Control method of vehicle and vehicle

Abstract

The present application relates to the technical field of vehicles, and particularly provides a control method of a vehicle and the vehicle, aiming at solving the problem that the availability of the existing vehicle is poor because the power is directly cut off when a serious fault of the motor is detected. To this end, the control method comprises: stopping sending a torque request when the serious fault of the motor occurs; judging whether the fault belongs to a recoverable fault; if the fault belongs to the recoverable fault, detecting whether the fault is recovered; and when the fault is recovered, resuming sending the torque request. According to the present application, when the serious fault of the motor occurs, the torque request is stopped, the motor is temporarily stopped to output torque, then it is judged whether the fault of the motor belongs to the recoverable fault, if the fault belongs to the recoverable fault, when the fault is recovered, the torque request is resumed to be sent, the motor is recovered to output torque, and driving force is provided for the vehicle, so that the availability of the vehicle is improved, and the user experience is better.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, specifically providing a vehicle control method and a vehicle. Background Technology

[0002] The power fault diagnosis module for new energy vehicles is an important part of the entire software architecture of VCU (vehicle control unit for electric vehicles), and it is indispensable for fault diagnosis of the three electric components (battery, motor and electronic control).

[0003] Currently, when troubleshooting vehicles, if a serious motor malfunction is detected (a malfunction that prevents the motor from producing torque is considered a serious malfunction), the power is immediately cut off, resulting in poor vehicle availability and affecting the user experience.

[0004] Therefore, a new technical solution is needed in this field to solve the above problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problem, namely, to solve the problem that existing vehicles directly cut off power when a serious motor failure is detected, resulting in poor vehicle availability.

[0006] In a first aspect, the present invention provides a method for controlling a vehicle, the vehicle including a motor, the control method comprising:

[0007] When the motor experiences a serious malfunction, torque requests will be stopped.

[0008] Determine whether the fault is recoverable;

[0009] If the fault is recoverable, then check whether the fault is recoverable;

[0010] When the fault is resolved, torque requests will resume.

[0011] In a preferred embodiment of the above-described vehicle control method, after the step of "resuming the transmission torque request", the control method further includes:

[0012] The torque output by the motor must not exceed the preset torque.

[0013] In a preferred embodiment of the above-described vehicle control method, if the fault is recovered during the driver's pressing of the accelerator pedal, the control method further includes:

[0014] Obtain the throttle opening when the fault is recovered;

[0015] Obtain the rate of increase of the throttle;

[0016] The throttle opening is compared with the preset opening.

[0017] The rate of increase of the throttle is compared with a preset value;

[0018] Based on the comparison results, determine whether the torque limit conditions are met;

[0019] If the torque limit condition is met, the torque output by the motor is prohibited from exceeding the preset torque.

[0020] In a preferred embodiment of the above-described vehicle control method, the preset opening degree includes a first preset opening degree and a second preset opening degree, wherein the first preset opening degree is smaller than the second preset opening degree, and the preset value includes a first preset value and a second preset value, wherein the first preset value is greater than the second preset value.

[0021] The step of "if the torque limit condition is met, then prohibiting the torque output by the motor from exceeding the preset torque" specifically includes:

[0022] If the throttle opening is less than the first preset opening and the duration of the throttle increase rate being greater than the first preset value is greater than the first preset time, or

[0023] The throttle opening is not less than the first preset opening and less than the second preset opening, and the duration for which the throttle increase rate is greater than the second preset value is greater than the second preset time, or

[0024] If the duration of the throttle opening being no less than the second preset opening is greater than the third preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

[0025] In the preferred embodiment of the above-mentioned vehicle control method, the first preset time is greater than the second preset time, and the second preset time is greater than the third preset time.

[0026] In a preferred embodiment of the above-described vehicle control method, if the fault has been resolved before the driver depresses the accelerator pedal, the control method further includes:

[0027] Obtain the rate of increase of the throttle;

[0028] The rate of increase of the throttle is compared with a third preset value;

[0029] If the duration of the rate of increase of the throttle being greater than the third preset value is greater than the fourth preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

[0030] In the preferred embodiment of the above-mentioned vehicle control method, the preset torque is 45% to 55% of the maximum torque of the motor.

[0031] In a preferred embodiment of the above-mentioned vehicle control method, after the step of "preventing the torque output by the motor from exceeding a preset torque", the control method further includes:

[0032] Determine whether the conditions for releasing the torque limit are met;

[0033] If the torque limiting condition is met, the torque output by the motor is allowed to exceed the preset torque.

[0034] In the preferred technical solution of the above vehicle control method, the step of "determining whether the torque limiting condition is met" specifically includes:

[0035] Obtain the vehicle speed;

[0036] Obtain the throttle opening of the vehicle;

[0037] Compare the vehicle speed with a first preset speed;

[0038] Compare the throttle opening with the preset opening;

[0039] Based on the comparison results, determine whether the conditions for releasing the torque limit are met.

[0040] In the preferred embodiment of the above-described vehicle control method, the release preset opening degree includes a first release preset opening degree and a second release preset opening degree, wherein the first release preset opening degree is smaller than the second release preset opening degree.

