Domain controller of electric vehicle and control method thereof

Abstract

The application provides a domain controller of an electric vehicle and a control method thereof, the domain controller comprising: a first task module, which periodically performs a task at a first time interval; a second task module, which is communicatively connected with the first task module and periodically performs a task at a second time interval; and a third task module, which is communicatively connected with the second task module and periodically performs a task at a third time interval; wherein the lengths of the first time interval, the second time interval and the third time interval decrease in turn. The vehicle controller and the motor controller are combined into a set of hardware, thereby saving the hardware costs such as wiring harness, structural member and chip; the CAN bus between the vehicle controller and the motor controller and the communication module in the software are cancelled, and the communication is directly performed through function interface assignment, thereby reducing the probability of communication failure between the vehicle controller and the motor controller, omitting the unpacking and packing process of CAN communication, reducing the development workload of the software and improving the development efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle design, and in particular to a domain controller of an electric vehicle and a control method thereof. BACKGROUND

[0002] In an automotive electronic system, a traditional electronic and electrical architecture mainly follows a distributed architecture, with each function corresponding to a corresponding controller. The two most important controllers in a pure electric vehicle power system are the vehicle controller (VCU) and the motor controller (MCU). The two independent controllers communicate through a CAN bus. The operation units of the two controllers are completely independent and require two independent digital signal processing chips.

[0003] With the popularization of new energy vehicles, market competition is becoming more intense, and the cost pressure of OEMs is becoming more and more severe. Two sets of hardware of VCU and MCU require two sets of operation platforms, which increases the system cost. Moreover, VCU and MCU interact through CAN communication, which is easily affected by electromagnetic environment and bus load, causing unstable communication. On the software side, the communication of the two controllers requires the unpacking and packing process of CAN communication, which occupies more software resources and increases the workload of software development.

[0004] Therefore, the present application is proposed to at least partially solve the technical problems in the prior art. SUMMARY

[0005] In the traditional distributed architecture, the vehicle controller and the motor controller require two sets of operation platforms, resulting in high system cost. Moreover, the vehicle controller and the motor controller interact through CAN communication, which is easily affected by electromagnetic environment and bus load.

[0006] According to a first aspect of the present application, a domain controller of an electric vehicle is provided, which includes:

[0007] A first task module periodically performs tasks at a first time interval;

[0008] A second task module, in communication connection with the first task module, periodically performs tasks at a second time interval;

[0009] A third task module, in communication connection with the second task module, periodically performs tasks at a third time interval;

[0010] The time length of the first time interval, the second time interval and the third time interval decreases in turn.

[0011] Preferably, the electric vehicle further comprises functional components, the functional components are divided into a first functional component periodically running at a first time interval, a second functional component periodically running at a second time interval, and a third functional component periodically running at a third time interval;

[0012] The first task module is communicatively connected to the first functional component to control the first functional component to run;

[0013] The second task module is communicatively connected to the second functional component to control the second functional component to run;

[0014] The third task module is communicatively connected to the third functional component to control the third functional component to run.

[0015] Preferably, the first functional component comprises at least one of a motor, a high / low voltage power supply, a thermal management system, a gear, a pedal, a key, and an instrument.

[0016] Preferably, the second functional component comprises at least one of a motor, a resolver power supply, a battery, a direct current bus, and a first current sensor.

[0017] Preferably, the third functional component comprises at least one of a SIC module of the motor, a second current sensor, and a resolver sensor.

[0018] Preferably, the third time interval is a pulse width modulation period, and the third task module is configured to trigger the pulse width modulation periodic task in an interrupt triggering manner.

[0019] Preferably, the method of triggering the pulse width modulation periodic task comprises:

[0020] At a zero point of the pulse width modulation period, a three-phase current signal of the motor is acquired; after the three-phase current signal is acquired, an interrupt of the third task module is triggered; an angle signal of the motor is acquired; based on the three-phase current signal and the angle signal, the third task module is triggered to execute the pulse width modulation periodic task.

[0021] According to a second aspect of the present application, a motor control method of an electric vehicle is provided, the motor control method is implemented based on any one of the domain controllers of the electric vehicle described above, and the motor control method comprises:

[0022] The first input signal is read by the first task module, and the first control signal is generated;

[0023] The second input signal is read by the second task module, and the second control signal of the motor is generated based on the second input signal and the first control signal;

[0024] The third input signal is read by the third task module, and the third control signal is generated based on the second control signal and the third input signal;

[0025] Control the motor based on the third control signal.

[0026] According to a third aspect of the present application, an electronic device is provided, which comprises a processor and a memory storing computer program instructions; the processor implements the control method of the electric vehicle when executing the computer program instructions.

