Emergency brake overcurrent fault judgment method, system, device and storage medium

Abstract

The present invention discloses an emergency brake overcurrent fault determination method, system, device, and storage medium. The method comprises: obtaining a first motor speed change curve of the current vehicle in response to a brake control operation, and determining whether the first motor speed change curve is normal based on the motor speed change rate; when the first motor speed change curve is abnormal, filtering the first motor speed change curve to obtain a second motor speed change curve; determining feedback adjustment parameters based on the second motor speed change curve, and determining the motor's direct-axis voltage and quadrature-axis voltage based on the feedback adjustment parameters; determining the motor's bus current based on the direct-axis voltage and quadrature-axis voltage, and determining whether the current vehicle has an overcurrent fault based on the bus current. The present invention improves the accuracy of vehicle fault reporting and the user's riding experience, and can be widely applied in the field of vehicle control technology.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an emergency brake overcurrent fault judgment method, system, device and storage medium. Background Art

[0002] In an electric power-assisted braking control system, the power-assisted motor is the system's actuator, directly influencing the desired power-assisted torque output by the brake control system module. The motor control module converts this desired power-assisted torque into a desired motor current, performing closed-loop current control based on the desired current and the feedback current collected by a sampling resistor. However, during emergency braking, the motor may falsely report an overcurrent fault, compromising the accuracy of vehicle fault reporting and the user's riding experience. Summary of the Invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] To this end, an object of an embodiment of the present invention is to provide a method for determining an emergency brake overcurrent fault, which improves the accuracy of vehicle fault reporting and the user's riding experience.

[0005] Another object of an embodiment of the present invention is to provide an emergency brake overcurrent fault judgment system.

[0006] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include:

[0007] In a first aspect, an embodiment of the present invention provides a method for determining an emergency brake overcurrent fault, comprising the following steps:

[0008] In response to a brake control operation, obtaining a first motor speed change curve of the current vehicle, and determining whether the first motor speed change curve is normal according to a motor speed change rate;

[0009] When the first motor speed change curve is abnormal, filtering the first motor speed change curve to obtain a second motor speed change curve;

[0010] Determining a feedback adjustment parameter according to the second motor speed variation curve, and determining a direct-axis voltage and a quadrature-axis voltage of the motor according to the feedback adjustment parameter;

[0011] The bus current of the motor is determined according to the direct-axis voltage and the quadrature-axis voltage, and it is determined whether the current vehicle has an overcurrent fault according to the bus current.

[0012] Furthermore, in one embodiment of the present invention, obtaining a first motor speed change curve of the current vehicle and determining whether the first motor speed change curve is normal based on the motor speed change rate specifically includes:

[0013] Acquire the first motor speed change curve through a motor controller, and determine the motor speed change rate at a current moment according to the first motor speed change curve;

[0014] When the motor speed change rate is less than a preset first threshold, determining that the first motor speed change curve is normal;

[0015] When the motor speed change rate is greater than or equal to the first threshold, it is determined that the first motor speed change curve is abnormal.

[0016] Furthermore, in one embodiment of the present invention, the filtering process is performed on the first motor speed change curve to obtain the second motor speed change curve, which is specifically:

[0017] The first motor speed change curve is subjected to mean filtering, median filtering or Gaussian filtering to obtain the second motor speed change curve after smoothing filtering.

[0018] Furthermore, in one embodiment of the present invention, determining the feedback adjustment parameter according to the second motor speed change curve specifically includes:

[0019] Determining the current speed of the first motor according to the second motor speed change curve;

[0020] Obtaining a preset feedback adjustment parameter mapping table, performing a matching query on the first motor speed according to the feedback adjustment parameter mapping table, and obtaining the corresponding feedback adjustment parameter;

[0021] The feedback adjustment parameters include a proportional gain parameter and an integral gain parameter.

