Motor control method, vehicle control unit, electric vehicle and medium

Abstract

The invention provides a motor control method, a vehicle control unit, an electric vehicle and a medium, and relates to the technical field of electric vehicles. The method responds to a motor resolver signal fault message sent by a motor controller, outputs a whole vehicle fault alarm instruction to a vehicle instrument panel, and controls the whole vehicle to lower high voltage; in response to the input emergency switch starting signal, a braking depth signal and an electric switch opening degree signal of the vehicle are obtained; determining a corresponding braking state signal and a motor torque signal according to the braking depth signal and the switch opening signal; and the braking state signal and the motor torque signal are sent to a motor controller, so that the motor controller determines the rotating speed of a motor according to the braking state signal and the motor torque signal, and a driving motor of the vehicle is controlled according to the rotating speed of the motor. According to the method, the motor can be accurately controlled to run when the motor resolver signal is abnormal, so that the vehicle is controlled to run normally.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a motor control method, a vehicle controller, an electric vehicle and a medium. Background Art

[0002] With the development of the economy and the progress of society, new energy vehicles (electric vehicles) that save energy and reduce emissions have gradually become popular, and the application scenarios of new energy vehicles have become increasingly broad.

[0003] In the related art, the motor resolver signal of an electric vehicle may be abnormal during driving, causing the vehicle to be unable to drive. For example, when an electric vehicle enters a strong magnetic area such as an aluminum plant, the motor resolver signal, brake status signal, etc. will be interfered by the strong magnetic field, and the motor controller cannot control the motor operation, causing the vehicle to be unable to drive. When the resolver signal of an electric vehicle is abnormal due to factors such as motor resolver damage, resolver wiring harness short circuit or open circuit, the motor controller cannot control the motor operation, causing the vehicle to be unable to drive.

[0004] Therefore, there is an urgent need for a motor control solution that can accurately control the motor operation when the motor resolver signal is abnormal, thereby controlling the normal driving of the vehicle. Summary of the invention

[0005] The embodiments of the present application provide a motor control method, a vehicle controller, an electric vehicle, and a medium, which can accurately control the operation of the motor when the motor resolver signal is abnormal, thereby controlling the normal driving of the vehicle.

[0006] In a first aspect, an embodiment of the present application provides a motor control method, comprising:

[0007] In response to the motor resolver signal fault message sent by the motor controller, a vehicle fault alarm instruction is output to the vehicle instrument panel, and the vehicle is controlled to lower the high voltage;

[0008] In response to the input emergency switch on signal, a braking depth signal and a throttle opening signal of the vehicle are acquired;

[0009] Determine a corresponding braking state signal and a motor torque signal according to the braking depth signal and the electric switch opening signal;

[0010] The braking state signal and the motor torque signal are sent to the motor controller, so that the motor controller determines the motor speed according to the braking state signal and the motor torque signal, and controls the driving motor of the vehicle according to the motor speed.

[0011] In a possible implementation manner, determining the corresponding braking state signal and motor torque signal according to the braking depth signal and the throttle opening signal includes:

[0012] Determining whether the vehicle is currently in a braking state according to the braking depth signal and the throttle opening signal;

[0013] If it is in the braking state, the braking state signal is assigned a value of 1, and the corresponding motor torque signal is determined according to the motor torque being zero;

[0014] If the vehicle is not in a braking state, the braking state signal is assigned a value of 0, and the corresponding motor torque signal is determined according to the throttle opening signal.

[0015] In a possible implementation manner, judging whether the vehicle is currently in a braking state according to the braking depth signal and the throttle opening signal includes:

[0016] Determine whether the braking depth signal and the throttle opening signal meet the following conditions: the braking depth signal is greater than a preset braking depth signal threshold, and the throttle opening signal is 0%;

[0017] If satisfied, it is determined that the vehicle is currently in a braking state;

[0018] If not satisfied, it is determined that the vehicle is not currently in a braking state.

[0019] In a possible implementation manner, determining the corresponding motor torque signal according to the throttle opening signal includes:

[0020] According to a preset correspondence between the switch opening signal and the motor torque, determining the real-time motor torque corresponding to the switch opening signal;

[0021] Determine a motor torque signal corresponding to the real-time torque of the motor;

[0022] Wherein, the motor output power corresponding to the real-time torque of the motor does not exceed the rated power of the drive motor.

[0023] In a possible implementation manner, sending the braking state signal and the motor torque signal to the motor controller so that the motor controller determines the motor speed according to the braking state signal and the motor torque signal, and controls the drive motor of the vehicle according to the motor speed, includes any one of the following:

[0024] Sending a braking state signal assigned a value of 1 and the motor torque signal to the motor controller, wherein the braking state signal assigned a value of 1 is used to instruct the motor controller to clear the motor output torque to zero according to the motor torque signal;

[0025] A braking status signal assigned a value of 0 and the motor torque signal are sent to the motor controller, and the braking status signal assigned a value of 0 is used to instruct the motor controller to obtain the flux signal and back electromotive force of the drive motor, and determine the motor speed according to the motor torque signal, the flux signal and the back electromotive force, and control the operation of the drive motor according to the motor speed.

