Control method and device of vehicle and vehicle
By acquiring motor torque and chassis signals to determine vehicle status, the problem of false alarms due to torque faults in electric vehicles has been solved, enabling normal vehicle operation and improving user experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIQI FOTON MOTOR CO LTD
- Filing Date
- 2023-04-25
- Publication Date
- 2026-07-31
AI Technical Summary
In existing technologies, false torque fault reports in electric vehicles can cause a power interruption, affecting normal driving and user experience.
By acquiring the vehicle's current motor torque and target motor torque, and combining this with chassis signals to determine the vehicle's status, the system can control the vehicle based on this status, thereby reducing the false alarm rate for torque faults.
It effectively reduces the false alarm rate of torque faults, ensures normal vehicle operation, and improves user experience.
Smart Images
Figure CN116552242B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of vehicle control, and more specifically, to a vehicle control method, device, and vehicle. Background Technology
[0002] With the rapid development of society, electric vehicles are becoming increasingly popular. Torque safety is the highest level of functional safety requirement for electric vehicles, thus various strategies exist for monitoring torque safety. However, due to the imperfections in torque safety monitoring strategies, false torque fault alarms can occur under special operating conditions. When the motor controller reports a torque control fault, the motor system will interrupt torque output, causing a power interruption for the entire vehicle. False torque fault alarms can affect normal vehicle operation and the user experience. Summary of the Invention
[0003] The purpose of this disclosure is to provide a vehicle control method, device, and vehicle for reducing the false alarm rate of torque faults and ensuring normal vehicle operation.
[0004] According to a first aspect of the present disclosure, a vehicle control method is provided, the method comprising:
[0005] Obtain the vehicle's current motor torque and target motor torque;
[0006] Acquire the chassis signal of the vehicle;
[0007] If the current motor torque and the target motor torque meet the preset torque conditions, the vehicle status is determined based on the chassis signal;
[0008] Control the vehicle based on the vehicle status.
[0009] Optionally, the preset torque condition is:
[0010] The difference between the current motor torque and the target motor torque is greater than a preset torque threshold.
[0011] Optionally, determining the vehicle status based on the chassis signal includes:
[0012] When the chassis signal indicates that the vehicle is in a slipping state, the vehicle state is determined to be that the vehicle is in a slipping condition.
[0013] Optionally, controlling the vehicle based on the vehicle state includes:
[0014] When the vehicle is in a slipping condition, the vehicle's motor is controlled to output zero torque.
[0015] Optionally, determining the vehicle status based on the chassis signal includes:
[0016] If the chassis signal indicates that the vehicle is not slipping, the vehicle status is determined to be a malfunction of the vehicle's motor controller.
[0017] Optionally, the motor controller includes a torque control module and a drive module, and controlling the vehicle according to the vehicle state includes:
[0018] In the event of a malfunction in the torque control module, the drive module shall be shut down.
[0019] Optionally, the method further includes:
[0020] If the current motor torque and the target motor torque do not meet the preset torque condition, the vehicle is controlled according to the target motor torque.
[0021] According to a second aspect of the present disclosure, a vehicle control device is provided, the device comprising:
[0022] The first acquisition module is used to acquire the current motor torque and the target motor torque of the vehicle;
[0023] The second acquisition module is used to acquire the chassis signal of the vehicle;
[0024] The determination module is used to determine the vehicle status based on the chassis signal when the current motor torque and the target motor torque meet the preset torque conditions.
[0025] A control module is used to control the vehicle based on the vehicle's status.
[0026] Optionally, the preset torque condition is:
[0027] The difference between the current motor torque and the target motor torque is greater than a preset torque threshold.
[0028] Optionally, the determining module is used to:
[0029] When the chassis signal indicates that the vehicle is in a slipping state, the vehicle state is determined to be that the vehicle is in a slipping condition.
[0030] Optionally, the control module is used for:
[0031] When the vehicle is in a slipping condition, the vehicle's motor is controlled to output zero torque.
