Vehicle limping control method and device, vehicle and storage medium

Abstract

The invention relates to a limp control method and device for a vehicle, the vehicle and a storage medium, and the method comprises the steps that a fault signal of the vehicle is received; a corresponding limping mode is matched based on the fault type of the fault signal, and the power constraint of the vehicle is determined through the theoretical power parameters of the vehicle, preset safety limiting conditions and the fault signal; and a vehicle speed limiting threshold value of the vehicle is obtained in combination with the power constraint and the limping mode, and the vehicle is controlled to execute the limping mode based on the vehicle speed limiting threshold value. Therefore, the technical problems that in the related technology, the limp speed limit value cannot be accurately matched with the fault, so that extra loss is easily caused to the fault part or other power assembly parts when the vehicle is in the limp mode, and large potential safety hazards exist are solved.

Description

Technical Field

[0001] The present application relates to the technical field of hybrid vehicles, and in particular to a limp home control method, device, vehicle and storage medium for a vehicle. Background Art

[0002] When a hybrid vehicle power system component fails, in order to ensure that the vehicle can safely drive to a maintenance point, a limp home mode is usually used, with the vehicle being driven by a healthy power component and the vehicle power output or maximum speed being limited.

[0003] In the related art, the limp home mode can be extended by activating a backup energy source to ensure the safe driving capability of the vehicle. The energy consumption can also be reduced by limiting the vehicle speed, and the stability of the vehicle in the limp home mode can be improved.

[0004] However, in the related art, the conflict between the fault and the vehicle driving cannot be resolved by only using backup energy, and in the limp home speed limit mode, the speed limit for maximizing the limp home distance is only constrained by the remaining energy, which leads to inaccurate limp home speed limit, easily causing additional damage to the vehicle, posing a major safety hazard and requiring improvement. Summary of the invention

[0005] The present application provides a vehicle limp home control method, device, vehicle and storage medium to solve the technical problem in the related art that the limp home speed limit value cannot be accurately matched with the fault, so that the vehicle is prone to cause additional losses to the faulty components or other powertrain components in the limp home mode, posing a major safety hazard.

[0006] A first aspect of the present application provides a limp home control method for a vehicle, comprising the following steps: receiving a fault signal from a vehicle; matching a corresponding limp home mode based on the fault type of the fault signal, and determining a power constraint of the vehicle using theoretical power parameters of the vehicle, preset safety constraints and the fault signal; obtaining a speed limit threshold of the vehicle in combination with the power constraint and the limp home mode, and controlling the vehicle to execute the limp home mode based on the speed limit threshold.

[0007] Optionally, in one embodiment of the present application, the matching of the corresponding limp home mode based on the fault signal includes: judging the fault type of the vehicle based on the fault signal, and matching the corresponding limp home mode based on the fault type; if the fault type is an engine fault, determining that the limp home mode is a pure electric limp home mode; if the fault type is a clutch fault, judging whether the engine of the vehicle meets a preset shutdown condition based on the current state parameters of the vehicle; if the engine meets the preset shutdown condition, determining that the limp home mode is the pure electric limp home mode, otherwise, determining that the limp home mode is a series limp home mode; if the fault type is a clutch fault, determining that the engine of the vehicle meets the preset shutdown condition based on the current state parameters of the vehicle; If the fault type is a front drive motor failure, the limp mode is determined to be the first hybrid limp mode; if the fault type is a rear drive motor failure, the limp mode is determined to be the second hybrid limp mode, wherein the driving sources of the first hybrid limp mode and the second hybrid limp mode are different; if the fault type is a generator failure, it is determined whether the current vehicle speed is greater than a preset speed threshold, if the current vehicle speed is greater than the preset speed threshold, the limp mode is determined to be the parallel limp mode, otherwise, the limp mode is determined to be the pure electric limp mode; if the fault type is a power battery failure, the limp mode is determined to be a safety mode.

[0008] Optionally, in one embodiment of the present application, controlling the vehicle to execute the limp home mode includes: when the limp home mode is the pure electric limp home mode, controlling the engine of the vehicle to stop, controlling the clutch of the vehicle to disengage, and utilizing the front drive motor and the rear drive motor of the vehicle to drive the vehicle; when the limp home mode is the series limp home mode, controlling the clutch of the vehicle to disengage, utilizing the engine of the vehicle to generate electricity, and utilizing the front drive motor and the rear drive motor of the vehicle to drive the vehicle; when the limp home mode is the first hybrid limp home mode, utilizing the rear drive motor to drive the vehicle; when the limp home mode is the second hybrid limp home mode, utilizing the front drive motor to drive the vehicle; when the limp home mode is the parallel limp home mode, controlling the clutch of the vehicle to engage, utilizing the engine and the drive motor to drive the vehicle; and when the limp home mode is the safety mode, interrupting vehicle power.

[0009] Optionally, in one embodiment of the present application, the receiving of at least one fault signal of the vehicle includes: obtaining current state parameters of the vehicle; determining at least one fault of the vehicle based on the current state parameters; screening out at least one assembly fault that meets preset fault consequence conditions from the at least one fault, and generating the fault signal based on the at least one assembly fault.

