Motor control method, vehicle controller, electric vehicle and medium

Abstract

The application provides a motor control method, a whole vehicle controller, 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 be in a high voltage state; in response to an input emergency switch opening signal, a braking depth signal and a throttle opening degree signal of the vehicle are obtained; a corresponding braking state signal and a motor torque signal are determined according to the braking depth signal and the throttle opening degree signal; the braking state signal and the motor torque signal are sent to the motor controller, so that the motor controller determines a motor speed according to the braking state signal and the motor torque signal, and controls a drive motor of the vehicle according to the motor speed. The method of the application can accurately control the motor to operate when the motor resolver signal is abnormal, so that the vehicle can be controlled to normally travel.

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

[0002] With the development of economy and the progress of society, new energy vehicles (electric vehicles) for energy saving and emission reduction gradually become popular, and the application scenarios of new energy vehicles are also more and more wide.

[0003] In the related art, the electric vehicle may have a motor resolver signal abnormality during driving, resulting in the vehicle being unable to drive. For example, when the electric vehicle enters an aluminum plant or other strong magnetic area, the motor resolver signal and the brake state signal may be interfered by a strong magnetic field, and the motor controller cannot control the motor to operate, resulting in the vehicle being unable to drive. When the electric vehicle has a resolver signal abnormality due to resolver damage, resolver wire harness short circuit or open circuit, etc., the motor controller also cannot control the motor to operate, resulting in the vehicle being unable to drive.

[0004] Therefore, there is an urgent need for a motor control scheme that can accurately control the motor to operate when the motor resolver signal is abnormal, thereby controlling the vehicle to drive normally. SUMMARY

[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 motor to operate when the motor resolver signal is abnormal, thereby controlling the vehicle to drive normally.

[0006] In a first aspect, the embodiments of the present application provide a motor control method, comprising:

[0007] In response to a motor resolver signal fault message sent by a motor controller, outputting a vehicle fault alarm instruction to a vehicle instrument panel and controlling a vehicle high voltage to be lowered;

[0008] In response to an input emergency switch opening signal, acquiring a vehicle brake depth signal and a throttle opening degree signal;

[0009] Determining a corresponding brake state signal and a motor torque signal according to the brake depth signal and the throttle opening degree signal;

[0010] Sending the brake state signal and the motor torque signal to the motor controller, so that the motor controller determines a motor speed according to the brake state signal and the motor torque signal, and controls a drive motor of the vehicle according to the motor speed.

[0011] In a possible implementation, the determining of the corresponding brake state signal and the motor torque signal according to the brake depth signal and the throttle opening degree signal comprises:

[0012] determining whether the vehicle is currently in a braking state according to the braking depth signal and the accelerator pedal opening signal;

[0013] if in the braking state, assigning a value of 1 to the braking state signal, and determining a corresponding motor torque signal according to the motor torque being zero;

[0014] if not in the braking state, assigning a value of 0 to the braking state signal, and determining a corresponding motor torque signal according to the accelerator pedal opening signal.

[0015] In a possible implementation, the determining whether the vehicle is currently in the braking state according to the braking depth signal and the accelerator pedal opening signal comprises:

[0016] determining whether the braking depth signal and the accelerator pedal opening signal satisfy the following condition: the braking depth signal is greater than a preset braking depth signal threshold, and the accelerator pedal opening signal is 0%;

[0017] if yes, determining that the vehicle is currently in the braking state;

[0018] if no, determining that the vehicle is not currently in the braking state.

[0019] In a possible implementation, the determining a corresponding motor torque signal according to the accelerator pedal opening signal comprises:

[0020] determining a motor real-time torque corresponding to the accelerator pedal opening signal according to a preset corresponding relationship between the accelerator pedal opening signal and the motor torque;

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

[0022] wherein a motor output power corresponding to the motor real-time torque does not exceed a rated power of the driving motor.

