Motor controller safety state switching method and device and readable storage medium

Abstract

The embodiment of the invention provides a safety state switching method and device for a motor controller and a readable storage medium, relates to the technical field of motor control, and can improve the safety state switching accuracy of the motor controller, reduce the misjudgment risk, improve the safety of the motor controller and prolong the service life of the motor controller. And the driving experience and safety of the user are improved. The motor controller safety state switching method comprises the following steps: acquiring a first current rotating speed and a corresponding first current voltage of a target motor; acquiring a target voltage of the target motor corresponding to the first current rotating speed; determining a target safety state of the target motor according to a magnitude relationship between the first current voltage and the target voltage; and controlling the target motor to be switched to the target safety state, wherein the target safety state comprises an active short-circuit protection state and an open-circuit protection state.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor controller safety state switching method, device and readable storage medium. Background Art

[0002] With the rapid development of new energy vehicles, new energy vehicles have been widely recognized and applied. As the main power source of electric vehicles, when the electric drive system fails and may affect driving safety, it is usually necessary to ensure that the electric drive system can enter a safe working state to ensure the safety of the people on the vehicle and the vehicle itself.

[0003] At present, the safety status of the motor controller usually includes an active short-circuit protection state and an open-circuit protection state. In the traditional safety status switching method of the motor controller, the switching is usually based on the output torque and speed of the motor as the judgment criteria. However, the judgment conditions of the above switching method are relatively simple, and the risk of misjudgment is high, which can easily lead to frequent switching of the safety status of the motor controller, causing damage to the components in the motor controller, thereby affecting the user's driving experience and driving safety. Summary of the invention

[0004] A motor controller safety state switching method, device and readable storage medium provided in the embodiments of the present application can improve the accuracy of the motor controller's safety state switching, reduce the risk of misjudgment, improve the safety of the motor controller, extend the service life of the motor controller, and improve the user's driving experience and safety.

[0005] According to a first aspect of an embodiment of the present application, a method for switching a motor controller to a safe state is provided, comprising:

[0006] Acquire a first current speed and a corresponding first current voltage of the target motor;

[0007] Obtaining a target voltage of the target motor corresponding to the first current speed;

[0008] Determining a target safety state of the target motor according to a magnitude relationship between the first current voltage and the target voltage;

[0009] The target motor is controlled to switch to the target safety state, where the target safety state includes an active short-circuit protection state and an open-circuit protection state.

[0010] In some implementations, before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, the method further includes:

[0011] Obtaining a corresponding relationship table between the back electromotive force and the rotation speed of the target motor;

[0012] The obtaining the target voltage of the target motor corresponding to the first current speed includes:

[0013] Determine the target back electromotive force of the target motor corresponding to the first current speed according to the correspondence table;

[0014] The step of determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage includes:

[0015] The target safety state of the target motor is determined according to the magnitude relationship between the first current voltage and the target back electromotive force.

[0016] In some implementations, determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage includes:

[0017] When the first current voltage is greater than the target voltage, determining that the target safety state of the target motor is an active short-circuit protection state;

[0018] When the first current voltage is less than the target voltage, it is determined that the target safety state of the target motor is an open circuit protection state.

[0019] In some implementations, the motor controller safety state switching method further includes:

[0020] The target safety state of the target motor is determined according to the magnitude relationship between the first current rotational speed and the rotational speed threshold.

[0021] In some implementations, determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage includes:

[0022] When the first current speed is less than the speed threshold and the first current voltage is greater than the target voltage, obtaining a second current speed and a corresponding second current voltage of the target motor, wherein the first current speed is obtained before the second current speed;

[0023] determining an average value of the first current voltage and the second current voltage;

[0024] The target safety state of the target motor is determined according to the magnitude relationship between the average value and the target voltage.

[0025] In some implementations, before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, the method further includes:

[0026] The current safety status of the target motor is obtained.