[0026] In a possible implementation manner, when the braking state signal is assigned a value of 0, the method further includes:

[0027] A gear lock instruction is sent to a remote information control unit of the vehicle, wherein the gear lock instruction is used to instruct the remote information control unit to lock the vehicle speed gear.

[0028] In a possible implementation, it further includes:

[0029] In response to an input forward / reverse shift operation instruction, a forward / reverse shift signal is sent to the motor controller according to the forward / reverse shift operation instruction, and the forward / reverse shift signal is used to instruct the motor controller to clear the brake status signal, reset the motor output torque to zero, and reassociate the brake status signal after the shift is completed.

[0030] In a second aspect, an embodiment of the present application provides a vehicle controller, including:

[0031] A processor, and a memory communicatively connected to the processor;

[0032] Memory is used to store computer executable instructions;

[0033] The processor is used to execute the computer-executable instructions stored in the memory, so that the processor executes the above-mentioned first aspect and / or various possible implementations of the first aspect.

[0034] In a third aspect, an embodiment of the present application provides an electric vehicle, comprising: a drive motor, a motor controller, a vehicle instrument panel, an emergency switch, and the vehicle controller as described in the second aspect;

[0035] The vehicle controller is respectively connected to the motor controller and the vehicle instrument panel for communication, the vehicle controller is also connected to the emergency switch, and the motor controller is also connected to the drive motor;

[0036] The vehicle controller is used to output a vehicle fault warning instruction to the vehicle instrument panel and control the vehicle to lower high voltage after receiving the motor resolver signal fault message sent by the motor controller; obtain the vehicle's braking depth signal and the throttle opening signal in response to the input emergency switch on signal; determine the corresponding braking state signal and the motor torque signal according to the braking depth signal and the throttle opening signal; and send the braking state signal and the motor torque signal to the motor controller;

[0037] The motor controller is used to determine the motor speed according to the braking state signal and the motor torque signal, and control the drive motor according to the motor speed.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0039] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the above-mentioned first aspect and / or various possible implementation methods of the first aspect.

[0040] The embodiment of the present application provides a motor control method, a vehicle controller, an electric vehicle and a medium. The vehicle controller can output a vehicle fault warning instruction to the vehicle instrument panel when a resolver signal failure occurs in the driving motor of the vehicle to prompt the driver that a motor resolver signal failure occurs. At this time, the driver can turn on the emergency switch. The vehicle controller responds to the input emergency switch on signal and can control the driving motor according to the braking depth signal and the electric door opening signal of the vehicle. Specifically, although the resolver signal failure of the driving motor may interfere with the braking state signal, it does not interfere with the braking depth signal and the electric door opening signal. Therefore, the corresponding braking state signal and the motor torque signal can be determined according to the braking depth signal and the electric door opening signal, so that the braking state signal is credible and the accuracy of controlling the motor according to the braking state signal is improved. After the motor controller receives the braking state signal and the motor torque signal, the motor speed can be determined according to the braking state signal and the motor torque signal, and the motor speed is controlled by an open-loop speed force pull according to the motor speed. The motor can be driven to rotate normally without the motor resolver signal, so that the vehicle can run normally when the resolver signal failure occurs in the driving motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] Figure 1 A system architecture diagram of an embodiment of the present application;

[0043] Figure 2 A flow chart of a motor control method according to an embodiment of the present application;

[0044] Figure 3 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application;

[0045] Figure 4 This is a schematic structural diagram of a vehicle controller according to another embodiment of the present application.

[0046] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0048] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] In the technical solution of this application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data involved shall comply with the provisions of relevant laws and regulations and shall not violate public order and good morals.

[0050] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0051] It should also be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0052] The motor control method, vehicle controller, electric vehicle and medium of the present application can be used in the field of electric vehicle technology, and can also be used in any field outside the field of electric vehicle technology, such as the motor control field, etc. The application field of the motor control method, vehicle controller, electric vehicle and medium of the present application is not limited.

[0053] The motor control method, vehicle controller, electric vehicle and medium of the present application can be applied to scenarios where an abnormal motor resolver signal occurs in an electric vehicle, and any related scenarios involving an abnormal motor resolver signal in an electric vehicle, such as an electric vehicle entering a strong magnetic field area, an electric vehicle having a motor resolver damaged, a resolver wiring harness short-circuited or broken, etc., can all be applied to the motor control method, vehicle controller, electric vehicle and medium of the present application.