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

[0024] sending the braking state signal with a value of 1 and the motor torque signal to the motor controller, the braking state signal with the value of 1 being used to instruct the motor controller to clear the motor output torque according to the motor torque signal;

[0025] The brake state signal with a value of 0 and the motor torque signal are sent to the motor controller, the brake state signal with a value of 0 is used to instruct the motor controller to acquire a flux linkage signal and a back electromotive force of the driving motor, and to determine a motor rotating speed according to the motor torque signal, the flux linkage signal and the back electromotive force, and to control the driving motor to operate according to the motor rotating speed.

[0026] In a possible implementation, when the brake state signal has a value of 0, the method further includes:

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

[0028] In a possible implementation, the method further includes:

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

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

[0031] A processor, and a memory connected with the processor in communication;

[0032] The memory is used to store computer execution instructions;

[0033] The processor is used to execute the computer execution instructions stored in the memory, so that the processor executes the 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, including a driving 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 connected with the motor controller and the vehicle instrument panel in communication respectively, the vehicle controller is further connected with the emergency switch, and the motor controller is further connected with the driving motor;

[0036] The whole vehicle controller is configured to output a whole vehicle fault alarm instruction to a vehicle instrument panel after receiving a motor rotary variable signal fault message sent by the motor controller, and control a whole vehicle high voltage; in response to an input emergency switch opening signal, acquire a vehicle braking depth signal and a throttle opening degree signal; determine a corresponding braking state signal and a motor torque signal according to the braking depth signal and the throttle opening degree signal; and send the braking state signal and the motor torque signal to the motor controller.

[0037] The motor controller is configured to determine a motor rotating speed according to the braking state signal and the motor torque signal, and control the driving motor according to the motor rotating speed.

[0038] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, the computer execution instructions are configured to implement the first aspect and / or various possible implementation manners of the first aspect.

[0039] In a fifth aspect, the embodiments of the present application provide a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program is configured to implement the first aspect and / or various possible implementation manners of the first aspect.

[0040] The embodiments of the present application provide a motor control method, a whole vehicle controller, an electric vehicle and a medium. When a rotary variable signal fault occurs in a driving motor of a vehicle, the whole vehicle controller can output a whole vehicle fault alarm instruction to a vehicle instrument panel to prompt a driver that the motor rotary variable signal fault occurs. At this time, the driver can open an emergency switch. In response to an input emergency switch opening signal, the whole vehicle controller can control the driving motor according to a vehicle braking depth signal and a throttle opening degree signal. Specifically, although the rotary variable signal fault of the driving motor may interfere with the braking state signal, the braking depth signal and the throttle opening degree signal are not interfered. Therefore, the corresponding braking state signal and the motor torque signal can be determined according to the braking depth signal and the throttle opening degree 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 rotating speed can be determined according to the braking state signal and the motor torque signal, and the motor is controlled at an open-loop rotating speed strong pull according to the motor rotating speed. The motor can be normally driven without the motor rotary variable signal, so that the vehicle can normally travel when the rotary variable signal fault of the driving motor occurs. BRIEF DESCRIPTION OF DRAWINGS

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

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

[0043] Figure 2 Flow chart of a motor control method of an embodiment of the present application;

[0044] Figure 3 Structure diagram of a vehicle control unit of an embodiment of the present application;

[0045] Figure 4 Structure diagram of a vehicle control unit of another embodiment of the present application.

[0046] The specific embodiments of the present application have been shown through the above-described drawings, and will be described in more detail hereinafter. These drawings and the written description are not intended to restrict the scope of the present application concept in any way, but to illustrate the present application concept to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals represent like elements, unless the context of use indicates otherwise. The following description of exemplary embodiments is not representative of all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0048] The terms "first", "second", "third", "fourth" and the like in the description and the claims of the present application and the above-described drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so termed herein is not connected with any meaning in the context of priority. It is to be understood that the data so used can be interchanged, where appropriate, to refer to a similar one of the other of the objects described herein. Embodiments of the present application described herein can be practiced in other than the illustrative order shown and described herein. Further, the term "comprise" and the like, as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that comprises a list of steps or units can not necessarily be limited to those steps or units that are clearly recited, but can include other not expressly recited steps or units that are inherent to such process, method, product or apparatus.

