A vehicle control method, apparatus, device, and medium

Abstract

The application discloses a vehicle control method, device, equipment and medium, comprising: monitoring whether a target motor of a target vehicle has a target fault; when the target motor has the target fault, determining a target set of counter-traction electromotive forces corresponding to the target vehicle according to a current vehicle speed of the target vehicle and a corresponding relationship between the vehicle speed and the set of counter-traction electromotive forces of the target motor; each set of counter-traction electromotive forces comprises at least one counter-traction electromotive force; obtaining a battery pack bus voltage of the target vehicle, and determining a highest allowable vehicle speed of the target vehicle according to the battery pack bus voltage and the target set of counter-traction electromotive forces, so that the target vehicle runs at a state lower than the highest allowable vehicle speed. After monitoring that the target motor has the target fault, the application triggers a speed limiting response, determines a corresponding set of counter-traction electromotive forces according to the motor of the target vehicle, determines a dynamic speed limiting threshold of the target vehicle based on the battery pack bus voltage and the set of counter-traction electromotive forces, and realizes dynamic speed limiting of the target vehicle.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and more particularly to a vehicle control method, device, equipment, and medium. Background Technology

[0002] With the continuous depletion of non-renewable resources, electric vehicles have emerged and continued to develop. When electric vehicles experience shutdown malfunctions or ASC (Active Short Circuit) failures, their driving safety can be compromised.

[0003] In related technologies, to ensure the relative safety of electric vehicles, a relatively low fixed speed limit is used to deal with shutdown faults or ASC (Automatic Safety Control) faults. However, this method can cause significant damage to the electric vehicle's motor or battery, seriously affecting user safety and travel experience. Therefore, how to reduce damage to the motor or battery when shutdown faults or ASC faults occur is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a vehicle control method, device, equipment, and medium, which solves the technical problem that using a fixed speed limit to deal with shutdown faults or ASC faults in the prior art can cause significant damage to the motor or battery of an electric vehicle. It achieves the technical effect of reducing damage to the motor or battery when shutdown faults or ASC faults occur.

[0005] In a first aspect, this application provides a vehicle control method, the method comprising:

[0006] Monitor whether the target motor of the target vehicle has a target fault; the target fault includes at least one of the following: shut-off fault and active short-circuit protection fault.

[0007] When the target motor has a target fault, the target vehicle's target back drag electromotive force set is determined based on the target vehicle's current speed and the correspondence between the target motor and the back drag electromotive force set; each back drag electromotive force set includes at least one back drag electromotive force.

[0008] Obtain the battery pack bus voltage of the target vehicle, and determine the maximum permissible speed of the target vehicle based on the battery pack bus voltage and the target back drag electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible speed.

[0009] Furthermore, monitoring whether the target motor of the target vehicle has a target fault includes:

[0010] When there is no fault in the CAN bus used to transmit the motor's operating status, the operating status signal of the target motor is obtained from the motor controller of the target motor.

[0011] When the working status signal indicates that the target motor has a target fault, determine whether the actual duration of the target motor being in the target fault exceeds the preset duration;

[0012] When the actual duration of the target motor being in the target fault exceeds the preset duration, it is determined that the target motor has a target fault.

[0013] Furthermore, when the target motor has a target fault, the method also includes:

[0014] Based on the target fault, an instrument prompt signal is generated, which is used to illuminate the fault indicator light corresponding to the target fault on the target vehicle.

[0015] Furthermore, when the target motor has a target fault, the method also includes:

[0016] Determine the corresponding fault code based on the target fault and record the fault code.

[0017] Further, the battery pack bus voltage of the target vehicle is obtained, including:

[0018] Perform end-to-end signal verification on the signal carrying the battery pack bus voltage;

[0019] When the signal carrying the battery pack bus voltage is verified through end-to-end signal verification, the battery pack bus voltage of the target vehicle is obtained from the signal carrying the battery pack bus voltage.

[0020] Furthermore, the maximum permissible speed of the target vehicle is determined based on the battery pack bus voltage and the target back drag electromotive force, including:

[0021] Based on each anti-draft electromotive force in the target anti-draft electromotive force set, determine at least two anti-draft electromotive force span intervals corresponding to the target anti-draft electromotive force set.