[0022] Furthermore, in one embodiment of the present invention, the direct-axis voltage and quadrature-axis voltage of the motor are determined according to the feedback adjustment parameters, which is specifically:

[0023] According to the proportional gain parameter and the integral gain parameter, the motor is regulated and controlled by a PI controller, and the direct-axis voltage and the quadrature-axis voltage are output.

[0024] Furthermore, in one embodiment of the present invention, determining the bus current of the motor according to the direct-axis voltage and the quadrature-axis voltage, and judging whether the current vehicle has an overcurrent fault according to the bus current, specifically includes:

[0025] Determining the AC power of the motor controller according to the direct-axis voltage and the quadrature-axis voltage, and determining the DC power of the motor controller according to the AC power of the motor controller and a preset conversion efficiency;

[0026] Determining the bus current according to the motor controller DC power and the bus voltage;

[0027] When the bus current is greater than a preset second threshold, determining that the current vehicle has an overcurrent fault;

[0028] When the bus current is less than or equal to the second threshold, it is determined that there is no overcurrent fault in the current vehicle.

[0029] Furthermore, in one embodiment of the present invention, determining the AC power of the motor controller according to the direct-axis voltage and the quadrature-axis voltage, and determining the DC power of the motor controller according to the AC power of the motor controller and a preset conversion efficiency, specifically includes:

[0030] Obtaining the direct-axis current and the quadrature-axis current of the motor;

[0031] Determining the AC power of the motor controller according to the direct-axis voltage, the direct-axis current, the quadrature-axis voltage, and the quadrature-axis current;

[0032] The motor controller DC power is determined according to a quotient of the motor controller AC power and the conversion efficiency.

[0033] In a second aspect, an embodiment of the present invention provides an emergency brake overcurrent fault judgment system, comprising:

[0034] a speed change curve determination module, configured to obtain a first motor speed change curve of the current vehicle in response to a brake control operation, and determine whether the first motor speed change curve is normal based on a motor speed change rate;

[0035] a filtering module, configured to filter the first motor speed change curve to obtain a second motor speed change curve when the first motor speed change curve is abnormal;

[0036] a motor adjustment control module, configured to determine a feedback adjustment parameter according to the second motor speed variation curve, and determine a direct-axis voltage and a quadrature-axis voltage of the motor according to the feedback adjustment parameter;

[0037] An overcurrent fault judgment module is used to determine the bus current of the motor according to the direct-axis voltage and the quadrature-axis voltage, and to judge whether the current vehicle has an overcurrent fault according to the bus current.

[0038] In a third aspect, an embodiment of the present invention provides an emergency brake overcurrent fault judgment device, comprising:

[0039] at least one processor;

[0040] at least one memory for storing at least one program;

[0041] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned emergency brake overcurrent fault judgment method.

[0042] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor, wherein the program executable by the processor is used to execute the above-mentioned emergency brake overcurrent fault judgment method when executed by the processor.

[0043] The advantages and benefits of the present invention will be described in part in the following description and will become apparent from the following description or learned through practice of the present invention:

[0044] In response to a brake control operation, an embodiment of the present invention obtains a first motor speed change curve of the current vehicle and determines whether the first motor speed change curve is normal based on the motor speed change rate. If the first motor speed change curve is abnormal, the first motor speed change curve is filtered to obtain a second motor speed change curve. Feedback adjustment parameters are determined based on the second motor speed change curve. The motor's direct-axis voltage and quadrature-axis voltage are determined based on the feedback adjustment parameters. The motor's bus current is determined based on the direct-axis voltage and quadrature-axis voltage. The bus current is then used to determine whether the current vehicle has an overcurrent fault. This embodiment of the present invention filters the abnormal first motor speed change curve during emergency braking into a smooth second motor speed change curve. The feedback adjustment parameters of a PI controller are determined based on the second motor speed change curve, thereby determining the motor's direct-axis voltage and quadrature-axis voltage, and further obtaining the motor's bus current. Determining whether an overcurrent fault exists based on the bus current effectively avoids false motor overcurrent fault reports, improving the accuracy of vehicle fault reporting and the user's riding experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following introduction is made to the drawings required for use in the embodiments of the present invention. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 A flowchart of a method for determining an emergency brake overcurrent fault according to an embodiment of the present invention;

