Operation mode switching method and device of motor controller, vehicle and storage medium

Abstract

The invention discloses an operation mode switching method and device of a motor controller, a vehicle and a storage medium, and belongs to the technical field of vehicles, and the method comprises the steps: carrying out the fault diagnosis of a motor controller in a current operation mode, and obtaining the fault diagnosis information; wherein the fault diagnosis information represents that the motor controller is in a hardware fault state, and the motor controller is used for controlling a motor to provide power for the vehicle in the current operation mode; controlling the motor controller to be switched from the current operation mode to a fault mode according to the fault diagnosis information; wherein the motor controller is used for stopping a motor from providing power for the vehicle in the fault mode; performing parameter acquisition on the motor controller in the fault mode to obtain a fault recovery parameter; and controlling the motor controller to exit the fault mode according to the fault recovery parameter. According to the invention, the motor controller can exit the fault mode more safely, and the driving experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and device for switching an operating mode of a motor controller, a vehicle, and a storage medium. Background Art

[0002] The motor controller is a core component of the vehicle. If the motor controller often fails during operation, the operation mode of the motor controller will be directly switched to the fault mode, and the fault mode will cause the vehicle power to be interrupted. In the related art, in order to solve the fault problem of the motor controller, the motor controller is usually re-powered to exit the fault mode. Among them, there are two ways to re-power the motor controller. One is to manually open the vehicle hood after the vehicle is locked and powered off, and disconnect the negative pole of the battery and reconnect it; the other is that the driver locks the car and sleeps after getting off the car, and then powers on the motor controller after a delay. However, the manual reconnection method requires a high level of hands-on ability of the driver and there are certain safety hazards. The delayed power-on method will take a certain amount of time and affect the driving experience. Therefore, how to make the motor controller exit the fault mode more safely and improve the driving experience has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a method and device for switching the operation mode of a motor controller, a vehicle and a storage medium, which can make the motor controller exit the fault mode more safely and improve the driving experience.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a method for switching an operation mode of a motor controller, which is applied to a vehicle. The method comprises:

[0005] Performing a fault diagnosis on a motor controller in a current operating mode to obtain fault diagnosis information; wherein the fault diagnosis information indicates that the motor controller is in a hardware fault state, and the motor controller is used to control the motor to provide power to the vehicle in the current operating mode;

[0006] Controlling the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information; wherein the motor controller is used to stop the motor from providing power to the vehicle in the fault mode;

[0007] Acquiring parameters of the motor controller in the fault mode to obtain fault recovery parameters;

[0008] The motor controller is controlled to exit the fault mode according to the fault recovery parameter.

[0009] In some embodiments, controlling the motor controller to switch from the current operating mode to the fault mode according to the fault diagnosis information includes:

[0010] Acquire the current hardware fault category of the motor controller according to the fault diagnosis information;

[0011] Fault marking the motor controller according to the current hardware fault category to obtain hardware fault marking information; wherein the hardware fault marking information is used to indicate the current hardware fault category of the motor controller;

[0012] Acquire feedback current information of the motor controller according to the hardware fault mark information;

[0013] driving the motor controller to enter a safe state according to the feedback current information;

[0014] The motor controller is controlled to switch from the current operation mode to the fault mode according to the safety state.

[0015] In some embodiments, driving the motor controller to enter a safe state according to the feedback current information includes:

[0016] Filtering a target motor safety state from preset candidate motor safety states according to the feedback current information;

[0017] The motor controller is driven to enter the target motor safety state.

[0018] In some embodiments, after controlling the motor controller to exit the fault mode according to the fault recovery parameter, the method further includes:

[0019] When the motor controller exits the fault mode, the hardware fault mark information is cleared, and the driving power state of the motor controller is acquired; wherein the driving power state includes: a power off state;

[0020] If the motor controller is in the power-off state, the motor controller is powered on again.

[0021] In some embodiments, controlling the motor controller to exit the fault mode according to the fault recovery parameter includes:

[0022] Comparing the fault recovery parameter with a preset recovery verification parameter to obtain parameter comparison information;

[0023] Performing fault repair detection on the motor controller according to the parameter comparison information to obtain a current state; wherein the current state includes a repair state; and the repair state indicates that the motor controller has returned to normal;

[0024] If the motor controller changes from the hardware failure state to the repair state within a preset time period, the motor controller is controlled to exit the failure mode.

[0025] In some embodiments, the fault recovery parameters include: hardware fault signal level, current motor speed, current supply voltage and current fault recovery times, and the recovery verification parameters include: preset fault level, preset speed threshold, preset voltage threshold and preset times threshold.

[0026] In some embodiments, after controlling the motor controller to exit the fault mode according to the fault recovery parameter, the method further includes:

[0027] When the motor controller exits the fault mode, updating the current fault recovery number to obtain an updated fault recovery number;

[0028] If the update fault recovery times are greater than the preset times threshold, a maintenance and troubleshooting prompt message is generated; wherein the maintenance and troubleshooting prompt message is used to prompt the maintenance and troubleshooting of the motor controller.

[0029] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides an operation mode switching device of a motor controller, which is applied to a vehicle, and the device includes:

[0030] A signal receiving module, used to perform fault diagnosis on the motor controller in the current operation mode to obtain fault diagnosis information; wherein the fault diagnosis information indicates that the motor controller is in a hardware fault state, and the motor controller is used to control the motor to provide power to the vehicle in the current operation mode;

[0031] A fault mode switching module, used for controlling the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information; wherein the motor controller is used for stopping the motor from providing power to the vehicle in the fault mode;

[0032] A parameter acquisition module, used to acquire parameters of the motor controller in the fault mode to obtain fault recovery parameters;

[0033] A fault mode exit module is used to control the motor controller to exit the fault mode according to the fault recovery parameter.