[0027] According to a fourth aspect of the present application, a computer readable storage medium is provided, which stores computer program instructions; the computer program instructions are executed by a processor to implement the motor control method of the electric vehicle.

[0028] In summary, the present application provides a domain controller of an electric vehicle and a control method thereof, the domain controller comprising: a first task module, which periodically executes a task at a first time interval; a second task module, which is communicatively connected to the first task module and periodically executes a task at a second time interval; and a third task module, which is communicatively connected to the second task module and periodically executes a task at a third time interval; wherein the time lengths of the first time interval, the second time interval and the third time interval decrease in turn. The vehicle controller and the motor controller are combined into a set of hardware, saving the costs of wiring harness, structural parts, chips and other hardware; the CAN bus between the vehicle controller and the motor controller and the communication module in the software are cancelled, and communication is directly performed through function interface assignment, reducing the probability of communication failure between the vehicle controller and the motor controller, improving the safety performance of the power system, omitting the unpacking and packing process of CAN communication, reducing the development workload of the software and improving the development efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0030] Figure 1 A structural diagram of a domain controller of an electric vehicle is provided for an embodiment of the present application;

[0031] Figure 2 A flowchart of a method of triggering a pulse width modulation periodic task is provided for an embodiment of the present application;

[0032] Figure 3 An application layer software architecture diagram is provided for an embodiment of the present application;

[0033] Figure 4A system diagram of an application layer software architecture provided for an embodiment of the present application;

[0034] Figure 5 A PWM cycle task component triggering process diagram provided for an embodiment of the present application;

[0035] Figure 6 A motor control method of an electric vehicle provided for an embodiment of the present application;

[0036] Figure 7 A structural diagram of an electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the above and other features and advantages of the present application more comprehensible, the present application will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for illustrative purposes only and are not limiting.

[0038] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one of ordinary skill in the art that the present application can be practiced without the specific details. In other instances, well-known steps or operations are not described in detail in order to avoid obscuring the present application.

[0039] In the traditional distributed architecture, the vehicle controller and the motor controller need two sets of operation platforms, resulting in high system cost, and the vehicle controller and the motor controller interact through CAN communication, which is easily affected by electromagnetic environment and bus load.

[0040] With reference to Figure 1 The present application provides a domain controller of an electric vehicle, which comprises:

[0041] A first task module 101 periodically performs tasks at a first time interval;

[0042] A second task module 102, which is in communication connection with the first task module 101, periodically performs tasks at a second time interval;

[0043] A third task module 103, which is in communication connection with the second task module 102, periodically performs tasks at a third time interval;

[0044] The time length of the first time interval, the second time interval and the third time interval decreases in turn.

[0045] Specifically, the application layer software of the domain controller includes a first task module 101, a second task module 102, and a third task module 103, and all running entities of the application layer software of the domain controller are periodic running entities. The running entity is a functional component, and the functional component is divided into a first functional component periodically running at a first time interval, a second functional component periodically running at a second time interval, and a third functional component periodically running at a third time interval. The first task module 101 is used for being communicatively connected to the first functional component to control the running of the first functional component. The second task module 102 is used for being communicatively connected to the second functional component to control the running of the second functional component. The third task module 103 is used for being communicatively connected to the third functional component to control the running of the third functional component.

[0046] The first functional component includes at least one of a motor, a high / low voltage power supply, a thermal management system, a gear, a pedal, a key, and an instrument. The second functional component includes at least one of a motor, a resolver power supply, a storage battery, a direct current bus, and a first current sensor. The third functional component includes at least one of an SIC module of the motor, a second current sensor, and a resolver sensor.

[0047] In some embodiments, the third time interval is a pulse width modulation (PWM) period, and the priority of the PWM period task is the highest. Further, to ensure the accuracy of current sampling and angle sampling, the third task module is configured to trigger the PWM periodic task by an interrupt triggering mode.

[0048] Specifically, referring to Figure 2 , the method for triggering the pulse width modulation periodic task includes:

[0049] S110, at a zero point of a pulse width modulation period, a three-phase current signal of a motor is acquired.

[0050] S120, after the three-phase current signal is acquired, an interrupt of the third task module is triggered.

[0051] S130, an angle signal of the motor is acquired.

[0052] S140, based on the three-phase current signal and the angle signal, the third task module is triggered to execute the pulse width modulation periodic task.