[0041] The step of "allowing the motor to output torque exceeding the preset torque if the torque limitation condition is met" specifically includes:

[0042] If the vehicle speed is greater than the first preset speed and the throttle opening is greater than the first preset opening duration is greater than the fifth preset time, or

[0043] If the vehicle speed is greater than the first preset speed and the duration of the throttle opening being greater than the second preset release opening is greater than the sixth preset time, then the torque output by the motor is allowed to exceed the preset torque.

[0044] The fifth preset time is greater than the sixth preset time.

[0045] In the preferred embodiment of the above-mentioned vehicle control method, the release of the preset opening degree further includes a third release of the preset opening degree, which is greater than the second release of the preset opening degree. The step of "if the release torque limit condition is met, then the torque output by the motor is allowed to exceed the preset torque" further includes:

[0046] If the vehicle speed is greater than the first preset vehicle speed, the throttle opening is greater than the third preset release opening, and the ratio of the motor's output torque to the driver's requested target torque is greater than a preset ratio and the duration is greater than a seventh preset time, then the motor's output torque is allowed to exceed the preset torque.

[0047] Wherein, the preset ratio is any value between 0.8 and 0.95, and the seventh preset time is less than the sixth preset time.

[0048] In a preferred embodiment of the above-mentioned vehicle control method, the control method further includes:

[0049] After the fault is recovered, if the driver activates the intelligent driving function and then deactivates the intelligent driving function before the torque limit is lifted during the intelligent driving process, the torque output by the motor is prohibited from exceeding the preset torque.

[0050] In a preferred embodiment of the above-mentioned vehicle control method, the control method further includes:

[0051] After the fault is recovered, if the driver activates the automatic parking function and the conditions for releasing the torque limit are not met during the automatic parking process, and the duration for which the vehicle speed is greater than the second preset speed is greater than the eighth preset time, and the driver deactivates the automatic parking function, then the torque output by the motor is prohibited from exceeding the preset torque.

[0052] In a preferred embodiment of the above-mentioned vehicle control method, the control method further includes:

[0053] If the fault is not resolved when the vehicle speed is less than the third preset speed, the vehicle gear will be switched to park and the electronic parking brake will be activated.

[0054] In a preferred embodiment of the above-mentioned vehicle control method, the control method further includes:

[0055] When the motor experiences a serious malfunction, the vehicle's malfunction indicator light is activated and / or a text-based malfunction message is sent.

[0056] In a preferred embodiment of the above-mentioned vehicle control method, the control method further includes:

[0057] When the fault is resolved, turn off the fault light and / or cancel the fault message.

[0058] In a second aspect, the present invention also provides a vehicle including a controller configured to perform the control method described above.

[0059] When the above technical solution is adopted, the present invention stops sending torque requests when the motor has a serious fault, first temporarily stopping the motor from outputting torque and keeping the vehicle in a coasting state. Then it is determined whether the motor fault is a recoverable fault. If the fault is a recoverable fault, the torque request is resumed when the fault is recovered, so that the motor resumes torque output and provides driving force for the vehicle. In this way, the availability of the vehicle is improved and the user experience is better.

[0060] Furthermore, after resuming the transmission of torque requests, the present invention limits the output torque of the motor, which helps to avoid traffic accidents caused by excessive motor output torque immediately after the fault is restored, thereby improving vehicle safety.

[0061] Furthermore, in the event that the motor malfunction suddenly recovers while the driver is pressing the accelerator, the present invention can determine whether the torque limiting condition will be triggered based on the accelerator opening and the rate of change of the accelerator. In order to limit the output torque of the motor in a timely manner when the torque limiting condition is met, the present invention further improves the safety of the vehicle.

[0062] Furthermore, when determining whether a torque limiting condition will be triggered based on the throttle opening and the rate of change of the throttle, the present invention sets two preset openings for the throttle opening and two preset values ​​for the rate of change of the throttle. With such settings, the vehicle's safety is enhanced.

[0063] Furthermore, the present invention also includes a torque limiting condition. When the torque limiting condition is met, the limitation on the output torque of the motor is lifted, the motor resumes normal operation, avoids affecting the driver's normal driving, and further improves the user experience.

[0064] Furthermore, when determining whether the torque limitation conditions are met based on the vehicle speed and throttle opening, the present invention sets three preset release openings for the throttle opening. Through this setting, the limitation on the available torque of the motor can be released in a timely manner, allowing the vehicle to resume normal operation as soon as possible, further improving the user experience.

[0065] Furthermore, this invention limits the output torque of the motor even when the driver activates the intelligent driving function after the motor malfunction is resolved, and then deactivates the intelligent driving function, and the vehicle does not meet the conditions for releasing the torque limit before the intelligent driving function is deactivated, thereby further improving vehicle safety.

[0066] Furthermore, when a malfunction occurs and the vehicle speed is less than a third preset speed and has not yet recovered, the present invention switches the vehicle to parking gear and activates the electronic parking brake, thereby further improving vehicle safety.

[0067] Furthermore, the vehicle provided by the present invention, based on the above technical solution, includes the above-mentioned vehicle control method, and thus possesses the technical effects of the above-mentioned vehicle control method. Compared with the vehicle before the improvement, the vehicle of the present invention has higher usability and a better user experience.

[0068] Solution 1. A method for controlling a vehicle, the vehicle including a motor, characterized in that the control method includes:

[0069] When the motor experiences a serious malfunction, torque requests will be stopped.