[0027] In some implementations, before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, the method further includes:

[0028] Acquire the running state information of the vehicle to which the target motor belongs, wherein the running state information includes at least one of the road condition information of the location of the vehicle and the braking information of the vehicle;

[0029] Before the step of controlling the target motor to switch to the target safety state, the method further includes:

[0030] Determining a switching time of the target safety state according to the operating state information and the target safety state;

[0031] The target motor is controlled according to the switching time and the target safety state.

[0032] According to a second aspect of an embodiment of the present application, a computer device is provided, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the motor controller safe state switching method described in any one of the first aspects are implemented.

[0033] According to a third aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the motor controller safe state switching method described in any one of the first aspects are implemented.

[0034] A fourth aspect of an embodiment of the present application provides a computer program product, comprising a computer program, characterized in that when the computer program is executed by a processor, the steps of the motor controller safe state switching method described in any one of the first aspects above are implemented.

[0035] The embodiments of the present application provide a method, device and readable storage medium for switching the safe state of a motor controller. By acquiring the first current speed and the corresponding first current voltage of the target motor, reading the target voltage corresponding to the first current speed under normal operating conditions of the target motor, and according to the magnitude relationship between the first current voltage and the target voltage, using the voltage of the target motor as a criterion for switching the safe state, it is determined whether the target motor needs to switch the safe state of the motor controller at the first current speed. This can increase the judgment conditions for switching the safe state of the motor controller, avoid limiting the switching conditions within a fixed range, improve the accuracy and objectivity of the safe state switching point of the motor controller, reduce the risk of misjudgment, protect the components inside the motor controller, and solve the problem of frequent switching of the safe state due to speed fluctuations, improve the safety and stability of the motor controller operation, extend the service life of the motor controller, and improve the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] FIG1 is a schematic flow chart of a method for switching a motor controller to a safe state according to an embodiment of the present application;

[0038] FIG2 is a schematic structural diagram of a computer device provided in an embodiment of the present application;

[0039] FIG3 is a schematic structural diagram of another computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0041] 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 in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0042] When used herein, the singular forms "a", "an" and " / the" may also include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0043] It should be noted that with the rapid development of new energy vehicles, new energy vehicles have been widely recognized and applied. As the main power source of electric vehicles, when the electric drive system fails and may affect driving safety, it is usually necessary to ensure that the electric drive system can enter a safe working state to ensure the safety of the people on the vehicle and the vehicle itself.

[0044] At present, the safety status of the motor controller usually includes an active short-circuit protection state and an open-circuit protection state. In the traditional safety status switching method of the motor controller, the switching is usually based on the output torque and speed of the motor as the judgment criteria. However, the judgment conditions of the above switching method are relatively simple, and the risk of misjudgment is high, which can easily lead to frequent switching of the safety status of the motor controller, causing damage to the components in the motor controller, thereby affecting the user's driving experience and driving safety.

[0045] Therefore, inventing a safe state switching method for a motor controller with diverse judgment conditions, objective judgment results, and low risk of misjudgment is an issue that needs to be urgently addressed.

[0046] As shown in FIG1 , a first aspect of an embodiment of the present application provides a motor controller safety state switching method, comprising:

[0047] Step S110 , obtaining a first current rotation speed and a corresponding first current voltage of the target motor.

[0048] Step S120: Obtain a target voltage of the target motor corresponding to the first current speed.

[0049] Step S130: determining a target safety state of the target motor according to a magnitude relationship between the first current voltage and the target voltage.

[0050] Step S140: Control the target motor to switch to a target safety state, where the target safety state includes an active short-circuit protection state and an open-circuit protection state.

[0051] It should be noted that the active short-circuit protection state refers to a motor controller control method that simultaneously turns on or off the field effect transistors in the upper bridge arm or the field effect transistors in the lower bridge arm of the motor controller to form a closed loop in the motor stator winding, thereby consuming the back electromotive force energy and avoiding damage to the system. The open circuit protection state refers to a motor controller control method that protects the motor by turning on all the field effect transistors in the upper bridge arm and all the field effect transistors in the lower bridge arm, so that the inverter enters a passive rectification state.

