Control method and device for vehicle operation, vehicle and storage medium

Abstract

The embodiment of the present disclosure discloses a control method and device for vehicle operation, a vehicle and a storage medium. The method comprises: acquiring operation information of an electric motor and a state of a relay on a power supply circuit of the electric motor; and controlling the vehicle operation according to the operation information and the state of the relay. Through the method, the electric motor controller can achieve more accurate protection control of the vehicle, thereby improving the safety of the vehicle operation.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to, but is not limited to, the technical field of automobile control, and particularly relates to a vehicle operation control method and device, a vehicle and a storage medium. BACKGROUND

[0002] Due to the advantages of energy saving, high efficiency, zero emission, low noise, fast acceleration and low use cost, the market of electric vehicles is becoming larger and larger, and major manufacturers have begun to develop electric vehicles. Electric vehicles are powered by batteries, and the electric energy is converted into mechanical energy by electric machines to drive the vehicle to run. The safety during the operation of the vehicle is particularly important. SUMMARY

[0003] Therefore, the embodiments of the present disclosure provide a vehicle operation control method and device, a vehicle and a storage medium.

[0004] In a first aspect, the embodiments of the present disclosure provide a vehicle operation control method applied to an electric machine controller in a vehicle, and the method comprises:

[0005] obtaining operation information of the electric machine and a state of a relay on a power supply loop of the electric machine;

[0006] controlling the vehicle to run according to the operation information and the state of the relay.

[0007] In some embodiments, the controlling the vehicle to run according to the operation information and the state of the relay comprises:

[0008] in response to the relay being disconnected and the rotating speed of the electric machine being greater than a first preset rotating speed threshold, controlling the electric machine to be in a short-circuit protection state.

[0009] In some embodiments, the controlling the vehicle to run according to the operation information and the state of the relay comprises:

[0010] in response to the relay being disconnected and the rotating speed of the electric machine being less than a second preset rotating speed threshold, controlling a power storage element connected to the electric machine controller to discharge, and making the bus voltage of the electric machine controller within a predetermined voltage range; wherein the second preset rotating speed threshold is less than the first preset rotating speed threshold.

[0011] In some embodiments, the controlling the vehicle to run according to the operation information and the state of the relay comprises:

[0012] in response to the relay being disconnected and the rotating speed of the electric machine being between the second preset rotating speed threshold and a third preset rotating speed threshold, stopping sending a control signal to the electric machine;

[0013] in response to the relay being closed, and the rotating speed of the motor being between the third preset rotating speed threshold and the first preset rotating speed threshold, maintaining the original working state of the motor; wherein the third preset rotating speed threshold is smaller than the first preset rotating speed threshold and larger than the second preset rotating speed threshold.

[0014] In some embodiments, the method further comprises:

[0015] obtaining a torque control instruction;

[0016] controlling the vehicle to operate according to the running information and the state of the relay comprises:

[0017] in response to the relay being closed, controlling the vehicle to operate according to the bus voltage of the motor controller, the rotating speed of the motor and the torque control instruction.

[0018] In some embodiments, in response to the relay being closed, controlling the vehicle to operate according to the bus voltage of the motor controller, the rotating speed of the motor and the torque control instruction comprises:

[0019] in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, and the torque control instruction representing a requested torque being a predetermined value, controlling the vehicle to operate according to the rotating speed of the motor;

[0020] in response to the relay being closed, the bus voltage of the motor controller being within the predetermined voltage range, and the torque control instruction representing a requested torque being a torque value other than the predetermined value, controlling the motor to respond to the torque control instruction.

[0021] In some embodiments, in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, and the torque control instruction representing a requested torque being a predetermined value, controlling the vehicle to operate according to the rotating speed of the motor comprises:

[0022] in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, the torque control instruction representing a requested torque being the predetermined value, and the rotating speed of the motor being larger than a first preset rotating speed threshold, controlling the motor to output the predetermined value.

[0023] In some embodiments, in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, and the torque control instruction representing a requested torque being a predetermined value, controlling the vehicle to operate according to the rotating speed of the motor comprises:

[0024] in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, the torque control instruction representing a requested torque being a predetermined value, and the rotational speed of the motor being less than a third preset rotational speed threshold, stopping sending a control signal to the motor;

[0025] in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, the torque control instruction representing a requested torque being a predetermined value, and the rotational speed of the motor being between the third preset rotational speed threshold and a first preset rotational speed threshold, controlling the motor to maintain an original working state.

[0026] In a second aspect, the embodiments of the present disclosure provide a control device for vehicle operation, applied to a motor controller in a vehicle, the device comprising:

[0027] a first obtaining module configured to obtain running information of a motor and a state of a relay on a power supply loop of the motor;

[0028] a control module configured to control the vehicle operation according to the running information and the state of the relay.

[0029] In some embodiments, the control module is further configured to, in response to the relay being opened and the rotational speed of the motor being greater than a first preset rotational speed threshold, control the motor to be in a short-circuit protection state.

[0030] In some embodiments, the control module is further configured to, in response to the relay being opened and the rotational speed of the motor being less than a second preset rotational speed threshold, control a power storage element connected to the motor controller to discharge, and make the bus voltage of the motor controller be within a predetermined voltage range; wherein the second preset rotational speed threshold is less than the first preset rotational speed threshold.

[0031] In some embodiments, the control module is further configured to, in response to the relay being opened and the rotational speed of the motor being between the second preset rotational speed threshold and a third preset rotational speed threshold, stop sending a control signal to the motor; in response to the relay being opened and the rotational speed of the motor being between the third preset rotational speed threshold and the first preset rotational speed threshold, control the motor to maintain an original working state; wherein the third preset rotational speed threshold is less than the first preset rotational speed threshold and greater than the second preset rotational speed threshold.