[0022] Match the battery pack bus voltage with each reverse drag electromotive force span interval, and determine the target reverse drag electromotive force span interval from at least two reverse drag electromotive force span intervals.

[0023] The speed limit threshold corresponding to the target back drag electromotive force span is taken as the maximum permissible speed of the target vehicle.

[0024] Furthermore, the method for determining the correspondence between the target motor and the set of back drag electromotive forces includes:

[0025] Identify the motor type of the target motor;

[0026] Determine the correspondence between the target motor and the set of back drag electromotive forces based on the motor type.

[0027] Secondly, this application provides a vehicle control device, the device comprising:

[0028] The fault monitoring module is used to monitor whether the target motor of the target vehicle has a target fault; the target fault includes at least one of the following: shut-off fault and active short-circuit protection fault.

[0029] The back drag electromotive force set determination module is used to determine the target back drag electromotive force set corresponding to the target vehicle when the target motor has a target fault, based on the current vehicle speed of the target vehicle and the correspondence between the target motor and the back drag electromotive force set; each back drag electromotive force set includes at least one back drag electromotive force.

[0030] The maximum permissible vehicle speed determination module is used to obtain the battery pack bus voltage of the target vehicle and determine the maximum permissible vehicle speed of the target vehicle based on the battery pack bus voltage and the target back drag electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible vehicle speed.

[0031] Furthermore, the fault monitoring module includes:

[0032] The signal acquisition submodule is used to acquire the target motor's operating status signal from the target motor's motor controller when there is no fault in the CAN bus used to transmit the motor's operating status.

[0033] The duration judgment submodule is used to determine whether the actual duration of the target motor being in the target fault exceeds the preset duration when the working status signal indicates that the target motor has a target fault.

[0034] The fault determination submodule is used to determine that the target motor has a target fault when the actual duration of the target motor being in a target fault exceeds a preset duration.

[0035] Furthermore, the device also includes a fault light illumination module for:

[0036] When a target motor has a target fault, an instrument prompt signal is generated based on the target fault. The instrument prompt signal is used to illuminate the fault indicator light corresponding to the target fault on the target vehicle.

[0037] Furthermore, the device also includes a fault code logging module for:

[0038] When the target motor has a target fault, the corresponding fault code is determined based on the target fault and the fault code is recorded.

[0039] Furthermore, the maximum permissible vehicle speed determination module includes a verification submodule, used for:

[0040] Perform end-to-end signal verification on the signal carrying the battery pack bus voltage;

[0041] When the signal carrying the battery pack bus voltage is verified through end-to-end signal verification, the battery pack bus voltage of the target vehicle is obtained from the signal carrying the battery pack bus voltage.

[0042] Furthermore, the maximum permissible vehicle speed determination module is used for:

[0043] Based on each anti-draft electromotive force in the target anti-draft electromotive force set, determine at least two anti-draft electromotive force span intervals corresponding to the target anti-draft electromotive force set.

[0044] Match the battery pack bus voltage with each reverse drag electromotive force span interval, and determine the target reverse drag electromotive force span interval from at least two reverse drag electromotive force span intervals.

[0045] The speed limit threshold corresponding to the target back drag electromotive force span is taken as the maximum permissible speed of the target vehicle.

[0046] Furthermore, the back drag electromotive force set determination module is used for:

[0047] Identify the motor type of the target motor;

[0048] Determine the correspondence between the target motor and the set of back drag electromotive forces based on the motor type.

[0049] Thirdly, this application provides an electronic device, comprising:

[0050] processor;

[0051] Memory used to store processor-executable instructions;

[0052] The processor is configured to execute a vehicle control method as provided in the first aspect.

[0053] Fourthly, this application provides a non-transitory computer-readable storage medium that, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to perform a vehicle control method as provided in the first aspect.

