the gear signal is in forward or reverse gear, the seat belt is in the engaged state, the driver's door is in the closed state, and the slope is less than the slope threshold and the accelerator pedal opening is greater than or equal to the opening threshold—or when the fourth preset condition is met—the engine is in the started state, the gear signal is in forward or reverse gear, the seat belt is in the engaged state, the driver's door is in the closed state, the slope is greater than or equal to the slope threshold and the current torque is greater than the starting torque—a third parking motor control command is generated. The third parking motor control command is used to control the parking motor to drive the electronic caliper to release the parking state.

[0083] In this embodiment, the slope threshold can be set to 4%, and the opening threshold can be set to 2%. That is, when the third preset condition is met—the engine is in the started state, the gear signal is forward or reverse, the seat belt is engaged, the driver's door is closed, the slope is <4%, and the accelerator pedal opening is ≥2%—or when the fourth preset condition is met—the engine is in the started state, the gear signal is forward or reverse, the seat belt is engaged, the driver's door is closed, the slope is ≥4%, and the current torque is greater than the starting torque—it indicates that the vehicle needs to start. At this time, the automatic departure function will be activated, and a third parking motor control command will be automatically generated. The third parking motor control command is used to control the parking motor to drive the electronic caliper to release the parking state, realizing parking release. The user does not need to manually touch the electronic parking switch to release the parking state.

[0084] In this embodiment, by acquiring the slope signal, it is possible to determine whether the vehicle is on a slope. Based on whether the vehicle is on a slope, different control strategies are adopted to enable the vehicle to automatically drive away on flat roads and slopes. This reduces manual operation by the user, makes the system more intelligent, and improves the user's operating experience.

[0085] In one feasible implementation, the integrated motor controller has dynamic deceleration clamping and release functions, and the vehicle status signals include electronic parking switch signals, current vehicle speed, and current engine speed. S302 may specifically include the following sub-steps:

[0086] S302-4: When the current vehicle speed is greater than the second vehicle speed threshold, the current speed is greater than the second speed threshold, and the electronic parking switch signal is continuously detected, a first drive motor control command is generated. The first drive motor control command is used to control the drive motor to enter the single-pedal mode so as to decelerate the vehicle.

[0087] In this embodiment, if the integrated motor controller continuously detects the electronic parking switch signal, it indicates that the driver needs to brake or perform emergency braking. At this time, the controller will send feedback to the vehicle controller, which will adjust the accelerator pedal travel to 0% and the output torque to 0 torque. In other words, the accelerator pedal travel and output torque will be set to fixed values. Therefore, any operation of the accelerator pedal by the driver will not trigger a response. This effectively prevents accidental operation of the accelerator pedal by the driver during emergency braking.

[0088] In this embodiment, the second vehicle speed threshold can be set to 1 km / h, and the second engine speed threshold can be set to 200 rpm. That is, when the current vehicle speed > 1 km / h, the current engine speed > 200 rpm, and the electronic parking switch signal is continuously detected, emergency braking of the vehicle is required. At this time, a first drive motor control command will be generated for the drive motor. This first drive motor control command is used to control the drive motor to enter one-pedal mode to decelerate the vehicle. It should be noted that the one-pedal mode is an auxiliary configuration developed based on a regenerative braking system. This means that the driver can control the acceleration and deceleration of the vehicle using an accelerator pedal; pressing the pedal accelerates, and releasing the pedal brakes. When the accelerator pedal is released, the regenerative braking system will start working, recovering the vehicle's kinetic energy while reducing the vehicle speed.

[0089] S302-5: When the current vehicle speed is greater than the second vehicle speed threshold, the current speed is greater than the second speed threshold, and the electronic parking switch signal is continuously detected, a fourth parking motor control command containing the target parking force is dynamically generated based on the current vehicle speed and the current speed. The fourth parking motor control command is used to control the parking motor to drive the electronic caliper to perform dynamic braking according to the target parking force.