[0047] Figure 2A structural block diagram of an emergency brake overcurrent fault judgment system provided by an embodiment of the present invention;

[0048] Figure 3 This is a structural block diagram of an emergency brake overcurrent fault judgment device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and are not to be construed as limiting the present invention. The step numbers in the following embodiments are provided for ease of explanation only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0050] In the description of the present invention, "a plurality" means two or more. The terms "first" and "second" are used solely to distinguish technical features and are not to be construed as indicating or implying relative importance, or as implicitly indicating the number of the indicated technical features, or as implicitly indicating the order of the indicated technical features. Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art.

[0051] Reference Figure 1 The embodiment of the present invention provides a method for determining an emergency brake overcurrent fault, which specifically includes the following steps:

[0052] S101, in response to a brake control operation, obtaining a first motor speed change curve of the current vehicle, and determining whether the first motor speed change curve is normal based on a motor speed change rate;

[0053] S102: When the first motor speed change curve is abnormal, filter the first motor speed change curve to obtain a second motor speed change curve;

[0054] S103, determining a feedback adjustment parameter according to the second motor speed variation curve, and determining the direct-axis voltage and quadrature-axis voltage of the motor according to the feedback adjustment parameter;

[0055] S104 : Determine the bus current of the motor according to the direct-axis voltage and the quadrature-axis voltage, and determine whether the vehicle currently has an overcurrent fault according to the bus current.

[0056] The embodiment of the present invention filters the abnormal first motor speed change curve during emergency braking into a smooth second motor speed change curve, determines the feedback adjustment parameters of the PI controller based on the second motor speed change curve, thereby determining the direct-axis voltage and quadrature-axis voltage of the motor, and then obtaining the bus current of the motor. Based on the bus current, it is judged whether there is an overcurrent fault, which can effectively avoid the motor from falsely reporting an overcurrent fault, thereby improving the accuracy of vehicle fault reporting and the user's riding experience.

[0057] As an optional implementation, obtaining a first motor speed change curve of the current vehicle and determining whether the first motor speed change curve is normal based on the motor speed change rate specifically includes:

[0058] S1011. Obtain a first motor speed change curve through a motor controller, and determine a motor speed change rate at a current moment according to the first motor speed change curve;

[0059] S1012: When the motor speed change rate is less than a preset first threshold, determining that the first motor speed change curve is normal;

[0060] S1013: When the motor speed change rate is greater than or equal to a first threshold, determine that the first motor speed change curve is abnormal.

[0061] Specifically, the embodiment of the present invention pre-sets a first threshold (such as 25r / ms 2 ), when the motor speed change rate is greater than or equal to the first threshold, it indicates that the first motor speed change curve is abnormal. If the abnormal first motor speed change curve is used to determine the feedback adjustment parameters and perform PI control, an overcurrent fault may be falsely reported. Therefore, the embodiment of the present invention needs to smooth the abnormal first motor speed change curve before determining the feedback adjustment parameters. It should be noted that when the first motor speed change curve is normal, the smoothing and filtering step is skipped, and the feedback adjustment parameters are directly determined based on the first motor speed change curve.

[0062] As an optional implementation, the first motor speed change curve is filtered to obtain a second motor speed change curve, which is specifically:

[0063] The first motor speed change curve is subjected to mean filtering, median filtering or Gaussian filtering to obtain a second motor speed change curve after smoothing filtering.

[0064] Specifically, the embodiment of the present invention performs smooth filtering on the first motor speed change curve by using mean filtering, median filtering, or Gaussian filtering to obtain the second motor speed change curve. The processes of mean filtering, median filtering, and Gaussian filtering are not the focus of the embodiment of the present invention and are not described in detail here.