[0054] First, the terms involved in this application are explained:

[0055] Motor resolver signals refer to electrical signals obtained from the resolver. These signals are used to determine the angular position and rotation speed of the motor rotor.

[0056] Brake status signals refer to information obtained from the vehicle's brake system, which is used to indicate the current status of the brake system. These signals are very important in modern vehicles, especially in advanced driver assistance systems (ADAS) and autonomous driving systems. Brake status signals can help the system better understand the dynamic behavior of the vehicle, thereby making safer and more efficient driving decisions. Including brake pedal position sensor signals, brake pressure sensor signals, wheel speed sensor signals, brake light status signals, electronic parking brake (EPB) status signals, brake pad wear sensor signals, hydraulic system status signals, etc.

[0057] The brake depth signal is a signal related to the physical position of the brake pedal or the force applied by the driver to the pedal. It reflects the degree of operation of the brake pedal by the driver during braking, that is, the depth of the brake pedal being depressed. This signal plays an important role in modern vehicles because it directly affects the vehicle's braking response and overall driving experience.

[0058] With the development of economy and the progress of society, new energy vehicles (electric vehicles) that save energy and reduce emissions have gradually become popular, and the application scenarios of new energy vehicles are becoming more and more extensive. During the driving process of electric vehicles, the motor resolver signal may be abnormal, causing the vehicle to be unable to drive.

[0059] For example, the electric ladle trucks used in aluminum plants are used to transport electrolytic aluminum liquid. The current of the aluminum plant's electrolytic cell is as high as 600kA, and a strong magnetic field of up to 900GS will be generated in the electrolytic cell workshop. When an electric vehicle drives near the electrolytic cell, the motor's resolver signal, brake status signal, etc. will be interfered by the strong magnetic field, and the motor controller will be unable to control the motor operation, causing the vehicle to be unable to drive.

[0060] When an electric vehicle has an abnormal resolver signal due to motor resolver damage, resolver wiring harness short circuit or open circuit, the motor controller will also be unable to control the motor operation, causing the vehicle to be unable to drive.

[0061] Therefore, there is an urgent need for a motor control solution that can accurately control the motor operation when the motor resolver signal is abnormal, thereby controlling the normal driving of the vehicle.

[0062] Based on the above technical problems, the inventive concept of the present application is: how to provide a motor control solution that can accurately control the operation of the motor when the motor resolver signal is abnormal, thereby controlling the normal driving of the vehicle.

[0063] The embodiment of the present application provides a motor control method, a vehicle controller, an electric vehicle and a medium. An emergency switch can be set on the electric vehicle. When the motor controller detects that the motor has a resolver signal failure, the motor resolver signal failure message can be sent to the vehicle controller. After the vehicle controller receives the message, it will output a vehicle fault warning instruction to the vehicle dashboard and control the vehicle to lower the high voltage. At this time, the vehicle cannot drive. The driver can turn on the emergency switch at this time. The vehicle controller responds to the input emergency switch on signal and can determine the corresponding braking state signal and motor torque signal according to the braking depth signal and the electric door opening signal, so that the braking state signal is credible and the accuracy of controlling the motor according to the braking state signal is improved. After the motor controller receives the braking state signal and the motor torque signal, the motor speed can be determined according to the braking state signal and the motor torque signal, and the motor speed is controlled by an open-loop speed force pull according to the motor speed. The motor can be driven to rotate normally without the motor resolver signal, so that the vehicle can drive normally when the drive motor has a resolver signal failure.

[0064] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0065] Figure 1 This is a system architecture diagram of an embodiment of the present application, such as Figure 1 As shown, the electric vehicle may include a vehicle controller, a drive motor, a motor controller, a vehicle instrument panel, an emergency switch, a brake pedal and an accelerator pedal, and the vehicle controller is connected to the motor controller, the vehicle instrument panel, the emergency switch, the brake pedal and the accelerator pedal respectively, and the motor controller is also connected to the drive motor. When the electric vehicle enters a strong magnetic area or the motor has a rotary abnormality, the motor controller detects that the motor rotary signal exceeds the rotary signal threshold at a certain moment, determines that the motor rotary signal fault occurs, and sends the motor rotary signal fault message to the vehicle controller through the CAN bus. In response to the motor rotary signal fault message sent by the motor controller, the vehicle controller outputs a vehicle fault warning instruction to the vehicle instrument panel and controls the vehicle to lower high voltage; in response to the input emergency switch on signal, the vehicle's braking depth signal is obtained through the brake pedal, and the vehicle's electric door opening signal is obtained through the accelerator pedal; the corresponding braking state signal and motor torque signal are determined according to the braking depth signal and the electric door opening signal; the braking state signal and the motor torque signal are sent to the motor controller. After receiving the braking state signal and the motor torque signal, the motor controller can determine the motor speed according to the braking state signal and the motor torque signal, and accurately control the drive motor according to the motor speed, thereby controlling the normal driving of the electric vehicle.