[0032] Optionally, the determining module is used to:
[0033] If the chassis signal indicates that the vehicle is not slipping, the vehicle status is determined to be a malfunction of the vehicle's motor controller.
[0034] Optionally, the motor controller includes a torque control module and a drive module, the control module being used for:
[0035] In the event of a malfunction in the torque control module, the drive module shall be shut down.
[0036] Optionally, the control module is further configured to:
[0037] If the current motor torque and the target motor torque do not meet the preset torque condition, the vehicle is controlled according to the target motor torque.
[0038] According to a third aspect of the present disclosure, a vehicle is provided for performing the method described in the first aspect of the present disclosure.
[0039] Through the above technical solution, this disclosure obtains the current motor torque and target motor torque of the vehicle, as well as the vehicle's chassis signal. When the current motor torque and target motor torque meet preset torque conditions, the vehicle state is determined based on the chassis signal, and the vehicle is controlled according to the vehicle state. This disclosure, by controlling the vehicle in conjunction with the chassis signal when the current motor torque and target motor torque meet preset torque conditions, can reduce the false alarm rate of torque faults and ensure the normal operation of the vehicle.
[0040] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description
[0041] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:
[0042] Figure 1 This is a schematic diagram illustrating a motor control system according to an exemplary embodiment;
[0043] Figure 2 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment;
[0044] Figure 3 It is based on Figure 2 A schematic diagram of another motor control system shown in the embodiment;
[0045] Figure 4 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment;
[0046] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment. Detailed Implementation
[0047] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.
[0048] Before introducing the vehicle control method, device, and vehicle disclosed in this disclosure, the application scenarios involved in the embodiments of this disclosure will first be introduced. Currently, some motor controllers with functional safety functions have torque monitoring capabilities, such as... Figure 1 As shown, the motor control system may include a vehicle controller, a motor controller, and a motor. The vehicle controller may include a torque calculation module, and the motor controller may include a torque monitoring module, a torque control module, and a drive module. The motor may be a permanent magnet synchronous motor.
[0049] The vehicle controller can calculate the command torque Tq based on vehicle parameters such as accelerator pedal opening and vehicle speed through the torque calculation module. ref The motor controller receives a command torque Tq. ref After receiving the torque command, the duty cycle signal T can be calculated through the torque control module. a T b T c and the duty cycle signal T a T b T c The signal is sent to the drive module of the motor controller. Based on the received duty cycle signal, the drive module controls the three-phase current i. a i b i c The output of the controller controls the normal operation of the motor. Simultaneously, the motor controller collects the i... a i b i c The actual output torque Tq is calculated using parameters such as current, motor speed, and angle. fed Actual output torque Tq fed With command torque Tq ref The difference between them is △Tq. The torque monitoring module can monitor △Tq in real time. When △Tq is greater than the preset torque threshold △Tq, the module will detect the difference. max When the first control signal S1 of the control drive module is 0 (off state) (S1 is 1 (on state), the drive module stops running, the output three-phase current is zero, and the output torque of the motor system is zero.
[0050] When a software or hardware fault occurs within the motor controller, causing it to malfunction, the torque output by the motor system may become unstable or even deviate significantly. The torque monitoring function monitors the command torque Tq in real time. ref With actual output torque Tq fed Is the difference ΔTq between them less than or equal to the threshold ΔTq? max When ΔTq is greater than the threshold ΔTq max If this occurs, immediately shut down the drive module to ensure torque output stops if the motor controller malfunctions. Torque monitoring faults are serious faults reported only when there are severe problems within the motor control system. After such a fault is reported, the drive module must be shut down (S1=0), and the vehicle must be powered on again to clear the fault status. External conditions such as vehicle slippage can cause a sudden decrease in the motor load during operation, affecting the actual output torque Tq of the motor. fed Unable to promptly follow the motor's command torque Tq ref The output phenomenon. At this time, ΔTq may also be greater than the threshold ΔTq. max This can cause false alarms in torque monitoring, leading to the drive module being shut down. The fault status can only be cleared by powering it back on, affecting the normal operation of the vehicle and the user experience.