[0010] Optionally, in one embodiment of the present application, the combining of the power constraint and the limp mode to obtain the speed limit threshold of the vehicle includes: obtaining the number of assembly faults of the vehicle; if the number is one, matching the limp mode based on a fault signal corresponding to the assembly fault, and obtaining the speed limit threshold in combination with the power constraint and the limp mode; if the number is not one, obtaining an initial speed limit threshold corresponding to each assembly fault, and taking the minimum value of the initial speed limit thresholds as the speed limit threshold.

[0011] A second aspect of the present application provides a limp home control device for a vehicle, comprising: a receiving module for receiving a fault signal of a vehicle; a matching module for matching a corresponding limp home mode based on the fault type of the fault signal, and determining a power constraint of the vehicle using theoretical power parameters of the vehicle, preset safety constraints and the fault signal; a control module for obtaining a speed limit threshold of the vehicle in combination with the power constraint and the limp home mode, and controlling the vehicle to execute the limp home mode based on the speed limit threshold.

[0012] Optionally, in one embodiment of the present application, the matching module includes: a first matching unit, configured to determine the fault type of the vehicle based on the fault signal, and match the corresponding limp mode based on the fault type; a first determining unit, configured to determine that the limp mode is a pure electric limp mode when the fault type is an engine fault; a second determining unit, configured to determine whether the engine of the vehicle satisfies a preset shutdown condition based on the current state parameters of the vehicle when the fault type is a clutch fault, and if the engine satisfies the preset shutdown condition, determine that the limp mode is the pure electric limp mode; otherwise, determine that the limp mode is a series limp mode; a third determining unit, configured to determine that the limp mode is a pure electric limp mode when the fault type is a front drive electric a fourth determining unit, for determining, when the fault type is a rear drive motor failure, that the limp mode is a second hybrid limp mode, wherein the driving sources of the first hybrid limp mode and the second hybrid limp mode are different; a fifth determining unit, for determining, when the fault type is a generator failure, whether a current vehicle speed of the vehicle is greater than a preset speed threshold, if the current vehicle speed is greater than the preset speed threshold, determining that the limp mode is the parallel limp mode, otherwise, determining that the limp mode is the pure electric limp mode; a sixth determining unit, for determining, when the fault type is a power battery failure, that the limp mode is a safety mode.

[0013] Optionally, in one embodiment of the present application, the control module includes: a first control unit, used for controlling the engine of the vehicle to stop, controlling the clutch of the vehicle to disengage, and using the front drive motor and the rear drive motor of the vehicle to drive the vehicle when the limp mode is the pure electric limp mode; a second control unit, used for controlling the clutch of the vehicle to disengage, using the engine of the vehicle to generate electricity, and using the front drive motor and the rear drive motor of the vehicle to drive the vehicle when the limp mode is the series limp mode; a third control unit, used for using the rear drive motor to drive the vehicle when the limp mode is the first hybrid limp mode; a fourth control unit, used for using the front drive motor to drive the vehicle when the limp mode is the second hybrid limp mode; a fifth control unit, used for controlling the clutch of the vehicle to engage, and using the engine and the drive motor to drive the vehicle when the limp mode is the parallel limp mode; and a sixth control unit, used for interrupting vehicle power when the limp mode is a safety mode.

[0014] Optionally, in one embodiment of the present application, the receiving module includes: a first acquisition unit, used to acquire current state parameters of the vehicle; a judgment unit, used to judge at least one fault of the vehicle based on the current state parameters; a generation unit, used to screen out at least one assembly fault that meets preset fault consequence conditions from the at least one fault, and generate the fault signal based on the at least one assembly fault.

[0015] Optionally, in one embodiment of the present application, the control module includes: a second acquisition unit, used to acquire the number of assembly faults of the vehicle; a second matching unit, used to match the limp home mode based on a fault signal corresponding to the assembly fault when the number is one, and obtain the vehicle speed limit threshold in combination with the power constraint and the limp home mode; a third acquisition unit, used to acquire an initial vehicle speed limit threshold corresponding to each assembly fault when the number is not one, and use the minimum value of the initial vehicle speed limit thresholds as the vehicle speed limit threshold.

[0016] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the limp home control method for the vehicle as described in the above embodiment.

[0017] A fourth aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle limp home control method as described in the above embodiments.

[0018] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned vehicle limp home control method.

[0019] The embodiment of the present application can match the corresponding limp mode based on the fault signal of the vehicle; and use the theoretical power parameters of the vehicle, the preset safety limit conditions and the fault signal to determine the power constraint of the vehicle, so as to obtain the vehicle speed limit threshold value by combining the power constraint and the limp mode, and control the vehicle to execute the limp mode based on the speed limit threshold value, and perform different limp modes and different speed limit controls according to the powertrain capacity and the consequences of the fault, which not only ensures that the vehicle can be driven to limp through other power components without faults in case of powertrain faults, but also effectively ensures that the vehicle can limp as much as possible while protecting the components from damage, so that the vehicle can quickly reach the maintenance station for maintenance when it fails. Therefore, the technical problem in the related art that the limp speed limit value cannot be accurately matched with the fault, so that the vehicle is prone to cause additional losses to the faulty components or other powertrain components in the limp mode, and there is a large safety hazard is solved.