[0032] In some embodiments, the device further comprises:

[0033] a second obtaining module configured to obtain a torque control instruction;

[0034] The control module is further configured to control the vehicle to operate according to the bus voltage of the motor controller, the rotating speed of the motor and the torque control instruction in response to the relay being closed.

[0035] In some embodiments, the control module is further configured to control the vehicle to operate according to the rotating speed of the motor in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range and the torque control instruction representing a requested torque being a predetermined value; control the motor to respond to the torque control instruction in response to the relay being closed, the bus voltage of the motor controller being in the predetermined voltage range and the torque control instruction representing a requested torque being a torque value other than the predetermined value.

[0036] In some embodiments, the control module is further configured to control the motor to output the predetermined value in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, the torque control instruction representing a requested torque being the predetermined value and the rotating speed of the motor being greater than a first preset rotating speed threshold.

[0037] In some embodiments, the control module is further configured to stop sending a control signal to the motor in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, the torque control instruction representing a requested torque being a predetermined value and the rotating speed of the motor being less than a third preset rotating speed threshold; control the motor to maintain an original working state in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, the torque control instruction representing a requested torque being a predetermined value and the rotating speed of the motor being between the third preset rotating speed threshold and a first preset rotating speed threshold.

[0038] In a third aspect, the embodiments of the present disclosure provide a vehicle, comprising:

[0039] a processor; a memory for storing processor-executable instructions;

[0040] The processor is configured to execute the method in the first aspect.

[0041] In a fourth aspect, the embodiments of the present disclosure provide a computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the method in the first aspect.

[0042] The technical solutions provided by the embodiments of the present disclosure can have the following beneficial effects:

[0043] In the embodiments of the present disclosure, the motor controller can additionally acquire the state of the relay on the power supply loop of the motor, so that the motor controller can control the working state of the motor according to the running information of the motor and the state of the relay. Since the state of the relay can also reflect the running condition of the vehicle system, the motor controller can realize more accurate protection control of the vehicle through this way, thereby improving the safety of the vehicle running.

[0044] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings incorporated in and forming a part of the specification, illustrate embodiments consistent with the present disclosure and serve to explain the technical solutions of the present disclosure together with the specification.

[0046] Figure 1 A flow chart of a vehicle running control method provided in the embodiments of the present disclosure;

[0047] Figure 2 An internal communication architecture example diagram of an electric vehicle provided in the embodiments of the present disclosure;

[0048] Figure 3 A circuit structure example diagram of a permanent magnet synchronous motor;

[0049] Figure 4 A flow chart of a vehicle running control method provided in the embodiments of the present disclosure;

[0050] Figure 5 A speed control strategy example diagram in the embodiments of the present disclosure;

[0051] Figure 6 A vehicle running control device schematic diagram provided in the embodiments of the present disclosure;

[0052] Figure 7 A hardware entity schematic diagram of a vehicle in the embodiments of the present disclosure. DETAILED DESCRIPTION

[0053] In order to make the purposes, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure are further described in detail below in combination with the drawings and embodiments. The described embodiments should not be regarded as limitations of the present disclosure. All other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present disclosure.

[0054] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" can be the same subset or a different subset of all possible embodiments, and can be combined with each other as long as there is no conflict.

[0055] The terms "first / second / third" involved in the present disclosure are only to distinguish similar objects, and do not represent a specific order of the objects. It is understood that the "first / second / third" can be interchanged with a specific order or sequence as long as it is allowed, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms used herein are only for the purpose of describing the present disclosure and are not intended to limit the present disclosure.

[0057] Generally, the motor control unit (MCU) and the vehicle control unit (VCU) communicate through the controller area network (CAN) bus, the motor control unit receives the control instructions of the vehicle control unit to control the motor output, without receiving the information of the battery management system (BMS). Under this architecture, if the relay of the power supply circuit (main circuit) of the motor is abnormally disconnected, the motor control unit cannot know it, so it cannot take corresponding action to protect, in this case, it may cause the battery to be overcharged, the high-voltage components to be damaged, or the unexpected torque to be generated, which is harmful to the safety of the vehicle.

[0058] To this end, the present disclosure provides a control method for vehicle operation, applied to a motor control unit in a vehicle, Figure 1 A flow chart of a control method for vehicle operation provided by the embodiments of the present disclosure is shown in Figure 1 The method comprises the following steps:

[0059] S11, obtaining the running information of the motor and the state of the relay on the power supply circuit of the motor;

[0060] S12, controlling the vehicle operation according to the running information and the state of the relay.

[0061] In the embodiments of the present disclosure, the motor controller is an integrated circuit that controls the motor to work in the set direction, speed, angle and response time by active work. The circuit of the motor controller can be referred to as the control loop of the motor. The motor of the vehicle can be regarded as the "internal combustion engine" of the electric vehicle. The motor can include a direct current motor, an asynchronous motor, a permanent magnet synchronous motor, a switched reluctance motor and the like. The relay on the power supply loop of the motor belongs to the battery management system management. The relay can play the role of automatic adjustment and safety protection on the power supply loop of the motor. The relay is also called "automatic switch" and has a closed or open state. For example, when the relay itself fails or overcurrent occurs, the relay will be disconnected to realize the safety protection of the power supply loop.