[0051] Figure 2 This is a flowchart illustrating a vehicle control method according to an exemplary embodiment, such as... Figure 2 As shown, the method includes:
[0052] Step 101: Obtain the current motor torque and target motor torque of the vehicle.
[0053] Step 102: Obtain the vehicle's chassis signal.
[0054] For example, such as Figure 3 As shown, the torque monitoring module of the motor controller can acquire the current motor torque and target motor torque of the vehicle in real time. The current motor torque can be understood as the actual output torque Tq of the motor at present. fed The target motor torque can be understood as the command torque Tq sent to the motor by the vehicle controller. ref In some embodiments, the torque monitoring module can receive a command torque Tq. ref The torque command, and will command the torque Tq ref The target motor torque is used as the torque. The torque monitoring module can also monitor the collected i... a i b i c The actual output torque Tq is calculated using parameters such as current, motor speed, and angle. fedThis serves as the current motor torque. Furthermore, the torque monitoring module can also obtain the chassis signal D1 from the chassis controller in real time, where the chassis signal indicates whether the vehicle is in a slipping condition.
[0055] Step 103: If the current motor torque and the target motor torque meet the preset torque conditions, determine the vehicle status based on the chassis signal.
[0056] Step 104: Control the vehicle based on its status.
[0057] In some embodiments, the preset torque condition is:
[0058] The difference between the current motor torque and the target motor torque is greater than the preset torque threshold.
[0059] For example, the torque monitoring module can monitor the current motor torque Tq in real time. fed With the target motor torque Tq ref If the difference △Tq between the current motor torque and the target motor torque meets the preset torque condition, that is, the difference between the current motor torque and the target motor torque is greater than the preset torque threshold, then the vehicle status can be further determined based on the chassis signal.
[0060] If the chassis signal indicates the vehicle is slipping, it can be confirmed that the vehicle is in a slipping condition. The difference between the current motor torque and the target motor torque exceeding the preset torque threshold is due to the slipping condition, not a malfunction in the torque control module. Therefore, there is no need to shut down the drive module; the torque control module can control the motor to output zero torque. After the vehicle returns to normal operation, the torque control module can continue to control the motor to operate according to the target motor torque without requiring a complete vehicle power-on, ensuring normal vehicle operation and improving the user experience. If the chassis signal indicates the vehicle is not slipping, it can be confirmed that the difference between the current motor torque and the target motor torque exceeding the preset torque threshold is due to a malfunction in the torque control module. Therefore, the drive module can be shut down to ensure vehicle driving safety.
[0061] In summary, this disclosure acquires the current motor torque and target motor torque of the vehicle, as well as the vehicle's chassis signals. When the current motor torque and target motor torque meet preset torque conditions, the vehicle state is determined based on the chassis signals, and the vehicle is controlled according to these conditions. This disclosure, by controlling the vehicle in conjunction with the chassis signals when the current motor torque and target motor torque meet preset torque conditions, can reduce the false alarm rate of torque faults and ensure normal vehicle operation.
[0062] In other embodiments, step 103 can be implemented as follows:
[0063] When the chassis signal indicates that the vehicle is in a slipping state, the vehicle status is determined to be in a slipping condition.
[0064] Accordingly, one possible implementation of step 104 is as follows:
[0065] When the vehicle is slipping, the motor outputs zero torque.