[0054] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0055] In this embodiment, upon detecting a target fault in the target motor of a target vehicle, the system determines the target back drag electromotive force (EMF) set corresponding to the target motor at the current vehicle speed. Based on the battery pack bus voltage and the target back drag EMF set, the system determines the maximum permissible speed of the target vehicle in the current state, ensuring the target vehicle operates at a speed below the maximum permissible speed. Therefore, this embodiment triggers a speed-limiting response upon detecting a target fault in the target motor, determines the corresponding back drag EMF set based on the motor installed in the target vehicle, and determines the dynamic speed-limiting threshold of the target vehicle based on the battery pack bus voltage and the back drag EMF set, thus achieving dynamic speed limiting of the target vehicle.

[0056] This embodiment determines a dynamic threshold based on the type of target motor on the target vehicle and the vehicle speed, thereby limiting the vehicle speed. This effectively reduces the probability of the motor operating at high speeds, thus reducing the likelihood of large back electromotive force causing vehicle jerking. Reducing the probability of the motor operating at high speeds also reduces the probability of battery overcharging due to excessive charging current caused by low battery charge. In scenarios where the target vehicle is traveling at high speeds, it avoids the risk of rear-end collisions caused by fixed speed limits, and also avoids vehicle safety issues caused by blindly increasing fixed speed limits. Therefore, this embodiment not only improves the user's driving experience but also increases the likelihood of safe driving in dangerous scenarios, namely, improving the safety of safely pulling over or driving to a repair center. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart illustrating a vehicle control method provided in this embodiment;

[0059] Figure 2 This is a schematic diagram of the structure of a vehicle control device provided in this embodiment;

[0060] Figure 3 This is a schematic diagram of the structure of an electronic device provided in this embodiment. Detailed Implementation

[0061] This application provides a vehicle control method that solves the technical problem that using a fixed speed limit to deal with shut-off or ASC faults in the prior art can cause significant damage to the motor or battery of an electric vehicle.

[0062] The technical solution of this application embodiment is to solve the above-mentioned technical problems, and the general idea is as follows:

[0063] A vehicle control method includes: monitoring whether a target motor of a target vehicle has a target fault; the target fault includes at least one of a shut-off fault and an active short-circuit protection fault; when a target motor has a target fault, determining a target back drag electromotive force set corresponding to the target vehicle based on the current vehicle speed and the correspondence between the target motor and the vehicle speed and the back drag electromotive force set; each back drag electromotive force set includes at least one back drag electromotive force; acquiring the battery pack bus voltage of the target vehicle, and determining the maximum permissible speed of the target vehicle based on the battery pack bus voltage and the target back drag electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible speed.

[0064] In this embodiment, upon detecting a target fault in the target motor of a target vehicle, the system determines the target back drag electromotive force (EMF) set corresponding to the target motor at the current vehicle speed. Based on the battery pack bus voltage and the target back drag EMF set, the system determines the maximum permissible speed of the target vehicle in the current state, ensuring the target vehicle operates at a speed below the maximum permissible speed. Therefore, this embodiment triggers a speed-limiting response upon detecting a target fault in the target motor, determines the corresponding back drag EMF set based on the motor installed in the target vehicle, and determines the dynamic speed-limiting threshold of the target vehicle based on the battery pack bus voltage and the back drag EMF set, thus achieving dynamic speed limiting of the target vehicle.

[0065] Furthermore, this embodiment determines a dynamic threshold based on the type of target motor on the target vehicle and the vehicle speed, thereby limiting the vehicle speed. This effectively reduces the probability of the motor operating at high speeds, thus reducing the likelihood of vehicle jerking due to a large back drag electromotive force. Reducing the probability of the motor operating at high speeds also reduces the probability of battery overcharging caused by a large charging current due to low battery charge. In scenarios where the target vehicle is traveling at high speeds, it avoids the risk of rear-end collisions caused by fixed speed limits and also avoids vehicle safety issues caused by blindly increasing fixed speed limits. Therefore, this embodiment not only improves the user's driving experience but also increases the likelihood of safe driving in dangerous scenarios, namely, improving the safety of safely pulling over or driving to a repair center.

[0066] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0067] First, it should be clarified that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0068] When an electric vehicle experiences a motor shutdown fault or an ASC (Automatic Speed ​​Control) malfunction, the vehicle speed will be limited, and a fixed speed limit will be applied to different types of electric vehicles. For example, when an electric vehicle experiences a shutdown fault or an ASC malfunction, its speed will be uniformly limited to 60 kilometers per hour.