[0034] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes a vehicle, which includes a motor controller, a vehicle controller and a memory for communicating with the vehicle controller; the memory stores instructions that can be executed by the vehicle controller, and the instructions are executed by the vehicle controller so that the vehicle controller executes the operating mode switching method of the motor controller as described in the first aspect.

[0035] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the operating mode switching method of the motor controller described in the first aspect above.

[0036] The operating mode switching method and device, vehicle and storage medium of the motor controller proposed in this application automatically control the motor controller to enter the fault mode when the motor controller is detected to be in a hardware fault state to stop the power supply of the vehicle. Then, the fault recovery parameters of the motor controller are collected when the motor controller is in the fault mode to determine whether to control the motor controller to exit the fault mode based on the fault recovery parameters. Therefore, the fault mode switching operation of the motor controller is automated, and the exit of the fault mode can be completed without manual power-on. This can not only improve the driver's driving experience, but also reduce the safety hazards caused by power-on again, making the operation of the motor controller safer.

[0037] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of an operation mode switching method of a motor controller provided in an embodiment of the present application;

[0039] Figure 2 yes Figure 1 Flow chart of step S102 in FIG.

[0040] Figure 3 yes Figure 2 Flow chart of step S204 in FIG.

[0041] Figure 4 yes Figure 1 Flow chart of step S104 in FIG.

[0042] Figure 5 is a flow chart of an operation mode switching method of a motor controller provided by another embodiment of the present application;

[0043] Figure 6is a flow chart of an operation mode switching method of a motor controller provided by another embodiment of the present application;

[0044] Figure 7 is an overall flow chart of the operating mode switching method of the motor controller provided in an embodiment of the present application;

[0045] Figure 8 It is a module block diagram of the operation mode switching device of the motor controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0049] Glossary:

[0050] Motor controller: As one of the core components of electric vehicles, it is the decisive factor in the vehicle's power performance. The motor controller obtains the vehicle's requirements from the vehicle controller, obtains power from the power battery pack, and obtains the current and voltage required to control the motor through modulation of its own inverter, and provides it to the motor, so that the motor's speed and torque meet the requirements of the vehicle.

[0051] Motor controller failures: mainly include the following categories: IGBT failure, input power line and ground line failure, rectifier diode short circuit, DC bus grounding error, DC side capacitor short circuit, thyristor short circuit, temperature over-limit alarm, phase current overcurrent, overvoltage and undervoltage and other high-voltage electrical system failures.

[0052] Freewheeling state (FW): It is a safe state designed for the drive motor system. The core goal is to prevent unexpected torque or deceleration of the motor or the vehicle. In the freewheeling state, the three-phase rectifier circuit is completely disconnected. If the back electromotive force of the drive motor is less than the bus voltage, the current will not flow back to the power supply through the freewheeling diode, and the system remains safe.

[0053] Active short circuit state (ASC): It is a safety state designed for the drive motor system. The core goal is to prevent unexpected torque or deceleration of the motor or the vehicle. The active short circuit state is achieved by selectively opening or closing the upper and lower bridge arms of the IGBT. The active short circuit state is divided into the upper bridge arm short circuit state (upper ASC) and the lower bridge arm short circuit state (lower ASC). At this time, the stator winding of the drive motor forms a closed loop, and heat is generated inside the motor, but it will not affect the normal operation of the controller.

[0054] As one of the core components of electric vehicles, the motor controller is a decisive component of the vehicle's power performance, so the reliable operation of the motor controller is crucial to the vehicle's driving. As the vehicle's intelligence level increases, the number and functions of electronic and electrical components increase, and the motor controller faces severe challenges in operating reliably in complex electrical environments. Failures are prone to occur during operation, causing the motor controller to enter a fault mode and causing the vehicle's power to be interrupted.

[0055] When the motor controller enters the fault mode and the motor controller is repaired, it needs to be powered on again to exit the fault mode and restore the power of the vehicle. However, there are two main ways to power on the motor controller. The first way is to lock the vehicle and turn off the power, open the hood of the vehicle, disconnect the negative pole of the battery and then reconnect it. However, this method of powering on again requires high hands-on ability and has certain safety hazards. The second method requires the driver to get off the vehicle, lock the vehicle and put it into sleep mode, and wait for the motor controller to sleep for a few minutes before powering it on again. Therefore, both power-on methods require the driver or passenger to get off the vehicle before the motor controller can exit the fault mode. Not only does this pose a safety hazard, it also affects the driving experience of the driver or passenger.

[0056] Based on this, the embodiment of the present application provides a method and device for switching the operation mode of a motor controller, a vehicle and a storage medium. When the motor controller is detected to be in a hardware fault state, the motor controller is first controlled to enter a fault mode to stop the power supply of the vehicle. Then, the fault recovery parameters of the motor controller in the fault mode are obtained to determine whether to control the motor controller to exit the fault mode according to the fault recovery parameters, so as to realize automatic exit from the fault mode without the driver or passenger automatically getting off the vehicle and completing the re-powering operation, which not only improves the driving experience of the driver or passenger, but also reduces the safety hazards when the motor controller has a hardware fault.