[0049] In the technical solutions of the present application, the collection, storage, use, processing, transmission, provision and disclosure of information such as financial data or user data, etc. comply with the relevant legal regulations and do not violate public order and good customs.

[0050] It should be noted that in the embodiments of the present application, some industry existing solutions such as certain software, components, models, etc. may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for user to choose authorization or refusal.

[0052] The motor control method, vehicle controller, electric vehicle and medium of the present application can be used in the field of electric vehicles, and can also be used in any field other than the field of electric vehicles, such as the field of motor control, 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 the scenario of motor resolver signal abnormality of electric vehicle, any related scenario involving motor resolver signal abnormality of electric vehicle, such as the scenario of electric vehicle entering strong magnetic area, electric vehicle motor resolver damage, resolver wire harness short circuit or open circuit, etc. The motor control method, vehicle controller, electric vehicle and medium of the present application can be applied.

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

[0055] Motor resolver signal refers to the electrical signals obtained from the resolver, which are used to determine the angular position and rotational speed of the motor rotor.

[0056] Brake status signal refers to the information obtained from the vehicle's brake system, which is used to indicate the current state 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, making safer and more efficient driving decisions. Including brake pedal position sensor signal, brake pressure sensor signal, wheel speed sensor signal, brake light status signal, electronic parking brake (EPB) status signal, brake pad wear sensor signal, hydraulic system status signal, etc.

[0057] Brake depth signal refers to a signal related to the physical position of the brake pedal or the force exerted by the driver on 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 stepped on. This signal plays an important role in modern vehicles as it directly affects the braking response and overall driving experience of the vehicle.

[0058] With the development of economy and the progress of society, new energy vehicles (electric vehicles) for energy saving and emission reduction are gradually becoming popular, and the application scenarios of new energy vehicles are becoming more and more wide. Electric vehicles may have motor rotary transformer signal abnormalities during driving, causing the vehicle to be unable to drive.

[0059] For example, electric lifting truck used in aluminum plant is used to transport electrolytic aluminum liquid, the current of electrolytic tank in aluminum plant is as high as 600kA, and strong magnetic field will be generated in electrolytic tank workshop, as high as 900GS. When the electric vehicle drives into the vicinity of the electrolytic tank, the motor rotary transformer signal, brake state signal and the like will be interfered by the strong magnetic field, and the motor controller cannot control the motor to run, causing the vehicle to be unable to drive.

[0060] When the electric vehicle has rotary transformer signal abnormalities due to motor rotary transformer damage, rotary transformer wire harness short circuit or open circuit and the like, the motor controller also cannot control the motor to run, causing the vehicle to be unable to drive.

[0061] Therefore, there is an urgent need for a motor control scheme that can accurately control the motor to run when the motor rotary transformer signal is abnormal, so as to control the vehicle to drive normally.

[0062] Based on the above technical problems, the inventive concept of the present application is to provide a motor control scheme that can accurately control the motor to run when the motor rotary transformer signal is abnormal, so as to control the vehicle to drive normally.

[0063] The motor control method, vehicle controller, electric vehicle and medium provided by the embodiments of the present application can set an emergency switch on the electric vehicle. When the motor controller detects that the motor has a rotary transformer signal fault, it can send a motor rotary transformer signal fault message to the vehicle controller. After receiving it, the vehicle controller will output a vehicle fault alarm instruction to the vehicle instrument panel 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 can determine the corresponding brake state signal and motor torque signal according to the brake depth signal and the electric door opening degree signal in response to the input emergency switch opening signal, so that the brake state signal is reliable 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 strong pull control on the motor according to the motor speed, so that the motor can be normally driven without the motor rotary transformer signal, and the vehicle can drive normally when the driving motor has a rotary transformer signal fault.

