Motor controller fault recovery method, device, equipment and storage medium

Abstract

The present invention relates to the field of fault recovery technology, and discloses a motor controller fault recovery method, device, equipment and storage medium, the method comprising: obtaining the fault level of the motor controller, and determining fault information based on the fault level; performing fault recovery based on the fault information to obtain a fault recovery result; and adjusting the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation. The present invention performs fault recovery through the fault information corresponding to the fault level, and adjusts the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation, which solves the problem that the electric drive cannot be actively recovered when a fault occurs and there are hidden dangers to driving safety. The fault recovery can be performed autonomously, and the fault recovery efficiency is high, which improves the user experience and driving safety.

Description

Technical Field

[0001] The present invention relates to the field of fault recovery technology, and in particular to a motor controller fault recovery method, device, equipment and storage medium. Background Art

[0002] The electric drive system is one of the core systems of new energy vehicles. Due to the complexity of the working environment, electric drive failures often occur. After a failure occurs, power is lost and the vehicle breaks down, which poses a serious threat to driver safety and manufacturer reputation. Therefore, how to ensure that after an electric drive failure occurs, there is still a chance to recover to normal and ensure the high-speed stable operation of the vehicle is a key technical issue for new energy vehicles. However, after an electric drive failure occurs in a two-wheel drive vehicle, the current driving cycle cannot be restored and it must be restored after breaking down and recharging the power. After a single electric drive failure occurs in a four-wheel drive vehicle, it can continue to drive, but the limp speed is too low. Sudden deceleration on the road is likely to cause rear-end collisions and other accidents, posing a driving safety hazard. Summary of the invention

[0003] The main purpose of the present invention is to provide a motor controller fault recovery method, device, equipment and storage medium, aiming to solve the technical problem that the prior art electric drive cannot actively recover when a fault occurs, which poses a driving safety hazard.

[0004] To achieve the above object, the present invention provides a motor controller fault recovery method, the method comprising the following steps:

[0005] Acquiring a fault level of the motor controller, and determining fault information based on the fault level;

[0006] Perform fault recovery based on the fault information to obtain a fault recovery result;

[0007] The vehicle operating conditions are adjusted according to the fault recovery result to control the vehicle to return to normal operation.

[0008] Optionally, acquiring a fault level of the motor controller and determining fault information based on the fault level includes:

[0009] Get the fault level of the motor controller;

[0010] When the fault level of the motor controller is a preset level, obtaining a fault type corresponding to the preset level;

[0011] Fault information is obtained based on the fault type.

[0012] Optionally, performing fault recovery based on the fault information to obtain a fault recovery result includes:

[0013] Determine a fault recovery method based on the fault information;

[0014] The fault is cleared according to the fault recovery method to obtain a fault recovery result.

[0015] Optionally, determining a fault recovery method based on the fault information includes:

[0016] When the fault type in the fault information is a hardware fault, determining that the fault recovery method is a hardware reset;

[0017] When the fault type in the fault information is a software fault, the fault recovery method is determined to be a software reset.

[0018] Optionally, before performing fault recovery based on the fault information and obtaining a fault recovery result, the method further includes:

[0019] Get the number of fault clearing times of the motor controller;

[0020] Determine whether the fault clearing times reaches a preset times threshold;

[0021] When the number of fault clearing times does not reach the preset number threshold, executing the step of performing fault recovery based on the fault information to obtain a fault recovery result;

[0022] When the number of fault clearing times reaches the preset number threshold, the fault flag of the motor controller is latched.

[0023] Optionally, adjusting the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation includes:

[0024] When the fault recovery result is fault recovery completed, determining whether the motor controller meets the fault recovery condition;

[0025] When the motor controller meets the fault recovery condition, adjusting the vehicle operating condition to a preset condition;

[0026] Under the preset working condition, the vehicle is controlled to exit the safe state so as to resume normal operation.

[0027] Optionally, determining whether the motor controller meets a fault recovery condition includes:

[0028] Acquire verification information, wherein the verification information at least includes motor speed, fault information, and fault triggering duration;

[0029] When the verification information meets the preset condition, it is determined that the motor controller meets the fault recovery condition.

[0030] In addition, to achieve the above-mentioned purpose, the present invention also proposes a motor controller fault recovery device, the motor controller fault recovery device comprising:

[0031] A determination module, used to obtain a fault level of the motor controller and determine fault information based on the fault level;

[0032] A recovery module, used to perform fault recovery based on the fault information and obtain a fault recovery result;

[0033] The adjustment module is used to adjust the vehicle operating conditions according to the fault recovery result to control the vehicle to resume normal operation.