[0020] 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

[0021] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 is a schematic diagram of the principle of a limp home control method for a vehicle according to an embodiment of the present application;

[0023] Figure 2 A flowchart of a limp home control method for a vehicle provided according to an embodiment of the present application;

[0024] Figure 3 is a flow chart of a limp home control method for a vehicle according to an embodiment of the present application;

[0025] Figure 4 It is a structural schematic diagram of a limp control device for a vehicle provided according to an embodiment of the present application;

[0026] Figure 5 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] Embodiments of the present application are described in detail below, and examples of the embodiments 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 intended to be used to explain the present application, and should not be construed as limiting the present application.

[0028] The following describes the limp-slip control method, device, vehicle and storage medium of the embodiment of the present application with reference to the accompanying drawings. In view of the technical problem that the limp-slip speed limit value cannot be accurately matched with the fault in the related art mentioned in the background technology, the vehicle is prone to cause additional losses to the faulty component or other powertrain components in the limp-slip mode, and there is a great safety hazard, the present application provides a limp-slip control method for a vehicle, in which the fault signal of the vehicle can be matched with the corresponding limp-slip mode based on the fault type of the fault signal, and the power constraint of the vehicle can be determined by using the theoretical power parameters of the vehicle, the preset safety limit conditions and the fault signal, so as to obtain the speed limit threshold of the vehicle in combination with the power constraint and the limp-slip mode, and control the vehicle to execute the limp-slip mode based on the speed limit threshold, and perform different limp-slip modes and different speed limit controls according to the powertrain capacity and the consequences of the fault, which not only ensures that the powertrain fault can drive the vehicle to limp through other power components without fault, but also effectively ensures that the vehicle is safe and the protection components are not damaged, so that the vehicle can limp as much as possible, so that the vehicle can quickly reach the maintenance station for maintenance when it fails. Thereby, a technical problem in the related art that the limp speed limit value cannot be accurately matched with the fault, making it easy for the vehicle to cause additional losses to the faulty components or other powertrain components in the limp mode, posing a major safety hazard, is solved.

[0029] Before describing the limp home control method for a vehicle according to an embodiment of the present application, the vehicle structure involved in the embodiment of the present application is first described.

[0030] like Figure 1As shown, the structure involved in the embodiment of the present application may include a powertrain such as an engine, a generator, a front drive motor, a rear drive motor, a power battery, and a clutch. Each assembly is monitored and adjusted by a dedicated controller, such as the front drive motor and the rear drive motor are controlled by MCU (Microcontroller Unit, a control unit) 1, the generator is controlled by MCU2, the power battery is controlled by BMS (Battery Management System, battery management system), and the engine is controlled by EMS (Engine Management System, engine management system). Each assembly controller monitors and identifies its own fault status in real time, and sends it to HCU (Hybrid Control Unit, hybrid control unit) through CAN (Controller Area Network, controller local area network) line. HCU identifies the driver's operation, receives relevant component information and fault information sent by the engine, drive motor, generator, battery and other controllers, identifies the clutch and its own state and fault, sends control instructions to the relevant controllers, coordinates and controls all components to operate in an orderly manner, realizes functions such as hybrid drive and brake energy recovery, and ensures that the whole vehicle limps safely and reliably according to the driver's needs in the event of a fault.

[0031] Specifically, Figure 2 A flow chart of a vehicle limp home control method provided in an embodiment of the present application.

[0032] like Figure 2 As shown, the limp home control method of the vehicle comprises the following steps:

[0033] In step S201, a fault signal of a vehicle is received.

[0034] It is understandable that for dual-motor four-wheel drive hybrid models, there are powertrain components such as engines, drive motors, and clutches. Therefore, when a power component fails, in order to ensure the safe and reliable operation of the vehicle, the vehicle is equipped with multiple limp modes. Different component failures and different limp modes have different requirements for vehicle speed limits. This requires defining different speed limit values ​​according to different failures and different limp modes to ensure vehicle safety and protect components from damage while limping as much as possible. In the related technologies, either the focus is on smoothly controlling the maximum speed of the vehicle to improve the ride comfort of the entire vehicle; or the focus is on preventing the vehicle from further stopping and causing power interruption through vehicle speed limit (single threshold) in the event of a failure; or the focus is on ensuring the influence of the motor back electromotive force on the battery in the event of a failure through the design of the motor system itself.

[0035] Therefore, in order to solve the above problems, the embodiments of the present application can achieve limp home control by combining the vehicle's own fault state and powertrain capabilities.