[0070] Determine whether the fault is recoverable;

[0071] If the fault is recoverable, then check whether the fault is recoverable;

[0072] When the fault is resolved, torque requests will resume.

[0073] Solution 2. The vehicle control method according to Solution 1, characterized in that, after the step of "resuming the transmission of torque request", the control method further includes:

[0074] The torque output by the motor must not exceed the preset torque.

[0075] Solution 3. The vehicle control method according to Solution 2, characterized in that, in the case where the fault is recovered during the driver's pressing of the accelerator pedal, the control method further includes:

[0076] Obtain the throttle opening when the fault is recovered;

[0077] Obtain the rate of increase of the throttle;

[0078] The throttle opening is compared with the preset opening.

[0079] The rate of increase of the throttle is compared with a preset value;

[0080] Based on the comparison results, determine whether the torque limit conditions are met;

[0081] If the torque limit condition is met, the torque output by the motor is prohibited from exceeding the preset torque.

[0082] Solution 4. The vehicle control method according to Solution 3, characterized in that the preset opening degree includes a first preset opening degree and a second preset opening degree, the first preset opening degree being less than the second preset opening degree, and the preset value includes a first preset value and a second preset value, the first preset value being greater than the second preset value.

[0083] The step of "if the torque limit condition is met, then prohibiting the torque output by the motor from exceeding the preset torque" specifically includes:

[0084] If the throttle opening is less than the first preset opening and the duration of the throttle increase rate being greater than the first preset value is greater than the first preset time, or

[0085] The throttle opening is not less than the first preset opening and less than the second preset opening, and the duration for which the throttle increase rate is greater than the second preset value is greater than the second preset time, or

[0086] If the duration of the throttle opening being no less than the second preset opening is greater than the third preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

[0087] Scheme 5. The vehicle control method according to Scheme 4, characterized in that the first preset time is greater than the second preset time, and the second preset time is greater than the third preset time.

[0088] Solution 6. The vehicle control method according to Solution 2, characterized in that, in the case where the fault has been resolved before the driver presses the accelerator of the vehicle, the control method further includes:

[0089] Obtain the rate of increase of the throttle;

[0090] The rate of increase of the throttle is compared with a third preset value;

[0091] If the duration of the rate of increase of the throttle being greater than the third preset value is greater than the fourth preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

[0092] Scheme 7. The vehicle control method according to Scheme 2, characterized in that the preset torque is 45% to 55% of the maximum torque of the motor.

[0093] Solution 8. The vehicle control method according to Solution 2, characterized in that, after the step of "preventing the torque output by the motor from exceeding the preset torque", the control method further includes:

[0094] Determine whether the conditions for releasing the torque limit are met;

[0095] If the torque limiting condition is met, the torque output by the motor is allowed to exceed the preset torque.

[0096] Solution 9. The vehicle control method according to Solution 8, characterized in that the step of "determining whether the torque limiting condition is met" specifically includes:

[0097] Obtain the vehicle speed;

[0098] Obtain the throttle opening of the vehicle;

[0099] Compare the vehicle speed with a first preset speed;

[0100] Compare the throttle opening with the preset opening;

[0101] Based on the comparison results, determine whether the conditions for releasing the torque limit are met.

[0102] Solution 10. The vehicle control method according to Solution 9, characterized in that the release preset opening degree includes a first release preset opening degree and a second release preset opening degree, wherein the first release preset opening degree is smaller than the second release preset opening degree.

[0103] The step of "allowing the motor to output torque exceeding the preset torque if the torque limitation condition is met" specifically includes:

[0104] If the vehicle speed is greater than the first preset speed and the throttle opening is greater than the first preset opening duration is greater than the fifth preset time, or

[0105] If the vehicle speed is greater than the first preset speed and the duration of the throttle opening being greater than the second preset release opening is greater than the sixth preset time, then the torque output by the motor is allowed to exceed the preset torque.

[0106] The fifth preset time is greater than the sixth preset time.

[0107] Solution 11. The vehicle control method according to Solution 10, characterized in that, the step of releasing the preset opening degree further includes a third release of the preset opening degree, the third release of the preset opening degree being greater than the second release of the preset opening degree, and the step of "if the release torque limit condition is met, then the torque output by the motor is allowed to exceed the preset torque" further includes:

[0108] If the vehicle speed is greater than the first preset vehicle speed, the throttle opening is greater than the third preset release opening, and the ratio of the motor's output torque to the driver's requested target torque is greater than a preset ratio and the duration is greater than a seventh preset time, then the motor's output torque is allowed to exceed the preset torque.

[0109] Wherein, the preset ratio is any value between 0.8 and 0.95, and the seventh preset time is less than the sixth preset time.

[0110] Solution 12. The vehicle control method according to Solution 8, characterized in that the control method further includes:

[0111] After the fault is recovered, if the driver activates the intelligent driving function and then deactivates the intelligent driving function before the torque limit is lifted during the intelligent driving process, the torque output by the motor is prohibited from exceeding the preset torque.

[0112] Solution 13. The vehicle control method according to Solution 8, characterized in that the control method further includes:

[0113] After the fault is recovered, if the driver activates the automatic parking function and the conditions for releasing the torque limit are not met during the automatic parking process, and the duration for which the vehicle speed is greater than the second preset speed is greater than the eighth preset time, and the driver deactivates the automatic parking function, then the torque output by the motor is prohibited from exceeding the preset torque.