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

[0065] Figure 1 This is a system architecture diagram of an embodiment of this application, such as... Figure 1 As shown, an electric vehicle may include a vehicle controller, a drive motor, a motor controller, a vehicle dashboard, an emergency switch, a brake pedal, and an accelerator pedal. The vehicle controller is connected to the motor controller, the vehicle dashboard, the emergency switch, the brake pedal, and the accelerator pedal, respectively. The motor controller is also connected to the drive motor. When the electric vehicle enters a strong magnetic field area or the motor experiences a resolving power failure, the motor controller detects that the motor resolving power signal exceeds the resolving power signal threshold at a certain moment, confirming a motor resolving power signal fault. It then sends a motor resolving power signal fault message to the vehicle controller via the CAN bus. In response to the motor resolving power signal fault message sent by the motor controller, the vehicle controller outputs a vehicle fault alarm command to the vehicle dashboard and controls the vehicle to reduce high voltage. In response to the input emergency switch activation signal, it obtains the vehicle's braking depth signal through the brake pedal and the vehicle's ignition switch opening signal through the accelerator pedal. Based on the braking depth signal and the ignition switch opening signal, it determines the corresponding braking status signal and motor torque signal. Finally, it sends the braking status signal and motor torque signal to the motor controller. After receiving the braking status signal and the motor torque signal, the motor controller can determine the motor speed based on the braking status signal and the motor torque signal, and then perform accurate motor control on the drive motor based on the motor speed, thereby controlling the electric vehicle to drive normally.

[0066] Figure 2 This is a flowchart of a motor control method according to an embodiment of this application. This embodiment describes the motor control method with the vehicle controller as the executing entity. 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, output a vehicle fault alarm command to the vehicle instrument panel and control the vehicle to reduce high voltage.

[0068] In this embodiment, the motor rotation variable signal fault can be caused by the vehicle driving into a strong magnetic area (such as an aluminum plant electrolytic cell workshop), at which time the motor rotation variable signal, brake state signal and the like are interfered by a strong magnetic field, resulting in abnormal motor rotation variable signal. The motor rotation variable signal fault can also be caused by a drive motor fault, such as motor rotation variable damage, rotation variable wire harness short circuit or open circuit, etc., resulting in abnormal motor rotation variable signal. When the motor controller detects that the motor rotation variable signal exceeds the rotation variable signal threshold at a certain time, it indicates that the motor rotation variable is not controlled at this time, and the motor rotation variable signal fault occurs.

[0069] In this embodiment, the motor controller is connected with the drive motor of the vehicle, and can detect the state of the drive motor in real time / periodically. When the drive motor is detected to have a rotation variable signal fault, the motor controller sends a motor rotation variable signal fault message to the vehicle controller through a CAN bus or the like. After receiving the motor rotation variable signal fault message, the vehicle controller determines that the motor rotation variable signal fault corresponds to a vehicle three-level fault according to a preset correspondence between fault types and fault levels, and outputs 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 displays the vehicle fault alarm prompt information in the form of text, and the fault level is a vehicle three-level fault, and displays the specific motor rotation variable signal, so as to timely prompt the driver that the vehicle fault occurs, and the fault reason is the abnormal motor rotation variable signal, and the corresponding measures need to be taken.

[0071] In this embodiment, after the vehicle controller receives the motor rotation variable signal fault message, it also controls the vehicle to lower the high pressure, so that the vehicle stops driving, avoiding the risk of the vehicle being out of control due to the motor rotation variable signal fault.

[0072] S202: In response to the input emergency switch opening signal, the brake depth signal and the accelerator opening degree signal of the vehicle are acquired.