[0066] Figure 2 This is a flow chart of a motor control method according to an embodiment of the present application. This embodiment uses the vehicle controller as the execution subject to illustrate the motor control method. Figure 2 As shown, the motor control method may include the following steps:

[0067] S201: In response to the motor resolver signal fault message sent by the motor controller, a vehicle fault alarm instruction is output to the vehicle instrument panel, and the vehicle is controlled to lower the high voltage.

[0068] In this embodiment, the motor resolver signal failure may be caused by the vehicle entering a strong magnetic area (such as an aluminum plant electrolytic cell workshop, etc.). At this time, the motor resolver signal, brake status signal, etc. will be interfered by the strong magnetic field, resulting in abnormal motor resolver signal. The motor resolver signal failure may also be caused by a drive motor failure, such as damage to the motor resolver, short circuit or open circuit of the resolver wiring harness, etc., resulting in abnormal motor resolver signal. When the motor controller detects that the motor resolver signal exceeds the resolver signal threshold at a certain moment, it means that the motor resolver is not controlled at this time and a motor resolver signal failure has occurred.

[0069] In this embodiment, the motor controller is connected to the driving motor of the vehicle, and can detect the state of the driving motor in real time / periodically. When a resolver signal failure is detected in the driving motor, the motor controller will send a motor resolver signal failure message to the vehicle controller through the CAN bus, etc. After receiving the motor resolver signal failure message, the vehicle controller will determine that the motor resolver signal failure corresponds to a level 3 vehicle failure based on the correspondence between the preset fault type and the fault level, and output a vehicle fault alarm instruction to the vehicle instrument panel.

[0070] In this embodiment, after the vehicle instrument panel receives the vehicle fault alarm instruction, it will display the vehicle fault alarm prompt information in text form, and the fault level is the third-level vehicle fault, and display the specific motor resolver signal to promptly remind the driver that a vehicle fault has occurred, and the cause of the fault is an abnormal motor resolver signal, and corresponding measures need to be taken.

[0071] In this embodiment, after receiving the motor resolver signal fault message, the vehicle controller will also control the vehicle to lower the high voltage to stop the vehicle from driving, so as to avoid the motor resolver signal failure causing the vehicle to be out of control and cause danger.

[0072] S202: In response to the input emergency switch on signal, a braking depth signal and a throttle opening signal of the vehicle are obtained.

[0073] In this embodiment, an emergency switch can be provided on the electric vehicle to switch between the emergency mode and the normal mode. When the driver sees the vehicle fault warning prompt information displayed on the vehicle dashboard, the emergency switch can be turned on to allow the electric vehicle to drive in a strong magnetic area to meet the user's needs; or to be used for emergency escape when the motor rotation transformer of the electric vehicle is abnormal.

[0074] In this embodiment, the vehicle controller obtains the vehicle's braking depth signal and throttle opening signal in response to the input emergency switch on signal, thereby switching the vehicle's normal mode to the emergency mode.

[0075] S203: Determine a corresponding braking state signal and a motor torque signal according to the braking depth signal and the throttle opening signal.

[0076] In this embodiment, when the electric vehicle enters a strong magnetic area such as an aluminum plant, the motor resolver signal, brake status signal, etc. will be interfered by the strong magnetic field, causing the motor controller to be unable to control the motor operation, but the brake depth signal and the electric door opening signal will not be interfered with. When the motor resolver structure fails, the motor resolver signal is abnormal, causing the motor controller to be unable to control the motor operation, but the brake depth signal and the electric door opening signal will not be interfered with. Therefore, the motor can be controlled according to the brake depth signal and the electric door opening signal.

[0077] In this embodiment, the braking depth signal may be a signal related to the brake pedal, and the throttle opening signal may be a signal related to the accelerator pedal. The corresponding braking state signal is determined based on the braking depth signal and the throttle opening signal that will not be interfered with, so that the reliability of the braking state signal can be ensured. In addition, the corresponding motor torque signal is determined based on the throttle opening signal that will not be interfered with, so that the reliability of the motor torque signal can be ensured, so that the speed is forced to be controlled according to the motor torque signal.

[0078] S204: Sending the braking state signal and the motor torque signal to the motor controller, so that the motor controller determines the motor speed according to the braking state signal and the motor torque signal, and controls the driving motor of the vehicle according to the motor speed.