[0114] Option 14. The vehicle control method according to any one of Options 1 to 13, characterized in that the control method further includes:

[0115] If the fault is not resolved when the vehicle speed is less than the third preset speed, the vehicle gear will be switched to park and the electronic parking brake will be activated.

[0116] Option 15. The vehicle control method according to any one of Options 1 to 13, characterized in that the control method further includes:

[0117] When the motor experiences a serious malfunction, the vehicle's malfunction indicator light is activated and / or a text-based malfunction message is sent.

[0118] Solution 16. The vehicle control method according to Solution 15, characterized in that the control method further includes:

[0119] When the fault is resolved, turn off the fault light and / or cancel the fault message.

[0120] Scheme 17. A vehicle, characterized in that it includes a controller configured to perform the control method of any one of Schemes 1 to 16. Attached Figure Description

[0121] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0122] Figure 1 This is a flowchart of the vehicle control method of the present invention. Detailed Implementation

[0123] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0124] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that although the steps of the control method of the present invention are described in a specific order in this application, this order is not restrictive, and those skilled in the art can perform the steps in different orders without departing from the basic principles of the present invention.

[0125] It should be noted that in the description of this invention, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0126] Specifically, the present invention provides a vehicle, which includes an electric motor for providing driving force to the vehicle to drive it, such as... Figure 1 As shown, the control method of the present invention includes the following steps:

[0127] S100: Stop sending torque requests when a serious motor failure occurs;

[0128] S200: Determine whether the fault is recoverable;

[0129] For example, the vehicle controller has a fault diagnosis module. When a motor fails, the fault flag corresponding to the fault is set to diagnose the type of fault. Then, it is compared with a database of recoverable faults pre-stored in the controller to determine whether the fault is recoverable. Specifically, if the fault matches the fault in the database of recoverable faults, it is determined that the fault is recoverable. Otherwise, if the comparison fails, it is determined that the fault is not recoverable.

[0130] Common recoverable faults include communication loss and abnormal power supply voltage. Those skilled in the art can input these recoverable faults into the recoverable fault database in advance. In addition, those skilled in the art can also update the data in the recoverable fault database through a remote server.

[0131] S300: If the fault is recoverable, check whether the fault is recoverable;

[0132] S400: When the fault is recovered, resume sending torque requests.

[0133] In other words, when the motor of the vehicle of the present invention experiences a serious malfunction, it stops sending torque requests, temporarily stops the motor from outputting torque, and the vehicle remains in a coasting state. Then, it is determined whether the motor malfunction is a recoverable malfunction. If the malfunction is recoverable, the torque request is resumed when the malfunction is resolved, so that the motor resumes torque output and provides driving force to the vehicle. In this way, the availability of the vehicle is improved and the user experience is better.

[0134] Of course, if the fault is determined to be irreversible (such as a chip fault), the power should be cut off directly, and the vehicle should be driven again after the fault is repaired.

[0135] Preferably, after the step of "resuming the transmission torque request", the control method of the present invention further includes: prohibiting the torque output by the motor from exceeding a preset torque.

[0136] After resuming the transmission of torque requests, limiting the output torque of the motor helps to avoid traffic accidents caused by excessive motor output torque immediately after the fault is restored, thereby improving vehicle safety.

[0137] It should be noted that the present invention does not limit the specific value of the preset torque. For example, those skilled in the art can set the preset torque to 50 Nm, 80 Nm or 100 Nm, or it can be set according to the maximum torque of the motor. Such adjustment and change of the specific value of the preset torque does not deviate from the principle and scope of the present invention and should be limited to the protection scope of the present invention.

[0138] Preferably, the preset torque of the present invention is 45% to 55% of the maximum torque of the motor.

[0139] For example, if the maximum torque of the motor is 200 Nm, then a person skilled in the art can set the preset torque to any value between 90 Nm and 110 Nm, for example, setting the preset torque to 90 Nm, 95 Nm, 100 Nm, 105 Nm or 110 Nm.

[0140] Furthermore, the present invention preferably sets the preset torque to 50% of the maximum torque of the motor.

[0141] Preferably, in the case where the fault is recovered while the driver is pressing the accelerator of the vehicle, the control method of the present invention further includes:

[0142] Obtain the throttle opening during fault recovery;

[0143] Obtain the rate of increase of throttle;

[0144] Among them, the rate of change of throttle increase is the degree of change of throttle opening over a certain period of time.

[0145] Compare the throttle opening with the preset opening;

[0146] Compare the rate of increase in throttle with the preset value;

[0147] Based on the comparison results, determine whether the torque limit conditions are met;

[0148] If the torque limit condition is met, the motor output torque is prohibited from exceeding the preset torque.

[0149] In other words, this invention sets a torque limiting condition. If the motor malfunction suddenly resolves itself while the driver is pressing the accelerator, the system needs to determine whether the torque limiting condition will be triggered based on the accelerator pedal opening and the rate of increase in accelerator speed. If the torque limiting condition is triggered, the motor's output torque is limited, preventing it from exceeding a preset torque. Of course, if the torque limiting condition is not triggered, the motor can output torque normally.

