Distributed driving system architecture, motor control method, storage medium and vehicle

Abstract

The invention provides a distributed driving system architecture, a motor control method, a storage medium and a vehicle, the distributed driving system architecture comprises a first motor, a second motor and an electric drive control unit, and the electric drive control unit is electrically connected with the first motor and the second motor. The electric drive control unit comprises a first electric drive main control chip and a first motor drive circuit, and the first electric drive main control chip and the first motor drive circuit are decoupled; the first electric drive main control chip element comprises a first CPU kernel, a second CPU kernel, a third CPU kernel and a fourth CPU kernel, the first CPU kernel is used for executing a magnetic field vector control task of a first motor, the second CPU kernel is used for executing a magnetic field vector control task of a second motor, and the third CPU kernel is used for executing a magnetic field vector control task of a third motor; the third CPU kernel is used for executing a low-speed logic task of the first motor and a low-speed logic task of the second motor, and the fourth CPU kernel is used for executing basic software of the first motor and basic software of the second motor. The method has the advantages of low cost and the like.

Description

Technical Field

[0001] The present application relates to the field of motor drive, and more specifically, to a distributed drive system architecture, a motor control method, a storage medium and a vehicle. Background Art

[0002] Distributed drive is to integrate multiple motors near the wheels or inside the rims to transmit power to the corresponding wheels. It has outstanding advantages such as short drive transmission chain, high transmission efficiency and compact structure. The distributed drive motor is not only the vehicle information unit, but also a fast-response control execution unit. It is easy to realize a variety of dynamic control functions by independently controlling the motor drive / brake torque. At the same time, the control method of the car has gradually developed from a single braking system control and drive system control to a coordinated control direction of integrated braking and driving. The four motors carried by the distributed drive vehicle can be driven independently. In the current technical solution, the motor and DCU (electric drive control unit) are mostly designed as independent integration, and each DCU controls one motor separately.

[0003] In terms of system architecture design, the electric drive control unit is generally divided into three types of tasks: A: basic software, B: fast FOC task (magnetic field vector control), C: slow logic, among which task B: magnetic field vector algorithm has high requirements on computing power, and its general execution cycle is about 100us; tasks A and C have slower task cycles, generally 1ms and 10ms.

[0004] The current mainstream solution in the industry is to use a three-core chip, and the tasks of each core are assigned as follows: CPU0: basic software, CPU1: fast FOC algorithm, CPU2: slow logic. The above architecture has the following shortcomings:

[0005] 1) Each motor requires a separate main control chip, which is costly;

[0006] 2) Four electric drive control units in the same network topology may lead to a high bus load rate;

[0007] 3) There are repeated interactive signals between the VCU and each electric drive control unit, which makes the software design complicated;

[0008] 4) Since the left and right motors are independent of each other, there may be inconsistent states (for example, one motor is in a fault state while the other is still in torque mode), which will result in a speed difference and endanger the safety of the entire vehicle. Summary of the invention

[0009] The purpose of the embodiments of the present application is to provide a distributed drive system architecture, a motor control method, a storage medium and a vehicle, so as to at least reduce the cost of the distributed drive system.

[0010] In a first aspect, the present invention provides a distributed drive system architecture, the distributed drive system architecture comprising a first motor, a second motor and an electric drive control unit, the electric drive control unit is electrically connected to the first motor and the second motor, the electric drive control unit comprises a first electric drive main control chip and a first motor drive circuit, and the first electric drive main control chip and the first motor drive circuit are decoupled;

[0011] The first electric drive main control chip element includes a first CPU core, a second CPU core, a third CPU core and a fourth CPU core, wherein the first CPU core is used to execute the magnetic field vector control task of the first motor, the second CPU core is used to execute the magnetic field vector control task of the second motor, the third CPU core is used to execute the slow logic task of the first motor and the slow logic task of the second motor, and the fourth CPU core is used to execute the basic software of the first motor and the basic software of the second motor.