[0079] In this embodiment, the braking status signal and the motor torque signal are both determined by a braking depth signal and a throttle opening signal that will not be interfered with. Therefore, the motor controller can determine the motor speed based on the braking status signal, the motor torque signal, the magnetic flux signal and the back electromotive force, and perform accurate motor control based on the motor speed, and accurately control the motor operation when the motor rotational transformer signal is abnormal, thereby controlling the normal driving of the vehicle.

[0080] In this embodiment, the vehicle controller can output a vehicle fault warning instruction to the vehicle instrument panel when a resolver signal failure occurs in the vehicle's drive motor to prompt the driver that a motor resolver signal failure occurs. At this time, the driver can turn on the emergency switch. The vehicle controller responds to the input emergency switch on signal and can control the drive motor according to the vehicle's brake depth signal and the electric door opening signal. Specifically, although the drive motor's resolver signal failure may interfere with the brake state signal, it does not interfere with the brake depth signal and the electric door opening signal. Therefore, the corresponding brake state signal and motor torque signal can be determined according to the brake depth signal and the electric door opening signal, so that the brake state signal is credible and the accuracy of controlling the motor according to the brake state signal is improved. After the motor controller receives the brake state signal and the motor torque signal, it can determine the motor speed according to the brake state signal and the motor torque signal, and perform open-loop speed force pull control on the motor according to the motor speed, and the motor can be driven to rotate normally without the motor resolver signal, so that the vehicle can run normally when the drive motor has a resolver signal failure.

[0081] In a possible implementation, the above step S203 determines the corresponding braking state signal and the motor torque signal according to the braking depth signal and the throttle opening signal, which may include:

[0082] S11: Determine whether the vehicle is currently in a braking state according to the braking depth signal and the throttle opening signal.

[0083] S12: If the vehicle is in a braking state, the braking state signal is assigned a value of 1, and the corresponding motor torque signal is determined based on the motor torque being zero.

[0084] S13: If the vehicle is not in the braking state, the braking state signal is assigned a value of 0, and the corresponding motor torque signal is determined according to the throttle opening signal.

[0085] In this embodiment, when the vehicle is in a braking state, the motor torque is zero, and the motor torque signal at this time is a signal when the motor torque is zero.

[0086] In this embodiment, the motor control strategy usually uses a braking state signal. Since the braking state signal in the strong magnetic area will be disturbed, while the braking depth signal will not be affected, in order to ensure that the braking state signal is credible, it is necessary to accurately determine whether the vehicle is currently in a braking state based on the braking depth signal and the throttle opening signal that will not be disturbed, so as to accurately determine the corresponding braking state signal. In addition, when the vehicle is not in a braking state, the motor torque signal can be accurately determined based on the throttle opening signal that will not be disturbed.

[0087] In a possible implementation manner, the above step S11 determines whether the vehicle is currently in a braking state according to the braking depth signal and the throttle opening signal, and may include:

[0088] S21: Determine whether the braking depth signal and the throttle opening signal meet the following conditions: the braking depth signal is greater than a preset braking depth signal threshold, and the throttle opening signal is 0%.

[0089] S22: If satisfied, determine that the vehicle is currently in a braking state.

[0090] S23: If not satisfied, determine that the vehicle is not currently in a braking state.

[0091] In this embodiment, those skilled in the art can flexibly set the braking depth signal threshold according to actual conditions. For example, the braking depth signal threshold can be 3%, 5%, or other values, without any limitation herein.

[0092] In this embodiment, when the throttle opening signal is not 0%, or the braking depth signal is not greater than a preset braking depth signal threshold, the vehicle is not currently in a braking state.

[0093] In this embodiment, when the throttle opening signal is 0%, it indicates that the accelerator pedal has not been pressed by the driver, and when the braking depth signal is greater than the preset braking depth signal threshold, it indicates that the brake pedal has been pressed by the driver. When these two conditions are met at the same time, it can be simply and accurately determined that the vehicle is currently in a braking state.

[0094] In a possible implementation, determining the corresponding motor torque signal according to the throttle opening signal in the above step S12 may include:

[0095] S31: Determine the real-time torque of the motor corresponding to the throttle opening signal according to the preset corresponding relationship between the throttle opening signal and the motor torque.

[0096] S32: Determine the motor torque signal corresponding to the real-time torque of the motor.

[0097] The motor output power corresponding to the real-time torque of the motor does not exceed the rated power of the drive motor.

[0098] In this embodiment, when the throttle opening signal is 0%, the motor torque is 0, and when the throttle opening signal is 100%, the motor torque is the set maximum output torque. At this time, the motor speed is the motor strong pull speed threshold, and the motor output power corresponding to the motor strong pull speed threshold does not exceed the rated power of the drive motor.

[0099] In this embodiment, when the motor speed is the motor forced pull speed threshold, the motor output power at this time can be equal to the safety factor × the rated power of the drive motor, and the safety factor is a value less than 1, so that the motor output power does not exceed the rated power of the drive motor.