[0057] The operating mode switching method of the motor controller provided in the embodiment of the present application is specifically illustrated through the following embodiments. First, the operating mode switching method of the motor controller in the embodiment of the present application is described.

[0058] Please refer to Figure 1 , Figure 1 A schematic flow chart of a method for switching an operation mode of a motor controller is shown. The method for switching an operation mode of the motor controller may include but is not limited to steps S101 to S104:

[0059] Step S101, performing fault diagnosis on a motor controller in a current operation mode to obtain fault diagnosis information; wherein the fault diagnosis information indicates that the motor controller is in a hardware fault state, and the motor controller is used to control the motor to provide power to the vehicle in the current operation mode;

[0060] Step S102, controlling the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information; wherein the motor controller is used to stop the motor from providing power to the vehicle in the fault mode;

[0061] Step S103, acquiring parameters of the motor controller in the fault mode to obtain fault recovery parameters;

[0062] Step S104, controlling the motor controller to exit the fault mode according to the fault recovery parameter.

[0063] In the steps S101 to S104 shown in the embodiment of the present application, when the motor controller is diagnosed to be in a hardware fault state, the motor controller is first controlled to switch from the current operating mode to the fault mode to stop the motor from providing power to the vehicle. During the period when the motor controller is in the fault mode, fault recovery parameters will be collected to determine whether to control the motor controller to exit the fault mode according to the fault recovery parameters, so that the motor controller can automatically enter and exit the fault mode without manually re-powering on to complete the exit from the fault mode. Therefore, when it is determined according to the fault recovery parameters that the motor controller has completed the fault repair, it will automatically exit the fault mode and re-power the vehicle without the driver or passengers getting off the vehicle, which not only improves the riding experience of the driver or passengers, but also reduces the safety hazards of the re-powering operation.

[0064] In step S101 of some embodiments, when the motor controller is powered on, the motor controller is in the current operation mode, and the motor controller provides power to the vehicle through the motor when it is in the current operation mode, so the current operation mode is also called the torque mode. In addition, the motor controller can also be in initialization mode, standby mode and fault mode. It should be noted that when the motor controller is just powered on, and the power-on mode of the motor controller is a low-voltage power-on mode, the motor controller enters the initialization mode, and the motor controller is initialized in the initialization mode. If the motor controller needs to provide power to the vehicle through the motor, the motor controller switches from the initialization mode to the torque mode, and if the motor controller does not need to provide power to the vehicle through the motor, the motor controller switches from the initialization mode to the standby mode. Specifically, the torque mode of the motor controller can be switched after receiving a drive request, the standby mode of the motor controller can be switched after receiving a standby request, and the standby mode of the motor controller can also be switched after not receiving a drive request for a preset time.

[0065] As disclosed above, when the motor controller is in the current operation mode, the motor controller performs fault diagnosis on the motor controller according to a preset time period, and when it is detected that the motor controller is in a hardware fault state, fault diagnosis information is obtained. Specifically, the motor controller is in a hardware fault state, that is, the motor controller has a hardware fault, and the hardware fault of the motor controller includes but is not limited to: hardware overcurrent, hardware overvoltage, upper bridge drive undervoltage, lower bridge drive undervoltage, upper bridge short circuit and lower bridge short circuit. It should be noted that the operation mode switching of the motor controller is implemented by the vehicle controller, and a fault detection pin is set on the vehicle controller, and each fault detection pin is used to receive a level signal of a hardware fault category, so as to determine which category of hardware fault occurs in the motor controller according to the level signal input by the fault detection pin. For example, if an upper bridge drive undervoltage detection pin is set on the motor controller, when the upper bridge drive undervoltage detection pin is always input with a high level, it indicates that the motor controller does not have a hardware fault of upper bridge drive undervoltage. When the upper bridge drive undervoltage detection pin changes from a high level to a low level, it indicates that the motor controller has a hardware fault of upper bridge drive undervoltage. Therefore, by setting multiple fault detection pins to detect different hardware fault categories, the detection of hardware fault categories of the motor controller is made simpler and more efficient.

[0066] As disclosed above, when the motor controller is diagnosed to be in a hardware fault state, in order to prevent the hardware fault of the motor controller from affecting the driving safety of the vehicle, it is necessary to control the motor controller to switch from the current operating mode to the fault mode, that is, to switch from the torque mode to the fault mode. It should be noted that when the motor controller enters the fault mode, the motor controller stops the motor and stops the motor from providing power to the vehicle. At the same time, in order to prevent the motor controller from being damaged due to hardware failure, it is necessary to drive the motor controller into a safe state and generate corresponding hardware fault marking information. The hardware fault marking information is used as a fault reference for motor controller maintenance when the motor controller cannot recover by itself, to assist in the hardware repair of the motor controller.

[0067] In some embodiments, please refer to Figure 2 Step S102 may include but is not limited to steps S201 to S205:

[0068] Step S201, obtaining the current hardware fault category of the motor controller according to the fault diagnosis information;

[0069] Step S202, marking the motor controller for a fault according to the current hardware fault category to obtain hardware fault marking information; wherein the hardware fault marking information is used to indicate the current hardware fault category of the motor controller;

[0070] Step S203, obtaining feedback current information of the motor controller according to the hardware fault mark information;

[0071] Step S204, driving the motor controller to enter a safe state according to the feedback current information;

[0072] Step S205 , controlling the motor controller to switch from the current operation mode to the fault mode according to the safety state.