[0034] In addition, to achieve the above-mentioned purpose, the present invention also proposes a motor controller fault recovery device, which includes: a memory, a processor, and a motor controller fault recovery program stored in the memory and executable on the processor, and the motor controller fault recovery program is configured to implement the steps of the motor controller fault recovery method described above.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a motor controller fault recovery program is stored, and when the motor controller fault recovery program is executed by a processor, the steps of the motor controller fault recovery method described above are implemented.

[0036] The present invention obtains the fault level of the motor controller and determines the fault information based on the fault level; performs fault recovery based on the fault information to obtain a fault recovery result; and adjusts the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation. In the above manner, fault recovery is performed using the fault information corresponding to the fault level, and the vehicle operating condition is adjusted according to the fault recovery result to control the vehicle to resume normal operation, which solves the problem that the electric drive cannot be actively recovered when a fault occurs and there are hidden dangers to driving safety. Fault recovery can be performed autonomously, and the fault recovery efficiency is high, which improves the user experience and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural diagram of a motor controller fault recovery device in a hardware operating environment involved in an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a flow chart of a first embodiment of a motor controller fault recovery method according to the present invention;

[0039] Figure 3 A flowchart of normal operation processing of an embodiment of a motor controller fault recovery method of the present invention;

[0040] Figure 4A schematic diagram of a flow chart of a second embodiment of a motor controller fault recovery method according to the present invention;

[0041] Figure 5 A flowchart of a fault clearing method for a motor controller fault recovery according to an embodiment of the present invention;

[0042] Figure 6 A flowchart of a fault recovery process of an embodiment of a motor controller fault recovery method of the present invention;

[0043] Figure 7 A schematic diagram of a motor controller fault recovery strategy according to an embodiment of a motor controller fault recovery method of the present invention;

[0044] Figure 8 This is a structural block diagram of the first embodiment of the motor controller fault recovery device of the present invention.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0047] Reference Figure 1 , Figure 1 The present invention is a schematic diagram of the structure of a motor controller fault recovery device in a hardware operating environment according to an embodiment of the present invention.

[0048] like Figure 1 As shown, the motor controller fault recovery device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0049] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the motor controller fault recovery device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0050] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a motor controller fault recovery program.

[0051] exist Figure 1 In the motor controller fault recovery device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the motor controller fault recovery device of the present invention can be set in the motor controller fault recovery device, and the motor controller fault recovery device calls the motor controller fault recovery program stored in the memory 1005 through the processor 1001, and executes the motor controller fault recovery method provided by the embodiment of the present invention.

[0052] The embodiment of the present invention provides a motor controller fault recovery method, referring to Figure 2 , Figure 2 Schematic diagram of the flow chart of the first embodiment of the motor controller fault recovery method of the present invention.

[0053] In this embodiment, the motor controller fault recovery method includes the following steps:

[0054] Step S10: Acquire the fault level of the motor controller, and determine fault information based on the fault level.

[0055] It should be noted that the execution in this embodiment is a motor controller fault recovery device, and it can also be other devices with the same or similar functions. This embodiment does not make specific restrictions on this. This embodiment takes the motor controller fault recovery device as an example for explanation.

[0056] It is understandable that the motor controller is one of the core components in the electric drive system of an electric vehicle. It is responsible for controlling the operation of the motor. Its functions include adjusting the speed, torque and direction of the motor to achieve the power output of the vehicle. When the motor controller fails, it may cause the power system to fail and cause problems such as vehicle breakdown.

[0057] It is worth noting that for a single electric drive two-wheel drive vehicle, a motor failure means the vehicle is stranded; for a dual electric drive four-wheel drive vehicle, after a motor failure, the other normal electric drive can support the vehicle to continue limping at a low speed. In limp mode, the VCU (vehicle control unit) will output a torque request to the MCU (motor controller) of the normal electric drive, and will not output a torque request to the MCU of the faulty electric drive to ensure normal drive of the single motor.

[0058] Furthermore, the method of obtaining the fault level of the motor controller and determining the fault information based on the fault level includes: obtaining the fault level of the motor controller; when the fault level of the motor controller is a preset level, obtaining the fault type corresponding to the preset level; and obtaining fault information based on the fault type.