[0069] However, the aforementioned fixed speed limit method is relatively simple. When the limited speed is high, the motor generates a large back electromotive force at high speeds, causing the vehicle to jerk. This affects both driving safety and the driving experience. Furthermore, when the electric vehicle's battery is low, it will charge the battery. If the limited speed is high at this time, the electric vehicle will generate a large charging current, potentially leading to overcharging and causing the electric vehicle to break down, further impacting driving safety and the driving experience.

[0070] To address the aforementioned problems, this embodiment provides the following: Figure 1 The vehicle control method shown includes steps S11-S13.

[0071] Step S11: Monitor whether there is a target fault in the target motor of the target vehicle; the target fault includes at least one of the following: shut-off fault and active short-circuit protection fault.

[0072] Step S12: When the target motor has a target fault, determine the target back drag electromotive force set corresponding to the target vehicle based on the current vehicle speed of the target vehicle and the correspondence between the target motor and the back drag electromotive force set; each back drag electromotive force set includes at least one back drag electromotive force.

[0073] Step S13: Obtain the battery pack bus voltage of the target vehicle, and determine the maximum permissible speed of the target vehicle based on the battery pack bus voltage and the target reverse electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible speed.

[0074] The vehicle control method described in this embodiment can be applied to the vehicle control unit (VCU) of the target vehicle, which can improve the accuracy of the vehicle control unit in controlling the vehicle.

[0075] Regarding step S11, monitor whether there is a target fault in the target motor of the target vehicle; the target fault includes at least one of the following: shut-off fault and active short-circuit protection fault.

[0076] The target vehicle can be any electric vehicle equipped with an electric motor. The target motor can be any motor on the target vehicle. The target fault can include shut-off faults and active short-circuit protection faults, as well as other faults of the target motor that may affect the driving safety of the target vehicle.

[0077] Monitoring whether the target motor of the target vehicle has a target fault may include steps S111-S114.

[0078] Step S111: Monitor whether there is a fault in the CAN bus used to transmit the motor's operating status.

[0079] The signal carrying the motor's operating status is generated by the target motor's motor controller (MCU, Micro Control Unit) and sent to the target vehicle's area controller (VIU, Vehicle Information Unit). The area controller then forwards the signal carrying the motor's operating status to the vehicle controller.

[0080] The motor controller, area controller and vehicle controller usually communicate via CAN bus. First, check whether there is a busoff fault on the CAN bus between the motor controller, area controller and vehicle controller, and whether there is a fault of invalid or unavailable signal frame.

[0081] If the CAN bus has any of the following faults: busoff fault, invalid signal frame, or unavailable fault, it indicates that the signal on the current CAN bus is unreliable and the CAN bus needs to be diagnosed or maintained.

[0082] When there is no fault in the CAN bus, the signal carrying the motor's operating status on the CAN bus can be trusted, and then step S112 can be executed.

[0083] Step S112: When there is no fault in the CAN bus used to transmit the motor's operating status, obtain the operating status of the target motor from the motor controller of the target motor.

[0084] The motor controller transmits signals carrying the motor's operating status to the area controller at a preset cycle, and the area controller also forwards signals carrying the motor's operating status to the vehicle controller at a preset cycle. The preset cycle can be set according to actual conditions.

[0085] When the CAN bus is functioning correctly, after the vehicle controller receives a signal carrying the motor's operating status, it first performs end-to-end signal verification (E2E verification) on the signal. This verification ensures the acquired motor operating status signal is valid and usable. If the signal fails the end-to-end verification, it indicates an anomaly and cannot represent the current operating status of the target motor. In this case, a usable signal carrying the motor's operating status needs to be acquired again.

[0086] When the signal carrying the operating status of the target motor passes end-to-end signal verification, it can then be used to determine whether a target fault exists in the target motor's operating status. If no target fault exists, the system continues to wait for the next signal carrying the motor's operating status from the motor controller and re-evaluates whether a target fault exists in the target motor's operating status.

[0087] If the target motor has a target fault in its operating state, then continue to execute step S113.