[0036] First, the embodiment of the present application can receive the fault signal of the vehicle, for example, the front drive motor and the rear drive motor are controlled by MCU1, the generator is controlled by MCU2, the power battery is controlled by BMS, and the engine is controlled by EMS. Each assembly controller monitors and identifies its own fault status in real time and sends it to HCU via CAN line. HCU identifies the driver's operation, receives the relevant component information and fault information sent by the engine, drive motor, generator, battery and other controllers, and identifies the clutch and its own status and fault.

[0037] Optionally, in one embodiment of the present application, receiving at least one fault signal of a vehicle includes: obtaining current state parameters of the vehicle; determining at least one fault of the vehicle based on the current state parameters; screening out at least one assembly fault that meets preset fault consequence conditions from at least one fault, and generating a fault signal based on at least one assembly fault.

[0038] During the actual implementation process, the embodiments of the present application can obtain the current state parameters of the vehicle, that is, the state parameters obtained by various controllers, sensors, etc. distributed in the vehicle, and determine what faults have occurred in the vehicle based on the current state parameters, and determine whether these faults include assembly faults, such as engine failure, clutch failure, front drive motor failure, rear drive motor failure, generator failure and power battery failure, etc., and generate a fault signal according to the assembly fault when one of the above assembly faults is included.

[0039] It should be noted that the above assembly failure refers to a serious assembly failure, the consequence of which is that the vehicle cannot work (engine shutdown, clutch disengagement, motor torque is zero, high-voltage system cannot supply power). Minor failures of each assembly that result in capacity limitations are not within this scope, as the normal function has already taken into account the assembly capacity.

[0040] In step S202, a corresponding limp home mode is matched based on the fault type of the fault signal, and a power constraint of the vehicle is determined using theoretical power parameters of the vehicle, preset safety limit conditions and the fault signal.

[0041] As a possible implementation method, the embodiment of the present application can match the limp home mode according to the fault type of the fault electrical signal, and determine the capacity limitation of the vehicle's powertrain, i.e., the power constraint, according to the vehicle's theoretical power parameters, preset safety limit conditions and the fault signal.

[0042] Optionally, in one embodiment of the present application, matching the corresponding limp home mode based on the fault signal includes: determining the fault type of the vehicle based on the fault signal, and matching the corresponding limp home mode based on the fault type; if the fault type is an engine fault, determining the limp home mode to be a pure electric limp home mode; if the fault type is a clutch fault, determining whether the engine of the vehicle meets a preset shutdown condition based on the current state parameters of the vehicle; if the engine meets the preset shutdown condition, determining the limp home mode to be a pure electric limp home mode, otherwise, determining the limp home mode to be a series limp home mode; if the fault type is a clutch fault, determining whether the engine of the vehicle meets the preset shutdown condition based on the current state parameters of the vehicle; otherwise, determining the limp home mode to be a series limp home mode; If the front drive motor fails, the limp mode is determined to be the first hybrid limp mode; if the fault type is a rear drive motor failure, the limp mode is determined to be the second hybrid limp mode, wherein the driving sources of the first hybrid limp mode and the second hybrid limp mode are different; if the fault type is a generator failure, it is determined whether the current vehicle speed is greater than a preset speed threshold. If the current vehicle speed is greater than the preset speed threshold, the limp mode is determined to be the parallel limp mode, otherwise, the limp mode is determined to be the pure electric limp mode; if the fault type is a power battery failure, the limp mode is determined to be the safety mode.

[0043] For example, the matching between the fault type and the limp home mode according to the embodiment of the present application may be as shown in Table 1, wherein Table 1 is a comparison table between the fault type and the limp home mode.

[0044] Table 1

[0045]

[0046] The vehicle speed thresholds in Table 1 are reference values, and specific values ​​may be set accordingly by those skilled in the art according to actual conditions.

[0047] In step S203, a speed limit threshold of the vehicle is obtained by combining the power constraint and the limp home mode, and the vehicle is controlled to execute the limp home mode based on the speed limit threshold.

[0048] Furthermore, the embodiments of the present application may combine power constraints and the limp home mode to limit the vehicle speed, thereby limiting the vehicle speed while executing the corresponding limp home mode to avoid causing additional damage to the vehicle.

[0049] For example, assembly capacity limitations (power constraints) may include the following aspects:

[0050] Clutch speed difference limit: The maximum speed converted from the clutch speed difference limit is 130km / h, so the speed limit threshold of pure electric limp home is defined as 130km / h. In particular, when the clutch fails, if the engine start requirements are met, the vehicle controller controls the vehicle to limp home in series, which is not affected by the clutch speed difference, so there is no need to limit the speed in series limp home mode.

[0051] Front drive motor back electromotive force: The maximum vehicle speed is 62.8 km / h according to the back electromotive force characteristics of the front drive motor and the safety voltage limit of the power battery, so the speed limit threshold of the first hybrid limp mode is defined as 60 km / h;

[0052] Rear drive motor back electromotive force: The maximum vehicle speed is 83.4 km / h according to the back electromotive force characteristics of the rear drive motor and the safety voltage limit of the power battery, so the speed limit threshold of the second hybrid limp mode is defined as 80 km / h;

[0053] Generator back EMF: The maximum vehicle speed calculated based on the generator back EMF characteristics and the power battery safety voltage limit is 102km / h, so the maximum speed limit threshold of the parallel limp home mode is defined as 100km / h.