[0059] It should be noted that according to the general definition of fault levels, the fault levels of motor controllers are generally divided into three levels according to severity: Level 3 faults, which are safety-related errors or errors that will have a major impact on the vehicle, requiring immediate stopping of driving; Level 2 faults, which are errors that require going to a vehicle repair site as soon as possible for processing; Level 1 faults, which are errors that do not require going to a vehicle repair site as soon as possible for processing and can be handled during vehicle maintenance.

[0060] It can be understood that the preset level is a level 3 fault. When a level 3 fault occurs in the motor controller, the fault type corresponding to the level 3 fault is obtained, and the fault type is used as fault information.

[0061] In the specific implementation, after a real level 3 fault occurs in the motor controller, the MCU (motor controller) first diagnoses the fault and reports its own fault information to the VCU (vehicle controller); after the VCU diagnostic module confirms the electric drive fault, it requests the motor Standby state to shut down the torque output of the faulty motor, and at the same time controls the entire vehicle to enter a corresponding safety state, such as immediate parking or limp running.

[0062] Step S20: Perform fault recovery based on the fault information to obtain a fault recovery result.

[0063] It should be noted that the MCU (motor controller) performs fault recovery based on the specific type of the third-level fault, after confirming that the fault recovery conditions have been met, and then starts diagnosis to confirm whether the fault has been recovered and the fault recovery result.

[0064] It is understandable that after the fault clearing operation is completed, the MCU (motor controller) will continue to open diagnosis to determine whether the third-level fault will continue to be reported.

[0065] Step S30: adjusting the vehicle operating conditions according to the fault recovery result to control the vehicle to resume normal operation.

[0066] It should be noted that after the fault recovery operation is performed, the diagnosis is enabled to confirm whether the fault has been completely recovered, and the vehicle is waited to enter a specific operating condition to resume normal operation.

[0067] It can be understood that when the vehicle is operating under a specific condition, the MCU (motor controller) responds to the VCU instruction to complete the mode jump from the fault state to the normal state. And after the VCU diagnostic module clears the fault, the vehicle exits the safety state and the motor controller operates normally.

[0068] Furthermore, adjusting the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation includes: when the fault recovery result is that the fault recovery is completed, determining whether the motor controller meets the fault recovery condition; when the motor controller meets the fault recovery condition, adjusting the vehicle operating condition to a preset condition; under the preset condition, controlling the vehicle to exit the safety state to resume normal operation.

[0069] It should be noted that after the fault recovery is completed, the normal operation processing steps are entered, including: verifying whether the recovery condition is met. If it is met, the MCU (motor controller) can exit the Fault state and normally respond to the VCU status instruction; verifying the VCU diagnostic fault, and the vehicle exits the safety state. After the MCU exits the Fault state, the VCU diagnostic module performs the fault clearing operation. When the clearing is completed, the vehicle immediately exits the stop or limp mode. At this time, the VCU (vehicle controller) can command the MCU (motor controller) to enter the torque or speed mode and normally output power to drive the vehicle, and the fault recovery process is completed.

[0070] Furthermore, determining whether the motor controller meets the fault recovery condition includes: obtaining verification information, where the verification information at least includes the motor speed, fault information, and fault trigger duration; when the verification information meets the preset condition, it is determined that the motor controller meets the fault recovery condition.

[0071] It should be noted that generally, the Fault state cannot be immediately exited after the fault recovery, and the operation of the MCU and the vehicle must be verified. The condition settings and parameter calibration can be performed according to the actual conditions of different vehicle models and electric drives. In this embodiment, the verification information at least includes the motor speed, fault information, VCU status, and fault trigger duration, and this embodiment does not make specific limitations on this.

[0072] It can be understood that the preset conditions include the motor speed < TBD (set speed, can be calibrated), no three-level fault, the VCU requests a non-torque or non-speed state, and the time from the fault trigger to the current moment < TBD (set time, can be calibrated). When the preset conditions are met, the MCU can exit the Fault state and normally respond to the VCU status instruction.

[0073] like Figure 3 As shown, Figure 3 This is a flowchart for normal operation processing, which determines whether the MCU (motor controller) meets the recovery conditions; if so, the MCU (motor controller) responds to the VCU request and exits the Fault state; determines whether the VCU diagnosis clears the fault; if so, the electric drive operates normally.