[0073] In step S201 of some embodiments, as disclosed above, the level of the fault detection pin input can be used to determine which type of hardware fault occurs in the motor controller, so the current hardware fault category of the motor controller is obtained to determine the current hardware fault category according to the low level of the fault detection pin. For example, if the hardware overvoltage detection pin changes from a high level to a low level, the current hardware fault category is determined to be hardware overvoltage.

[0074] In step S202 of some embodiments, the hardware fault marking information is used to indicate the current hardware fault category of the motor controller. The hardware fault marking information can be used to determine which hardware fault category the motor controller has, so that when the motor controller cannot be repaired, the motor controller can be repaired in a targeted manner according to the hardware fault marking information, making it easier to repair the motor controller. It should be noted that a piece of hardware fault marking information is generated for each current hardware fault category. When multiple fault detection pins are switched from a high level to a low level, there are multiple current hardware fault categories, so multiple pieces of hardware fault marking information are also generated.

[0075] Specifically, a hardware fault flag is set in the vehicle controller, and hardware fault flag information is generated by setting the hardware fault flag, and each hardware fault flag corresponds to a current hardware fault category. For example, if the current hardware fault category is upper bridge drive undervoltage, the hardware fault flag corresponding to the upper bridge drive undervoltage is set, so as to determine the current hardware fault category according to whether the hardware fault flag is set.

[0076] In steps S203 to S204 of some embodiments, after the motor controller is marked as a fault, the motor controller needs to enter a safe state. It should be noted that the motor controller enters a safe state mainly to prevent the motor controller or the vehicle from having unexpected torque or deceleration, which can reduce the risk of damage to the motor controller. It should be further noted that there are two safe states of the motor controller, one is a free-wheeling state, and the other is an active short-circuit state. Which safe state the motor controller enters needs to be determined based on the feedback current information of the motor controller. Therefore, this embodiment controls the motor controller to enter a safe state based on the feedback current information, so that the operation of the motor controller is more stable.

[0077] In step S205 of some embodiments, after the motor controller enters the safe state, the motor controller is controlled to switch from the current operation mode to the fault mode according to the safe state, and the motor controller stops the motor from providing power to the vehicle in the fault mode, and the power of the vehicle is interrupted. Therefore, when the motor controller is in a hardware fault state, the motor controller is first controlled to enter the safe state, and the control mode of the motor controller is set to the fault mode, so as to reduce the impact of the hardware fault on the motor controller and the vehicle, and make the motor controller and the vehicle run more safely.

[0078] In steps S201 to S205 shown in this embodiment, when it is determined that the motor controller is in a hardware fault state, the current hardware fault category of the motor controller is first determined, and the motor controller is fault-marked according to the current hardware fault category to generate hardware fault marking information that can indicate the current hardware fault category, and the hardware fault marking information can assist in manual repair when the motor controller cannot repair itself. At the same time, the motor controller is driven to enter a safe state according to the hardware fault marking information, and the motor controller is controlled to switch from the current operating mode to the fault mode, which not only realizes the safety protection of the motor controller, but also stops the motor from providing power to the vehicle, reducing the safety hazards of the motor controller and the vehicle due to hardware failure.

[0079] In some embodiments, please refer to Figure 3 Step S204 may include but is not limited to steps S301 to S302:

[0080] Step S301, selecting a target motor safety state from preset candidate motor safety states according to feedback current information;

[0081] Step S302 , driving the motor controller to enter a target motor safety state.

[0082] In step S301 of some embodiments, as disclosed above, there are two safety states, one is the free-wheeling state, and the other is the active short-circuit state, that is, the candidate motor installation state includes the free-wheeling state and the active short-circuit state. It should be noted that the free-wheeling state is referred to as the FW state, and in the FW state, the safety protection is achieved by completely disconnecting the three-phase rectifier circuit of the motor controller, and the three-phase rectifier circuit is completely disconnected. If the back electromotive force of the driving motor controller is less than the bus voltage, the current will not flow back to the power supply through the freewheeling diode, so that the motor controller remains safe. The active short-circuit state is referred to as the ASC state, and the safety protection of the motor controller is achieved by selectively opening or disconnecting the upper and lower bridge arms of the transistor. It can be seen that the safety protection of the motor controller can be achieved regardless of the free-wheeling state or the active short-circuit state. In order to achieve more effective safety protection of the motor controller, it is determined whether the motor controller enters the active short-circuit state or the free-wheeling state according to the feedback current information. Specifically, in this embodiment, if the motor controller generates feedback current, the motor controller will also be at risk of damage in the free-wheeling state, so the feedback current information is characterized as the motor controller generating feedback current, and the active short-circuit state is used as the target motor safety state; if the feedback current information is characterized as the motor controller not generating feedback current, the free-wheeling state is used as the target motor safety state.

[0083] It should be noted that the feedback current information is determined based on the motor speed. If the motor speed is greater than the preset speed threshold, the feedback current information is determined to be characterized by the motor controller generating feedback current; if the motor speed is less than or equal to the preset speed threshold, the feedback current information is determined to be characterized by the motor controller not generating feedback current.

[0084] In step S302 of some embodiments, as disclosed above, if the motor controller generates feedback current, the motor controller is driven to enter an active short-circuit state to prevent excessive back electromotive force from causing damage to the power battery, bus capacitor and other high-voltage components. If the motor controller does not generate feedback current, the motor controller is driven to enter a free-wheeling state, and the energy generated when the motor controller fails can be used to charge the bus capacitor. Therefore, the motor controller is driven to enter different safety states in different situations, making the safety protection of the motor controller more effective.