[0065] As a further optional implementation, the feedback adjustment parameter is determined according to the second motor speed change curve, which specifically includes:

[0066] S1031, determining the current speed of the first motor according to the second motor speed change curve;

[0067] S1032: Obtain a preset feedback adjustment parameter mapping table, perform a matching query on the first motor speed according to the feedback adjustment parameter mapping table, and obtain a corresponding feedback adjustment parameter;

[0068] The feedback adjustment parameters include a proportional gain parameter and an integral gain parameter.

[0069] Specifically, an embodiment of the present invention pre-constructs a one-dimensional linear mapping table of the motor speed and the proportional gain parameter kp and a one-dimensional linear mapping table of the motor speed and the integral gain parameter ki, and determines the first motor speed at the current moment according to the second motor speed change curve after smoothing filtering, and the corresponding proportional gain parameter kp and integral gain parameter ki can be obtained by looking up the table.

[0070] As an optional implementation, the direct-axis voltage and quadrature-axis voltage of the motor are determined according to the feedback adjustment parameters, which are specifically:

[0071] According to the proportional gain parameter and the integral gain parameter, the motor is regulated and controlled by the PI controller, and the direct-axis voltage and the quadrature-axis voltage are output.

[0072] Specifically, according to the proportional gain parameter kp and the integral gain parameter ki, the motor regulation control is performed by a PI controller. The PI control algorithm is a commonly used closed-loop control strategy for achieving error regulation of the system. The PI controller combines two control modes: proportional control and integral control. The proportional control directly converts the error into the control output through the proportional gain parameter kp, while the integral control integrates the error through the integral gain parameter ki and accumulates the integral result as part of the control output. In an embodiment of the present invention, the proportional gain parameter kp and the integral gain parameter ki are input into the PI controller. Combined with the direct-axis command current, quadrature-axis command current, direct-axis feedback current, quadrature-axis feedback current of the permanent magnet synchronous motor in the dq coordinate system, as well as the rotor electrical angular frequency and stator resistance, the direct-axis voltage Ud and the quadrature-axis voltage Uq can be obtained by the PI control algorithm output.

[0073] As an optional implementation, the bus current of the motor is determined based on the direct-axis voltage and the quadrature-axis voltage, and whether the vehicle currently has an overcurrent fault is determined based on the bus current. This specifically includes:

[0074] S1041, determining the AC power of the motor controller according to the direct-axis voltage and the quadrature-axis voltage, and determining the DC power of the motor controller according to the AC power of the motor controller and a preset conversion efficiency;

[0075] S1042. Determine the bus current according to the motor controller DC power and the bus voltage;

[0076] S1043: When the bus current is greater than a preset second threshold, it is determined that the vehicle currently has an overcurrent fault;

[0077] S1044: When the bus current is less than or equal to the second threshold, it is determined that there is no overcurrent fault in the current vehicle.

[0078] As a further optional implementation, the AC power of the motor controller is determined according to the direct-axis voltage and the quadrature-axis voltage, and the DC power of the motor controller is determined according to the AC power of the motor controller and a preset conversion efficiency, which specifically includes:

[0079] S10411. Obtain the direct-axis current and quadrature-axis current of the motor;

[0080] S10412, determining the AC power of the motor controller according to the direct-axis voltage, the direct-axis current, the quadrature-axis voltage, and the quadrature-axis current;

[0081] S10413. Determine the DC power of the motor controller according to the quotient of the AC power of the motor controller and the conversion efficiency.

[0082] Specifically, the direct-axis current Id and quadrature-axis current Iq of the motor are obtained, and the formula for calculating the AC power of the motor controller based on the direct-axis voltage, direct-axis current, quadrature-axis voltage, and quadrature-axis current is as follows:

[0083] P1=2 / 3(Ud×Id)+Uq×Iq)

[0084] Where P1 represents the AC power of the motor controller.