[0074] This embodiment obtains the fault level of the motor controller and determines the fault information based on the fault level; performs fault recovery based on the fault information to obtain a fault recovery result; and adjusts the vehicle operating conditions according to the fault recovery result to control the vehicle to resume normal operation. In the above manner, fault recovery is performed based on the fault information corresponding to the fault level, and the vehicle operating conditions are adjusted according to the fault recovery result to control the vehicle to resume normal operation. This solves the problem that the electric drive cannot be actively recovered when a fault occurs, and there are hidden dangers to driving safety. Fault recovery can be performed autonomously, and the fault recovery efficiency is high, which improves the user experience and driving safety.

[0075] refer to Figure 4 , Figure 4 Schematic diagram of the flow chart of the second embodiment of the motor controller fault recovery method of the present invention.

[0076] Based on the first embodiment, step S20 in the motor controller fault recovery method of this embodiment includes:

[0077] Step S201: Determine a fault recovery method based on the fault information.

[0078] It should be noted that the motor controller level 3 fault can be divided into software level 3 fault and hardware level 3 fault according to the fault type, and the fault clearing methods are slightly different.

[0079] It is understandable that software failures usually involve the control algorithm, program errors or logic problems of the motor controller; hardware failures involve physical problems in the internal circuits or components of the motor controller, such as circuit short circuits, component damage, etc., which are not specifically limited in this embodiment.

[0080] Further, determining the fault recovery method based on the fault information includes: when the fault type in the fault information is a hardware fault, determining the fault recovery method to be a hardware reset; when the fault type in the fault information is a software fault, determining the fault recovery method to be a software reset.

[0081] It should be noted that hardware reset means resetting the hardware chip, and software reset means clearing the software fault flag.

[0082] It is understandable that if Figure 5 As shown, Figure 5This is a flowchart for fault clearing. The MCU (motor controller) level 3 fault can be divided into software level 3 fault and hardware level 3 fault according to the fault type. When the MCU (motor controller) level 3 fault is a hardware level 3 fault, determine whether the hardware latch is faulty; if the hardware latch is faulty, reset the hardware chip; if the hardware is not latched, clear the software fault flag. When the MCU (motor controller) level 3 fault is a software level 3 fault, clear the software fault flag.

[0083] Step S202: clear the fault according to the fault recovery method to obtain a fault recovery result.

[0084] It should be noted that the MCU (motor controller) will clear the relevant fault flag or perform a hardware restart based on the specific type of the third-level fault and after confirming that the fault recovery conditions have been met. It will then start diagnosis to confirm whether the fault has been recovered and wait for the vehicle to enter a specific operating condition to resume normal operation.

[0085] Furthermore, before the fault recovery based on the fault information is performed and the fault recovery result is obtained, it also includes: obtaining the number of fault clearing times of the motor controller; judging whether the number of fault clearing times reaches a preset number threshold; when the number of fault clearing times does not reach the preset number threshold, executing the step of performing fault recovery based on the fault information to obtain a fault recovery result; when the number of fault clearing times reaches the preset number threshold, latching the fault flag of the motor controller.

[0086] It should be noted that since the third-level fault corresponds to a serious fault in the motor controller, if there is real hardware damage in the motor controller, it must be resolved by replacing the hardware. Even if the software reset temporarily clears the fault flag, the third-level fault will continue to be reported after the subsequent diagnosis is opened, so the number of fault recovery times must be limited.

[0087] It is understandable that in the motor controller mode jump state machine, the number of recovery times can be limited, that is, after the motor controller jumps from normal mode to Fault mode (three-level fault trigger), the recovery time counter is judged. If < the set number of times, reset is allowed; if ≥ If the number of times is set, the third-level fault is latched and reset is not allowed. The set number of times is the preset number threshold, which can be set to 3 times. This implementation does not impose any specific restrictions on this. When the MCU fault is successfully cleared, before jumping out of the Fault mode, the third-level fault recovery counter is increased by 1.

[0088] like Figure 6 As shown, Figure 6It is a flowchart for fault recovery processing. It is judged whether the number of times of three - level fault recovery < TBD (set number); if so, the MCU (motor controller) latches the fault flag bit and needs to be powered off for recovery; if not, the MCU (motor controller) clears the fault and enables diagnosis. It is judged whether the three - level fault is recovered. If not, it is re - judged whether the number of times of three - level fault recovery < TBD (set number).