[0062] In step S11, the motor controller acquires the running information of the motor, wherein the running information can include the rotating speed, current, temperature and the like of the motor. The electronic controller acquires the state of the relay on the power supply loop of the motor. In some embodiments, since the vehicle controller can communicate with the motor controller and the battery management system respectively, the motor controller can acquire the state of the relay on the power supply loop of the motor in the battery management system through the vehicle controller. In other embodiments, the motor controller can directly acquire the state of the relay on the power supply loop of the motor in the battery management system through the communication bus (for example, CAN bus). In this embodiment, the motor controller, the battery management system and the vehicle controller can directly communicate.

[0063] Figure 2 is an example of an internal communication architecture of an electric vehicle provided by the embodiments of the present disclosure, as shown in Figure 2As shown, the vehicle controller L01, the motor controller L02 and the battery management system L03 are connected to the CAN bus, so that the motor controller L02 can directly obtain the state of the relay of the power supply loop battery L05. Among them, the vehicle controller L01 can detect the steering wheel angle information, the accelerator pedal depth information, the gear information, the power mode and the like, and comprehensively obtain the vehicle state and the state of the motor controller L02 and the state of the battery management system L03, to obtain reasonable control instructions. On the one hand, the vehicle controller L01 can send control instructions such as torque request and active discharge request to the motor controller L02; on the other hand, the vehicle controller L01 can send control instructions such as battery L05 relay state request to the battery management system L03. Correspondingly, the motor controller L02 can feed back the state information of itself to the vehicle controller L01, receive torque request instructions and active discharge request instructions from the vehicle controller L01, and collect information such as motor speed, current, motor temperature and controller temperature through sensors, and then comprehensively calculate the driving signal through the motor control algorithm to realize the driving control of the motor L04, so that the motor L04 outputs torque to drive the vehicle; in addition, the battery management system L03 can feed back the state information of itself to the vehicle controller L01, receive control instructions of the battery L05 relay state request from the vehicle controller L01, and collect information such as battery L05 temperature, voltage and current through sensors, and then generate a control signal for the relay of the battery L05 to make the battery L05 stably provide power to the motor L04.

[0064] It can be understood that, based on the architecture shown in the figure, the motor controller L02 directly obtains the state of the relay of the battery L05 based on the CAN bus, which is relatively less delayed than the way of forwarding by the vehicle controller, so that in step S102, the motor controller controls the vehicle based on the running information of the motor and the state of the relay, which is more instantaneous and can improve the response speed of the protection of the vehicle. Figure 2

[0065] In the embodiment of the present disclosure, when the motor controller controls the vehicle operation according to the running information of the motor and the state of the relay, for example, controls the motor to be in a short-circuit protection state, controls the bus voltage or current of the motor controller and the output torque of the motor and the like, the present disclosure is not limited.

[0066] ​It can be understood that in the embodiments of the present disclosure, the motor controller can additionally acquire the state of the relay on the power supply loop of the motor, so that the motor controller can control the working state of the motor according to the running information of the motor and the state of the relay. Since the state of the relay can also reflect the running condition of the vehicle system, the motor controller can realize more accurate protection control of the vehicle in this way, for example, specific control can be performed in the case of abnormal disconnection of the relay, thereby improving the safety of vehicle operation.

[0067] In some embodiments, the control of the vehicle running according to the running information and the state of the relay comprises:

[0068] In response to the relay being disconnected and the rotating speed of the motor being greater than a first preset rotating speed threshold, the motor is controlled to be in a short-circuit protection state.

[0069] In the embodiments of the present disclosure, the running information of the motor includes the rotating speed of the motor. As described above, the relay can be disconnected when overcurrent occurs, so as to realize safety protection of the power supply loop. When the relay is disconnected and the rotating speed of the motor is too high, since the high rotating speed will generate a high back electromotive force, the back electromotive force applied to the control loop of the motor will cause damage to the devices connected to the control loop. If the motor is controlled to be in a short-circuit protection state at this time, the back electromotive force energy generated by the motor can not be applied to the control loop, thereby reducing the possibility of damaging the devices.

[0070] It should be noted that the first preset rotating speed threshold in the embodiments of the present disclosure is a calibration value, for example, 5000 rpm. The first preset rotating speed threshold of different motors can be different. The motor is in a short-circuit protection state, that is, the control loop of the motor works in a short-circuit protection mode.

[0071] Taking a permanent magnet synchronous motor as an example, the permanent magnet synchronous motor uses a permanent magnet to generate a constant magnetic field, which synchronously runs with the magnetic field generated by current induction. Figure 3 is an example diagram of the circuit structure of the permanent magnet synchronous motor, as Figure 3 shown, including the following three parts: the power battery part of L06, the motor controller part of L07, and the motor part of L08. Among them, the power battery part of L06 belongs to the part of the battery management system, and K1 is a relay; the motor controller part of L07 is realized by an inverter, which converts the voltage of the direct current power supply into alternating voltage to drive the three-phase coil of the permanent magnet synchronous motor, and U / V / W are the three-phase currents of the motor. The control of the inverter is realized by using a total of 6 power switching tubes V1-V6. These switching tubes control the flow direction and size of the current through switching operation, thereby controlling the rotating speed and torque of the motor. Figure 3In some embodiments, the motor controller is connected with a storage capacitor C1 (bus capacitor) in parallel at the input end of the inverter. The storage capacitor C1 plays a role in energy storage and makes the voltage input to the motor controller part of the inverter more stable.