[0088] Step S113: When the working status indicates that the target motor has a target fault, determine whether the actual duration of the target motor being in the target fault exceeds the preset duration.

[0089] To reduce the likelihood of intermittent faults being identified as target faults—that is, to reduce the probability of a motor exhibiting a target fault due to intermittent motor malfunctions or signal errors—an anti-jitter time, or preset duration, can be set to improve the accuracy of identifying a target fault in the motor. The preset duration can be selected based on actual conditions.

[0090] When the operating status indicates that the target motor has a target fault, the duration of the target motor having a target fault is recorded, and the system continues to receive new signals carrying the motor operating status transmitted by the motor controller in the next or subsequent transmissions, and continues to determine whether the new signals indicate that the target motor has a target fault.

[0091] If the actual duration of the target motor's fault does not exceed the preset duration and the new signal indicates that the target motor does not have the target fault, then return to step S112. If the actual duration of the target motor's fault exceeds the preset duration, then continue to step S114.

[0092] Step S114: When the actual duration of the target motor being in the target fault exceeds the preset duration, it is determined that the target motor has a target fault.

[0093] If the actual duration of the target motor being in the target fault exceeds the preset duration, it can be determined that the target motor has a target fault, and then step S12 can be continued.

[0094] Regarding step S12, when the target motor has a target fault, the target back drag electromotive force set corresponding to the target vehicle is determined based on the current vehicle speed of the target vehicle and the correspondence between the target motor and the back drag electromotive force set; each back drag electromotive force set includes at least one back drag electromotive force.

[0095] Different electric vehicles may be equipped with different motor models, and different motor models will generate different back drag electromotive forces (EMFs) at different vehicle speeds. The back drag EMFs of different motor models at different vehicle speeds are pre-calibrated to establish a correspondence between various motor models and their corresponding vehicle speed and back drag EMF sets. For the target vehicle, the motor type of the target motor is first identified; based on the motor type, the correspondence between the target motor and its corresponding vehicle speed and back drag EMF set is determined.

[0096] By obtaining the current speed of the target vehicle at the current moment and querying the correspondence between the target motor and the set of back drag electromotive forces (EMFs) related to the vehicle speed, the target set of back drag EMFs corresponding to the current vehicle speed can be determined. The target set of back drag EMFs includes at least one back drag EMF. For example, the target set of back drag EMFs for a certain target motor at the target vehicle speed includes three back drag EMFs, namely V1, V2, and V3, where V1 < V2 < V3.

[0097] Regarding step S13, the battery pack bus voltage of the target vehicle is obtained, and the maximum permissible speed of the target vehicle is determined based on the battery pack bus voltage and the target reverse drag electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible speed.

[0098] The signal carrying the battery pack bus voltage is generated by the Battery Management System (BMS) and sent to the area controller of the target vehicle. The area controller then forwards the signal carrying the battery pack bus voltage to the vehicle controller.

[0099] The battery management system transmits a signal carrying the battery pack bus voltage to the area controller at a preset cycle, and the area controller also forwards the signal carrying the battery pack bus voltage to the vehicle controller at a preset cycle. The preset cycle can be set according to actual conditions.

[0100] When there are no abnormalities on the CAN bus, the vehicle controller performs end-to-end signal verification on the signal carrying the battery pack bus voltage. When the signal carrying the battery pack bus voltage passes the end-to-end signal verification, the target vehicle's battery pack bus voltage is obtained from the signal carrying the battery pack bus voltage. End-to-end signal verification ensures that the acquired battery pack bus voltage signal is valid and usable.

[0101] The maximum permissible speed of the target vehicle is determined based on the combination of the battery pack bus voltage and the target reverse electromotive force, including steps S131-S133.

[0102] Step S131: Based on each anti-draft electromotive force in the target anti-draft electromotive force set, determine at least two anti-draft electromotive force span intervals corresponding to the target anti-draft electromotive force set.

[0103] The multiple back drag electromotive forces in the target back drag electromotive force set are sorted in ascending order (or descending order), and each pair of adjacent back drag electromotive forces constitutes a back drag electromotive force span interval.