[0053] In some embodiments, referring to Figure 3 , Figure 4According to the running period of each running entity, the application layer software is divided into a 10ms period task module (a first task module), a 1ms period task module (a second task module), and a PWM period task module (a third task module), wherein the time interval of the PWM period is 100μs. The 10ms period task module mainly controls the related functional components of the vehicle control, the 1ms period task module mainly controls the related functional components of the motor speed ring, torque control mode switching, motor calibration, resolver zero adjustment, fault diagnosis, motor field weakening control and MTPA control (Maximum torque per ampere, maximum torque / current ratio control), and the PWM period task module mainly controls the related functional components of the FOC control function of the motor.

[0054] In the application layer software system architecture, the 10ms period task module collects the CAN, LIN and DI (Digital input, digital input signal) and AI (Analog input, analog input) signals of the bottom layer to calculate the current demand torque and other information required by the vehicle control, the demand torque is transmitted to the 1ms period task module through the internal bus, and the vehicle control information is sent to the related functional components of the vehicle through DO (Digital output, digital output signal), CAN and LIN; the 1ms period task module obtains the dq axis current given signal required by the motor control according to the demand torque and the current running state of the domain controller; the PWM period task module collects the resolver and current signals of the bottom layer, and simultaneously obtains the duty cycle signal required by the bottom layer software through PI adjustment and SVPWM (Space vector pulse width modulation, space vector pulse width modulation) conversion according to the current given information of the 1ms period task module; the bottom layer software controls the motor to run in different states according to the duty cycle signal.

[0055] To ensure the accuracy of current sampling and angle sampling, the PWM period task module is triggered by interruption, and the specific triggering process is as follows: Figure 5 The ADC (Automated driving control unit domain controller) is triggered to sample at the zero point of the PWM period, and after the sampling of the three-phase current is completed, the ADC interruption is triggered to enter the ADC interruption service program, in which the motor angle is read first, and then the FOC (Field oriented control, magnetic field oriented control) control program is called.

[0056] It should be noted that the 1ms periodic task component and the 10ms periodic task component are both periodic tasks, and do not require fast refresh speed, and can be completed by AUTOSAR (Automotive open system architecture) system periodic call to complete task scheduling.

[0057] Referring to Figure 6 The application provides a motor control method of an electric vehicle, which is implemented based on the domain controller of the electric vehicle, and the motor control method comprises the following steps of:

[0058] In S210, the first input signal is read by the first task module, and the first control signal is generated.

[0059] In S220, the second input signal is read by the second task module, and the second control signal of the motor is generated based on the second input signal and the first control signal.

[0060] In S230, the third input signal is read by the third task module, and the third control signal is generated based on the second control signal and the third input signal.

[0061] In S240, the motor is controlled based on the third control signal.

[0062] In some embodiments, referring to Figure 3 、 Figure 4 The 10ms periodic task module (the first task module) mainly reads the fault signal, CAN communication data, gear signal, pedal signal, key signal and other data sent by the 1ms periodic task module (the second task module), so as to realize gear management, high and low voltage power supply management, torque control, vehicle thermal management, accessory management, human-computer interaction, fault management and the like. After calculation and processing, the data is output to the corresponding ECU (Electronic Control Unit) device through CAN, LIN and DO, and the torque and enable signals are output to the 1ms periodic task module.

[0063] The 1ms periodic task module reads the running mode, specific torque value enable signal and other information of the 10ms periodic task module, and reads the temperature signal, speed signal and voltage signal of the motor and the domain controller. Fault diagnosis is performed on these signals, the required torque value of the motor is determined according to the diagnosis result, the control strategy of weak magnetic control and MTPA is completed according to the current torque, speed and voltage information, the calculation result of the control strategy and the fault information are transmitted to the PWM periodic task module (the third task module), and the fault signal is transmitted to the 10ms periodic task module.

[0064] The PWM periodic task module collects the current signal, resolver signal and SIC module fault signal required by the FOC control through a signal reading component, and the current, angle and enable information and fault information sent by the 1ms periodic task module, then diagnoses the read signals, determines the state (open circuit, active short circuit, enablement, etc.) in which the motor can operate according to the diagnosis result, and if operating in the enablement state, performs FOC control according to the read data. The voltage signal output by the FOC is converted into a duty cycle signal by the SVPWM, and the bottom software drives the switches of the SIC module according to the duty cycle signal to complete the control of the system motor.

[0065] Referring to Figure 7 The present application provides an electronic device 700, the electronic device 700 comprising: a processor 701 and a memory 702 storing computer program instructions;

[0066] The processor 701 implements the control method of the electric vehicle when executing the computer program instructions.

[0067] The present application provides a computer readable storage medium, the computer readable storage medium storing computer program instructions, the computer program instructions being executed by the processor to implement the motor control method of the electric vehicle.