[0073] In this embodiment, an emergency switch can be arranged on the electric vehicle, which is used to switch between the emergency mode and the normal mode. After the driver sees the vehicle fault alarm prompt information displayed on the vehicle instrument panel, the emergency switch can be opened, which is used for the electric vehicle to drive in a strong magnetic area, meeting the user's use demand; or used for the electric vehicle to escape in an emergency when the motor rotation variable is abnormal.

[0074] In this embodiment, in response to the input emergency switch opening signal, the vehicle controller acquires the brake depth signal and the accelerator opening degree signal, so as to switch the vehicle from the normal mode to the emergency mode.

[0075] S203: The corresponding brake state signal and motor torque signal are determined according to the brake depth signal and the accelerator opening degree signal.

[0076] In the embodiment, when the electric vehicle drives into a strong magnetic area such as an aluminum factory, the motor rotor variable signal, the brake state signal and the like will be interfered by the strong magnetic field, so that the motor controller cannot control the motor to operate, but the brake depth signal and the accelerator opening degree signal will not be interfered. When the motor rotor variable structure fails, the motor rotor variable signal is abnormal, so that the motor controller cannot control the motor to operate, but the brake depth signal and the accelerator opening degree signal will not be interfered. Therefore, the motor can be controlled according to the brake depth signal and the accelerator opening degree signal.

[0077] In the embodiment, the brake depth signal can be a signal related to the brake pedal, and the accelerator opening degree signal can be a signal related to the accelerator pedal. The corresponding brake state signal is determined according to the brake depth signal and the accelerator opening degree signal which will not be interfered, so that the credibility of the brake state signal can be ensured. In addition, the corresponding motor torque signal is determined according to the accelerator opening degree signal which will not be interfered, so that the credibility of the motor torque signal can be ensured, and the speed strong pull control is performed according to the motor torque signal.

[0078] S204: The brake 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 brake state signal and the motor torque signal, and controls the driving motor of the vehicle according to the motor speed.

[0079] In the embodiment, the brake state signal and the motor torque signal are determined by the brake depth signal and the accelerator opening degree signal which will not be interfered, so that the motor controller can determine the motor speed according to the brake state signal, the motor torque signal, the flux linkage signal and the back electromotive force, and accurately control the motor according to the motor speed, so as to accurately control the motor to operate when the motor rotor variable signal is abnormal, and control the vehicle to normally drive.

[0080] In the embodiment, the vehicle controller can output a vehicle fault warning instruction to the vehicle instrument panel when the drive motor of the vehicle has a resolver signal fault, so as to prompt the driver that the motor resolver signal fault occurs. At this time, the driver can turn on the emergency switch. The vehicle controller can control the drive motor according to the braking depth signal and the accelerator opening degree signal in response to the input emergency switch opening signal. Specifically, although the resolver signal fault of the drive motor can interfere with the braking state signal, the braking depth signal and the accelerator opening degree signal are not interfered, so that the corresponding braking state signal and the motor torque signal can be determined according to the braking depth signal and the accelerator opening degree signal, so that the braking state signal is reliable, 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 open-loop speed strong pull control of the motor is performed according to the motor speed, so that the motor can be normally driven without the resolver signal, and the vehicle can be normally driven when the resolver signal fault of the drive motor occurs.

[0081] In one possible implementation, the step S203 of determining the corresponding braking state signal and the motor torque signal according to the braking depth signal and the accelerator opening degree signal can include:

[0082] S11: determining whether the vehicle is currently in the braking state according to the braking depth signal and the accelerator opening degree signal.

[0083] S12: if the vehicle 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.

[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 accelerator opening degree signal.

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

[0086] In the embodiment, the motor control strategy usually uses the braking state signal. Since the braking state signal in the strong magnetic field region is interfered, the braking depth signal is not affected. In order to ensure that the braking state signal is reliable, it is necessary to accurately determine whether the vehicle is currently in the braking state according to the braking depth signal and the accelerator opening degree signal which are not interfered, so as to accurately determine the corresponding braking state signal. In addition, when the vehicle is not in the braking state, the motor torque signal can be accurately determined according to the accelerator opening degree signal which is not interfered.