[0104] For example, the target back drag electromotive force set of a target motor at the target vehicle speed includes three back drag electromotive forces, namely V1, V2, and V3, where V1 < V2 < V3. Then, V1 and V2 constitute a back drag electromotive force span interval (denoted as the first back drag electromotive force span interval), and V2 and V3 constitute a back drag electromotive force span interval (denoted as the second back drag electromotive force span interval).

[0105] Step S132: Match the battery pack bus voltage with each reverse drag electromotive force span interval, and determine the target reverse drag electromotive force span interval from at least two reverse drag electromotive force span intervals.

[0106] The battery pack bus voltage is matched with the range of the reverse drag electromotive force, and the range in which the battery pack bus voltage falls is determined as the target range of the reverse drag electromotive force.

[0107] For example, if the bus voltage of the battery pack is V, and V1 < V < V2, then the bus voltage of the battery pack falls within the range of the first reverse drag electromotive force.

[0108] Step S133: Use the speed limit threshold corresponding to the target back drag electromotive force span as the maximum permissible speed of the target vehicle.

[0109] Each back drag electromotive force (EBMF) span corresponds to a speed limit threshold. The larger the back drag electromotive force (EBMF) span, the higher the speed limit threshold. The speed limit threshold corresponding to the target back drag electromotive force span is taken as the maximum permissible speed of the target vehicle under the current condition.

[0110] After determining the maximum permissible speed, the vehicle controller sends the maximum permissible speed to the torque control module, so that the target vehicle travels at a speed lower than the maximum permissible speed, thereby achieving vehicle speed limitation.

[0111] For example, a target back-draft electromotive force (EMF) set for a target motor at a target vehicle speed includes three back-draft EMFs: V1, V2, and V3, where V1 < V2 < V3. V1 and V2 constitute a back-draft EMF span (denoted as the first back-draft EMF span), and V2 and V3 constitute a back-draft EMF span (denoted as the second back-draft EMF span). When the battery pack bus voltage is within the first back-draft EMF span, the maximum permissible speed of the target vehicle is the first target speed limit. When the battery pack bus voltage is within the second back-draft EMF span, the maximum permissible speed of the target vehicle is the second target speed limit. The higher the back-draft EMF, the higher the corresponding speed limit. Since the second back-draft EMF span is larger than the first back-draft EMF span, the second target speed limit is higher than the first target speed limit.

[0112] In summary, this embodiment, upon detecting a target fault in the target motor of a target vehicle, determines the target back drag electromotive force (EMF) set corresponding to the target motor at the current vehicle speed. Based on the battery pack bus voltage and the target back drag EMF set, it determines the maximum permissible speed of the target vehicle in the current state, ensuring the target vehicle operates at a speed lower than the maximum permissible speed. Therefore, this embodiment triggers a speed-limiting response upon detecting a target fault in the target motor, determines the corresponding back drag EMF set based on the motor installed in the target vehicle, and determines the dynamic speed-limiting threshold of the target vehicle based on the battery pack bus voltage and the back drag EMF set, thus achieving dynamic speed limiting of the target vehicle.

[0113] Furthermore, this embodiment determines a dynamic threshold based on the type of target motor on the target vehicle and the vehicle speed, thereby limiting the vehicle speed. This effectively reduces the probability of the motor operating at high speeds, thus reducing the likelihood of vehicle jerking due to a large back drag electromotive force. Reducing the probability of the motor operating at high speeds also reduces the probability of battery overcharging caused by a large charging current due to low battery charge. In scenarios where the target vehicle is traveling at high speeds, it avoids the risk of rear-end collisions caused by fixed speed limits and also avoids vehicle safety issues caused by blindly increasing fixed speed limits. Therefore, this embodiment not only improves the user's driving experience but also increases the likelihood of safe driving in dangerous scenarios, namely, improving the safety of safely pulling over or driving to a repair center.

[0114] Based on the aforementioned solution, this embodiment also considers that when the target motor is in a shutdown fault or ASC fault, the target motor will stop power output, and the power of the whole vehicle will only come from another motor. At this time, the power performance of the target vehicle is affected, and some measures need to be taken to make the driver aware that there is a problem with the vehicle. These measures may include at least one of the following two measures.