[0052] The motor controller safety state switching method provided in the embodiment of the present application obtains the first current speed and the corresponding first current voltage of the target motor, reads the target voltage corresponding to the first current speed under normal operating conditions, and uses the voltage of the target motor as a criterion for safety state switching according to the magnitude relationship between the first current voltage and the target voltage, to determine whether the target motor needs to switch the safety state of the motor controller at the first current speed. This can increase the judgment conditions for the safety state switching of the motor controller, avoid limiting the switching conditions within a fixed range, improve the accuracy and objectivity of the safety state switching point of the motor controller, reduce the risk of misjudgment, protect the components inside the motor controller, and solve the problem of frequent switching of safety states due to speed fluctuations, improve the safety and stability of the motor controller operation, extend the service life of the motor controller, and improve the user's driving experience.

[0053] In some feasible implementations, before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, it also includes: obtaining a correspondence table between the back electromotive force and the speed of the target motor; obtaining the target voltage of the target motor corresponding to the first current speed, including: determining the target back electromotive force of the target motor corresponding to the first current speed according to the correspondence table; determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage, including: determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target back electromotive force.

[0054] It should be noted that there is a negative correlation between the speed of the target motor and the back electromotive force. The corresponding relationship table is a relationship table between the back electromotive force and the speed obtained when the target motor is normally operated on the test platform. The corresponding relationship table can be directly obtained. When the target motor models are the same, the corresponding relationship table can be universal.

[0055] The motor controller safety state switching method provided in the embodiment of the present application can improve the comparison speed of the first current voltage by pre-acquiring the correspondence table of the target motor, and can further improve the safety state switching speed of the motor controller, improve the switching efficiency, and further improve the safety and reliability of the electric vehicle.

[0056] In some feasible implementations, the target safety state of the target motor is determined based on the magnitude relationship between the first current voltage and the target voltage, including: when the first current voltage is greater than the target voltage, determining the target safety state of the target motor to be an active short-circuit protection state; when the first current voltage is less than the target voltage, determining the target safety state of the target motor to be an open-circuit protection state.

[0057] For example, the target safety state of the target motor can be determined based on the size relationship between the difference between the first current voltage and the target voltage and the preset difference. When the difference is greater than the preset difference, the target safety state of the target motor is determined to be an active short-circuit protection state. When the difference is less than the preset difference, the target safety state of the target motor is determined to be an open-circuit protection state. This can avoid frequent switching of the safety state of the motor controller, improve the stability of the motor controller, protect the internal components of the motor controller, extend the service life of the motor controller, and improve the driving experience and stability during driving.

[0058] The motor controller safety state switching method provided in the embodiment of the present application can determine that there is a risk of current backflow in the target motor when the first current voltage is greater than the target voltage. By switching to the active short-circuit state, the back electromotive force of the target motor can be consumed, thereby improving the safety of the motor controller. When the first current voltage is less than the target voltage, the target motor is determined to be in a safe operating state. By switching to the open-circuit state, it can be ensured that the driver's operation is not affected, thereby improving the driving experience during driving.

[0059] In some feasible implementations, the motor controller safety state switching method further includes: determining a target safety state of the target motor according to a magnitude relationship between the first current rotational speed and the rotational speed threshold.

[0060] Exemplarily, when the first current speed is greater than the speed threshold, the target safety state of the target motor is determined to be an active short-circuit protection state; when the first current speed is less than or equal to the speed threshold, the target safety state of the target motor is determined to be an open-circuit protection state.

[0061] The motor controller safety state switching method provided in the embodiment of the present application can further increase the objectivity and accuracy of the switching point by adding the rotational speed as a judgment condition, reduce the risk of misjudgment, protect the internal components of the motor controller, improve the safety of the motor controller operation, extend the service life of the motor controller, and improve safety during driving.

[0062] In some feasible implementations, the target safety state of the target motor is determined based on the magnitude relationship between the first current voltage and the target voltage, including: when the first current speed is less than a speed threshold and the first current voltage is greater than the target voltage, obtaining the second current speed and the corresponding second current voltage of the target motor, wherein the first current speed is obtained before the second current speed; determining the average value of the first current voltage and the second current voltage; and determining the target safety state of the target motor based on the magnitude relationship between the average value and the target voltage.