[0087] In a possible implementation, the step S11 of determining whether the vehicle is currently in the braking state according to the brake depth signal and the accelerator pedal opening signal can include:

[0088] S21: determining whether the brake depth signal is greater than a preset brake depth signal threshold value and the accelerator pedal opening signal is 0%.

[0089] S22: if yes, determining that the vehicle is currently in the braking state.

[0090] S23: if no, determining that the vehicle is not currently in the braking state.

[0091] In the embodiment, the brake depth signal threshold value can be set flexibly by those skilled in the art, for example, the brake depth signal threshold value can be 3%, 5%, or other values, which are not limited herein.

[0092] In the embodiment, when the accelerator pedal opening signal is not 0% or the brake depth signal is not greater than the preset brake depth signal threshold value, the vehicle is not currently in the braking state.

[0093] In the embodiment, when the accelerator pedal opening signal is 0%, it indicates that the accelerator pedal is not stepped on by the driver, and when the brake depth signal is greater than the preset brake depth signal threshold value, it indicates that the brake pedal is stepped on by the driver. When both conditions are met, the vehicle is currently in the braking state.

[0094] In a possible implementation, the step S12 of determining the corresponding motor torque signal according to the accelerator pedal opening signal can include:

[0095] S31: determining the real-time motor torque corresponding to the accelerator pedal opening signal according to a preset corresponding relationship between the accelerator pedal opening signal and the motor torque.

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

[0097] In the embodiment, the motor output power corresponding to the real-time motor torque does not exceed the rated power of the driving motor.

[0098] In the embodiment, when the accelerator pedal opening signal is 0%, the motor torque is 0, and when the accelerator pedal opening signal is 100%, the motor torque is the set maximum output torque, and the motor speed is the motor strong pull speed threshold value. The motor output power corresponding to the motor strong pull speed threshold value does not exceed the rated power of the driving motor.

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

[0100] In the embodiment, the person skilled in the art can pre-set the corresponding relationship between the accelerator opening degree signal and the motor torque, after obtaining the accelerator opening degree signal of the vehicle, according to the corresponding relationship between the accelerator opening degree signal and the motor torque, the motor real-time torque corresponding to the accelerator opening degree signal can be simply and accurately determined, and the corresponding motor torque signal is determined. In addition, by setting the motor output power corresponding to the motor strong pull speed threshold value to not exceed the rated power of the driving motor, the risk of out of control caused by too large motor speed can be avoided, thereby improving the safety of motor control.

[0101] In one possible embodiment, the step S204 of sending the brake state signal and the motor torque signal to the motor controller to make the motor controller determine the motor speed and control the driving motor of the vehicle according to the motor speed can include any of the following:

[0102] S41: send the brake state signal with a value of 1 and the motor torque signal to the motor controller, and the brake state signal with a value of 1 is used to instruct the motor controller to clear the motor output torque according to the motor torque signal.

[0103] S42: send the brake state signal with a value of 0 and the motor torque signal to the motor controller, and the brake state signal with a value of 0 is used to instruct the motor controller to obtain the flux linkage signal and the back electromotive force of the driving motor, and determine the motor speed according to the motor torque signal, the flux linkage signal and the back electromotive force, and control the driving motor to operate according to the motor speed.

[0104] In the embodiment, when the brake state signal is valued as 0, the vehicle is in a running state, and the vehicle speed in the emergency mode is usually less than the normal vehicle speed.

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

[0106] In the 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 out of control that may exist when the vehicle is braking. 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 linkage signal and back electromotive force of the driving motor, and then determine the motor speed according to the motor torque signal, the flux linkage signal and the back electromotive force, and control the driving motor to operate according to the motor speed, so that the vehicle can drive normally.

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

[0108] sending a lock gear instruction to a telematics control unit of the vehicle, the lock gear instruction being used to instruct the telematics control unit to lock the vehicle speed gear.