[0072] Based on the above Figure 3 When the motor operates at a high speed (e.g., greater than 5000 rpm), the high speed generates a high back electromotive force applied to the bus capacitor C1, which can cause damage to the bus capacitor C1. At this time, if an active short circuit (ASC) protection mode is performed, for example, all the upper three bridge arms (V1\V3\V5) are turned on, and all the lower three bridge arms (V2\V4\V6) are turned off; or all the upper three bridge arms (V1\V3\V5) are turned off, and all the lower three bridge arms (V2\V4\V6) are turned on, so that the motor stator winding and the upper three bridge arms or the lower three bridge arms of the inverter form a closed loop circuit, and the back electromotive force energy generated by the motor is released through the stator winding, thereby avoiding damage to the bus capacitor and protecting the high-voltage components.

[0073] In some embodiments, the motor controller is connected with a storage capacitor C1 (bus capacitor) in parallel at the input end of the inverter. The storage capacitor C1 plays a role in energy storage and makes the voltage input to the motor controller part of the inverter more stable.

[0074] In response to the relay being disconnected and the speed of the motor being less than a second preset speed threshold, the motor controller controls the storage element connected thereto to discharge, and the bus voltage of the motor controller is within a predetermined voltage range. The second preset speed threshold is less than the first preset speed threshold.

[0075] In the embodiments of the present disclosure, the storage element connected to the motor controller can be a storage capacitor, such as the bus capacitor C1 shown in Figure 3 When the relay is disconnected and the speed of the motor is too low, if the amount of electricity of the storage element is too high, the high amount of electricity will be output to the motor controller, thereby damaging the motor controller, for example, damaging the inverter in Figure 3 To this end, the motor controller controls the storage element connected thereto to discharge, so that the bus voltage of the motor controller is within a predetermined voltage range.

[0076] It should be noted that the motor controller controlling the storage element connected thereto to discharge can be triggered by the motor controller based on the relay being disconnected and the low speed of the motor, or the motor controller can receive a discharge instruction from the vehicle controller to control the storage element to discharge, and the embodiments of the present disclosure are not limited thereto. In addition, the second preset speed threshold and the predetermined voltage range in the embodiments of the present disclosure are both calibration values, for example, the second preset speed threshold is 500 rpm, and the predetermined voltage range is within 60 volts (v), and the second preset speed threshold and the predetermined voltage range of different motors can be different.

[0077] Still takingFigure 3 Taking the circuit structure of the permanent magnet synchronous motor shown as an example, if the motor speed is less than 500 rpm and the vehicle controller sends an active discharge command, the motor controller performs active discharge to quickly discharge the high voltage to a safe predetermined voltage range (e.g., within 60V). When the motor controller performs active discharge, for example, the motor controller can control some of the transistors in V1-V6 to be open and some to be closed over time, thereby discharging the bus capacitor C1 with a small current.

[0078] It should be noted that in this embodiment, the motor controller can only perform active discharge when the speed is very low; otherwise, the high back electromotive force caused by excessively high speed will lead to active discharge failure.

[0079] It is understood that in this embodiment of the present disclosure, the motor controller controls the energy storage element to discharge when the relay is disconnected and the motor speed is low, so that the bus voltage of the motor controller is within a predetermined voltage range, that is, the voltage input to the motor controller is within a predetermined range, which can reduce the occurrence of motor controller damage.

[0080] In some embodiments, controlling the vehicle operation based on the operating information and the state of the relay includes:

[0081] In response to the relay being disconnected and the motor speed being between the second preset speed threshold and the third preset speed threshold, the transmission of drive signals to the motor is stopped;

[0082] In response to the relay being disconnected, and the motor speed being between the third preset speed threshold and the first preset speed threshold, the motor is controlled to maintain its original operating state; wherein the third preset speed threshold is less than the first preset speed threshold and greater than the second preset speed threshold.

[0083] In this embodiment, the third preset speed threshold is a calibrated value that is less than the first preset speed threshold but greater than the second speed threshold, for example, 4500 rpm. The third preset speed threshold may be different for different motors. When the relay is disconnected and the motor speed is between the second and third preset speed thresholds, the back electromotive force generated by the motor is low, which will not damage the devices connected to the motor controller. To reduce the generation of unexpected torque, the control circuit of the motor controller can be turned off, and the motor controller will not send control signals to the motor.

[0084] Still with Figure 3 Taking the circuit structure of the permanent magnet synchronous motor shown as an example, if K1 is disconnected, the motor speed is between 4500rpm and 5000rpm. The motor controller can control all V1-V6 to turn off, thereby stopping the transmission of control signals to the motor.

[0085] When the relay is closed and the speed of the motor is between the third preset speed threshold and the first preset speed threshold, the motor is controlled to maintain the original working state, for example, the control loop of the motor is all closed, and then the control loop of the motor continues to be closed; if the control loop of the motor is in a short-circuit protection state, the short-circuit protection is continued; or if the motor outputs zero torque, the zero torque is continued to be output. This control mode can be called hysteresis control. In the hysteresis control mode, frequent strategy switching (for example, frequent switching of the switches V1-V6) caused by the fluctuation of the speed near the threshold can be reduced, so that the vehicle is not in an unstable state such as vehicle shaking and excessive temperature rise of the motor controller. Figure 3

[0086] In some embodiments, the method further includes:

[0087] obtaining a torque control instruction;

[0088] controlling the vehicle to operate according to the running information and the state of the relay, including:

[0089] controlling the vehicle to operate according to the bus voltage of the motor controller, the speed of the motor, and the torque control instruction in response to the relay being closed.

[0090] In the embodiments of the present disclosure, the running information of the motor includes the bus voltage of the motor controller and the speed of the motor. The motor controller can also receive a torque control instruction of the vehicle controller, where the torque control instruction can be obtained by the aforementioned vehicle controller based on steering wheel angle information, accelerator pedal depth information, gear information, power mode, and the like, and by comprehensively considering the state of the vehicle and the state of the motor controller and the state of the battery management system.