[0068] It should be understood that the specific features, operations and details described above with respect to the method of the present application can be similarly applied to the device and system of the present application, or vice versa. In addition, each step of the method of the present application described above can be performed by the corresponding component or unit of the device or system of the present application.

[0069] It should be understood that the various modules / units of the apparatus of the present invention can be implemented wholly or partially through software, hardware, firmware, or a combination thereof. Each module / unit can be embedded in the processor of a computer device in hardware or firmware form, or independent of the processor, or stored in the memory of the computer device in software form for the processor to call to execute the operation of each module / unit. Each module / unit can be implemented as an independent component or module, or two or more modules / units can be implemented as a single component or module. In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores computer instructions executable by the processor, which, when executed by the processor, instruct the processor to perform the steps of the methods of embodiments of the present invention. The computer device can be broadly defined as a server, a terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and internal memory. The non-volatile storage medium may store an operating system, computer programs, etc. The internal memory provides an environment for the operation of an operating system and computer programs stored in a non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of the present invention.

[0070] This invention can be implemented as a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, causes the steps of the methods of embodiments of the invention to be performed. In one embodiment, the computer program is distributed across multiple network-coupled computer devices or processors, such that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation, or execute two or more method steps / operations.

[0071] Those skilled in the art will understand that the method steps of this invention can be performed by a computer program instructing related hardware, such as a computer device or processor. The computer program can be stored in a non-transitory computer-readable storage medium, and its execution causes the steps of this invention to be performed. Depending on the context, any references herein to memory, storage, databases, or other media may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0072] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A domain controller for an electric vehicle, characterized in that, The application software layer of the domain controller includes: The first task module periodically executes a task at a first time interval, which is used to read the first input signal and generate the first control signal; The second task module is communicatively connected to the first task module and periodically executes tasks at a second time interval. It is used to read the second input signal and generate a second control signal for the motor based on the second input signal and the first control signal. The third task module is communicatively connected to the second task module and periodically executes tasks at a third time interval. It is used to read the third input signal, generate the third control signal based on the second control signal and the third input signal, and control the motor based on the third control signal. The electric vehicle's motor is controlled based on the third control signal, and the durations of the first time interval, the second time interval, and the third time interval decrease sequentially. The electric vehicle also includes functional components, which are divided into a first functional component that operates periodically at a first time interval, a second functional component that operates periodically at a second time interval, and a third functional component that operates periodically at the third time interval. The first task module is used to communicate with the first functional component to control the operation of the first functional component; The second task module is used for communication connection with the second functional component to control the operation of the second functional component; The third task module is used to communicate with the third functional component to control the operation of the third functional component; The first functional component includes at least one of a motor, high and low voltage power supply, thermal management system, gear shift, pedal, key, and instrument. The second functional component includes at least one of a motor, a resolver, a battery, a DC bus, and a first current sensor; The third functional component includes at least one of the following: the motor's SiC module, the second current sensor, and the resolver sensor. The first task module is also used to calculate the current required torque and other information required for vehicle control based on the acquired signals. The required torque is sent to the second task module via an internal bus, and the other information required for vehicle control is sent to the relevant functional components of the vehicle. The second task module is also used to look up the dq axis current command signal required for motor control based on the required torque and the current operating status of the domain controller. The third task module is also used to acquire the resolver and current signals at the lower level, and simultaneously obtain the duty cycle signal required by the lower level software through PI adjustment and SVPWM transformation based on the dq axis current command signal. The lower level software controls the motor to operate in different states based on the duty cycle signal.

2. The domain controller for an electric vehicle according to claim 1, characterized in that, The third time interval is the pulse width modulation period, and the third task module is configured to trigger the pulse width modulation periodic task via an interrupt triggering method.

3. The domain controller for an electric vehicle according to claim 2, characterized in that, The method for triggering the pulse width modulation periodic task includes: At the zero point of the pulse width modulation period, the three-phase current signal of the motor is acquired; After acquiring the three-phase current signal, the third task module is interrupted. Obtain the angle signal of the motor; Based on the three-phase current signal and the angle signal, the third task module is triggered to execute a pulse width modulation periodic task.

4. A motor control method for an electric vehicle, characterized in that, The method is implemented based on the domain controller of the electric vehicle according to any one of claims 1-3, and the motor control method includes: The first task module reads the first input signal and generates the first control signal; The second task module reads the second input signal and generates a second control signal for the motor based on the second input signal and the first control signal. The third task module reads the third input signal and generates a third control signal based on the second control signal and the third input signal. The motor is controlled based on the third control signal.

5. An electronic device, characterized in that, The electronic device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the electric vehicle control method as described in claim 4.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the motor control method for an electric vehicle as described in claim 4.

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