[0054] Special note: when the generator fails and the vehicle speed is lower than 60km / h, the vehicle controller controls the vehicle to exit the parallel limp home mode and enter the pure electric limp home mode. At this time, the maximum speed limit threshold is still 130km / h.

[0055] It should be noted that the above values ​​are all reference values, and the specific values ​​can be set accordingly by technical personnel in this field according to different vehicle models.

[0056] Optionally, in one embodiment of the present application, controlling the vehicle to execute the limp home mode includes: when the limp home mode is a pure electric limp home mode, controlling the vehicle's engine to stop, controlling the vehicle's clutch to disengage, and utilizing the vehicle's front drive motor and rear drive motor to drive the vehicle; when the limp home mode is a series limp home mode, controlling the vehicle's clutch to disengage, utilizing the vehicle's engine to generate electricity, and utilizing the vehicle's front drive motor and rear drive motor to drive the vehicle; when the limp home mode is a first hybrid limp home mode, utilizing the rear drive motor to drive the vehicle; when the limp home mode is a second hybrid limp home mode, utilizing the front drive motor to drive the vehicle; when the limp home mode is a parallel limp home mode, controlling the vehicle's clutch to engage, utilizing the engine and drive motor to drive the vehicle; and when the limp home mode is a safety mode, interrupting vehicle power.

[0057] The control strategies corresponding to different limp modes may be shown in Table 2. Table 2 is a comparison table of limp modes and control strategies.

[0058] Table 2

[0059]

[0060] Optionally, in one embodiment of the present application, a speed limit threshold of the vehicle is obtained in combination with the power constraint and the limp home mode, including: obtaining the number of assembly faults of the vehicle; if the number is one, matching the limp home mode based on a fault signal corresponding to the assembly fault, and obtaining the speed limit threshold in combination with the power constraint and the limp home mode; if the number is not one, obtaining an initial speed limit threshold corresponding to each assembly fault, and using the minimum value of the initial speed limit thresholds as the speed limit threshold.

[0061] As a possible implementation method, the embodiment of the present application can obtain the final speed limit threshold value by taking the minimum speed defined by various limp home modes through the vehicle controller, and perform speed limit stability control according to the limit. Since there will be multiple speed threshold values ​​when multiple faults occur, the embodiment of the present application can limit according to the minimum speed threshold value, so as to ensure the safety of the vehicle and assembly components.

[0062] Combination Figure 3 As shown, the working principle of the vehicle limp control method according to an embodiment of the present application is described in detail with an embodiment.

[0063] like Figure 3 As shown, the embodiment of the present application may include the following steps:

[0064] Step S301: The component controller monitors its own faults and feeds back to the vehicle controller.

[0065] Among them, assembly failures may include: engine failure, clutch failure, front drive motor failure, rear drive motor failure, generator failure and power battery failure. The failure here mainly refers to serious assembly failure, and the consequence of the failure is that the machine cannot work (engine shutdown, clutch separation, motor torque is zero, high-voltage system cannot supply power). The capacity limitation caused by minor failures of each assembly is not within this scope, because the normal function has taken into account the assembly capacity.

[0066] Step S302: the vehicle controller enters the corresponding limp home mode according to the fault type.

[0067] Specifically, it can be combined with Table 1 and Table 2, wherein the working condition impact column in Table 1 and Table 2 means that there will be different fault handling methods under different working conditions and different limp home modes will be entered.

[0068] Step S303: The vehicle controller sets different speed limit thresholds.

[0069] Among them, the limp mode mainly considers the following aspects:

[0070] The parallel limp mode limit is affected by the vehicle speed. When the vehicle speed is lower than 60km / h, the clutch cannot ensure the reliability of engagement, so the parallel limp mode speed must be higher than 60km / h.

[0071] In safety mode, the vehicle cannot run, the power is cut off, and it coasts to a stop. There is no need to limit the speed at this time.

[0072] In addition, assembly capacity limitations (power constraints) can include the following aspects:

[0073] Clutch speed difference limit: The maximum speed converted from the clutch speed difference limit is 130km / h, so the speed limit threshold of pure electric limp home is defined as 130km / h. In particular, when the clutch fails, if the engine start requirements are met, the vehicle controller controls the vehicle to limp home in series, which is not affected by the clutch speed difference, so there is no need to limit the speed in series limp home mode.

[0074] Front drive motor back electromotive force: The maximum vehicle speed is 62.8 km / h according to the back electromotive force characteristics of the front drive motor and the safety voltage limit of the power battery, so the speed limit threshold of the first hybrid limp mode is defined as 60 km / h;

[0075] Rear drive motor back electromotive force: The maximum vehicle speed is 83.4 km / h according to the back electromotive force characteristics of the rear drive motor and the safety voltage limit of the power battery, so the speed limit threshold of the second hybrid limp mode is defined as 80 km / h;

[0076] Generator back EMF: The maximum vehicle speed calculated based on the generator back EMF characteristics and the power battery safety voltage limit is 102km / h, so the maximum speed limit threshold of the parallel limp home mode is defined as 100km / h.