[0091] In the embodiments of the present disclosure, the motor controller controls the vehicle to operate according to the bus voltage of the motor controller, the torque control instruction, and the speed of the motor in the case where the relay is closed, by combining multiple aspects of information, so as to realize accurate control in the case where the relay is closed, and to improve the safety of the vehicle operation.

[0092] In some embodiments, the controlling the vehicle to operate according to the bus voltage of the motor controller, the speed of the motor, and the torque control instruction in response to the relay being closed includes:

[0093] controlling the vehicle to operate according to the speed of the motor in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, and the torque control instruction representing a requested torque being a predetermined value.

[0094] ​In response to the relay being closed, the bus voltage of the motor controller is within a predetermined voltage range, and the torque control instruction represents a requested torque value that is outside of a predetermined torque value, the motor is controlled in response to the torque control instruction.

[0095] In embodiments of the present disclosure, the predetermined voltage range is the aforementioned calibration value, for example 60v, and the predetermined torque value is a smaller calibration value, or 0. When the relay is closed and the bus voltage of the motor controller is not within the predetermined voltage range, and the torque control instruction acquired by the motor controller requests a torque that is the predetermined value, i.e., when the bus voltage of the motor controller is abnormal, the speed of the motor to some extent can reflect the current state of the vehicle, and thus in this case, the motor controller further controls the vehicle in combination with the speed of the motor, which can make the control more accurate.

[0096] When the relay is closed and the bus voltage of the motor controller is within the predetermined voltage range, and the torque control instruction acquired by the motor controller requests a torque that is outside of the predetermined value, for example, is not 0, it indicates that the vehicle is running normally, and thus the motor controller can control the motor in response to the torque control instruction, so that the vehicle can travel normally and safely.

[0097] In some embodiments, in response to the relay being closed, the bus voltage of the motor controller is not within the predetermined voltage range, and the torque control instruction represents a requested torque that is the predetermined value, the vehicle is controlled in accordance with the speed of the motor, including:

[0098] In response to the relay being closed, the bus voltage of the motor controller is not within the predetermined voltage range, the torque control instruction represents a requested torque that is the predetermined value, and the speed of the motor is greater than a first preset speed threshold, the motor is controlled to output the predetermined value.

[0099] In embodiments of the present disclosure, the first preset speed threshold is the aforementioned calibration value, for example 5000 rpm. When the relay is closed, the bus voltage of the motor controller is abnormal, the torque control instruction requests a torque that is the predetermined value, and the motor is at a high speed, since the back electromotive force is high when the motor is running at a high speed, if the motor controller stops sending control signals to the motor (for example Figure 3 When V1-V6 are all disconnected, the motor control loop is off, and the battery charging circuit of the motor is connected, there is a probability that the battery will be overcharged, which affects the safety of the vehicle.

[0100] In this embodiment, when the relay is closed, the motor controller's bus voltage is outside the predetermined voltage range, the torque control command indicates a predetermined torque value, and the motor speed is greater than a first preset speed threshold, the motor controller outputs a predetermined value (e.g., zero torque). This means the motor control circuit is not completely shut off, allowing the motor to suppress the back electromotive force (EMF) by controlling the predetermined output value, thereby reducing charging current and overcharging of the battery. Specifically, the motor controller suppresses the back EMF by adjusting the voltage phase so that the bus voltage at the same phase is always greater than the back EMF.

[0101] In some embodiments, the step of controlling the vehicle operation based on the motor speed in response to the relay closing, where the bus voltage of the motor controller is outside a predetermined voltage range and the torque control command indicates that the requested torque is a predetermined value, includes:

[0102] In response to the relay closing, if the bus voltage of the motor controller is not within the predetermined voltage range, the torque control command indicates that the requested torque is a predetermined value, and the speed of the motor is less than a third preset speed threshold, then control signals to the motor are stopped.

[0103] In response to the relay closing, the bus voltage of the motor controller is not within the predetermined voltage range, the torque control command indicates that the requested torque is a predetermined value, and the speed of the motor is between the third preset speed threshold and the first preset speed threshold, thereby controlling the motor to maintain its original working state.

[0104] In this embodiment, the third preset speed threshold is the aforementioned calibration value, for example, 4500 rpm. When the relay is closed, the motor controller's bus voltage is abnormal, the torque control command requests a predetermined torque value, and the motor is running at low speed, the back electromotive force generated by the motor is low, less than the bus voltage. Therefore, no charging current is generated, allowing the motor controller's control circuit to be shut off, reducing the generation of unexpected torque. Furthermore, this method can reduce torque fluctuations and energy loss during vehicle coasting, improving driving comfort and power economy.

[0105] Still with Figure 3 Taking the circuit structure of the permanent magnet synchronous motor shown as an example, if K1 is closed, the bus voltage of the motor controller is not within 60V, the requested torque is 0, and the motor speed is less than 4500rpm, then the motor controller can control all V1-V6 to turn off, thereby stopping the sending of control signals to the motor.

[0106] When the relay is open, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents a requested torque of a predetermined value, and the speed of the motor is between the third preset speed threshold and the first preset speed threshold, the motor is controlled to maintain the original working state, i.e., for example, if the control loop of the motor is in the closed state, the control loop continues to be closed; if the control loop of the motor is in the short-circuit protection state, the short-circuit protection state is maintained; or if the motor outputs zero torque, the zero torque is continued to be output. This control mode is the aforementioned hysteresis control mode. In the hysteresis control mode, the frequent strategy switching (for example, frequent switching of the V1-V6 switches) when the speed fluctuates around the threshold can be reduced, thereby causing the vehicle to shake, the motor controller to have an excessively high temperature rise, and other unstable states of the vehicle. Figure 3

[0107] It should be noted that the control method for vehicle operation provided in the embodiments of the present disclosure is applicable to a single-motor driven vehicle and is also applicable to a multi-motor driven vehicle, and can provide safety protection for all types of vehicles.