[0085] In step S301 to step S302 shown in this embodiment, the target motor safety state to be entered by the motor controller is selected from the candidate motor safety states according to the feedback current information, so that the safety protection of the motor controller is more effective.

[0086] As disclosed above, when the motor controller switches from the current operating mode to the fault mode, if the motor controller only has an occasional hardware failure, the motor controller will recover automatically after entering a safe state and meet the conditions for normal operation. However, in the prior art, the motor controller needs to be powered on again after entering the fault mode in order for the motor controller to exit the fault mode and restore the power of the vehicle by starting the motor. Therefore, in order to realize the automatic exit of the motor controller from the fault mode, it is necessary to collect the fault recovery parameters of the motor controller, so as to determine whether the motor controller has been repaired through the fault recovery parameters, and automatically control the motor controller to exit the fault mode when the hardware failure of the motor controller has been eliminated, so that the vehicle power recovery can be completed without the driver or passengers getting off the vehicle and powering on again, thereby improving the driving experience of the driver or passengers.

[0087] In step S103 of some embodiments, in order to solve the problem that occasional hardware failures require power-on to allow the motor controller to exit the fault mode, the motor controller in the fault mode is parameterized to obtain fault recovery parameters. It should be noted that the fault recovery parameters are used to determine whether the motor controller has been self-repaired and has the conditions for normal operation.

[0088] In some embodiments, please refer to Figure 4 Step S104 may include but is not limited to steps S401 to S403:

[0089] Step S401, comparing the fault recovery parameter with the preset recovery verification parameter to obtain parameter comparison information;

[0090] Step S402, performing fault repair detection on the motor controller according to the parameter comparison information to obtain a current state; wherein the current state includes a repair state; and the repair state indicates that the motor controller has returned to normal;

[0091] Step S403: if the motor controller changes from the hardware failure state to the repair state within a preset time period, the motor controller is controlled to exit the failure mode.

[0092] In step S401 of some embodiments, the recovery verification parameter is a parameter used to verify whether the fault recovery parameter meets the fault recovery condition. Parameter comparison information is obtained by comparing the fault recovery parameter with the recovery verification parameter, and the parameter comparison information indicates whether the recovery verification parameter meets the fault recovery condition.

[0093] In some embodiments, the fault recovery parameters include: hardware fault signal level, current motor speed, current power supply voltage and current fault recovery times, and the recovery verification parameters include: preset fault level, preset speed threshold, preset voltage threshold and preset times threshold. The hardware fault signal level is the level output by the hardware fault detection pin, and the hardware fault signal level can be a high level or a low level, so as to determine whether the motor controller still has a hardware fault according to the hardware fault signal level. The current motor speed is the speed of the motor, the current power supply is the power supply voltage of the battery, the current fault recovery times is the current fault recovery times, and the fault recovery times is the number of times the motor controller automatically exits the fault mode after entering the fault mode, and the fault recovery times are recorded by the fault recovery counter. The preset fault level is a pre-set level, and the present embodiment defines a low level as a preset fault level, and other embodiments can define a high level as a preset fault level, and there is no specific restriction on the preset fault level. The preset speed threshold, preset voltage threshold and preset times threshold can be customized according to the actual operation of the motor controller, and motor controllers with different performance indicators can set different preset speed thresholds, preset voltage thresholds and preset times thresholds.

[0094] Specifically, the hardware fault signal level is compared with the preset fault level to obtain level comparison information, the current motor speed is compared with the preset speed threshold to obtain speed comparison information, the current power supply voltage is compared with the preset voltage threshold to obtain voltage comparison information, and the current fault recovery times are compared with the preset times threshold to obtain times comparison information, and then the level comparison information, speed comparison information, voltage comparison information and times comparison information are spliced ​​to obtain parameter comparison information. Therefore, judging whether the motor controller meets the fault recovery conditions and whether it has the conditions for normal operation from four aspects: the level of the fault signal, the speed of the motor, the voltage of the power supply and the fault recovery times, can make the recovery judgment of the motor controller more accurate, so it is safer to exit the fault mode and restore the power of the vehicle.

[0095] In step S402 of some embodiments, the parameter comparison information represents the relationship between the fault recovery parameter and the recovery verification parameter, and the motor controller is subjected to fault repair detection according to the parameter comparison information to obtain the current state of the motor controller. If the current state is a repair state, it is determined that the motor controller is switched from a hardware fault state to a repair state, and the repair state represents that the motor controller has returned to normal. If the current state is a hardware fault state, it represents that the motor controller still has a hardware fault and has not recovered by itself.

[0096] Specifically, if the level comparison information indicates that the hardware fault signal level is different from the preset fault level, the speed comparison information indicates that the current motor speed is less than the preset speed threshold, the voltage comparison information indicates that the current supply voltage is greater than the preset voltage threshold, and the number comparison information indicates that the current fault recovery number is less than the preset number threshold, the current state of the motor controller is a repair state. On the contrary, if the level comparison information indicates that the hardware fault signal level is the same as the preset fault level, or the speed comparison information indicates that the current motor speed is greater than or equal to the preset speed threshold, or the voltage comparison information indicates that the current supply voltage is less than or equal to the preset voltage threshold, or the number comparison information indicates that the current fault recovery number is greater than or equal to the preset number threshold, the current state of the motor controller is still a hardware fault state, that is, the motor controller does not meet the fault repair conditions.