[0066] For example, chassis signal D1 = 1 indicates the vehicle is in a slipping condition, and chassis signal D1 = 0 indicates the vehicle is not in a slipping condition. The torque monitoring module can control the drive module through the first control signal S1, where S1 = 1 indicates the drive module is on, and S1 = 0 indicates the drive module is off. Furthermore, the torque monitoring module can control the torque control module through the second control signal S2, where S2 = 1 indicates the torque control module is working normally, and S2 = 0 indicates the torque control module outputs zero torque. If the current motor torque Tq... fed With the target motor torque Tq ref The difference between them is △Tq>△Tq max Since D1 = 1, we can determine that the current vehicle state is that the vehicle is in a slipping condition, and △Tq > △Tq. max This is caused by vehicle slippage. When △Tq > △Tq max Furthermore, when the vehicle is in a slippery condition, the first control signal S1 = 1 and the second control signal S2 = 0. This means that the torque monitoring module controls the drive module to be in the open state and operate normally, and instructs the torque control module to control the motor to output zero torque. In this way, the problem of false torque fault alarms can be avoided when the vehicle is in a slippery condition, and the drive module does not need to be shut down when the vehicle is in a slippery condition, ensuring the normal operation of the vehicle and improving the user experience.
[0067] In other embodiments, step 103 can be implemented as follows:
[0068] If the chassis signal indicates that the vehicle is not slipping, the vehicle's motor controller is determined to be faulty.
[0069] Accordingly, one possible implementation of step 104 is as follows:
[0070] In case of a malfunction in the torque control module, shut down the drive module.
[0071] For example, a motor controller may include a torque control module and a drive module, if the current motor torque Tq fed With the target motor torque Tq ref The difference between them is △Tq>△Tqmax Since D1 = 0, we can determine that the current vehicle state is that the vehicle is not in a slipping condition, and △Tq > △Tq. max This is caused by a malfunction in the torque control module. The current vehicle status indicates a fault in the motor controller, specifically the torque control module. (When ΔTq > ΔTq) max When the vehicle is in a non-slip condition, the first control signal S1 = 0 and the second control signal S2 = 1. That is, the torque monitoring module controls the drive module to shut down and instructs the torque control module to work normally. Normal operation can be understood as the torque control module controlling the motor according to the target motor torque sent by the vehicle controller.
[0072] Figure 4 This is a flowchart illustrating another vehicle control method according to an exemplary embodiment, such as... Figure 4 As shown, the method also includes:
[0073] Step 105: If the current motor torque and the target motor torque do not meet the preset torque conditions, control the vehicle according to the target motor torque.
[0074] For example, if the current motor torque and the target motor torque do not meet the preset torque condition, i.e., the current motor torque Tq fed With the target motor torque Tq ref The difference between them is △Tq≤△Tq max Therefore, it can be determined that the vehicle is currently driving normally. (In case △Tq ≤ △Tq) max In this case, the first control signal S1 = 1 and the second control signal S2 = 1, that is, the torque monitoring module controls the drive module to be in the open state and indicates that the torque control module is working normally.
[0075] In summary, this disclosure acquires the current motor torque and target motor torque of the vehicle, as well as the vehicle's chassis signals. When the current motor torque and target motor torque meet preset torque conditions, the vehicle state is determined based on the chassis signals, and the vehicle is controlled according to these conditions. This disclosure, by controlling the vehicle in conjunction with the chassis signals when the current motor torque and target motor torque meet preset torque conditions, can reduce the false alarm rate of torque faults and ensure normal vehicle operation.
[0076] Figure 5 This is a block diagram illustrating a vehicle control device according to an exemplary embodiment, such as... Figure 5 As shown, the device 200 includes:
[0077] The first acquisition module 201 is used to acquire the current motor torque and the target motor torque of the vehicle.
[0078] The second acquisition module 202 is used to acquire the chassis signal of the vehicle.
[0079] The determination module 203 is used to determine the vehicle status based on the chassis signal when the current motor torque and the target motor torque meet the preset torque conditions.
[0080] Control module 204 is used to control the vehicle according to the vehicle status.
[0081] In some embodiments, the preset torque condition is:
[0082] The difference between the current motor torque and the target motor torque is greater than the preset torque threshold.