[0089] As Figure 7 shown Figure 7 It is a schematic diagram of the fault recovery strategy of the motor controller. The MCU (motor controller) diagnoses a three - level fault and enters the Fault state; it is judged whether the VCU (vehicle controller) diagnoses and determines the fault; if so, it is judged whether the number of times of three - level fault recovery < TBD (set number); if so, the MCU (motor controller) latches the fault flag bit and needs to be powered off for recovery; if not, the MCU (motor controller) clears the fault and enables diagnosis; it is judged whether the three - level fault is recovered. If not, it is re - judged whether the number of times of three - level fault recovery < TBD (set number); if recovered, it is judged whether the MCU (motor controller) meets the recovery conditions; if met, the MCU (motor controller) responds to the VCU request and exits the Fault state; it is judged whether the VCU diagnoses and clears the fault; if so, the electric drive operates normally.

[0090] In this embodiment, the fault recovery method is determined based on the fault information; the fault is cleared according to the fault recovery method to obtain a fault recovery result. By the above method, the fault is cleared according to the corresponding method of the fault information, improving the fault clearing efficiency.

[0091] Referring to Figure 8 , Figure 8 It is a structural block diagram of the first embodiment of the motor controller fault recovery device of the present invention.

[0092] As Figure 8 shown, the motor controller fault recovery device proposed in the embodiment of the present invention includes:

[0093] A determination module 10, configured to obtain the fault level of the motor controller and determine fault information based on the fault level.

[0094] A recovery module 20, configured to perform fault recovery based on the fault information to obtain a fault recovery result.

[0095] An adjustment module 30, configured to adjust the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation.

[0096] This embodiment obtains the fault level of the motor controller and determines the fault information based on the fault level; performs fault recovery based on the fault information to obtain a fault recovery result; and adjusts the vehicle operating conditions according to the fault recovery result to control the vehicle to resume normal operation. In the above manner, fault recovery is performed based on the fault information corresponding to the fault level, and the vehicle operating conditions are adjusted according to the fault recovery result to control the vehicle to resume normal operation. This solves the problem that the electric drive cannot be actively recovered when a fault occurs, and there are hidden dangers to driving safety. Fault recovery can be performed autonomously, and the fault recovery efficiency is high, which improves the user experience and driving safety.

[0097] In one embodiment, the determination module 10 is further used to obtain a fault level of the motor controller; when the fault level of the motor controller is a preset level, obtain a fault type corresponding to the preset level; and obtain fault information based on the fault type.

[0098] In one embodiment, the recovery module 20 is further configured to determine a fault recovery method based on the fault information; and perform fault clearing according to the fault recovery method to obtain a fault recovery result.

[0099] In one embodiment, the recovery module 20 is further used to determine that the fault recovery method is hardware reset when the fault type in the fault information is a hardware fault; and to determine that the fault recovery method is software reset when the fault type in the fault information is a software fault.

[0100] In one embodiment, the recovery module 20 is also used to obtain the number of fault clearing times of the motor controller; determine whether the number of fault clearing times reaches a preset number threshold; when the number of fault clearing times does not reach the preset number threshold, execute the step of performing fault recovery based on the fault information to obtain a fault recovery result; when the number of fault clearing times reaches the preset number threshold, latch the fault flag of the motor controller.

[0101] In one embodiment, the adjustment module 30 is also used to determine whether the motor controller meets the fault recovery condition when the fault recovery result is fault recovery completed; when the motor controller meets the fault recovery condition, adjust the vehicle operating condition to a preset condition; under the preset condition, control the vehicle to exit a safe state to enable the recovery to work normally.

[0102] In one embodiment, the adjustment module 30 is also used to obtain verification information, wherein the verification information at least includes motor speed, fault information, and fault triggering duration; when the verification information meets preset conditions, it is determined that the motor controller meets the fault recovery conditions.

[0103] In addition, to achieve the above-mentioned purpose, the present invention also proposes a motor controller fault recovery device, which includes: a memory, a processor, and a motor controller fault recovery program stored in the memory and executable on the processor, and the motor controller fault recovery program is configured to implement the steps of the motor controller fault recovery method described above.

[0104] Since the motor controller fault recovery device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0105] In addition, an embodiment of the present invention further proposes a storage medium, on which a motor controller fault recovery program is stored. When the motor controller fault recovery program is executed by a processor, the steps of the motor controller fault recovery method described above are implemented.

[0106] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0107] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0108] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0109] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the motor controller fault recovery method provided in any embodiment of the present invention, and will not be repeated here.