[0077] Special note: when the generator fails and the vehicle speed is lower than 60km / h, the vehicle controller controls the vehicle to exit the parallel limp home mode and enter the pure electric limp home mode. At this time, the maximum speed limit threshold is still 130km / h.

[0078] It should be noted that the above values ​​are all reference values, and the specific values ​​can be set accordingly by technical personnel in this field according to different vehicle models.

[0079] Step S304: The vehicle controller performs vehicle speed limit processing according to the vehicle speed threshold.

[0080] In the embodiment of the present application, the vehicle controller can obtain the final speed limit threshold value by taking the smallest speed defined by various limp home modes, and perform speed limit stability control according to the limit. Since there will be multiple speed threshold values ​​when multiple faults occur, the embodiment of the present application can limit according to the minimum speed threshold value, so as to ensure the safety of the vehicle and assembly components.

[0081] According to the limp-behind control method of the vehicle proposed in the embodiment of the present application, the corresponding limp-behind mode can be matched based on the fault signal of the vehicle; the fault type of the fault signal can be matched, and the power constraint of the vehicle can be determined by using the theoretical power parameters of the vehicle, the preset safety limit conditions and the fault signal, so as to obtain the vehicle speed limit threshold value by combining the power constraint and the limp-behind mode, and the vehicle can be controlled to execute the limp-behind mode based on the speed limit threshold value, and different limp-behind modes and different speed limit controls can be performed according to the powertrain capacity and the consequences of the fault, which not only ensures that the vehicle can be driven to limp through other power components without faults in case of powertrain faults, but also effectively ensures that the vehicle can limp as much as possible while protecting the components from damage, so that the vehicle can quickly reach the maintenance station for maintenance when it fails. Therefore, the technical problem in the related art that the limp-behind speed limit value cannot be accurately matched with the fault, so that the vehicle is prone to cause additional losses to the faulty components or other powertrain components in the limp-behind mode, and there is a large safety hazard is solved.

[0082] Next, the limp home control device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0083] Figure 4 It is a block diagram of a limp home control device for a vehicle according to an embodiment of the present application.

[0084] like Figure 4 As shown, the limp control device 10 of the vehicle includes: a receiving module 100 , a matching module 200 and a control module 300 .

[0085] Specifically, the receiving module 100 is used to receive a fault signal of the vehicle.

[0086] The matching module 200 is used to match the corresponding limp home mode based on the fault type of the fault signal, and determine the power constraint of the vehicle by using the theoretical power parameters of the vehicle, the preset safety limit condition and the fault signal.

[0087] The control module 300 is used to obtain a vehicle speed limit threshold value of the vehicle by combining the power constraint and the limp home mode, and control the vehicle to execute the limp home mode based on the vehicle speed limit threshold value.

[0088] Optionally, in an embodiment of the present application, the matching module 200 includes: a first matching unit, a first determining unit, a second determining unit, a third determining unit, a fourth determining unit, a fifth determining unit and a sixth determining unit.

[0089] The first matching unit is used to determine the fault type of the vehicle based on the fault signal, and match the corresponding limp home mode based on the fault type.

[0090] The first determining unit is used to determine that the limp home mode is the pure electric limp home mode when the fault type is an engine fault.

[0091] The second determination unit is used to determine whether the engine of the vehicle meets the preset shutdown conditions based on the current state parameters of the vehicle when the fault type is a clutch fault. If the engine meets the preset shutdown conditions, the limp mode is determined to be the pure electric limp mode; otherwise, the limp mode is determined to be the series limp mode.

[0092] The third determining unit is configured to determine that the limp home mode is the first hybrid limp home mode when the fault type is a front drive motor fault.

[0093] The fourth determining unit is configured to determine, when the fault type is a rear drive motor fault, that the limp mode is a second hybrid limp mode, wherein the first hybrid limp mode and the second hybrid limp mode have different driving sources.

[0094] The fifth determination unit is used to determine whether the current vehicle speed is greater than a preset speed threshold when the fault type is a generator fault. If the current vehicle speed is greater than the preset speed threshold, the limp mode is determined to be the parallel limp mode; otherwise, the limp mode is determined to be the pure electric limp mode.

[0095] The sixth determining unit is used to determine that the limp home mode is a safety mode when the fault type is a power battery fault.

[0096] Optionally, in one embodiment of the present application, the control module 300 includes: a first control unit, a second control unit, a third control unit, a fourth control unit, a fifth control unit and a sixth control unit.

[0097] Among them, the first control unit is used to control the vehicle's engine to stop, control the vehicle's clutch to disengage, and use the vehicle's front drive motor and rear drive motor to drive the vehicle when the limp home mode is a pure electric limp home mode.