[0083] In other embodiments, the determining module 203 is used for:
[0084] When the chassis signal indicates that the vehicle is in a slipping state, the vehicle status is determined to be in a slipping condition.
[0085] Accordingly, the control module 204 is used for:
[0086] When the vehicle is slipping, the motor outputs zero torque.
[0087] In other embodiments, the determining module 203 is used for:
[0088] If the chassis signal indicates that the vehicle is not slipping, the vehicle's motor controller is determined to be faulty.
[0089] Accordingly, the motor controller includes a torque control module and a drive module, with the control module 204 used for:
[0090] In case of a malfunction in the torque control module, shut down the drive module.
[0091] In other embodiments, the control module 204 is also used for:
[0092] If the current motor torque and the target motor torque do not meet the preset torque conditions, the vehicle is controlled according to the target motor torque.
[0093] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.
[0094] In summary, this disclosure acquires the current motor torque and target motor torque of the vehicle, as well as the vehicle's chassis signals. When the current motor torque and target motor torque meet preset torque conditions, the vehicle state is determined based on the chassis signals, and the vehicle is controlled according to these conditions. This disclosure, by controlling the vehicle in conjunction with the chassis signals when the current motor torque and target motor torque meet preset torque conditions, can reduce the false alarm rate of torque faults and ensure normal vehicle operation.
[0095] This disclosure also provides a vehicle for performing the vehicle control method described in this disclosure.
[0096] Regarding the vehicle in the above embodiments, the specific manner in which it performs the operation has been described in detail in the embodiments related to the method, and will not be elaborated here.
[0097] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.
[0098] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.
[0099] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.
Claims
1. A control method of a vehicle, characterized by, The method includes: Obtain the vehicle's current motor torque and target motor torque; Acquire the chassis signal of the vehicle; If the current motor torque and the target motor torque meet the preset torque conditions, the vehicle status is determined based on the chassis signal; Control the vehicle according to the vehicle status; The step of determining the vehicle status based on the chassis signal includes: When the chassis signal indicates that the vehicle is in a slipping state, the vehicle state is determined to be that the vehicle is in a slipping condition. The vehicle's motor controller includes a torque control module and a drive module, and controlling the vehicle according to its state includes: When the vehicle is in a slippery condition, the drive module is kept open, and the vehicle's motor outputs zero torque.
2. The method of claim 1, wherein, The preset torque condition is: The difference between the current motor torque and the target motor torque is greater than a preset torque threshold.
3. The method according to claim 1, characterized in that, Determining the vehicle status based on the chassis signal includes: If the chassis signal indicates that the vehicle is not slipping, the vehicle status is determined to be a malfunction of the motor controller.
4. The method according to claim 3, characterized in that, The step of controlling the vehicle based on the vehicle status includes: In the event of a malfunction in the torque control module, the drive module shall be shut down.
5. The method according to any one of claims 1-4, characterized in that, The method further includes: If the current motor torque and the target motor torque do not meet the preset torque condition, the vehicle is controlled according to the target motor torque.
6. A vehicle control device, characterized in that, The device includes: The first acquisition module is used to acquire the current motor torque and the target motor torque of the vehicle; The second acquisition module is used to acquire the chassis signal of the vehicle; The determination module is used to determine the vehicle status based on the chassis signal when the current motor torque and the target motor torque meet the preset torque conditions. The control module is used to control the vehicle according to the vehicle status; The determining module is used to: determine the vehicle state as the vehicle is in a slipping condition when the chassis signal indicates that the vehicle is in a slipping state; The vehicle's motor controller includes a torque control module and a drive module. The control module is used to: keep the drive module in the open state and control the vehicle's motor to output zero torque when the vehicle is in a slipping condition.
7. The apparatus according to claim 6, characterized in that, The preset torque condition is: The difference between the current motor torque and the target motor torque is greater than a preset torque threshold.
8. A vehicle, characterized in that, The vehicle is used to perform the method according to any one of claims 1-5.