[0109] In the embodiment, when the vehicle is in a driving state, the vehicle controller can inform the telematics control unit to switch to the M mode to lock the gear, so that the driver cannot change the vehicle speed gear, and the safety of driving in the emergency mode is further improved.

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

[0111] In one possible implementation, the method can further include:

[0112] In response to an input forward / reverse gear shifting operation instruction, a forward / reverse gear shifting signal is sent to the motor controller according to the forward / reverse gear shifting operation instruction, the forward / reverse gear shifting signal being used to instruct the motor controller to clear the braking state signal and clear the motor output torque, and re-associate the braking state signal after the gear shifting is completed.

[0113] In the embodiment, when the vehicle performs a forward / reverse gear shifting operation, the motor controller needs to clear the braking state signal during the gear shifting process, that is, only receive but not utilize the braking state signal, and clear the motor output torque. After the vehicle completes the gear shifting operation, the motor controller re-associates the braking state signal, that is, controls the motor according to the braking state signal sent by the vehicle controller.

[0114] In the embodiment, when the vehicle performs the forward / reverse gear shifting operation, the motor controller needs to clear the brake state signal during the gear shifting process, that is, no matter whether the brake state signal sent by the vehicle controller is assigned as 1 or 0, the motor controller does not use the brake state signal for motor control, and the motor output torque is cleared to zero, so as to avoid the risk of motor out of control when the vehicle performs the forward / reverse gear shifting operation, and further improve the safety of driving in the emergency mode.

[0115] The motor control method of the application is described below with one specific embodiment.

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

[0117] Firstly, during the process that the electric vehicle enters the aluminum plant, the motor controller detects that the motor rotary variable signal exceeds the rotary variable signal threshold at a certain time, determines that the motor rotary variable signal fault occurs, and sends the motor rotary variable signal fault message to the vehicle controller through the CAN bus.

[0118] Secondly, the vehicle controller outputs the vehicle fault warning instruction to the vehicle instrument panel, and controls the vehicle to lower the high pressure, so that the electric vehicle stops running.

[0119] Thirdly, after the vehicle instrument panel receives the vehicle fault warning instruction, the vehicle fault warning prompt information is displayed in the form of text, and the specific motor rotary variable signal is displayed. After the driver sees the information displayed on the vehicle instrument panel, the emergency switch on the electric vehicle is pressed, the gear is switched to N (neutral) gear, and the vehicle is restarted after power-off.

[0120] Fourthly, the vehicle controller acquires the brake depth signal and the accelerator opening degree signal in response to the input emergency switch opening signal.

[0121] Fifthly, the vehicle controller determines that the brake depth signal and the accelerator opening degree signal do not satisfy the following conditions: the brake depth signal is greater than the preset brake depth signal threshold, and the accelerator opening degree signal is 0%, and determines that the vehicle is not in the braking state, then the brake state signal is assigned as 0, the corresponding motor torque signal is determined according to the accelerator opening degree signal, and the brake state signal assigned as 0 and the motor torque signal are sent to the motor controller; and a lock gear instruction is sent to the remote information control unit of the vehicle, so that the remote information control unit locks the vehicle speed gear.

[0122] The sixth step is that the motor controller receives the brake state signal with the value of 0 and the motor torque signal, obtains the flux linkage signal of the driving motor and the back electromotive force, determines the motor speed according to the motor torque signal, the flux linkage signal and the back electromotive force, and controls the driving motor to operate according to the motor speed, so that the electric vehicle can run normally.

[0123] The seventh step is that the vehicle controller sends the forward / reverse gear shifting signal to the motor controller according to the forward / reverse gear shifting operation instruction in response to the input forward / reverse gear shifting operation instruction.

[0124] The eighth step is that the motor controller receives the forward / reverse gear shifting signal, clears the brake state signal, clears the motor output torque, and reassociates the brake state signal after the gear shifting is completed.