[0098] The second control unit is used to control the clutch of the vehicle to be disengaged when the limp home mode is the series limp home mode, to generate electricity using the engine of the vehicle, and to drive the vehicle using the front drive motor and the rear drive motor of the vehicle.

[0099] The third control unit is used to drive the vehicle using the rear drive motor when the limp home mode is the first hybrid limp home mode.

[0100] The fourth control unit is used to drive the vehicle by using the front drive motor when the limp mode is the second hybrid limp mode.

[0101] The fifth control unit is used to control the clutch of the vehicle to engage and drive the vehicle using the engine and the drive motor when the limp home mode is the parallel limp home mode.

[0102] The sixth control unit is used for interrupting the vehicle power when the limp home mode is a safety mode.

[0103] Optionally, in one embodiment of the present application, the receiving module 100 includes: a first acquiring unit, a judging unit and a generating unit.

[0104] Wherein, the first acquisition unit is used to acquire the current state parameters of the vehicle.

[0105] A judgment unit is used to judge at least one fault of the vehicle based on current state parameters.

[0106] The generating unit is used to select at least one assembly fault that meets a preset fault consequence condition from at least one fault, and generate a fault signal based on the at least one assembly fault.

[0107] Optionally, in one embodiment of the present application, the control module 300 includes: a second acquisition unit, a second matching unit and a third acquisition unit.

[0108] The second acquisition unit is used to acquire the number of assembly failures of the vehicle.

[0109] The second matching unit is used to match the limp home mode based on the fault signal corresponding to the assembly fault when the number is one, and obtain the vehicle speed limit threshold value in combination with the power constraint and the limp home mode.

[0110] The third acquisition unit is used to acquire the initial vehicle speed limit threshold corresponding to each assembly fault when the number is not one, and use the minimum value of the initial vehicle speed limit threshold as the vehicle speed limit threshold.

[0111] It should be noted that the aforementioned explanation of the embodiment of the vehicle limp home control method is also applicable to the vehicle limp home control device of this embodiment, which will not be elaborated herein.

[0112] According to the limp-behind control device of the vehicle proposed in the embodiment of the present application, the corresponding limp-behind mode can be matched based on the fault signal of the vehicle and the fault type of the fault signal, and the power constraint of the vehicle can be determined by using the theoretical power parameters of the vehicle, the preset safety limit conditions and the fault signal, so as to obtain the vehicle speed limit threshold value by combining the power constraint and the limp-behind mode, and the vehicle can be controlled to execute the limp-behind mode based on the speed limit threshold value, and different limp-behind modes and different speed limit controls can be performed according to the powertrain capacity and the consequences of the fault, which not only ensures that the vehicle can be driven to limp through other power components without faults in case of powertrain faults, but also effectively ensures that the vehicle can limp as much as possible while protecting the components from damage, so that the vehicle can quickly reach the maintenance station for maintenance when it fails. Therefore, the technical problem in the related art that the limp-behind speed limit value cannot be accurately matched with the fault, so that the vehicle is prone to cause additional losses to the faulty components or other powertrain components in the limp-behind mode, and there is a large safety hazard is solved.

[0113] Figure 5 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0114] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0115] When the processor 502 executes the program, the vehicle limp home control method provided in the above embodiment is implemented.

[0116] Furthermore, the vehicle also includes:

[0117] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0118] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0119] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0120] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0121] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0122] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0123] The present embodiment further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned limp home control method for a vehicle is implemented.

[0124] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the limp home control method for a vehicle provided by an embodiment of the present invention.

[0125] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0126] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0127] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0128] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), 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 disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0129] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0130] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0131] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0132] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A limp home control method for a vehicle, characterized in that: The following steps are involved: Receiving a fault signal of a vehicle; matching a corresponding limp home mode based on a fault type of the fault signal, and determining a power constraint of the vehicle using a theoretical power parameter of the vehicle, a preset safety limit condition and the fault signal; A speed limit threshold of the vehicle is obtained by combining the power constraint and the limp home mode, and the vehicle is controlled to execute the limp home mode based on the speed limit threshold.

2. The method according to claim 1, characterized in that The matching of the corresponding limp home mode based on the fault signal includes: determining a fault type of the vehicle based on the fault signal, and matching a corresponding limp home mode based on the fault type; If the fault type is an engine fault, determining that the limp home mode is a pure electric limp home mode; If the fault type is a clutch fault, determining whether the engine of the vehicle meets a preset shutdown condition based on the current state parameters of the vehicle, and if the engine meets the preset shutdown condition, determining that the limp home mode is the pure electric limp home mode, otherwise, determining that the limp home mode is the series limp home mode; If the fault type is a front drive motor fault, determining that the limp home mode is a first hybrid limp home mode; If the fault type is a rear drive motor fault, determining that the limp home mode is a second hybrid limp home mode, wherein the driving sources of the first hybrid limp home mode and the second hybrid limp home mode are different; If the fault type is a generator fault, determining whether the current vehicle speed is greater than a preset speed threshold, if the current vehicle speed is greater than the preset speed threshold, determining that the limp home mode is a parallel limp home mode, otherwise, determining that the limp home mode is the pure electric limp home mode; If the fault type is a power battery fault, the limp home mode is determined to be a safety mode.