[0150] Preferably, the preset opening includes a first preset opening and a second preset opening, wherein the first preset opening is smaller than the second preset opening, and the preset value includes a first preset value and a second preset value, wherein the first preset value is greater than the second preset value.

[0151] The steps for "if the torque limit condition is met, then prohibiting the motor output torque from exceeding the preset torque" specifically include:

[0152] If the throttle opening is less than the first preset opening and the throttle increase rate of change is greater than the first preset value for a duration greater than the first preset time, or

[0153] The throttle opening is not less than a first preset opening and less than a second preset opening, and the duration of the throttle increase rate being greater than the second preset value is greater than the second preset time, or

[0154] If the throttle opening is not less than the second preset opening and the duration is greater than the third preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

[0155] In other words, the present invention sets two preset openings for the throttle opening, namely the first preset opening and the second preset opening, and sets two preset values ​​for the rate of change of the throttle rise, namely the first preset value and the second preset value. When any one of the following three conditions is met, the torque limiting condition will be triggered, prohibiting the torque output by the motor from exceeding the preset torque.

[0156] For example, the first preset opening degree is 30%, the second preset opening degree is 60%, the first preset value is 100% / 0.3s, the second preset value is 100% / 0.4s, the first preset time is 0.1s, the second preset time is 0.08s, and the third preset time is 0.05s.

[0157] Case 1: The throttle opening is less than 30% and the duration of the throttle increase rate of change greater than 100% / 0.3s is greater than 0.1s;

[0158] Case 2: 30% ≤ throttle opening < 60% and the duration of the throttle increase rate greater than 100% / 0.4s is greater than 0.08s;

[0159] Scenario 3: The duration of the throttle opening being ≥60% is greater than 0.05s.

[0160] When any of the above three situations occur, it indicates that the target torque requested by the driver is too large. In this case, it is necessary to limit the torque output of the motor and prohibit the torque output of the motor from exceeding the preset torque.

[0161] It should be noted that the specific values ​​in the above examples are merely illustrative and do not constitute a limitation on the present invention. In practical applications, those skilled in the art can flexibly set the specific values ​​of the first preset opening degree, the second preset opening degree, the first preset value, the second preset value, the first preset time, the second preset time, and the third preset time based on experiments or experience for motors of different power. For example, those skilled in the art can also set the first preset opening degree to 25% or 35%, the second preset opening degree to 55% or 65%, the first preset value to 100% / 0.25s or 100% / 0.35s, the second preset value to 100% / 0.35s or 100% / 0.45s, the first preset time to 0.09s or 0.11s, the second preset time to 0.07s or 0.09s, and the third preset time to 0.04s or 0.06s.

[0162] Of course, the present invention preferably sets the first preset opening degree to 25% to 35%, preferably sets the second preset opening degree to 55% to 65%, preferably sets the first preset value to 100% / 0.25s to 100% / 0.35s, preferably sets the second preset value to 100% / 0.35s to 100% / 0.45s, preferably sets the first preset time to 0.09s to 0.11s, preferably sets the second preset time to 0.07s to 0.09s, and preferably sets the third preset time to 0.04s to 0.06s.

[0163] Furthermore, it should be noted that, in practical applications, those skilled in the art may set only a preset opening for the throttle opening and only a preset value for the rate of change of the throttle increase. Such flexible adjustments and changes do not deviate from the principles and scope of the present invention and should be limited to the protection scope of the present invention.

[0164] Of course, the present invention preferably sets two preset openings for the throttle opening and two preset values ​​for the rate of change of the throttle increase. With such settings, the vehicle safety is improved.

[0165] Preferably, the first preset time is greater than the second preset time, and the second preset time is greater than the third preset time.

[0166] By making the first preset time greater than the second preset time, and the second preset time greater than the third preset time, the safety of the vehicle can be further improved.

[0167] Preferably, in cases where the fault has been resolved before the driver presses the accelerator, the control method of the present invention further includes:

[0168] Obtain the rate of increase of throttle;

[0169] Compare the rate of increase in throttle with the third preset value;

[0170] If the duration of the rate of increase of the throttle being greater than the third preset value is greater than the fourth preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

[0171] In other words, the motor malfunction has been resolved before the driver presses the accelerator. In this case, it is only necessary to determine whether the torque limiting condition will be triggered based on the rate of change of the accelerator. When the torque limiting condition is triggered, the torque output of the motor is limited, and the torque output of the motor is prohibited from exceeding the preset torque.

[0172] For example, the third preset value is 100% / 0.3s, and the fourth preset time is 0.1s. When the rate of change of the throttle increase is greater than 100% / 0.3s for a duration greater than 0.1s, it indicates that the target torque requested by the driver is too large. In this case, it is necessary to limit the torque output of the motor and prohibit the torque output of the motor from exceeding the preset torque.

[0173] It should be noted that the specific values ​​in the above examples are merely illustrative examples and do not constitute a limitation on the present invention. In practical applications, those skilled in the art can flexibly set the specific values ​​of the third preset value and the fourth preset time for motors of different power based on experiments or experience. For example, those skilled in the art can also set the third preset value to 100% / 0.2s or 100% / 0.4s, and the fourth preset time to 0.08s or 0.12s, etc.

[0174] Of course, the present invention preferably sets the third preset value to 100% / 0.2s to 100% / 0.4s, and preferably sets the fourth preset time to 0.08s to 0.12s.