[0090] In this embodiment, the integrated motor controller can also control the parking motor to assist braking and improve braking performance when the current vehicle speed is >1 km / h, the current engine speed is >200 rpm, and the electronic parking switch signal is continuously detected. Specifically, during vehicle braking, the current vehicle speed and engine speed are continuously monitored, and based on these, a target parking force for braking is determined. A fourth parking motor control command containing the target parking force is then dynamically generated, controlling the parking motor to drive the electronic caliper to dynamically brake according to the target parking force. Once the current vehicle speed is ≤1 km / h and the current engine speed is ≤200 rpm, the system enters manual parking mode, controlling the parking motor to drive the electronic caliper to clamp at the maximum parking force, thus bringing the vehicle into parking mode.

[0091] In this embodiment, the dynamic deceleration clamping and release function provided by the integrated motor controller can be coordinated with the vehicle's sliding resistance to automatically adjust the clamping force and effectively improve the braking effect.

[0092] In this embodiment, the integrated motor controller can also provide an online zero-position clamping force adjustment function. By recording the current data of the vehicle traveling twice at the same speed on the same road condition, the first current data of the first travel and the second current data of the second travel are obtained. By processing the current data, the current value is compared with the factory-specified current value to obtain the current error. Then, based on the current error, the zero-position clamping force is automatically adjusted, thereby adjusting the clamping force during braking to keep the vehicle braking with minimal sliding resistance.

[0093] In this embodiment, the integrated motor controller, obtained by highly integrating the main drive motor controller of the motor control system and the parking motor controller of the electronic parking system in both hardware and software, can not only effectively solve the problems of existing independently configured electronic parking systems occupying large vehicle space, high manufacturing costs, and being susceptible to electromagnetic interference in signal transmission, but also further provide control logic functions such as automatic parking when the engine is off, automatic parking in P gear, automatic departure, dynamic deceleration clamping and release, and clamping force adjustment, effectively meeting the control needs of the drive motor and parking motor of the vehicle under various operating conditions.

[0094] Thirdly, based on the same inventive concept, and referring to... Figure 4 This application provides a vehicle control device 400, which is located within an integrated motor controller as proposed in the first aspect of this application. The vehicle control device 400 includes:

[0095] The signal acquisition module 401 is used to acquire vehicle status signals.

[0096] The instruction generation module 402 is used to generate corresponding drive motor control instructions based on vehicle status signals, and / or, when the vehicle status signals meet preset conditions, generate parking motor control instructions corresponding to the preset conditions; different preset conditions correspond to different parking motor control instructions.

[0097] The instruction sending module 403 is used to send drive motor control instructions to the drive motor so that the drive motor controls the vehicle's driving speed; and / or, to send parking motor control instructions to the parking motor so that the parking motor drives the electronic caliper to perform the action corresponding to the parking motor control instructions.

[0098] In one embodiment of this application, the vehicle status signal includes the vehicle's engine status, current vehicle speed, current torque, and current engine speed; the instruction generation module 402 includes:

[0099] The first instruction generation submodule is used to generate a first parking motor control instruction corresponding to the first preset conditions when the engine is in a shut-off state, the current vehicle speed is less than or equal to the vehicle speed threshold, the current torque is less than or equal to the torque threshold, and the current speed is less than or equal to the speed threshold. The first parking motor control instruction is used to control the parking motor to drive the electronic caliper to brake according to the maximum parking force.

[0100] In one embodiment of this application, the vehicle status signal includes the vehicle's gear position signal, current vehicle speed, current torque, and current engine speed; the instruction generation module 402 further includes:

[0101] The second instruction generation submodule is used to generate a second parking motor control instruction corresponding to the second preset conditions when the second preset conditions are met: the gear signal is in parking gear, the current vehicle speed is less than or equal to the vehicle speed threshold, the current torque is less than or equal to the torque threshold, and the current speed is less than or equal to the speed threshold. The second parking motor control instruction is used to control the parking motor to drive the electronic caliper to brake according to the maximum parking force.