[0100] In this embodiment, those skilled in the art can pre-set the corresponding relationship between the throttle opening signal and the motor torque. After obtaining the throttle opening signal of the vehicle, the real-time motor torque corresponding to the throttle opening signal can be simply and accurately determined according to the corresponding relationship between the throttle opening signal and the motor torque, and then the corresponding motor torque signal can be determined. In addition, by setting the motor output power corresponding to the motor forced pull speed threshold to not exceed the rated power of the drive motor, the risk of loss of control caused by excessive motor speed can be avoided, thereby improving the safety of motor control.

[0101] In a possible implementation, the above step S204 sends the braking state signal and the motor torque signal to the motor controller, so that the motor controller determines the motor speed based on the braking state signal and the motor torque signal, and controls the driving motor of the vehicle according to the motor speed, which may include any of the following:

[0102] S41: Sending a braking state signal assigned a value of 1 and a motor torque signal to a motor controller, wherein the braking state signal assigned a value of 1 is used to instruct the motor controller to clear the motor output torque to zero according to the motor torque signal.

[0103] S42: Send the braking status signal and the motor torque signal assigned with a value of 0 to the motor controller. The braking status signal assigned with a value of 0 is used to instruct the motor controller to obtain the flux signal and the back electromotive force of the drive motor, and determine the motor speed according to the motor torque signal, the flux signal and the back electromotive force, and control the operation of the drive motor according to the motor speed.

[0104] In this embodiment, when the braking state signal is assigned a value of 0, the vehicle is in a driving state, and the speed of the vehicle in the emergency mode is usually lower than the normal speed.

[0105] In this embodiment, the flux signal is a fixed parameter of the drive motor, and the back electromotive force can be obtained after the drive motor rotates. The motor controller can determine the corresponding motor speed according to the motor torque signal, the flux signal and the back electromotive force.

[0106] In this embodiment, when the braking state signal is assigned a value of 1, the vehicle is in a braking state, and the motor controller needs to clear the motor output torque to avoid the risk of motor loss of control when the vehicle brakes. When the braking state signal is assigned a value of 0, the vehicle is in a driving state, and the motor controller needs to obtain the flux signal and back electromotive force of the drive motor, and then determine the motor speed according to the motor torque signal, flux signal and back electromotive force, and control the drive motor operation according to the motor speed, so that the vehicle can drive normally.

[0107] In a possible implementation manner, when the braking state signal is assigned a value of 0, the method may further include:

[0108] A gear lock command is sent to the vehicle's remote information control unit, where the gear lock command is used to instruct the remote information control unit to lock the vehicle speed gear.

[0109] In this embodiment, when the vehicle is in driving state, the vehicle controller can notify the remote information control unit TCU to switch to M mode to lock the gear, so that the driver cannot change the speed gear, further improving the safety of driving in emergency mode.

[0110] In this embodiment, when the brake status signal is assigned a value of 0, the vehicle is in a driving state. In the emergency mode, the vehicle speed is usually low. In order to avoid danger during driving, the speed gear can be locked during the vehicle driving.

[0111] In a possible implementation, the method may further include:

[0112] In response to the input forward / reverse shift operation instruction, a forward / reverse shift signal is sent to the motor controller according to the forward / reverse shift operation instruction. The forward / reverse shift signal is used to instruct the motor controller to clear the brake status signal, reset the motor output torque to zero, and reassociate the brake status signal after the shift is completed.

[0113] In this embodiment, when the vehicle performs a forward / reverse shift operation, the motor controller needs to clear the brake state signal during the shift process, that is, only receive but do not use the brake state signal, and clear the motor output torque to zero. After the vehicle completes the shift operation, the motor controller will re-associate with the brake state signal, that is, control the motor according to the brake state signal sent by the vehicle controller.

[0114] In this embodiment, when the vehicle performs a forward / reverse gear shift operation, the motor controller needs to clear the brake status signal during the gear shift process, that is, no matter whether the brake status signal sent by the vehicle controller is assigned a value of 1 or 0, the motor controller does not use the brake status signal to control the motor, and clears the motor output torque to zero, thereby avoiding the risk of the motor losing control when the vehicle performs a forward / reverse gear shift operation, and further improving the safety of driving in emergency mode.

[0115] The motor control method of the present application is described below with reference to a specific embodiment.

[0116] In a specific embodiment, a driver drives an electric vehicle to transport electrolytic aluminum liquid produced by an aluminum plant. When the electric vehicle enters the aluminum plant, the specific motor control process of the electric vehicle is as follows:

[0117] In the first step, when the electric vehicle is driving into the aluminum plant, the motor controller detects that the motor resolver signal exceeds the resolver signal threshold at a certain moment, determines that a motor resolver signal fault has occurred, and sends a motor resolver signal fault message to the vehicle controller through the CAN bus.