[0012] The third CPU core of the architecture of the first aspect of the present application can execute the slow logic task of the first motor and the slow logic task of the second motor, and the fourth CPU core is used to execute the basic software of the first motor and the basic software of the second motor. Compared with the prior art, there is no need to independently occupy a CPU core for the slow logic task of the second motor and the slow logic task of the first motor, and the basic software of the second motor and the basic task of the first motor do not need to independently occupy a CPU core. In this way, compared with the prior art that requires 6 CPU cores, the present application only requires 4 CPU cores, thereby reducing chip costs.

[0013] In an optional embodiment, a third motor and a third motor and a fourth motor are further included, and the electric drive control unit further includes a second electric drive main control chip and a second motor drive circuit, and the second electric drive main control chip and the second motor drive circuit are decoupled;

[0014] The second electric drive main control chip includes a fifth CPU core, a sixth CPU core, a seventh CPU core and an eighth CPU core, wherein the fifth CPU core is used to execute the magnetic field vector control task of the third motor, the sixth CPU core is used to execute the magnetic field vector control task of the fourth motor, the seventh CPU core is used to execute the slow logic task of the third motor and the slow logic task of the fourth motor, and the eighth CPU core is used to execute the basic software of the third motor and the basic software of the fourth motor.

[0015] This optional implementation can further reduce chip usage costs by having the third motor and the fourth motor share the second electric drive main control chip, based on the first motor and the second motor sharing the first electric drive main control chip.

[0016] In an optional implementation, the slow logic task includes a state machine and a fault diagnosis task, wherein the diagnosis result of the fault diagnosis task is the input of the state machine, so that the state machine uniformly schedules the left and right motors based on the diagnosis result.

[0017] This optional implementation can keep the left and right motors in consistent states, avoid inconsistent states or responses of the two motors, and cause excessive speed differences, thereby improving the safety of the entire vehicle.

[0018] In an optional embodiment, a vehicle control unit is further included, and the vehicle control unit is electrically connected to the electric drive control unit.

[0019] In an optional implementation, the first electric drive main control chip and the second electric drive main control chip are in the same CAN network as the vehicle control unit via a CAN bus.

[0020] In an optional embodiment, the torque control function of the vehicle control unit is integrated into the first electric drive main control chip or the second electric drive main control chip.

[0021] This optional implementation manner can enable the first electric drive main control chip and the second electric drive main control chip to be in the same CAN network as the vehicle control unit through the CAN bus, and compared with the prior art, the electric drive main control chips of the present application are reduced from 4 to 2, and thus the electric drive main control chips that need to be connected to the bus communication network are reduced from 4 to 2, thereby avoiding repeated interaction of some signals in the prior design, reducing the number of interactive signals, and reducing the bus load rate.

[0022] In an optional implementation, the fault diagnosis task is used to perform signal diagnosis and motor operating status diagnosis based on the collected signal to generate the diagnosis result.

[0023] In a second aspect, the present invention provides a motor control method, which is applied in a distributed drive system architecture as described in any one of the above embodiments, and the method includes:

[0024] Acquire a sampling signal of the first motor and a sampling signal related to the second motor;

[0025] Determine a state diagnosis result of the first motor based on a sampling signal of the first motor, and determine a state diagnosis result of the second motor based on a sampling signal related to the second motor;

[0026] The state diagnosis result of the first motor and the state diagnosis result of the second motor are uniformly scheduled based on the state so that the state of the first motor is consistent with the state of the second motor.

[0027] The method of the embodiment of the present application obtains the sampling signal of the first motor and the sampling signal related to the second motor, and then can judge the state diagnosis result of the first motor based on the sampling signal of the first motor, and judge the state diagnosis result of the second motor based on the sampling signal related to the second motor, so that the state diagnosis result of the first motor and the state diagnosis result of the second motor can be uniformly scheduled based on the state, so that the state of the first motor is consistent with the state of the second motor, avoiding inconsistent states or responses of the two motors, resulting in excessive speed difference, and improving the safety of the whole vehicle. In the third aspect, the present invention provides a storage medium, the storage medium stores a computer program, and the computer program is executed by a processor as the motor control method described in the aforementioned embodiment.