[0102] In one embodiment of this application, the vehicle status signals include the vehicle's engine status, gear position signal, seat belt status, driver's door status, slope, accelerator pedal opening, current torque, and starting torque; the instruction generation module 402 further includes:

[0103] The third instruction generation submodule is used to generate a third parking motor control instruction when the following three preset conditions are met: the engine is in the started state, the gear signal is forward or reverse, the seat belt is engaged, the driver's door is closed, the slope is less than the slope threshold and the accelerator pedal opening is greater than or equal to the opening threshold; or when the following four preset conditions are met: the engine is in the started state, the gear signal is forward or reverse, the seat belt is engaged, the driver's door is closed, the slope is greater than or equal to the slope threshold and the current torque is greater than the starting torque. The third parking motor control instruction is used to control the parking motor to drive the electronic caliper to release the parking state.

[0104] In one embodiment of this application, the vehicle status signal includes an electronic parking switch signal, current vehicle speed, and current engine speed; the instruction generation module 402 further includes:

[0105] The drive motor control command generation submodule is used to generate a first drive motor control command when the current vehicle speed is greater than the second vehicle speed threshold, the current speed is greater than the second speed threshold, and the electronic parking switch signal is continuously detected. The first drive motor control command is used to control the drive motor to enter the single-pedal mode so as to decelerate the vehicle.

[0106] The fourth instruction generation submodule is used to dynamically generate a fourth parking motor control instruction containing the target parking force based on the current vehicle speed and current speed when the current vehicle speed is greater than the second vehicle speed threshold, the current speed is greater than the second speed threshold, and the electronic parking switch signal is continuously detected. The fourth parking motor control instruction is used to control the parking motor to drive the electronic caliper to perform dynamic braking according to the target parking force.

[0107] It should be noted that the specific implementation of the vehicle control device 400 in this application embodiment refers to the specific implementation of the vehicle control method proposed in the second aspect of the aforementioned application embodiment, and will not be repeated here.

[0108] Fourthly, refer to Figure 5 Based on the same inventive concept, this application provides a vehicle 50, including the integrated motor controller 10 proposed in the first aspect of this application. The integrated motor controller 10 also includes a memory 105, which stores machine-executable instructions that can be executed by a processor 101. The processor is used to execute the machine-executable instructions to implement the vehicle control method proposed in the second aspect of this application.

[0109] It should be noted that the specific implementation of the vehicle 50 in this application embodiment refers to the specific implementation of the integrated motor controller proposed in the first aspect and the vehicle control method proposed in the second aspect of the aforementioned application embodiment, and will not be repeated here.

[0110] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0114] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0115] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0116] The above provides a detailed description of the integrated motor controller, vehicle control method, device, and vehicle provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An integrated motor controller, characterized by, The integrated motor controller is obtained by integrating a main drive motor controller and a parking motor controller, and the integrated motor controller comprises a processor and a communication unit, a first driving unit and a second driving unit connected with the processor respectively; The communication unit is configured to receive a vehicle state signal and send the vehicle state signal to the processor; The processor is configured to generate a corresponding drive motor control instruction based on the vehicle state signal; The processor is also configured to generate a parking motor control instruction corresponding to a preset condition when the vehicle state signal meets the preset condition; different preset conditions correspond to different parking motor control instructions; the parking motor comprises a parking DC motor and a parking BLDC motor; the processor is a four-core architecture, a first core is configured to control the drive motor, a second core is configured to control the parking DC motor, a third core is configured to control the parking BLDC motor, and a fourth core is configured to monitor each electronic component contained in the integrated motor controller, the drive motor, the parking DC motor and the parking BLDC motor; The first driving unit is connected with the drive motor and configured to drive the drive motor to work based on the drive motor control instruction sent by the processor, so as to control the driving speed of the vehicle; The second driving unit is connected with the parking motor and configured to drive the parking motor based on the parking motor control instruction sent by the processor, so that the parking motor drives the electronic caliper to perform an action corresponding to the parking motor control instruction; The vehicle state signal comprises an electronic parking switch signal, a current vehicle speed and a current rotating speed; When the current vehicle speed is greater than a second vehicle speed threshold, the current rotating speed is greater than a second rotating speed threshold, and the electronic parking switch signal is continuously detected, a first drive motor control instruction is generated, the first drive motor control instruction is configured to control the drive motor to enter a single pedal mode, so that the vehicle slows down; When the current vehicle speed is greater than the second vehicle speed threshold, the current rotating speed is greater than the second rotating speed threshold, and the electronic parking switch signal is continuously detected, a fourth parking motor control instruction containing a target parking force is dynamically generated based on the current vehicle speed and the current rotating speed, the fourth parking motor control instruction is configured to control the parking motor to drive the electronic caliper to dynamically brake according to the target parking force to assist braking.