[0085] The formula for calculating the motor controller DC power based on the motor controller AC power P1 and conversion efficiency δ is as follows:

[0086] P2=P1 / δ

[0087] Wherein, P2 represents the DC power of the motor controller. The conversion efficiency δ is the actual value measured on the motor test bench. In the embodiment of the present invention, the conversion efficiency is 0.99.

[0088] The formula for calculating the bus current based on the motor controller DC power P2 and bus voltage Udc is as follows:

[0089] Idc=P2 / Udc

[0090] Wherein, Idc represents the bus current. In the embodiment of the present invention, the bus voltage Udc is 418V.

[0091] Idc is compared with a preset second threshold to determine whether there is an overcurrent fault. In this embodiment of the present invention, the Idc judgment threshold is 600A. When the bus current Idc is greater than the threshold, it is determined that the vehicle has an overcurrent fault and the fault is reported.

[0092] The above describes the method steps of an embodiment of the present invention. It can be appreciated that the embodiment of the present invention filters the abnormal first motor speed change curve during emergency braking into a smooth second motor speed change curve, determines the feedback adjustment parameters of the PI controller based on the second motor speed change curve, thereby determining the direct-axis voltage and quadrature-axis voltage of the motor, and then obtains the bus current of the motor. Based on the bus current, it is determined whether there is an overcurrent fault, which can effectively avoid the motor from falsely reporting an overcurrent fault, thereby improving the accuracy of vehicle fault reporting and the user's riding experience.

[0093] Reference Figure 2 , an embodiment of the present invention provides an emergency brake overcurrent fault judgment system, comprising:

[0094] a speed change curve determination module, configured to obtain a first motor speed change curve of the current vehicle in response to a brake control operation, and determine whether the first motor speed change curve is normal based on a motor speed change rate;

[0095] a filtering module, configured to filter the first motor speed change curve to obtain a second motor speed change curve when the first motor speed change curve is abnormal;

[0096] a motor adjustment control module, configured to determine a feedback adjustment parameter according to a second motor speed variation curve, and determine a direct-axis voltage and a quadrature-axis voltage of the motor according to the feedback adjustment parameter;

[0097] The overcurrent fault judgment module is used to determine the bus current of the motor based on the direct-axis voltage and the quadrature-axis voltage, and to judge whether the current vehicle has an overcurrent fault based on the bus current.

[0098] The contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0099] Reference Figure 3 , an embodiment of the present invention provides an emergency brake overcurrent fault judgment device, comprising:

[0100] at least one processor;

[0101] at least one memory for storing at least one program;

[0102] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned method for determining an emergency brake overcurrent fault.

[0103] The contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0104] An embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to execute the above-mentioned method for determining an emergency brake overcurrent fault.

[0105] A computer-readable storage medium according to an embodiment of the present invention can execute an emergency brake overcurrent fault judgment method provided by an embodiment of the method of the present invention, can execute any combination of implementation steps of the embodiment of the method, and has the corresponding functions and beneficial effects of the method.

[0106] The embodiment of the present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs Figure 1 The method shown.

[0107] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the above-mentioned boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0108] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the above-mentioned functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the routine skills of an engineer. Therefore, a person skilled in the art can implement the present invention set forth in the claims using ordinary skills without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0109] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0110] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0111] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable media on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0112] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0113] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0114] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0115] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for judging an emergency brake overcurrent fault, characterized in that: The following steps are involved: In response to a brake control operation, obtaining a first motor speed change curve of the current vehicle, and determining whether the first motor speed change curve is normal according to a motor speed change rate; When the first motor speed change curve is abnormal, filtering the first motor speed change curve to obtain a second motor speed change curve; Determining a feedback adjustment parameter according to the second motor speed variation curve, and determining a direct-axis voltage and a quadrature-axis voltage of the motor according to the feedback adjustment parameter; The bus current of the motor is determined according to the direct-axis voltage and the quadrature-axis voltage, and it is determined whether the current vehicle has an overcurrent fault according to the bus current.