[0028] The storage medium of the embodiment of the present application can obtain the sampling signal of the first motor and the sampling signal related to the second motor by executing the motor control method, and then can judge the state diagnosis result of the first motor based on the sampling signal of the first motor, and judge the state diagnosis result of the second motor based on the sampling signal related to the second motor, so that the state diagnosis result of the first motor and the state diagnosis result of the second motor can be uniformly scheduled based on the state, so that the state of the first motor is consistent with the state of the second motor, avoiding inconsistent states or responses of the two motors, resulting in excessive speed difference, and improving the safety of the whole vehicle.

[0029] In a fourth aspect, the present invention provides a vehicle, comprising a distributed drive system architecture as described in any one of the aforementioned embodiments.

[0030] The vehicle of the present application has the advantages of low cost, high safety, low bus load rate, etc. by setting up the distributed drive system architecture mentioned above in the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 is a schematic diagram of a distributed drive system architecture disclosed in an embodiment of the present application;

[0033] Figure 2 is a schematic diagram of another distributed drive system architecture disclosed in an embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of a CAN network of a vehicle control unit disclosed in an embodiment of the present application;

[0035] Figure 4 It is a flow chart of a motor control method disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0037] Embodiment 1

[0038] The embodiment of the present application provides a distributed drive system architecture, the distributed drive system architecture includes a first motor, a second motor and an electric drive control unit, the electric drive control unit is electrically connected to the first motor and the second motor, the electric drive control unit includes a first electric drive main control chip and a first motor drive circuit, and the first electric drive main control chip and the first motor drive circuit are decoupled;

[0039] The first electric drive main control chip element includes a first CPU core, a second CPU core, a third CPU core and a fourth CPU core, wherein the first CPU core is used to execute the magnetic field vector control task of the first motor, the second CPU core is used to execute the magnetic field vector control task of the second motor, the third CPU core is used to execute the slow logic task of the first motor and the slow logic task of the second motor, and the fourth CPU core is used to execute the basic software of the first motor and the basic software of the second motor.

[0040] The third CPU core of the architecture of the embodiment of the present application can execute the slow logic task of the first motor and the slow logic task of the second motor, and the fourth CPU core is used to execute the basic software of the first motor and the basic software of the second motor. Compared with the prior art, there is no need to independently occupy a CPU core for the slow logic task of the second motor and the slow logic task of the first motor, and the basic software of the second motor and the basic task of the first motor do not need to independently occupy a CPU core. In this way, compared with the prior art that requires 6 CPU cores, the present application only needs 4 CPU cores, thereby reducing the chip cost.

[0041] For an example in the present application, please refer to Figure 1 , Figure 1 Schematic diagram of a distributed drive system architecture disclosed in an embodiment of the present application. Figure 1As shown, the architecture includes motor 1 and motor 2, wherein motor 1 is the first motor and motor 2 is the second motor. Further, the portion in the dotted box represents the first electric drive main control chip, which includes 4 CPU cores, namely the first CPU core, the second CPU core, the third CPU core and the fourth CPU core. The first CPU core is used to execute the FOC control of motor 1, the second CPU core executes the FOC control of motor 2, and the third CPU core is used to execute the slow logic tasks of motor 1 and the slow logic tasks of motor 2, that is, the slow logic tasks of motor 1 and the slow logic tasks of motor 2 are both executed by the third CPU core, and there is no need to occupy a CPU core separately. Further, the fourth core is used to execute the basic software of motor 1 and the basic software of motor 2, wherein the basic software includes RTE software and BSW software.

[0042] In the embodiment of the present application, FOC control refers to a magnetic field vector control task, wherein the magnetic field vector control task refers to accurately controlling the direction and magnitude of the motor magnetic field to achieve accurate control of parameters such as motor torque, speed and position. The magnetic field vector control task may include a derating protection task.