[0063] Exemplarily, the second current voltage may include multiple ones. In the case where the second current voltage includes multiple ones, the time intervals of the acquisition times of all adjacent second current voltages may be controlled to be equal.

[0064] The motor controller safety state switching method provided in the embodiment of the present application, when the first current speed is less than the speed threshold and the first current voltage is greater than the target voltage, obtains the second current voltage of the target motor again, which can reduce the risk of misjudgment due to voltage fluctuations, and further increases the reliability and objectivity of the switching point determination by taking the average value of the first current voltage and the second current voltage and comparing them with the target voltage, which can improve the accuracy of the motor controller's safety state switching, further reduce the risk of misjudgment, protect the internal components of the motor controller, improve the safety of the motor controller's operation, extend the service life of the motor controller, and improve the safety during driving.

[0065] In some feasible implementations, before the step of acquiring the first current rotation speed and the corresponding first current voltage of the target motor, the step further includes: acquiring the current safety state of the target motor.

[0066] Exemplarily, when the current safety state is inconsistent with the target safety state, the third current speed and the corresponding third current voltage of the target motor can continue to be obtained, and the target safety state corresponding to the third current speed can be determined based on the magnitude relationship between the target voltage corresponding to the third current speed and the third current voltage. Determine whether to switch the safety state of the motor controller based on the current safety state, the target safety state corresponding to the first current speed, and the target safety state corresponding to the third target speed. When the vehicle to which the target motor belongs is in a state of just starting, the switching of the safety state of the target motor can be directly controlled based on the target safety state.

[0067] The motor controller safety state switching method provided in the embodiment of the present application can be used to determine whether it is necessary to switch the safety state of the motor controller according to the target safety state corresponding to the first current speed by acquiring the current safety state of the target motor, thereby facilitating the extension of the switching time, and further avoiding the problem of frequent switching of the motor controller safety state caused by voltage fluctuations or speed fluctuations, thereby improving the safety and stability of the motor controller during operation, protecting the internal components of the motor controller, extending the service life of the motor controller, and improving the driving experience and safety of the user during driving.

[0068] In some feasible implementations, before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, it also includes: obtaining operating status information of the vehicle to which the target motor belongs, wherein the operating status information includes at least one of the road condition information of the vehicle's location and the vehicle's braking information; before the step of controlling the target motor to switch to the target safety state, it also includes: determining the switching time of the target safety state based on the operating status information and the target safety state; and controlling the target motor based on the switching time and the target safety state.

[0069] Exemplarily, warning information may be generated based on the operating status information when the target safety state of the target motor is switched, wherein the warning information is used to prompt the driver to perform driving operations.

[0070] Exemplarily, the operating status information can be obtained through a vehicle-mounted image acquisition device, can be obtained through a vehicle networking function, and can also be obtained through devices such as a vehicle-mounted radar.

[0071] Exemplarily, the road condition information at the location of the vehicle may include the slope information at the location of the vehicle, the distance information around the location of the vehicle, the speed information of the vehicles around the location of the vehicle, and the traffic rules information around the location of the vehicle. When there is a large slope at the location of the vehicle, switching to the active short-circuit protection state may cause the vehicle to brake on the slope, causing the risk of the vehicle sliding down the slope. Therefore, it is necessary to switch the active short-circuit protection state after the vehicle passes the slope, or, when the vehicle needs to switch to the active short-circuit protection state on the slope, issue a warning message to remind the driver to turn on the double flash to remind the passing vehicle, or pull down the handbrake to prevent the vehicle from sliding down the slope. When the distance around the location of the vehicle is close or the speed of the vehicles around the location of the vehicle is high, switching to the active short-circuit protection state may cause the vehicle to brake suddenly, causing the vehicle to rear-end and cause a safety accident. Therefore, it is necessary to switch the active short-circuit protection state when the distance between the vehicle and the surrounding vehicles is large or the speed of the surrounding vehicles is low. At this time, the driver can be reminded to slow down by issuing a warning message, or the vehicle can be driven to an open area to facilitate safe braking of the vehicle. Traffic regulation information may include information such as prohibited parking. When the vehicle is located in a prohibited parking zone, switching to the active short-circuit protection state will cause the vehicle to violate the rules. Therefore, it is necessary to switch to the active short-circuit protection state after the vehicle passes the current prohibited parking section, or to issue a warning message to encourage the driver to change the driving route so that the vehicle can brake nearby.