[0115]

Measure 1

[0116] The vehicle controller generates an instrument cluster warning signal based on the target fault and sends it to the instrument cluster controller, which then illuminates the corresponding fault indicator light. This alerts the driver to the fault in the target vehicle and also to indicate that the vehicle's power is limited, requiring speed restrictions to ensure driver and vehicle safety. In practice, different fault indicator lights can be illuminated depending on the severity of the fault. For example, the powertrain fault light and the power limit indicator light can be illuminated.

[0117]

Measure 2

[0118] Fault codes can be pre-set during the production of the target vehicle based on different faults. Recording fault codes for the target vehicle can be used for subsequent analysis of fault scenarios, providing a basis for fault handling.

[0119] Based on the same inventive concept, this embodiment provides as follows: Figure 2 The vehicle control device shown includes:

[0120] Fault monitoring module 21 is used to monitor whether there is a target fault in the target motor of the target vehicle; the target fault includes at least one of the following: shut-off fault and active short-circuit protection fault.

[0121] The back drag electromotive force set determination module 22 is used to determine the target back drag electromotive force set corresponding to the target vehicle based on the current vehicle speed of the target vehicle and the correspondence between the target motor and the back drag electromotive force set when the target motor has a target fault; each back drag electromotive force set includes at least one back drag electromotive force.

[0122] The maximum permissible vehicle speed determination module 23 is used to obtain the battery pack bus voltage of the target vehicle and determine the maximum permissible vehicle speed of the target vehicle based on the battery pack bus voltage and the target reverse electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible vehicle speed.

[0123] Furthermore, the fault monitoring module 21 includes:

[0124] The signal acquisition submodule is used to acquire the target motor's operating status signal from the target motor's motor controller when there is no fault in the CAN bus used to transmit the motor's operating status.

[0125] The duration judgment submodule is used to determine whether the actual duration of the target motor being in the target fault exceeds the preset duration when the working status signal indicates that the target motor has a target fault.

[0126] The fault determination submodule is used to determine that the target motor has a target fault when the actual duration of the target motor being in a target fault exceeds a preset duration.

[0127] Furthermore, the device also includes a fault light illumination module for:

[0128] When a target motor has a target fault, an instrument prompt signal is generated based on the target fault. The instrument prompt signal is used to illuminate the fault indicator light corresponding to the target fault on the target vehicle.

[0129] Furthermore, the device also includes a fault code logging module for:

[0130] When the target motor has a target fault, the corresponding fault code is determined based on the target fault and the fault code is recorded.

[0131] Furthermore, the maximum permissible vehicle speed determination module 23 includes a verification submodule, used for:

[0132] Perform end-to-end signal verification on the signal carrying the battery pack bus voltage;

[0133] When the signal carrying the battery pack bus voltage is verified through end-to-end signal verification, the battery pack bus voltage of the target vehicle is obtained from the signal carrying the battery pack bus voltage.

[0134] Furthermore, the maximum permissible vehicle speed determination module 23 is used for:

[0135] Based on each anti-draft electromotive force in the target anti-draft electromotive force set, determine at least two anti-draft electromotive force span intervals corresponding to the target anti-draft electromotive force set.

[0136] Match the battery pack bus voltage with each reverse drag electromotive force span interval, and determine the target reverse drag electromotive force span interval from at least two reverse drag electromotive force span intervals.

[0137] The speed limit threshold corresponding to the target back drag electromotive force span is taken as the maximum permissible speed of the target vehicle.

[0138] Furthermore, the back drag electromotive force set determination module 22 is used for:

[0139] Identify the motor type of the target motor;

[0140] Determine the correspondence between the target motor and the set of back drag electromotive forces based on the motor type.

[0141] Based on the same inventive concept, this embodiment provides as follows: Figure 3 An electronic device shown includes:

[0142] Processor 31;

[0143] Memory 32 is used to store executable instructions of processor 31;

[0144] The processor 31 is configured to execute a vehicle control method as described above.

[0145] Based on the same inventive concept, this embodiment provides a non-transitory computer-readable storage medium that, when the instructions in the storage medium are executed by the processor 31 of the electronic device, enables the electronic device to perform a vehicle control method as described above.