[0043] In the embodiment of the present application, a slow logic task refers to a task with low response requirements, and the task generally has a slow task cycle.

[0044] In the embodiment of the present application, the distributed drive system architecture can be applied to a two-wheel drive system, wherein the two-wheel drive system includes a first motor and a second motor, wherein the first motor is connected to the front left wheel to drive the front left wheel to rotate, and the second motor is connected to the front right wheel to drive the front right wheel to rotate. Alternatively, the first motor is connected to the rear left wheel to drive the rear left wheel to rotate, and the second motor is connected to the rear right wheel to drive the rear right wheel to rotate.

[0045] In the embodiment of the present application, the distributed drive system architecture can be applied to a four-wheel drive system, that is, it includes a first motor, a second motor, a third motor and a fourth motor, wherein the first motor, the second motor, the third motor and the fourth motor are respectively used to drive the four vehicle rotations of the vehicle. It should be noted that the distributed drive system architecture is applicable to the four-wheel drive system, see the following description.

[0046] In the embodiment of the present application, the first motor driving circuit may be used to form a driving flow according to the control instruction output by the first electric drive main control chip, thereby controlling the motor based on the driving flow, wherein the driving flow may refer to an instruction that can be executed by the motor, which is generated based on the idling instruction output by the first electric drive main control chip. Figure 1 As shown, motor 1 corresponds to drive flow 1, and motor 2 corresponds to drive flow 3.

[0047] In the embodiment of the present application, the first electric drive main control chip and the first motor drive circuit are decoupled, so that the division of the execution tasks of the first electric drive main control chip does not affect the output drive flow of the first motor drive circuit. For example, in some scenarios, if the first motor drive circuit is coupled with the first electric drive main control chip, the functional architecture of the first electric drive main control chip will be re-divided, which will affect the normal output drive flow of the first motor drive circuit. In comparison, by decoupling the first electric drive main control chip and the first motor drive circuit, the functional architecture of the first electric drive main control chip will be re-divided, which will not affect the output drive flow of the first motor drive circuit.

[0048] In the embodiment of the present application, by reducing the number of CPU cores, the number of electric drive main control chips required for the drive system can be reduced. For example, compared with the prior art, the prior art sets an electric drive main control chip for each motor. If there are 4 motors, each motor needs to perform 4 tasks, then 16 CPU cores are required, that is, 4 4-core electric drive main control chips are required. In the embodiment of the present application, two motors only need one 4-core electric drive main control chip, and 4 motors only need 2 4-core electric drive main control chips. Compared with the prior art that requires 4 4-core electric drive main control chips, the cost of the embodiment of the present application is lower.

[0049] In the embodiment of the present application, as an optional implementation, the system architecture further includes a third motor and a third motor and a fourth motor, the electric drive control unit further includes a second electric drive main control chip and a second motor drive circuit, and the second electric drive main control chip and the second motor drive circuit are decoupled;

[0050] The second electric drive main control chip includes a fifth CPU core, a sixth CPU core, a seventh CPU core and an eighth CPU core, wherein the fifth CPU core is used to execute the magnetic field vector control task of the third motor, the sixth CPU core is used to execute the magnetic field vector control task of the fourth motor, the seventh CPU core is used to execute the slow logic task of the third motor and the slow logic task of the fourth motor, and the eighth CPU core is used to execute the basic software of the third motor and the basic software of the fourth motor.

[0051] This optional implementation is applicable to a four-wheel drive system, wherein the first motor is the front right motor, the second motor is the front left motor, the third motor may be the rear left motor, the fourth motor may be the rear right motor, the first motor and the second motor share a first electric drive main control chip, and the third motor and the fourth motor share a second electric drive main control chip. This optional implementation can further reduce the chip usage cost by having the third motor and the fourth motor share the second electric drive main control chip, based on the first motor and the second motor sharing the first electric drive main control chip.