[0097] In step S403 of some embodiments, because it takes a certain amount of time for the motor controller to recover by itself, it is judged whether the motor controller recovers by itself when the motor controller enters the fault mode. Therefore, in order to make the judgment of the motor controller's self-recovery more accurate, it is necessary to judge whether the motor controller changes from a hardware fault state to a repair state within a preset time length, that is, to judge whether the motor controller repairs itself within a preset time length. If the motor controller changes from a hardware fault state to a repair state within the preset time length, the motor controller is controlled to exit the fault mode, and the fault mode exit can be completed without re-powering on. It should be noted that when the motor controller exits the fault mode, the motor controller can be controlled to enter the standby mode or the torque mode according to the driver's driving needs. If the vehicle needs to be re-driven, the motor controller enters the torque mode, and the motor controller controls the motor to provide power to the vehicle.

[0098] It should be noted that if the motor controller remains in a hardware fault state for a preset period of time, indicating that the motor controller cannot repair itself, a hardware fault prompt message is generated. It should be noted that the hardware fault prompt message indicates that there is a risk of hardware damage to the motor controller, and the driver is prompted to repair the motor controller through the hardware fault prompt message. If the motor controller is still in a hardware fault state after the motor controller is powered on again, the hardware fault prompt message continues to be output, and the vehicle needs to be moved to a maintenance station for repair.

[0099] In steps S401 to S403 shown in this embodiment, the fault recovery parameter and the recovery verification parameter are compared to obtain parameter comparison information, and the motor controller is subjected to fault repair detection according to the parameter comparison information to obtain the current state indicating whether the motor controller has been repaired. If the motor controller changes from the hardware fault state to the repair state within a preset time period, it indicates that the motor controller has been repaired by itself, and the motor controller is automatically controlled to exit the fault mode without manual power-on, which not only makes the repair operation of the motor controller easier, but also improves the experience of the driver or passenger during the ride.

[0100] In some embodiments, please refer to Figure 5 After step S104, the operation mode switching method of the motor controller may also include but is not limited to steps S501 to S502:

[0101] Step S501, when the motor controller exits the fault mode, the hardware fault mark information is cleared, and the driving power state of the motor controller is obtained; wherein the driving power state includes: a power off state;

[0102] Step S502: If the motor controller is in a power-off state, the motor controller is powered on again.

[0103] In step S501 of some embodiments, when the motor controller meets the fault recovery condition, it automatically exits the fault mode, and the hardware fault mark information in the motor controller needs to be cleared to prevent the omitted hardware fault mark information from affecting the actual hardware repair operation of the motor controller. Specifically, the hardware fault mark information generation is to set the hardware fault mark of the motor controller, and clearing the hardware fault mark information is to set the hardware fault mark corresponding to the current hardware fault category to 0. It should be noted that after the hardware fault mark information is cleared, the driving power state of the motor controller is obtained to determine whether the driving power of the motor controller is turned off through the driving power state. Among them, the driving power state includes a power-off state and a power-on state. The power-off state indicates that the driving power of the motor controller is turned off, and the power-on state indicates that the driving power of the motor controller is turned off.

[0104] In step S502 of some embodiments, if the motor controller is in a power-off state, that is, the driving power of the motor controller is turned off, the motor controller needs to be powered on again. It should be noted that when the motor controller exits the fault mode, not only the hardware fault mark information is cleared, the motor controller is powered on again, but also the driving function of the motor controller is enabled and the preset recovery verification parameters are cleared. In the prior art, clearing the hardware fault mark information, restoring the power on the motor controller, driving the driving function of the motor controller and clearing the recovery verification parameters require the driver or passenger to get off the vehicle and lock the vehicle and turn off the power before they can be cleared. After the present embodiment automatically controls the motor controller to exit the fault mode, the hardware fault-related content is automatically cleared, thereby improving the riding experience of the driver or passenger.

[0105] In steps S501 to S502 shown in the present embodiment, the hardware fault mark information is automatically cleared when the motor controller exits the fault mode, and the motor controller is powered on again when the driving power of the motor controller is turned off, thereby reducing the situation in which the information and operations generated by the hardware fault affect the normal operation of the motor controller, and allowing the motor controller to operate more stably.

[0106] In some embodiments, please refer to Figure 6 After step S104, the operation mode switching method of the motor controller may also include but is not limited to steps S601 to S602:

[0107] Step S601, when the motor controller exits the fault mode, the current fault recovery number is updated to obtain an updated fault recovery number;

[0108] Step S602, if the update fault recovery times are greater than a preset times threshold, generate maintenance and troubleshooting prompt information; wherein the maintenance and troubleshooting prompt information is used to prompt maintenance and troubleshooting of the motor controller.

[0109] In step S601 of some embodiments, when the motor controller exits the fault mode, it indicates that the motor controller automatically resumes operation, and the current fault recovery number needs to be updated to obtain an updated fault recovery number. Specifically, the updated fault recovery number is obtained by adding one to the current fault recovery number. For example, if the current fault recovery number is 14 times, after completing one fault mode automatic exit, the updated fault recovery number is 15.

[0110] In step S602 of some embodiments, when the update fault recovery times are greater than the preset times threshold, it indicates that the hardware fault of the motor controller is not sporadic, and a maintenance and troubleshooting prompt message is generated to prompt the driver to promptly perform maintenance and troubleshooting on the motor controller through the maintenance and troubleshooting prompt message, so that the motor controller can run more stably. Specifically, if the update fault recovery times within the preset period are greater than the preset times threshold, a maintenance and troubleshooting prompt message is generated; if the update fault times within the preset period are less than the preset times threshold, no maintenance and troubleshooting prompt message is generated, and the update fault recovery times are cleared after the motor controller is powered on again.