[0108] Figure 4 For an example flowchart of the control method for vehicle operation in the embodiments of the present disclosure, as shown in FIG. 1, the method includes the following steps. Figure 4

[0109] S21: Is the BMS main loop relay open? If yes, step S22 is performed, and if no, step S30 is performed.

[0110] In the embodiments of the present disclosure, the BMS main loop relay is a relay on the power supply loop of the motor. If the relay is open, the vehicle is controlled according to the speed of the motor; and if the relay is closed, the bus voltage of the motor controller is further determined.

[0111] S22: Is the absolute value of the motor speed greater than 5000 rpm? If yes, step S23 is performed, and if no, step S24 is performed.

[0112] In the embodiments of the present disclosure, 5000 rpm is the first preset speed threshold.

[0113] S23: The MCU performs ASC.

[0114] In this embodiment, when the relay is open and the speed of the motor is greater than the first preset speed threshold, the motor controller performs active short-circuit protection, so that the motor is in a short-circuit protection state, thereby reducing the possibility of damaging the high-voltage capacitor. Figure 3

[0115] S24: Is the absolute value of the motor speed less than 4500 rpm? If yes, step S26 is performed, and if no, step S25 is performed.

[0116] ​​​In the embodiments of the present disclosure, 4500 rpm is a third preset speed threshold of the embodiments of the present disclosure.

[0117] S25, the MCU keeps the last action.

[0118] In the embodiments of the present disclosure, when the relay is disconnected and the speed of the motor is between the third preset speed threshold and the first preset speed threshold, the motor controller controls to keep the last action, that is, controls the motor to maintain the original working state, so as to reduce the vehicle instability phenomenon such as vehicle jitter, motor controller temperature rise, etc.

[0119] S26, the absolute value of the motor speed is less than 500 rpm and the VCU sends a forced discharge instruction? If yes, steps S27-S28 are executed, and if no, step S29 is executed.

[0120] In the embodiments of the present disclosure, 500 rpm is a second preset speed threshold of the embodiments of the present disclosure. The vehicle controller sends a forced discharge instruction to the motor controller, so that the motor controller controls forced discharge after receiving the instruction.

[0121] S27, the MCU executes forced discharge.

[0122] S28, is the bus voltage greater than 60V? If yes, return to step S21.

[0123] In the embodiments of the present disclosure, within 60V, that is, within a predetermined voltage range, when the relay is disconnected and the speed of the motor is less than the second preset speed threshold, the motor controller controls the discharge of the storage element (such as C1 in FIG. 8) connected to the motor controller, so that the bus voltage of the motor controller is within the predetermined voltage range, and the damage of the motor controller is reduced. Figure 3

[0124] S29, the MCU executes the gate-off.

[0125] In the embodiments of the present disclosure, when the relay is disconnected and the speed of the motor is between the second preset speed threshold and the third preset speed threshold, the motor controller controls all V1-V6 shown in FIG. 8 to be turned off (gate-off), so that the motor controller stops sending control signals to the motor, thereby reducing the generation of unexpected torque and reducing the possibility of damage to the devices connected to the motor controller. Figure 3

[0126] S30, is the bus voltage not within the normal working voltage? And execute step S31.

[0127] In the embodiments of the present disclosure, within the normal working voltage, that is, within a predetermined voltage range.

[0128] ​​S31, VCU requests torque instruction is 0? If S30 and S31 are both yes, execute step S32, if S30 and S31 are both no, execute step S37.

[0129] S32, the absolute value of the motor speed is greater than 5000 rpm? If yes, execute step S33, otherwise, execute step S34.

[0130] S33, MCU executes zero torque control.

[0131] In the embodiment of the present disclosure, the motor controller controls the motor to output zero torque in the case that the relay is closed, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents that the requested torque is 0, and the speed of the motor is greater than the first preset speed threshold, thereby reducing the generation of charging current and reducing the overcharging phenomenon of the battery.

[0132] S34, the absolute value of the motor speed is less than 4500 rpm? If yes, execute step S35, if no, execute step S36.

[0133] S35, MCU executes the off-gate.

[0134] In the embodiment of the present disclosure, the motor controller controls the motor to output zero torque in the case that the relay is closed, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents that the requested torque is 0, and the speed of the motor is less than the third preset speed threshold, thereby reducing the generation of charging current and reducing the overcharging phenomenon of the battery. Figure 3 All V1-V6 shown in the figure are turned off (off-gate), so that the motor controller stops sending control signals to the motor, to reduce the generation of unexpected torque, improve driving comfort and power economy.

[0135] S36, MCU keeps the last action

[0136] In the embodiment of the present disclosure, the motor controller controls the motor to output zero torque in the case that the relay is closed, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents that the requested torque is 0, and the speed of the motor is less than the third preset speed threshold, thereby reducing the generation of charging current and reducing the overcharging phenomenon of the battery.

[0137] S37, normally respond to VCU torque instruction.

[0138] In the embodiment of the present disclosure, the motor controller controls the motor to output zero torque in the case that the relay is closed, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents that the requested torque is 0, and the speed of the motor is less than the third preset speed threshold, thereby reducing the generation of charging current and reducing the overcharging phenomenon of the battery.