[0052] In an embodiment of the present application, as an optional implementation, the slow logic task includes a state machine and a fault diagnosis task, wherein the diagnosis result of the fault diagnosis task is the input of the state machine, so that the state machine uniformly schedules the left and right motors based on the diagnosis result.

[0053] For the above optional implementation, the state machine is used to implement state scheduling, the purpose of which is to keep the two motors that share a common electric drive main control chip in the same state. Figure 2 , Figure 2 Schematic diagram of another distributed drive system architecture disclosed in the embodiment of the present application. Figure 2 As shown, motor 1 and motor 2 maintain consistent states through state scheduling, avoiding inconsistent states or responses of the two motors, which would lead to excessive speed difference, thereby improving the safety of the entire vehicle.

[0054] In the embodiments of the present application, Figure 2 As shown, the distributed drive system architecture also includes a vehicle control unit, wherein the vehicle control unit is electrically connected to the electric drive control unit, and the vehicle control unit can output control instructions to the electric drive control unit according to overall parameters.

[0055] In the embodiments of this application, see Figure 3 , Figure 3 1 is a schematic diagram of a CAN network of a vehicle control unit disclosed in an embodiment of the present application. Figure 3 As shown, the first electric drive main control chip and the second electric drive main control chip are in the same CAN network as the vehicle control unit through the CAN bus.

[0056] According to the embodiment of the present application, the first electric drive main control chip and the second electric drive main control chip are in the same CAN network with the vehicle control unit through the CAN bus, and compared with the prior art, the electric drive main control chips of the present application are reduced from 4 to 2, and thus the electric drive main control chips that need to be connected to the bus communication network are reduced from 4 to 2, thereby avoiding repeated interaction of some signals in the prior design, reducing the number of interactive signals, and reducing the bus load rate.

[0057] In an embodiment of the present application, as an optional implementation, the torque control function of the vehicle control unit is integrated into the first electric drive main control chip or the second electric drive main control chip.

[0058] With respect to the above optional implementation manner, by integrating the torque control function of the vehicle control unit into the first electric drive main control chip or the second electric drive main control chip, the computational load of the vehicle control unit can be reduced.

[0059] In an embodiment of the present application, as an optional implementation, the fault diagnosis task is used to perform signal diagnosis and motor operating status diagnosis based on the collected signal to generate a diagnosis result.

[0060] Embodiment 2

[0061] See also Figure 4 , Figure 4 1 is a flow chart of a motor control method disclosed in an embodiment of the present application, wherein the method is applied in a distributed drive system architecture as in any one of the aforementioned implementations.

[0062] like Figure 4 As shown, the method of the embodiment of the present application includes the following steps:

[0063] 101. Acquire a sampling signal of a first motor and a sampling signal related to a second motor;

[0064] 102. Determine a state diagnosis result of the first motor based on a sampling signal of the first motor, and determine a state diagnosis result of the second motor based on a sampling signal related to the second motor;

[0065] 103. Based on the status and unified scheduling, a status diagnosis result of the first motor and a status diagnosis result of the second motor are performed to make the status of the first motor consistent with the status of the second motor.

[0066] The method of the embodiment of the present application obtains the sampling signal of the first motor and the sampling signal related to the second motor, and then determines the state diagnosis result of the first motor based on the sampling signal of the first motor, and determines the state diagnosis result of the second motor based on the sampling signal related to the second motor, so that the state diagnosis result of the first motor and the state diagnosis result of the second motor can be uniformly scheduled based on the state, so that the state of the first motor is consistent with the state of the second motor, avoiding inconsistent states or responses of the two motors, resulting in excessive speed difference, and improving the safety of the whole vehicle.

[0067] Embodiment 3

[0068] An embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and the computer program is executed by a processor as the motor control method of the aforementioned embodiment.