[0175] Preferably, after the step of "preventing the torque output by the motor from exceeding the preset torque", the control method of the present invention further includes:

[0176] Determine whether the conditions for releasing the torque limit are met;

[0177] If the conditions for releasing the torque limit are met, the torque output by the motor is allowed to exceed the preset torque.

[0178] In other words, the present invention also includes a condition for releasing the torque limit. When the condition for releasing the torque limit is met, the limitation on the output torque of the motor is released, and the motor resumes normal operation.

[0179] Preferably, the step of "determining whether the torque limiting condition is met" specifically includes:

[0180] Get the vehicle's speed;

[0181] Obtain the throttle opening of the vehicle;

[0182] Compare the vehicle speed with the first preset speed;

[0183] Compare the throttle opening with the preset opening;

[0184] Based on the comparison results, determine whether the conditions for removing the torque limit are met.

[0185] When limiting the output torque of a motor, it is necessary to determine whether the conditions for releasing the torque limit are met based on the vehicle speed and throttle opening. Only when the conditions for releasing the torque limit are met can the limitation on the available torque of the motor be released.

[0186] It should be noted that the present invention is not limited to determining whether the torque limit release condition is met based on the vehicle speed and throttle opening. In practical applications, those skilled in the art can also determine whether the torque limit release condition is met based on other vehicle parameters. Of course, the present invention preferably determines whether the torque limit release condition is met based on the vehicle speed and throttle opening, which is safer and can release the torque limit in a timely manner, allowing the vehicle to resume normal driving and improving the user experience.

[0187] Preferably, the release preset opening degree includes a first release preset opening degree and a second release preset opening degree, wherein the first release preset opening degree is smaller than the second release preset opening degree.

[0188] The steps for "allowing the motor to output torque exceeding the preset torque if the conditions for releasing the torque limit are met" specifically include:

[0189] If the vehicle speed is greater than the first preset speed and the throttle opening is greater than the first preset opening duration is greater than the fifth preset time, or

[0190] If the vehicle speed exceeds the first preset speed and the throttle opening is greater than the second preset opening duration is greater than the sixth preset time, then the motor output torque is allowed to exceed the preset torque.

[0191] The fifth preset time is longer than the sixth preset time.

[0192] In other words, the present invention provides two preset opening degrees for the throttle opening: a first preset opening degree and a second preset opening degree. When either of the following two conditions is met, the limitation on the output torque of the motor is released.

[0193] For example, the first preset speed is 5 km / h, the first preset opening degree is 15%, the second preset opening degree is 30%, the fifth preset time is 5 seconds, and the sixth preset time is 3 seconds.

[0194] Scenario 1: Vehicle speed > 5 km / h and throttle opening > 15% for a duration > 5 seconds.

[0195] Scenario 2: Vehicle speed > 5 km / h and throttle opening > 30% for a duration > 3 seconds.

[0196] When either of the two conditions mentioned above is met, the limitation on the motor's output torque can be lifted, that is, the motor's output torque is allowed to exceed the preset torque, and the motor resumes normal operation.

[0197] It should be noted that the specific values ​​in the above examples are merely illustrative and do not constitute a limitation on the present invention. In practical applications, those skilled in the art can flexibly set the specific values ​​of the first preset speed, the first release preset opening degree, the second release preset opening degree, the fifth preset time, and the sixth preset time based on experiments or experience for motors of different power. For example, those skilled in the art can also set the first preset speed to 4 km / h or 7 km / h, the first release preset opening degree to 10% or 20%, the second release preset opening degree to 25% or 35%, the fifth preset time to 4s or 6s, and the sixth preset time to 2s or 4s.

[0198] Of course, the present invention preferably sets the first preset speed to 4km / h to 7km / h, preferably sets the first release preset opening degree to 10% to 20%, preferably sets the second release preset opening degree to 25% to 35%, preferably sets the fifth preset time to 4s to 6s, and preferably sets the sixth preset time to 2s to 4s.

[0199] Preferably, the step of releasing the preset opening degree further includes a third release of the preset opening degree, which is greater than the second release of the preset opening degree. The step of "if the torque limit release condition is met, the torque output by the motor is allowed to exceed the preset torque" further includes:

[0200] If the vehicle speed exceeds the first preset speed, the throttle opening exceeds the third preset opening, and the ratio of the motor's output torque to the driver's requested target torque exceeds a preset ratio for a duration exceeding the seventh preset time, then the motor's output torque is allowed to exceed the preset torque.

[0201] The preset ratio is any value between 0.8 and 0.95, and the seventh preset time is less than the sixth preset time.

[0202] In other words, in addition to the two situations mentioned above, the limitation on the motor output torque can also be lifted when the following third situation occurs.

[0203] For example, the first preset vehicle speed is 5 km / h, the third preset opening degree is 70%, the preset ratio is 0.9, and the seventh preset time is 0.05 s.

[0204] Scenario 3: Vehicle speed > 5 km / h, throttle opening > 70%, and the ratio of motor output torque to the target torque requested by the driver > 0.9 and duration > 0.05 s.

[0205] Compared to the two scenarios mentioned above, the third scenario requires a larger throttle opening and also requires judging the ratio of the motor's output torque to the target torque requested by the driver. The target torque requested by the driver is related to the throttle opening. For example, a "Throttle Opening and Target Torque Comparison Table" can be pre-stored in the vehicle's controller, and the target torque requested by the driver can be obtained by looking up the table.