[0111] In steps S601 to S602 shown in the present embodiment, each time the motor controller exits the fault mode, the current fault recovery number is updated to obtain an updated fault recovery number, and when the updated fault recovery number is greater than a preset number threshold, a maintenance and troubleshooting prompt message is generated to prompt the driver through the maintenance and troubleshooting prompt message that the motor controller still has potential fault hazards and needs to be repaired so that the motor controller can be repaired in time to make the motor controller run more stably.

[0112] In summary, if Figure 7As shown, when the motor controller is started, the motor controller enters the initialization mode, and after receiving the driving request sent by the driver, the motor controller switches from the initialization mode to the torque mode. The motor controller in the torque mode is fault diagnosed to diagnose whether the current state of the motor controller is a hardware fault state. Specifically, the level of the hardware fault detection pin is used to determine whether the motor controller has a hardware fault. If at least one hardware fault detection pin is converted from a high level to a low level, it is determined that the motor controller is in a hardware fault state. Then, the current hardware fault category is determined according to the label information on the hardware fault detection pin, and the hardware fault mark information is generated according to the current hardware fault category, that is, the hardware fault mark of the motor controller is set. Then, the feedback current information of the motor controller is obtained according to the hardware fault mark information. If the feedback current information indicates that the motor controller has a feedback current, the motor controller is driven to enter the ASC state. If the feedback current information indicates that the motor controller does not have a feedback current, the motor controller is driven to enter the FW state. When the motor controller enters the safe state, the motor controller is controlled to switch from the torque mode to the fault mode, and the hardware fault signal level, current motor speed, current power supply voltage and current fault recovery times of the motor controller are collected at the same time, and the hardware fault signal level and the preset fault level are compared to obtain the level comparison information, the current motor speed and the preset speed threshold are compared to obtain the speed comparison information, the current power supply voltage and the preset voltage threshold are compared to obtain the voltage comparison information, and the current fault recovery times and the preset times threshold are compared to obtain the times comparison information, and then the level comparison information, speed comparison information, voltage comparison information and times comparison information are spliced ​​to obtain the parameter comparison information. If the level comparison information indicates that the hardware fault signal level is different from the preset fault level, the speed comparison information indicates that the current motor speed is less than the preset speed threshold, the voltage comparison information indicates that the current power supply voltage is greater than the preset voltage threshold, and the times comparison information indicates that the current fault recovery times are less than the preset times threshold, the current state of the motor controller is the repair state. On the contrary, if the level comparison information indicates that the hardware fault signal level is the same as the preset fault level, or the speed comparison information indicates that the current motor speed is greater than or equal to the preset speed threshold, or the voltage comparison information indicates that the current supply voltage is less than or equal to the preset voltage threshold, or the number comparison information indicates that the current fault recovery number is greater than or equal to the preset number threshold, the current state of the motor controller is a hardware fault state. When the motor controller changes from the hardware fault state to the repair state within the preset time, it indicates that the motor controller completes the repair by itself and meets the fault repair conditions, and directly controls the motor controller to exit the fault mode.When the motor controller exits the fault mode, it enters the standby mode or torque mode according to the request input by the driver. At the same time, the hardware fault mark information is cleared. If the drive power of the motor controller is turned off, the drive power of the motor controller is started to enable the drive function of the motor controller, and the preset recovery verification parameters are cleared to realize the recovery of information and operations related to the hardware fault. If the motor controller is still in the hardware fault state within the preset time, a hardware fault prompt information is generated to prompt the driver to perform repair operations on the motor controller in time through the hardware fault prompt information.

[0113] In summary, when a hardware failure occurs in the motor controller, the motor controller is automatically controlled to enter the failure mode, and when it is detected that the motor controller has been repaired and can operate normally, the motor controller is automatically controlled to exit the failure mode and restore the information and operations generated by the hardware failure. Therefore, when an occasional hardware failure occurs in the motor controller, it is automatically repaired, and the driver or passenger does not need to get off the car, lock the car, and then power it on again to complete the exit of the motor controller's failure mode and clear the hardware failure. This not only improves the driver or passenger's riding experience, but also reduces the safety hazards caused by the power-on operation.

[0114] The various technical features in the above embodiments can be combined arbitrarily as long as there is no conflict or contradiction between the combinations of features. However, due to space limitations, they are not described one by one. Therefore, any combination of the various technical features in the above embodiments also falls within the scope of this specification.

[0115] Please refer to Figure 8 The embodiment of the present application further discloses an operation mode switching device of a motor controller, which is used to execute the operation mode switching method of the motor controller, and is applied to a vehicle. The device includes:

[0116] The signal receiving module 801 is used to perform fault diagnosis on the motor controller in the current operation mode to obtain fault diagnosis information; wherein the fault diagnosis information indicates that the motor controller is in a hardware fault state, and the motor controller is used to control the motor to provide power to the vehicle in the current operation mode;

[0117] A fault mode switching module 802 is used to control the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information; wherein the motor controller is used to stop the motor from providing power to the vehicle in the fault mode;

[0118] The parameter acquisition module 803 is used to acquire parameters of the motor controller in the fault mode to obtain fault recovery parameters;

[0119] The fault mode exit module 804 is used to control the motor controller to exit the fault mode according to the fault recovery parameter.