2. The method for determining an emergency brake overcurrent fault according to claim 1, wherein: The obtaining of the first motor speed change curve of the current vehicle and determining whether the first motor speed change curve is normal according to the motor speed change rate specifically includes: Acquire the first motor speed change curve through a motor controller, and determine the motor speed change rate at a current moment according to the first motor speed change curve; When the motor speed change rate is less than a preset first threshold, determining that the first motor speed change curve is normal; When the motor speed change rate is greater than or equal to the first threshold, it is determined that the first motor speed change curve is abnormal.

3. The method for determining an emergency brake overcurrent fault according to claim 1, wherein: The filtering process is performed on the first motor speed change curve to obtain the second motor speed change curve, which is specifically: The first motor speed change curve is subjected to mean filtering, median filtering or Gaussian filtering to obtain the second motor speed change curve after smoothing filtering.

4. The method for determining an emergency brake overcurrent fault according to claim 1, wherein: The step of determining the feedback adjustment parameter according to the second motor speed change curve specifically includes: Determining the current speed of the first motor according to the second motor speed change curve; Obtaining a preset feedback adjustment parameter mapping table, performing a matching query on the first motor speed according to the feedback adjustment parameter mapping table, and obtaining the corresponding feedback adjustment parameter; The feedback adjustment parameters include a proportional gain parameter and an integral gain parameter.

5. The method for determining an emergency brake overcurrent fault according to claim 4, wherein: The direct-axis voltage and quadrature-axis voltage of the motor are determined according to the feedback adjustment parameters, which are specifically: According to the proportional gain parameter and the integral gain parameter, the motor is regulated and controlled by a PI controller, and the direct-axis voltage and the quadrature-axis voltage are output.

6. The method for determining an emergency brake overcurrent fault according to claim 1, wherein: The determining of the bus current of the motor according to the direct-axis voltage and the quadrature-axis voltage, and judging whether the current vehicle has an overcurrent fault according to the bus current, specifically includes: Determining the AC power of the motor controller according to the direct-axis voltage and the quadrature-axis voltage, and determining the DC power of the motor controller according to the AC power of the motor controller and a preset conversion efficiency; Determining the bus current according to the motor controller DC power and the bus voltage; When the bus current is greater than a preset second threshold, determining that the current vehicle has an overcurrent fault; When the bus current is less than or equal to the second threshold, it is determined that there is no overcurrent fault in the current vehicle.

7. The method for determining an emergency brake overcurrent fault according to claim 6, wherein: The step of determining the AC power of the motor controller according to the direct-axis voltage and the quadrature-axis voltage, and determining the DC power of the motor controller according to the AC power of the motor controller and a preset conversion efficiency, specifically includes: Obtaining the direct-axis current and the quadrature-axis current of the motor; Determining the AC power of the motor controller according to the direct-axis voltage, the direct-axis current, the quadrature-axis voltage, and the quadrature-axis current; The motor controller DC power is determined according to a quotient of the motor controller AC power and the conversion efficiency.

8. An emergency brake overcurrent fault judgment system, characterized in that: include: a speed change curve determination module, configured to obtain a first motor speed change curve of the current vehicle in response to a brake control operation, and determine whether the first motor speed change curve is normal based on a motor speed change rate; a filtering module, configured to filter the first motor speed change curve to obtain a second motor speed change curve when the first motor speed change curve is abnormal; a motor adjustment control module, configured to determine a feedback adjustment parameter according to the second motor speed variation curve, and determine a direct-axis voltage and a quadrature-axis voltage of the motor according to the feedback adjustment parameter; An overcurrent fault judgment module is used to determine the bus current of the motor according to the direct-axis voltage and the quadrature-axis voltage, and to judge whether the current vehicle has an overcurrent fault according to the bus current.

9. An emergency brake overcurrent fault judgment device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the emergency brake overcurrent fault judgment method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The program executable by the processor is used to execute the emergency brake overcurrent fault judgment method according to any one of claims 1 to 7 when executed by the processor.

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