[0110] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0111] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0112] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0113] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0114] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A motor controller fault recovery method, characterized in that: The method comprises: Acquiring a fault level of the motor controller, and determining fault information based on the fault level; Perform fault recovery based on the fault information to obtain a fault recovery result; Adjusting the vehicle operating conditions according to the fault recovery result to control the vehicle to resume normal operation; The acquiring the fault level of the motor controller and determining the fault information based on the fault level includes: Get the fault level of the motor controller; When the fault level of the motor controller is a preset level, obtaining a fault type corresponding to the preset level, wherein the fault type includes a hardware fault and a software fault; Obtaining fault information based on the fault type; The performing fault recovery based on the fault information to obtain a fault recovery result includes: Determine a fault recovery method based on the fault information; Clearing the fault according to the fault recovery method to obtain a fault recovery result, wherein the fault recovery method includes hardware reset and software reset, the hardware reset is to reset the hardware chip, and the software reset is to clear the software fault flag bit; The adjusting the vehicle operating condition according to the fault recovery result to control the vehicle to resume normal operation includes: When the fault recovery result is fault recovery completed, determining whether the motor controller meets the fault recovery condition; When the motor controller meets the fault recovery condition, adjusting the vehicle operating condition to a preset condition; Under the preset working condition, controlling the vehicle to exit the safe state so as to resume normal operation; The step of determining whether the motor controller meets the fault recovery condition comprises: Acquire verification information, wherein the verification information at least includes motor speed, fault information, and fault triggering duration; When the verification information meets the preset conditions, it is determined that the motor controller meets the fault recovery conditions, wherein the preset conditions include that the motor speed is less than the set speed, there is no third-level fault, the VCU requests a non-torque or speed state, and the time from the fault trigger to the current moment is less than or equal to the set time.

2. The method according to claim 1, characterized in that The determining of a fault recovery method based on the fault information includes: When the fault type in the fault information is a hardware fault, determining that the fault recovery method is a hardware reset; When the fault type in the fault information is a software fault, the fault recovery method is determined to be a software reset.

3. The method according to claim 1, characterized in that Before performing fault recovery based on the fault information and obtaining a fault recovery result, the method further includes: Get the number of fault clearing times of the motor controller; Determine whether the fault clearing times reaches a preset times threshold; When the number of fault clearing times does not reach the preset number threshold, executing the step of performing fault recovery based on the fault information to obtain a fault recovery result; When the number of fault clearing times reaches the preset number threshold, the fault flag of the motor controller is latched.

4. A motor controller fault recovery device, characterized in that: The motor controller fault recovery device comprises: A determination module, used to obtain a fault level of the motor controller and determine fault information based on the fault level; A recovery module, used to perform fault recovery based on the fault information and obtain a fault recovery result; An adjustment module, used for adjusting the vehicle operating conditions according to the fault recovery result to control the vehicle to resume normal operation; The determination module is further used to obtain a fault level of the motor controller; when the fault level of the motor controller is a preset level, obtain a fault type corresponding to the preset level, wherein the fault type includes a hardware fault and a software fault; and obtain fault information based on the fault type; The recovery module is further used to determine a fault recovery method based on the fault information; clear the fault according to the fault recovery method to obtain a fault recovery result, wherein the fault recovery method includes hardware reset and software reset, the hardware reset is to reset the hardware chip, and the software reset is to clear the software fault flag bit; The adjustment module is further used to determine whether the motor controller meets the fault recovery condition when the fault recovery result is fault recovery completion; when the motor controller meets the fault recovery condition, adjust the vehicle operating condition to a preset condition; under the preset condition, control the vehicle to exit the safe state so that the normal operation of the vehicle can be restored; The adjustment module is also used to obtain verification information, wherein the verification information at least includes motor speed, fault information, and fault triggering duration; when the verification information meets preset conditions, it is determined that the motor controller meets the fault recovery conditions, wherein the preset conditions include that the motor speed is less than the set speed, there is no third-level fault, the VCU requests a non-torque or speed state, and the time from the fault triggering to the current moment is less than or equal to the set time.

5. A motor controller fault recovery device, characterized in that: The motor controller fault recovery device includes: a memory, a processor, and a motor controller fault recovery program stored in the memory and executable on the processor, wherein the motor controller fault recovery program is configured to implement the motor controller fault recovery method according to any one of claims 1 to 3.

6. A storage medium, characterized in that: The storage medium stores a motor controller fault recovery program, which, when executed by a processor, implements the motor controller fault recovery method according to any one of claims 1 to 3.

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