[0118] In the second step, the vehicle controller outputs a vehicle fault warning instruction to the vehicle dashboard and controls the vehicle to lower the high voltage to stop the electric vehicle from driving.

[0119] The third step is that after the vehicle dashboard receives the vehicle fault warning command, it displays the vehicle fault warning prompt information in text form and displays the specific motor resolver signal. After the driver sees the information displayed on the vehicle dashboard, he presses the emergency switch on the electric vehicle, switches the gear to N gear (i.e. neutral gear), and turns off the power to restart the vehicle.

[0120] In the fourth step, the vehicle controller obtains the vehicle's braking depth signal and throttle opening signal in response to the input emergency switch on signal.

[0121] In the fifth step, the vehicle controller determines that the braking depth signal and the throttle opening signal do not meet the following conditions: the braking depth signal is greater than the preset braking depth signal threshold, and the throttle opening signal is 0%, and it is determined that the vehicle is not currently in a braking state, then the braking state signal is assigned a value of 0, and the corresponding motor torque signal is determined according to the throttle opening signal, and the braking state signal and the motor torque signal assigned a value of 0 are sent to the motor controller; and a lock gear command is sent to the vehicle's remote information control unit to enable the remote information control unit to lock the vehicle speed gear.

[0122] In the sixth step, the motor controller receives the braking state signal and the motor torque signal assigned to 0, obtains the magnetic flux signal and the back electromotive force of the drive motor, and determines the motor speed according to the motor torque signal, the magnetic flux signal and the back electromotive force, and controls the operation of the drive motor according to the motor speed, so that the electric vehicle runs normally.

[0123] In the seventh step, the vehicle controller responds to the input forward / reverse shift operation instruction and sends a forward / reverse shift signal to the motor controller according to the forward / reverse shift operation instruction.

[0124] In the eighth step, after the motor controller receives the forward / reverse shift signal, it clears the brake status signal, resets the motor output torque to zero, and re-associates the brake status signal after the shift is completed.

[0125] Figure 3 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application. Figure 3 As shown, the vehicle controller includes: an acquisition module 31, which is used to respond to the motor resolver signal fault message sent by the motor controller, output the vehicle fault alarm instruction to the vehicle instrument panel, and control the vehicle to lower high voltage; in response to the input emergency switch on signal, obtain the vehicle's braking depth signal and throttle opening signal; a processing module 32, which is used to determine the corresponding braking state signal and motor torque signal according to the braking depth signal and the throttle opening signal; send the braking state signal and the motor torque signal to the motor controller, so that the motor controller determines the motor speed according to the braking state signal and the motor torque signal, and controls the vehicle's drive motor according to the motor speed.

[0126] The vehicle controller provided in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0127] Figure 4 This is a schematic diagram of the structure of a vehicle controller according to an embodiment of the present application. Figure 4 As shown, the vehicle controller includes: a processor 401, and a memory 402 that is communicatively connected to the processor 401; the memory 402 stores computer execution instructions; the processor 401 executes the computer execution instructions stored in the memory 402 to implement the steps of the motor control method in the above-mentioned method embodiments.

[0128] In the above vehicle controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus connection. The memory 402 stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the memory 402 in the form of software or firmware. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402.

[0129] The memory 402 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electric erasable programmable read-only memory (EEPROM), etc. The memory 402 is used to store programs, and the processor 401 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0130] The processor 401 may be an integrated circuit chip having the ability to process signals. The processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. The methods, steps, and logic diagrams disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0131] An embodiment of the present application also provides an electric vehicle, such as Figure 1 As shown, the electric vehicle includes: a drive motor, a motor controller, a vehicle instrument panel, an emergency switch, and Figure 4The vehicle controller shown; the vehicle controller is respectively connected to the motor controller and the vehicle instrument panel for communication, the vehicle controller is also connected to the emergency switch, and the motor controller is also connected to the drive motor.

[0132] The vehicle controller is used to output a vehicle fault alarm instruction to the vehicle instrument panel and control the vehicle to lower high voltage after receiving the motor resolver signal fault message sent by the motor controller; obtain the vehicle's braking depth signal and throttle opening signal in response to the input emergency switch opening signal; determine the corresponding braking state signal and motor torque signal according to the braking depth signal and the throttle opening signal; and send the braking state signal and the motor torque signal to the motor controller.

[0133] The motor controller is used to determine the motor speed according to the braking state signal and the motor torque signal, and control the drive motor according to the motor speed.

[0134] An embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the steps of each method embodiment of the present application.

[0135] An embodiment of the present application further provides a computer program product, including a computer program, which implements the steps of each method embodiment of the present application when executed by a processor.