[0206] It should be noted that the specific values ​​in the above examples are merely illustrative and do not constitute a limitation on the present invention. In practical applications, those skilled in the art can flexibly set the specific values ​​of the first preset speed, the third preset opening degree, and the seventh preset time for motors of different power based on experiments or experience. For example, those skilled in the art can also set the first preset speed to 4 km / h or 7 km / h, the third preset opening degree to 60% or 80%, and the seventh preset time to 0.04s or 0.06s.

[0207] Of course, the present invention preferably sets the first preset speed to 4km / h to 7km / h, preferably sets the third preset opening degree to 60% to 80%, and preferably sets the seventh preset time to 0.04s to 0.06s, etc.

[0208] Furthermore, it should be noted that this invention is not limited to setting three preset release degrees for the throttle opening. For example, it can also set only one or four preset release degrees for the throttle opening. Such flexible adjustments and changes do not deviate from the principles and scope of this invention and should be limited within the protection scope of this invention. Of course, this invention preferably sets three preset release degrees for the throttle opening. With this setting, the limitation on the available torque of the motor can be released in a timely manner, allowing the vehicle to return to normal operation as quickly as possible.

[0209] Preferably, the control method of the present invention further includes:

[0210] If the driver activates the intelligent driving function after the motor fault is resolved, and then deactivates the intelligent driving function before the torque limit is lifted during the intelligent driving process, the motor output torque will be prohibited from exceeding the preset torque.

[0211] In other words, after the motor malfunction is resolved, the driver may activate the intelligent driving function (such as adaptive cruise control or cruise control), and then deactivate the intelligent driving function. Moreover, the vehicle does not meet the conditions for releasing the torque limit before the intelligent driving function is deactivated. When this situation occurs, the output torque of the motor needs to be limited according to the human-driving scenario described above to ensure vehicle safety.

[0212] Preferably, the control method of the present invention further includes:

[0213] After the fault is recovered, if the driver activates the automatic parking function and the conditions for releasing the torque limit are not met during the automatic parking process, and the duration of the vehicle speed being greater than the second preset speed is greater than the eighth preset time, and the driver then deactivates the automatic parking function, the torque output by the motor will be prohibited from exceeding the preset torque.

[0214] In other words, after the motor malfunction is resolved, the driver may activate the automatic parking function, and then deactivate it. Moreover, before deactivating the automatic parking function, the vehicle does not meet the conditions for releasing the torque limit, nor does it meet the condition that the vehicle speed is greater than the second preset speed for a duration greater than the eighth preset time. For example, the second preset speed is 3 km / h, and the eighth preset time is 1.5s. That is, the condition that the vehicle speed is greater than 3 km / h for a duration greater than 1.5s is also not met. When this situation occurs, the output torque of the motor needs to be limited according to the human-driving scenario described above to ensure vehicle safety.

[0215] It should be noted that the second preset speed is not limited to the aforementioned 3 km / h, and the eighth preset time is not limited to the aforementioned 1.5s. In practical applications, those skilled in the art can flexibly set the specific values ​​of the second preset speed and the eighth preset time according to experiments or experience for motors of different power. For example, those skilled in the art can also set the second preset speed to 2 km / h or 4 km / h, and the eighth preset time to 1.0s or 2.0s, etc.

[0216] Of course, the present invention preferably sets the second preset speed to 2km / h to 4km / h and preferably sets the eighth preset time to 1.0s to 2.0s.

[0217] Preferably, the control method of the present invention further includes:

[0218] If the fault is not resolved when the vehicle speed is below the third preset speed, shift the vehicle to park and activate the electronic parking brake.

[0219] In other words, when the motor fails, the vehicle will be in a coasting state, and the vehicle speed will gradually decrease. When the vehicle speed is less than the third preset speed, for example, the third preset speed is 3 km / h, the motor failure has not yet been resolved. In this case, the vehicle gear is switched to parking gear and the electronic parking brake is activated to prevent the vehicle from rolling backward, thereby further improving the vehicle's safety.

[0220] It should be noted that the third preset speed is not limited to the aforementioned 3 km / h. In practical applications, those skilled in the art can flexibly set the specific value of the third preset speed according to experiments or experience for motors of different power. For example, those skilled in the art can also set the third preset speed to 2 km / h or 4 km / h, etc.

[0221] Of course, the present invention preferably sets the third preset speed to 2km / h to 4km / h.

[0222] Preferably, the control method of the present invention further includes:

[0223] When a serious motor failure occurs, the vehicle's malfunction indicator light will be activated and / or a text-based fault message will be sent.

[0224] Preferably, the control method of the present invention further includes:

[0225] When the fault is resolved, turn off the fault indicator and / or cancel the fault text prompt.

[0226] It should be noted that the above control methods are preferably executed by the vehicle controller of the present invention.