2. The integrated motor controller of claim 1, wherein, The communication unit is in communication connection with a vehicle controller of the vehicle through a CAN bus; The communication unit is configured to acquire the vehicle state signal sent by the vehicle controller through the CAN bus.

3. The integrated motor controller of claim 1, wherein, The second driving unit is a driving circuit composed of a MOSFET driving chip and a MOSFET module.

4. A vehicle control method characterized by The method is applied to the integrated motor controller of any one of claims 1-3, and the method comprises: acquiring a vehicle state signal; generating a corresponding drive motor control instruction based on the vehicle state signal, and generating a parking motor control instruction corresponding to a preset condition when the vehicle state signal meets the preset condition; different preset conditions correspond to different parking motor control instructions; The driving motor control instruction is sent to the driving motor, so that the driving motor controls the driving speed of the vehicle; and the parking motor control instruction is sent to the parking motor, so that the parking motor drives the electronic caliper to perform an action corresponding to the parking motor control instruction.

5. The vehicle control method according to claim 4, characterized by The step of generating the parking motor control instruction corresponding to the preset condition when the vehicle state signal meets the preset condition comprises: When a first preset condition that the engine state is an off state, the current vehicle speed is less than or equal to a vehicle speed threshold, the current torque is less than or equal to a torque threshold, and the current rotating speed is less than or equal to a rotating speed threshold is met, a first parking motor control instruction corresponding to the first preset condition is generated; the first parking motor control instruction is used to control the parking motor to drive the electronic caliper to brake at a maximum parking force.

6. The vehicle control method according to claim 4, characterized by The step of generating the parking motor control instruction corresponding to the preset condition when the vehicle state signal meets the preset condition comprises: When a second preset condition that the gear signal is a parking gear, the current vehicle speed is less than or equal to a vehicle speed threshold, the current torque is less than or equal to a torque threshold, and the current rotating speed is less than or equal to a rotating speed threshold is met, a second parking motor control instruction corresponding to the second preset condition is generated; the second parking motor control instruction is used to control the parking motor to drive the electronic caliper to brake at a maximum parking force.

7. The vehicle control method according to claim 4, characterized by The step of generating the parking motor control instruction corresponding to the preset condition when the vehicle state signal meets the preset condition comprises: When a third preset condition that the engine state is a starting state, the gear signal is a forward gear or a reverse gear, the safety belt state is a connected state, the main driver door state is a closed state, the slope is less than a slope threshold, and the accelerator pedal opening degree is greater than or equal to an opening degree threshold is met, or when a fourth preset condition that the engine state is a starting state, the gear signal is a forward gear or a reverse gear, the safety belt state is a connected state, the main driver door state is a closed state, the slope is greater than or equal to the slope threshold, and the current torque is greater than a starting torque is met, a third parking motor control instruction is generated; the third parking motor control instruction is used to control the parking motor to drive the electronic caliper to release the parking state.

8. A vehicle control device for implementing the vehicle control method according to any one of claims 4 to 7, characterized by The device comprises: a signal acquisition module configured to acquire a vehicle state signal; an instruction generation module configured to generate a corresponding driving motor control instruction based on the vehicle state signal, and generate a parking motor control instruction corresponding to a preset condition when the vehicle state signal meets the preset condition; different preset conditions correspond to different parking motor control instructions; an instruction sending module configured to send the driving motor control instruction to a driving motor, so that the driving motor controls the driving speed of the vehicle; and send the parking motor control instruction to a parking motor, so that the parking motor drives an electronic caliper to perform an action corresponding to the parking motor control instruction.

9. A vehicle characterized by comprising: The integrated motor controller comprises a memory storing machine executable instructions capable of being executed by the processor, and the processor is configured to execute the machine executable instructions to implement the vehicle control method according to any one of claims 4-7.

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