[0139] The speed hysteresis strategy is adopted in steps S25 and S36 above,Figure 5 An example of the rotating speed control strategy in the embodiments of the present disclosure is shown in FIG. 3, where n1 is 4500 rpm and n2 is 5000 rpm. When the rotating speed n≤n1, the protection strategy is to turn off the relay; when n1<n≤n2, the protection strategy is to keep unchanged (if it was turned off before, it continues to be turned off; if it was ASC or zero torque before, it continues to be kept); when n>n2, the protection strategy is switched to ASC or zero torque operation. It should be noted that the hysteresis control has a certain delay when the strategy is switched, which can avoid frequent strategy switching (such as frequent turning on and off) when the rotating speed fluctuates around the threshold, causing vehicle instability, such as vehicle shaking, inverter temperature rising too high, etc. Figure 5

[0140] It can be understood that in the embodiments of the present disclosure, the motor controller comprehensively considers the rotating speed of the motor, the instruction of the vehicle controller, and the state of the relay of the main circuit of the battery management system, quickly and directly identifies different fault conditions, and formulates a fault handling mechanism and a protection scheme for each condition, which can effectively reduce faults such as overcharging of the battery, damage of high-voltage components, and generation of unexpected torque, and maximally improves the safety and power economy of the vehicle.

[0141] Figure 6 An example of the control device for vehicle operation provided by the embodiments of the present disclosure is shown in FIG. 4, which includes: Figure 6

[0142] The first acquisition module 101 is configured to acquire the operating information of the motor and the state of the relay on the power supply circuit of the motor.

[0143] The control module 102 is configured to control the vehicle operation according to the operating information and the state of the relay.

[0144] In some embodiments, the control module 102 is further configured to, in response to the relay being turned off and the rotating speed of the motor being greater than a first preset rotating speed threshold, control the motor to be in a short-circuit protection state.

[0145] In some embodiments, the control module 102 is further configured to, in response to the relay being turned off and the rotating speed of the motor being less than a second preset rotating speed threshold, control the power storage element connected to the motor controller to discharge, and make the bus voltage of the motor controller within a predetermined voltage range; where the second preset rotating speed threshold is less than the first preset rotating speed threshold.

[0146] ​​In some embodiments, the control module 102 is further configured to, in response to the relay being open and the rotation speed of the motor being between the second preset rotation speed threshold and a third preset rotation speed threshold, stop sending a control signal to the motor; in response to the relay being open and the rotation speed of the motor being between the third preset rotation speed threshold and the first preset rotation speed threshold, control the motor to maintain the original working state; wherein the third preset rotation speed threshold is less than the first preset rotation speed threshold and greater than the second preset rotation speed threshold.

[0147] In some embodiments, the device further comprises:

[0148] The second acquisition module 103 is configured to acquire a torque control instruction.

[0149] The control module is further configured to, in response to the relay being closed, control the vehicle to operate according to the bus voltage of the motor controller, the rotation speed of the motor, and the torque control instruction.

[0150] In some embodiments, the control module 102 is further configured to, in response to the relay being closed, the bus voltage of the motor controller being out of a predetermined voltage range, and the torque control instruction representing a requested torque being a predetermined value, control the vehicle to operate according to the rotation speed of the motor; in response to the relay being closed, the bus voltage of the motor controller being within the predetermined voltage range, and the torque control instruction representing a requested torque being a torque value other than the predetermined value, control the motor to respond to the torque control instruction.

[0151] In some embodiments, the control module 102 is further configured to, in response to the relay being closed, the bus voltage of the motor controller being out of the predetermined voltage range, the torque control instruction representing a requested torque being the predetermined value, and the rotation speed of the motor being greater than a first preset rotation speed threshold, control the motor to output the predetermined value.

[0152] In some embodiments, the control module 102 is further configured to, in response to the relay being closed, the bus voltage of the motor controller being out of the predetermined voltage range, the torque control instruction representing a requested torque being the predetermined value, and the rotation speed of the motor being less than a third preset rotation speed threshold, stop sending a control signal to the motor; in response to the relay being closed, the bus voltage of the motor controller being out of the predetermined voltage range, the torque control instruction representing a requested torque being the predetermined value, and the rotation speed of the motor being between the third preset rotation speed threshold and a first preset rotation speed threshold, control the motor to maintain the original working state.

[0153] Figure 7 A hardware entity diagram of a vehicle in an embodiment of the present disclosure is shown in FIG. 1. As shown in FIG. 1, the vehicle comprises a motor 101, a motor controller 102, a relay 103, and a control module 104. Figure 7As shown, the hardware entities of the vehicle 800 include a processor 801, a communication interface 802 and a memory 803, wherein the processor 801 generally controls the overall operation of the electronic device 800. The communication interface 802 can enable the electronic device to communicate with other terminals or servers through a network.

[0154] The memory 803 is configured to store instructions and applications executable by the processor 801, and can also cache data (for example, image data, audio data, voice communication data and video communication data) to be processed by the processor 801 and modules in the electronic device 800, which can be implemented by FLASH or Random Access Memory (RAM). The processor 801, the communication interface 802 and the memory 803 can perform data transmission through the bus 804. The processor 801 is configured to execute part or all of the steps of the control method of the vehicle operation.

[0155] Correspondingly, the embodiments of the present disclosure provide a computer readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement part or all of the steps of the above method.

[0156] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects to the method embodiments. For technical details of the storage medium and device embodiments of the present disclosure that are not disclosed, please refer to the description of the method embodiments of the present disclosure for understanding.

[0157] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily mean the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present disclosure, the size of the serial number of each process does not mean the execution order, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The serial number of the above embodiments of the present disclosure is only for description, not representing the advantages and disadvantages of the embodiments.