[0227] Furthermore, it should be noted that the vehicle control method provided in this embodiment can be stored as a program in a computer-readable storage medium. This storage medium includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0228] Those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, any of the claimed embodiments in the claims of this application can be used in any combination. The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle, the vehicle including a motor, characterized in that, The control method includes: When the motor experiences a serious malfunction, torque requests will be stopped. Determine whether the fault is recoverable; If the fault is recoverable, then check whether the fault is recoverable; When the fault is resolved, torque requests will resume being sent. Following the step "Resume sending torque request", the control method further includes: The torque output by the motor must not exceed a preset torque; In the case where the fault is recovered while the driver is pressing the accelerator of the vehicle, the control method further includes: Obtain the throttle opening when the fault is recovered; Obtain the rate of increase of the throttle; The throttle opening is compared with the preset opening. The rate of increase of the throttle is compared with a preset value; Based on the comparison results, determine whether the torque limit conditions are met; If the torque limit condition is met, the torque output by the motor is prohibited from exceeding the preset torque; The preset opening includes a first preset opening and a second preset opening, wherein the first preset opening is smaller than the second preset opening. The preset value includes a first preset value and a second preset value, wherein the first preset value is greater than the second preset value. The step of "if the torque limit condition is met, then prohibiting the torque output by the motor from exceeding the preset torque" specifically includes: If the throttle opening is less than the first preset opening and the duration of the throttle increase rate being greater than the first preset value is greater than the first preset time, or The throttle opening is not less than the first preset opening and less than the second preset opening, and the duration for which the throttle increase rate is greater than the second preset value is greater than the second preset time, or If the duration of the throttle opening being no less than the second preset opening is greater than the third preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

2. The vehicle control method according to claim 1, characterized in that, The first preset time is greater than the second preset time, and the second preset time is greater than the third preset time.

3. The vehicle control method according to claim 1, characterized in that, If the fault has been resolved before the driver presses the accelerator pedal of the vehicle, the control method further includes: Obtain the rate of increase of the throttle; The rate of increase of the throttle is compared with a third preset value; If the duration of the rate of increase of the throttle being greater than the third preset value is greater than the fourth preset time, then the torque output by the motor is prohibited from exceeding the preset torque.

4. The vehicle control method according to claim 1, characterized in that, The preset torque is 45% to 55% of the maximum torque of the motor.

5. The vehicle control method according to claim 1, characterized in that, After the step of "preventing the torque output by the motor from exceeding the preset torque", the control method further includes: Determine whether the conditions for releasing the torque limit are met; If the torque limiting condition is met, the torque output by the motor is allowed to exceed the preset torque.

6. The vehicle control method according to claim 5, characterized in that, The specific steps for "determining whether the conditions for releasing the torque limit are met" include: Obtain the vehicle speed; Obtain the throttle opening of the vehicle; Compare the vehicle speed with a first preset speed; Compare the throttle opening with the preset opening; Based on the comparison results, determine whether the conditions for releasing the torque limit are met.

7. The vehicle control method according to claim 6, characterized in that, The release preset opening degree includes a first release preset opening degree and a second release preset opening degree, wherein the first release preset opening degree is smaller than the second release preset opening degree. The step of "if the torque limiting condition is met, then the torque output by the motor is allowed to exceed the preset torque" specifically includes: If the vehicle speed is greater than the first preset speed and the throttle opening is greater than the first preset opening duration is greater than the fifth preset time, or If the vehicle speed is greater than the first preset speed and the duration of the throttle opening being greater than the second preset release opening is greater than the sixth preset time, then the torque output by the motor is allowed to exceed the preset torque. The fifth preset time is greater than the sixth preset time.

8. The vehicle control method according to claim 7, characterized in that, The step of releasing the preset opening degree further includes a third release preset opening degree, which is greater than the second release preset opening degree. The step of "if the torque limiting condition is met, then the torque output by the motor is allowed to exceed the preset torque" further includes: If the vehicle speed is greater than the first preset speed, the throttle opening is greater than the third preset opening, and the ratio of the motor's output torque to the driver's requested target torque is greater than a preset ratio and the duration is greater than a seventh preset time, then the motor's output torque is allowed to exceed the preset torque. Wherein, the preset ratio is any value between 0.8 and 0.95, and the seventh preset time is less than the sixth preset time.

9. The vehicle control method according to claim 5, characterized in that, The control method further includes: After the fault is recovered, if the driver activates the intelligent driving function and then deactivates the intelligent driving function before the torque limit is lifted during the intelligent driving process, the torque output by the motor is prohibited from exceeding the preset torque.

10. The vehicle control method according to claim 5, characterized in that, The control method further includes: After the fault is recovered, if the driver activates the automatic parking function and the conditions for releasing the torque limit are not met during the automatic parking process, and the duration for which the vehicle speed is greater than the second preset speed is greater than the eighth preset time, and the driver deactivates the automatic parking function, then the torque output by the motor is prohibited from exceeding the preset torque.

11. The vehicle control method according to any one of claims 1 to 10, characterized in that, The control method further includes: If the fault is not resolved when the vehicle speed is less than the third preset speed, the vehicle gear will be switched to park and the electronic parking brake will be activated.

12. The vehicle control method according to any one of claims 1 to 10, characterized in that, The control method further includes: When the motor experiences a serious malfunction, the vehicle's malfunction indicator light is activated and / or a text-based malfunction message is sent.

13. The vehicle control method according to claim 12, characterized in that, The control method further includes: When the fault is resolved, turn off the fault light and / or cancel the fault message.

14. A vehicle, characterized in that, Includes a controller configured to perform the control method according to any one of claims 1 to 13.

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