[0136] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0137] It should be further noted that, although the various steps in the flowchart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0138] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0139] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0140] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0142] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A motor control method, characterized in that: include: In response to the motor resolver signal fault message sent by the motor controller, a vehicle fault alarm instruction is output to the vehicle instrument panel, and the vehicle is controlled to lower the high voltage; In response to the input emergency switch on signal, a braking depth signal and a throttle opening signal of the vehicle are acquired; Determine a corresponding braking state signal and a motor torque signal according to the braking depth signal and the electric switch opening signal; The braking state signal and the motor torque signal are sent to the motor controller, so that the motor controller determines the motor speed according to the braking state signal and the motor torque signal, and controls the driving motor of the vehicle according to the motor speed.

2. The motor control method according to claim 1, characterized in that: The method of determining a corresponding braking state signal and a motor torque signal according to the braking depth signal and the electric switch opening signal comprises: Determining whether the vehicle is currently in a braking state according to the braking depth signal and the throttle opening signal; If it is in the braking state, the braking state signal is assigned a value of 1, and the corresponding motor torque signal is determined according to the motor torque being zero; If the vehicle is not in a braking state, the braking state signal is assigned a value of 0, and the corresponding motor torque signal is determined according to the throttle opening signal.

3. The motor control method according to claim 2, characterized in that: The determining whether the vehicle is currently in a braking state according to the braking depth signal and the throttle opening signal includes: Determine whether the braking depth signal and the throttle opening signal meet the following conditions: the braking depth signal is greater than a preset braking depth signal threshold, and the throttle opening signal is 0%; If satisfied, it is determined that the vehicle is currently in a braking state; If not satisfied, it is determined that the vehicle is not currently in a braking state.

4. The motor control method according to claim 2, characterized in that: The step of determining the corresponding motor torque signal according to the electric switch opening signal comprises: According to a preset correspondence between the switch opening signal and the motor torque, determining the real-time motor torque corresponding to the switch opening signal; Determine a motor torque signal corresponding to the real-time torque of the motor; Wherein, the motor output power corresponding to the real-time torque of the motor does not exceed the rated power of the drive motor.

5. The motor control method according to any one of claims 2 to 4, characterized in that: The step of sending the brake state signal and the motor torque signal to the motor controller so that the motor controller determines the motor speed according to the brake state signal and the motor torque signal, and controls the driving motor of the vehicle according to the motor speed, includes any one of the following: Sending a braking state signal assigned a value of 1 and the motor torque signal to the motor controller, wherein the braking state signal assigned a value of 1 is used to instruct the motor controller to clear the motor output torque to zero according to the motor torque signal; A braking status signal assigned a value of 0 and the motor torque signal are sent to the motor controller, and the braking status signal assigned a value of 0 is used to instruct the motor controller to obtain the flux signal and back electromotive force of the drive motor, and determine the motor speed according to the motor torque signal, the flux signal and the back electromotive force, and control the operation of the drive motor according to the motor speed.

6. The motor control method according to claim 5, characterized in that: When the braking state signal is assigned a value of 0, the method further includes: A gear lock instruction is sent to a remote information control unit of the vehicle, wherein the gear lock instruction is used to instruct the remote information control unit to lock the vehicle speed gear.

7. The motor control method according to any one of claims 2 to 4, characterized in that: Also includes: In response to an input forward / reverse shift operation instruction, a forward / reverse shift signal is sent to the motor controller according to the forward / reverse shift operation instruction, and the forward / reverse shift signal is used to instruct the motor controller to clear the brake status signal, reset the motor output torque to zero, and reassociate the brake status signal after the shift is completed.

8. A vehicle controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is configured to execute the computer-executable instructions stored in the memory, so that the processor executes the motor control method according to any one of claims 1 to 7.

9. An electric vehicle, characterized in that: include: A drive motor, a motor controller, a vehicle instrument panel, an emergency switch, and a vehicle controller as claimed in claim 8; The vehicle controller is respectively connected to the motor controller and the vehicle instrument panel for communication, the vehicle controller is also connected to the emergency switch, and the motor controller is also connected to the drive motor; The vehicle controller is used to output a vehicle fault warning instruction to the vehicle instrument panel and control the vehicle to lower high voltage after receiving the motor resolver signal fault message sent by the motor controller; obtain the vehicle's braking depth signal and the throttle opening signal in response to the input emergency switch on signal; determine the corresponding braking state signal and the motor torque signal according to the braking depth signal and the throttle opening signal; and send the braking state signal and the motor torque signal to the motor controller; The motor controller is used to determine the motor speed according to the braking state signal and the motor torque signal, and control the drive motor according to the motor speed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the motor control method according to any one of claims 1 to 7 when executed by a processor.

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