[0146] Since the electronic device described in this embodiment is an electronic device used to implement the information processing method in the embodiments of this application, those skilled in the art can understand the specific implementation methods and various variations of the electronic device in this embodiment based on the information processing method described in the embodiments of this application. Therefore, how the electronic device implements the method in the embodiments of this application will not be described in detail here. Any electronic device used by those skilled in the art to implement the information processing method in the embodiments of this application falls within the scope of protection of this application.

[0147] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0148] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0149] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0150] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0151] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0152] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A vehicle control method, characterized in that, The method includes: Monitor whether the target motor of the target vehicle has a target fault; the target fault includes at least one of the following: shut-off fault and active short-circuit protection fault. When the target motor has the target fault, the target reverse electromotive force set corresponding to the target vehicle is determined according to the current vehicle speed of the target vehicle and the correspondence between the target motor and the reverse electromotive force set; each reverse electromotive force set includes at least one reverse electromotive force. The battery pack bus voltage of the target vehicle is obtained, and the maximum permissible speed of the target vehicle is determined based on the battery pack bus voltage and the target back drag electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible speed.

2. The method as described in claim 1, characterized in that, The monitoring of whether the target motor of the target vehicle has a target fault includes: When the CAN bus used to transmit the motor's operating status is not faulty, the operating status signal of the target motor is obtained from the motor controller of the target motor; When the working status signal indicates that the target motor has the target fault, determine whether the actual duration of the target motor being in the target fault exceeds a preset duration. When the actual duration of the target motor being in the target fault exceeds the preset duration, it is determined that the target motor has the target fault.

3. The method as described in claim 1, characterized in that, When the target motor has the target fault, the method further includes: An instrument indicator signal is generated based on the target fault, and the instrument indicator signal is used to illuminate the fault indicator light corresponding to the target fault on the target vehicle.

4. The method as described in claim 1, characterized in that, When the target motor has the target fault, the method further includes: The corresponding fault code is determined based on the target fault, and the fault code is recorded.

5. The method as described in claim 1, characterized in that, The step of obtaining the battery pack bus voltage of the target vehicle includes: Perform end-to-end signal verification on the signal carrying the bus voltage of the battery pack; When the signal carrying the battery pack bus voltage is verified through end-to-end signal verification, the battery pack bus voltage of the target vehicle is obtained from the signal carrying the battery pack bus voltage.

6. The method as described in claim 1, characterized in that, The step of determining the maximum permissible speed of the target vehicle based on the battery pack bus voltage and the target back drag electromotive force set includes: Based on each anti-draft electromotive force in the target anti-draft electromotive force set, at least two anti-draft electromotive force span intervals corresponding to the target anti-draft electromotive force set are determined. The battery pack bus voltage is matched with each reverse drag electromotive force span interval, and the target reverse drag electromotive force span interval is determined from the at least two reverse drag electromotive force span intervals. The speed limit threshold corresponding to the target back traction electromotive force span range is taken as the maximum permissible speed of the target vehicle.

7. The method as described in claim 1, characterized in that, The method for determining the correspondence between the target motor and the set of back drag electromotive forces includes: Identify the motor type of the target motor; Determine the correspondence between the target motor and the set of reverse drag electromotive forces based on the motor type.

8. A vehicle control device, characterized in that, The device includes: The fault monitoring module is used to monitor whether the target motor of the target vehicle has a target fault; the target fault includes at least one of the shut-off fault and active short-circuit protection fault. The back drag electromotive force set determination module is used to determine the target back drag electromotive force set corresponding to the target vehicle when the target motor has the target fault, based on the current vehicle speed of the target vehicle and the correspondence between the target motor and the back drag electromotive force set; each back drag electromotive force set includes at least one back drag electromotive force. The maximum permissible vehicle speed determination module is used to obtain the battery pack bus voltage of the target vehicle and determine the maximum permissible vehicle speed of the target vehicle based on the battery pack bus voltage and the target back drag electromotive force set, so that the target vehicle operates at a speed lower than the maximum permissible vehicle speed.

9. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute a vehicle control method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, wherein instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform a vehicle control method as described in any one of claims 1 to 7.

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