[0120] The specific implementation of the operation mode switching device of the motor controller is basically the same as the specific implementation of the operation mode switching method of the motor controller mentioned above, and will not be repeated here.

[0121] An embodiment of the present application also discloses a vehicle, including a motor controller, a vehicle controller and a memory for communicating with the vehicle controller; the memory stores instructions that can be executed by the vehicle controller, and the instructions are executed by the vehicle controller so that the vehicle controller executes the operating mode switching method of the motor controller as described above.

[0122] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the operating mode switching method of the above-mentioned motor controller is implemented.

[0123] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0124] The operating mode switching method and device, vehicle and storage medium of the motor controller provided in the embodiments of the present application automatically control the motor controller to enter the fault mode when it detects that the motor controller is in a hardware fault state, so as to stop the motor from providing power to the vehicle. Then, the fault recovery parameters of the motor controller are collected when the motor controller is in the fault mode, so as to determine whether to control the motor controller to exit the fault mode according to the fault recovery parameters. Therefore, the fault mode switching operation of the motor controller is automated, and the exit of the fault mode can be completed without manual power-on. This can not only improve the driver's driving experience, but also reduce the safety hazards caused by power-on again, making the operation of the motor controller safer.

[0125] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0126] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0127] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0129] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0130] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0131] In the several embodiments provided in the present application, it should be understood that the disclosed controller and method can be implemented in other ways. For example, the controller embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0132] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0134] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0135] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for switching an operation mode of a motor controller, characterized in that: Applied to a vehicle, the method comprises: Performing a fault diagnosis on a motor controller in a current operating mode to obtain fault diagnosis information; wherein the fault diagnosis information indicates that the motor controller is in a hardware fault state, and the motor controller is used to control the motor to provide power to the vehicle in the current operating mode; Controlling the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information; wherein the motor controller is used to stop the motor from providing power to the vehicle in the fault mode; Acquiring parameters of the motor controller in the fault mode to obtain fault recovery parameters; The motor controller is controlled to exit the fault mode according to the fault recovery parameter.

2. The method according to claim 1, characterized in that The controlling the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information includes: Acquire the current hardware fault category of the motor controller according to the fault diagnosis information; Fault marking the motor controller according to the current hardware fault category to obtain hardware fault marking information; wherein the hardware fault marking information is used to indicate the current hardware fault category of the motor controller; Acquire feedback current information of the motor controller according to the hardware fault mark information; driving the motor controller to enter a safe state according to the feedback current information; The motor controller is controlled to switch from the current operation mode to the fault mode according to the safety state.

3. The method according to claim 2, characterized in that The step of driving the motor controller to enter a safe state according to the feedback current information includes: Filtering a target motor safety state from preset candidate motor safety states according to the feedback current information; The motor controller is driven to enter the target motor safety state.

4. The method according to claim 2, characterized in that: After controlling the motor controller to exit the fault mode according to the fault recovery parameter, the method further includes: When the motor controller exits the fault mode, the hardware fault mark information is cleared, and the driving power state of the motor controller is acquired; wherein the driving power state includes: a power off state; If the motor controller is in the power-off state, the motor controller is powered on again.

5. The method according to claim 1, characterized in that The step of controlling the motor controller to exit the fault mode according to the fault recovery parameter comprises: Comparing the fault recovery parameter with a preset recovery verification parameter to obtain parameter comparison information; Performing fault repair detection on the motor controller according to the parameter comparison information to obtain a current state; wherein the current state includes a repair state; and the repair state indicates that the motor controller has returned to normal; If the motor controller changes from the hardware failure state to the repair state within a preset time period, the motor controller is controlled to exit the failure mode.

6. The method according to claim 5, characterized in that The fault recovery parameters include: hardware fault signal level, current motor speed, current supply voltage and current fault recovery times, and the recovery verification parameters include: preset fault level, preset speed threshold, preset voltage threshold and preset times threshold.

7. The method according to claim 6, characterized in that After controlling the motor controller to exit the fault mode according to the fault recovery parameter, the method further includes: When the motor controller exits the fault mode, updating the current fault recovery number to obtain an updated fault recovery number; If the update fault recovery times are greater than the preset times threshold, a maintenance and troubleshooting prompt message is generated; wherein the maintenance and troubleshooting prompt message is used to prompt the maintenance and troubleshooting of the motor controller.

8. An operation mode switching device for a motor controller, characterized in that: Applied to a vehicle, the device comprises: A signal receiving module, used to perform fault diagnosis on the motor controller in the current operation mode to obtain fault diagnosis information; wherein the fault diagnosis information indicates that the motor controller is in a hardware fault state, and the motor controller is used to control the motor to provide power to the vehicle in the current operation mode; A fault mode switching module, used for controlling the motor controller to switch from the current operation mode to the fault mode according to the fault diagnosis information; wherein the motor controller is used for stopping the motor from providing power to the vehicle in the fault mode; A parameter acquisition module, used to acquire parameters of the motor controller in the fault mode to obtain fault recovery parameters; A fault mode exit module is used to control the motor controller to exit the fault mode according to the fault recovery parameter.

9. A vehicle, characterized in that: The vehicle includes a motor controller, a vehicle controller and a memory for communicating with the vehicle controller; the memory stores instructions that can be executed by the vehicle controller, and the instructions are executed by the vehicle controller so that the vehicle controller executes the operating mode switching method of the motor controller as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the operating mode switching method of the motor controller according to any one of claims 1 to 7 is implemented.

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