[0158] It should be noted that, in the present document, the terms "comprising", "containing" or any other similar term are intended to encompass non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not limited to those elements, but can also include other elements not expressly listed, or also include elements inherent in such processes, methods, articles, or apparatuses. Without further limitation, an element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0159] In several embodiments provided by the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the various components shown or discussed can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0160] The units described above as separate components can or can not be physically separate, and the components shown as units can or can not be physical units; they can be located in one place or distributed on multiple network units; and part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0161] In addition, each functional unit in each embodiment of the present disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware or in the form of hardware plus software functional unit.

[0162] Those of ordinary skill in the art can understand that all or part of the steps of the above method embodiments can be completed by program instruction related hardware, and the aforementioned program can be stored in a computer readable storage medium, and the program executes the steps of the above method embodiments when executed; and the aforementioned storage medium includes: mobile storage device, read only memory (Read Only Memory, ROM), magnetic disc or optical disc, and various storage program codes.

[0163] Alternatively, the above-mentioned integrated units of the present disclosure, if implemented in the form of software function modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present disclosure can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the methods described in various embodiments of the present disclosure. The aforementioned storage medium includes: mobile storage devices, ROM, magnetic disks or optical disks, and various other media that can store program codes.

[0164] The above is only an embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A control method of vehicle running, characterized by, A motor controller applied to a vehicle, the method comprising: obtaining operation information of a motor and a state of a relay on a power supply loop of the motor; controlling operation of the vehicle according to the operation information and the state of the relay; the controlling operation of the vehicle according to the operation information and the state of the relay comprises: in response to the relay being open and the rotational speed of the motor being between a second preset rotational speed threshold and a third preset rotational speed threshold, stopping sending a control signal to the motor; in response to the relay being open and the rotational speed of the motor being between the third preset rotational speed threshold and a first preset rotational speed threshold, controlling the motor to maintain an original working state; wherein the third preset rotational speed threshold is less than the first preset rotational speed threshold and greater than the second preset rotational speed threshold.

2. The method of claim 1, wherein, the controlling operation of the vehicle according to the operation information and the state of the relay further comprises: in response to the relay being open and the rotational speed of the motor being greater than the first preset rotational speed threshold, controlling the motor to be in a short-circuit protection state.

3. The method according to claim 1 or 2, characterized in that, the controlling operation of the vehicle according to the operation information and the state of the relay further comprises: in response to the relay being open and the rotational speed of the motor being less than a second preset rotational speed threshold, controlling a power storage element connected to the motor controller to discharge and making a bus voltage of the motor controller within a predetermined voltage range; wherein the second preset rotational speed threshold is less than the first preset rotational speed threshold.

4. The method of claim 1, wherein, the method further comprises: obtaining a torque control instruction; the controlling operation of the vehicle according to the operation information and the state of the relay comprises: in response to the relay being closed, controlling the vehicle to operate according to the bus voltage of the motor controller, the rotational speed of the motor and the torque control instruction.

5. The method of claim 4, wherein, the controlling the vehicle to operate according to the bus voltage of the motor controller, the rotational speed of the motor and the torque control instruction in response to the relay being closed comprises: in response to the relay being closed, the bus voltage of the motor controller being not within the predetermined voltage range and the torque control instruction representing a requested torque being a predetermined value, controlling the vehicle to operate according to the rotational speed of the motor; in response to the relay being closed, the bus voltage of the motor controller being within the predetermined voltage range and the torque control instruction representing a requested torque being a torque value other than the predetermined value, controlling the motor to respond to the torque control instruction.

6. The method of claim 5, wherein, the controlling the vehicle to operate according to the bus voltage of the motor controller, the rotational speed of the motor and the torque control instruction in response to the relay being closed comprises: in response to the relay being closed, the bus voltage of the motor controller being not within the predetermined voltage range, the torque control instruction representing a requested torque being the predetermined value and the rotational speed of the motor being greater than a first preset rotational speed threshold, controlling the motor to output the predetermined value.

7. The method of claim 5, wherein, The response to the relay closing, the bus voltage of the motor controller is not in the predetermined voltage range, and the torque control instruction represents the requested torque as a predetermined value, the vehicle is controlled to operate according to the speed of the motor, comprising: In response to the relay closing, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents the requested torque as a predetermined value, and the speed of the motor is less than a third preset speed threshold, the control signal is stopped from being sent to the motor; In response to the relay closing, the bus voltage of the motor controller is not in the predetermined voltage range, the torque control instruction represents the requested torque as a predetermined value, and the speed of the motor is between the third preset speed threshold and a first preset speed threshold, the motor is controlled to maintain the original working state; Wherein, the third preset speed threshold is less than the first preset speed threshold.

8. A control device for vehicle running, characterized by comprising: The motor controller applied to the vehicle, the device comprises: A first acquisition module configured to acquire the running information of the motor and the state of the relay on the power supply circuit of the motor; A control module configured to control the vehicle to operate according to the running information and the state of the relay; The control module is configured to stop sending control signals to the motor in response to the relay being disconnected and the speed of the motor being between a second preset speed threshold and a third preset speed threshold, and to control the motor to maintain the original working state in response to the relay being disconnected and the speed of the motor being between the third preset speed threshold and a first preset speed threshold; wherein, the third preset speed threshold is less than the first preset speed threshold and greater than the second preset speed threshold.

9. A vehicle characterized by comprising: Comprise: A processor; Memory for storing processor-executable instructions; Wherein, the processor is configured to execute the method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the method as claimed in any one of claims 1 to 7. The computer program is executed by the processor to implement the method as claimed in any one of claims 1 to 7.

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