3. The method according to claim 2, characterized in that The controlling the vehicle to execute the limp home mode includes: When the limp home mode is the pure electric limp home mode, controlling the engine of the vehicle to stop, controlling the clutch of the vehicle to disengage, and utilizing the front drive motor and the rear drive motor of the vehicle to drive the vehicle; When the limp home mode is the series limp home mode, controlling the clutch of the vehicle to be disengaged, using the engine of the vehicle to generate electricity, and using the front drive motor and the rear drive motor of the vehicle to drive the vehicle; When the limp home mode is the first hybrid limp home mode, the vehicle is driven by the rear drive motor; When the limp home mode is the second hybrid limp home mode, the front drive motor is used to drive the vehicle; When the limp home mode is the parallel limp home mode, controlling the clutch of the vehicle to engage, and using the engine and the drive motor to drive the vehicle; In case the limp home mode is a safe mode, vehicle power is interrupted.

4. The method according to claim 1, characterized in that: The receiving at least one fault signal of the vehicle comprises: Obtaining current state parameters of the vehicle; Determining at least one fault of the vehicle based on the current state parameter; At least one assembly fault that meets a preset fault consequence condition is screened out from the at least one fault, and the fault signal is generated based on the at least one assembly fault.

5. The method according to claim 4, characterized in that The combining the power constraint and the limp home mode to obtain the vehicle speed limit threshold value includes: Obtaining the number of assembly failures of the vehicle; If the number is one, matching the limp home mode based on the fault signal corresponding to the assembly fault, and obtaining the vehicle speed limit threshold value in combination with the power constraint and the limp home mode; If the number is not one, the initial vehicle speed limit threshold corresponding to each assembly fault is obtained, and the minimum value of the initial vehicle speed limit thresholds is used as the vehicle speed limit threshold.

6. A limp control device for a vehicle, characterized in that: include: A receiving module, used for receiving a fault signal of a vehicle; a matching module, configured to match a corresponding limp home mode based on a fault type of the fault signal, and determine a power constraint of the vehicle using a theoretical power parameter of the vehicle, a preset safety constraint condition and the fault signal; A control module is configured to obtain a speed limit threshold of the vehicle by combining the power constraint and the limp home mode, and control the vehicle to execute the limp home mode based on the speed limit threshold.

7. The device according to claim 6, characterized in that The matching module comprises: a matching unit, configured to determine a fault type of the vehicle based on the fault signal, and match a corresponding limp home mode based on the fault type; a first determining unit, configured to determine, when the fault type is an engine fault, that the limp home mode is a pure electric limp home mode; a second determining unit, configured to determine, when the fault type is a clutch fault, whether the engine of the vehicle satisfies a preset shutdown condition based on a current state parameter of the vehicle, and if the engine satisfies the preset shutdown condition, determine that the limp home mode is the pure electric limp home mode; otherwise, determine that the limp home mode is the series limp home mode; a third determining unit, configured to determine, when the fault type is a front drive motor fault, that the limp home mode is a first hybrid limp home mode; a fourth determining unit, configured to determine, when the fault type is a rear drive motor fault, that the limp home mode is a second hybrid limp home mode, wherein the first hybrid limp home mode and the second hybrid limp home mode have different driving sources; a fifth determining unit, configured to determine, when the fault type is a generator fault, whether a current vehicle speed of the vehicle is greater than a preset speed threshold, and if the current vehicle speed is greater than the preset speed threshold, determine that the limp home mode is the parallel limp home mode; otherwise, determine that the limp home mode is the pure electric limp home mode; The sixth determining unit is configured to determine that the limp home mode is a safety mode when the fault type is a power battery fault.

8. The device according to claim 7, characterized in that The control module comprises: a first control unit, configured to control the engine of the vehicle to stop, control the clutch of the vehicle to disengage, and use the front drive motor and the rear drive motor of the vehicle to drive the vehicle when the limp home mode is the pure electric limp home mode; a second control unit, configured to control the clutch of the vehicle to be disengaged, generate electricity using the engine of the vehicle, and drive the vehicle using the front drive motor and the rear drive motor of the vehicle when the limp home mode is the series limp home mode; a third control unit, configured to drive the vehicle using the rear drive motor when the limp home mode is the first hybrid limp home mode; a fourth control unit, configured to drive the vehicle using the front drive motor when the limp home mode is the second hybrid limp home mode; a fifth control unit, configured to control the clutch of the vehicle to engage and drive the vehicle using the engine and the drive motor when the limp home mode is the parallel limp home mode; A sixth control unit is used for interrupting the vehicle power when the limp home mode is a safety mode.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the limp home control method for a vehicle as claimed in any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the limp home control method for a vehicle as described in any one of claims 1 to 5.

Images