[0069] The storage medium of the embodiment of the present application can obtain the sampling signal of the first motor and the sampling signal related to the second motor by executing the motor control method, and then can judge the state diagnosis result of the first motor based on the sampling signal of the first motor, and judge the state diagnosis result of the second motor based on the sampling signal related to the second motor, so that the state diagnosis result of the first motor and the state diagnosis result of the second motor can be uniformly scheduled based on the state, so that the state of the first motor is consistent with the state of the second motor, avoiding inconsistent states or responses of the two motors, resulting in excessive speed difference, and improving the safety of the whole vehicle.

[0070] Embodiment 4

[0071] An embodiment of the present application provides a vehicle, which includes a distributed drive system architecture as described in any of the aforementioned implementations.

[0072] The vehicle of the embodiment of the present application has the advantages of low cost, high safety, low bus load rate, etc. by setting the distributed drive system architecture mentioned above in the embodiment of the present application.

[0073] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0074] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0075] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0076] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0077] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0078] The above are only embodiments of the present application and are not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A distributed drive system architecture, characterized in that: The distributed drive system architecture includes a first motor, a second motor and an electric drive control unit, the electric drive control unit is electrically connected to the first motor and the second motor, the electric drive control unit includes a first electric drive main control chip and a first motor drive circuit, and the first electric drive main control chip and the first motor drive circuit are decoupled; The first electric drive main control chip element includes a first CPU core, a second CPU core, a third CPU core and a fourth CPU core, wherein the first CPU core is used to execute the magnetic field vector control task of the first motor, the second CPU core is used to execute the magnetic field vector control task of the second motor, the third CPU core is used to execute the slow logic task of the first motor and the slow logic task of the second motor, and the fourth CPU core is used to execute the basic software of the first motor and the basic software of the second motor.

2. The distributed drive system architecture according to claim 1, characterized in that: It also includes a third motor and a third motor and a fourth motor, and the electric drive control unit also includes a second electric drive main control chip and a second motor drive circuit, and the second electric drive main control chip and the second motor drive circuit are decoupled; The second electric drive main control chip includes a fifth CPU core, a sixth CPU core, a seventh CPU core and an eighth CPU core. The fifth CPU core is used to execute the magnetic field vector control task of the third motor, the sixth CPU core is used to execute the magnetic field vector control task of the fourth motor, the seventh CPU core is used to execute the slow logic task of the third motor and the slow logic task of the fourth motor, and the eighth CPU core is used to execute the basic software of the third motor and the basic software of the fourth motor.

3. The distributed drive system architecture according to claim 2, characterized in that: The slow logic task includes a state machine and a fault diagnosis task, wherein the diagnosis result of the fault diagnosis task is the input of the state machine, so that the state machine uniformly schedules the left and right motors based on the diagnosis result.

4. The distributed drive system architecture according to claim 3, characterized in that: It also includes a vehicle control unit, which is electrically connected to the electric drive control unit.

5. The distributed drive system architecture according to claim 4, characterized in that: The first electric drive main control chip and the second electric drive main control chip are in the same CAN network as the vehicle control unit via a CAN bus.

6. The distributed drive system architecture according to claim 5, characterized in that: The torque control function of the vehicle control unit is integrated in the first electric drive main control chip or the second electric drive main control chip.

7. The distributed drive system architecture according to claim 6, characterized in that: The fault diagnosis task is used to perform signal diagnosis and motor operation status diagnosis based on the collected signal to generate the diagnosis result.

8. A motor control method, characterized in that: The method is applied in the distributed drive system architecture according to any one of claims 1 to 7, and the method comprises: Acquire a sampling signal of the first motor and a sampling signal related to the second motor; Determine a state diagnosis result of the first motor based on a sampling signal of the first motor, and determine a state diagnosis result of the second motor based on a sampling signal related to the second motor; The state diagnosis result of the first motor and the state diagnosis result of the second motor are uniformly scheduled based on the state so that the state of the first motor is consistent with the state of the second motor.

9. A storage medium, characterized in that: The storage medium stores a computer program, and the computer program is executed by the processor to implement the motor control method according to claim 8.

10. A vehicle, characterized in that: The vehicle comprises a distributed drive system architecture as described in any one of claims 1-7.

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