[0072] The motor controller safety state switching method provided in the embodiment of the present application determines the switching time of the target safety state by combining the operating status information of the vehicle to which the target motor belongs, so as to avoid the target motor from suddenly switching to the safety state, causing the vehicle to stop suddenly and causing safety risks, thereby further improving the stability of the motor controller operation, improving the driving experience during driving, and improving the stability, safety and reliability of the vehicle.

[0073] As shown in Figure 2, an embodiment of the present application provides a computer device, which may be a server. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the operating data of the power module. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a motor controller safety state method is implemented.

[0074] As shown in FIG3 , the computer device may be a terminal, and the computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a method for switching the safe state of a motor controller is implemented.

[0075] An embodiment of the present application provides a computer program product, including a computer program, characterized in that when the computer program is executed by a processor, the steps of any of the above-mentioned methods for switching the safe state of a motor controller are implemented.

[0076] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0077] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0078] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0079] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for switching a motor controller to a safe state, characterized in that: include: Acquire a first current speed and a corresponding first current voltage of the target motor; Acquire a target voltage of the target motor corresponding to the first current speed; Determining a target safety state of the target motor according to a magnitude relationship between the first current voltage and the target voltage; The target motor is controlled to switch to the target safety state, where the target safety state includes an active short-circuit protection state and an open-circuit protection state.

2. The motor controller safety state switching method according to claim 1, characterized in that: Before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, the method further includes: Obtaining a corresponding relationship table between the back electromotive force and the rotation speed of the target motor; The obtaining the target voltage of the target motor corresponding to the first current speed includes: Determine the target back electromotive force of the target motor corresponding to the first current speed according to the correspondence table; The step of determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage includes: The target safety state of the target motor is determined according to the magnitude relationship between the first current voltage and the target back electromotive force.

3. The motor controller safety state switching method according to claim 1, characterized in that: The step of determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage includes: When the first current voltage is greater than the target voltage, determining that the target safety state of the target motor is an active short-circuit protection state; When the first current voltage is less than the target voltage, it is determined that the target safety state of the target motor is an open circuit protection state.

4. The motor controller safety state switching method according to claim 1, characterized in that: Also includes: The target safety state of the target motor is determined according to the magnitude relationship between the first current rotational speed and the rotational speed threshold.

5. The motor controller safety state switching method according to claim 3 or 4, characterized in that: The step of determining the target safety state of the target motor according to the magnitude relationship between the first current voltage and the target voltage includes: When the first current speed is less than the speed threshold and the first current voltage is greater than the target voltage, obtaining a second current speed and a corresponding second current voltage of the target motor, wherein the first current speed is obtained before the second current speed; determining an average value of the first current voltage and the second current voltage; The target safety state of the target motor is determined according to the magnitude relationship between the average value and the target voltage.

6. The motor controller safety state switching method according to claim 1, characterized in that: Before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, the method further includes: The current safety status of the target motor is obtained.

7. The motor controller safety state switching method according to claim 1, characterized in that: Before the step of obtaining the first current speed and the corresponding first current voltage of the target motor, the method further includes: Acquire operating state information of the vehicle to which the target motor belongs, wherein the operating state information includes at least one of road condition information of the location of the vehicle and braking information of the vehicle; Before the step of controlling the target motor to switch to the target safety state, the method further includes: Determining a switching time of the target safety state according to the operating state information and the target safety state; The target motor is controlled according to the switching time and the target safety state.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the motor controller safety state switching method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the motor controller safety state switching method according to any one of claims 1 to 7 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the motor controller safety state switching method according to any one of claims 1 to 7 are implemented.

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