[0125] Figure 3 The structure diagram of the vehicle controller of an embodiment of the present application is shown in FIG. 1. Figure 3 The vehicle controller includes an acquisition module 31, a processing module 32, and the like. The acquisition module 31 is configured to output the vehicle fault alarm instruction to the vehicle instrument panel and control the high voltage of the vehicle in response to the motor speed change signal fault message sent by the motor controller, and acquire the brake depth signal and the accelerator opening degree signal of the vehicle in response to the input emergency switch opening signal. The processing module 32 is configured to determine the corresponding brake state signal and the motor torque signal according to the brake depth signal and the accelerator opening degree signal, send 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.

[0126] The vehicle controller provided by the embodiment of the present application can implement the technical solutions shown in the method embodiments, and the implementation principles and beneficial effects are similar, which will not be described here in detail.

[0127] Figure 4 The structure diagram of the vehicle controller of an embodiment of the present application is shown in FIG. 1. Figure 4 The vehicle controller includes a processor 401 and a memory 402 in communication connection with 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 method embodiments.

[0128] In the aforementioned vehicle controller, the memory 402 and the processor 401 are electrically connected directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines, such as a bus connection. The memory 402 stores computer-executable instructions for implementing data access control methods, 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, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 402 stores programs, which are executed by the processor 401 upon receiving execution instructions. Furthermore, the software programs and modules within the memory 402 may also include an operating system, which may include various software components and / or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.) and can communicate with various hardware or software components to provide an operating environment for other software components.

[0130] Processor 401 can be an integrated circuit chip with signal processing capabilities. The aforementioned processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor.

[0131] One embodiment of this application also provides an electric vehicle, such as... Figure 1 As shown, the electric vehicle includes: a drive motor, a motor controller, a vehicle dashboard, an emergency switch, and other components. Figure 4The whole vehicle controller is shown; the whole vehicle controller is respectively connected with the motor controller and the vehicle instrument panel, and the whole vehicle controller is also connected with the emergency switch, and the motor controller is also connected with the driving motor.

[0132] The whole vehicle controller is used to output the whole vehicle fault alarm instruction to the vehicle instrument panel and control the whole vehicle high voltage after receiving the motor rotating variable signal fault message sent by the motor controller, and the braking depth signal and the electric door opening degree signal of the vehicle are obtained in response to the input emergency switch opening signal; the corresponding braking state signal and the motor torque signal are determined according to the braking depth signal and the electric door opening degree signal; and the braking state signal and the motor torque signal are sent to the motor controller.

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

[0134] An embodiment of the present application also provides a computer readable storage medium, and the computer readable storage medium stores computer execution instructions, and the computer execution instructions are used for implementing the steps of the method embodiments of the present application when executed by a processor.

[0135] An embodiment of the present application also provides a computer program product, and the computer program product comprises a computer program, and the computer program is used for implementing the steps of the method embodiments of the present application when executed by a processor.

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

[0137] It should be further noted that, although each step in the flowchart is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise stated in this paper, the execution of these steps has no strict sequence limitation, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart can 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 sequence of these sub-steps or stages is not necessarily sequential, but can be executed with at least part of other steps or other steps or stages.

[0138] It should be understood that the above-mentioned apparatus embodiments are merely illustrative, and the apparatus of the present application can also be implemented in other manners. For example, the division of units / modules in the above-mentioned embodiments is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of 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 specifically stated otherwise, each functional unit / module in each embodiment of the present application can be integrated in one unit / module, or can be physically present separately, or two or more units / modules can be integrated together. The above-mentioned integrated unit / module can be realized in the form of hardware or in the form of a software program module.

[0140] In the above-mentioned embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. Each technical feature of the above-mentioned embodiments can be combined arbitrarily, and in order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0141] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. The present application is intended to cover any variations, uses or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the application pertains or can relate. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the application are indicated by the appended claims.

[0142] It should be understood that the present application is not limited to the precise construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the application is limited only by the claims that follow.

Claims

1. A motor control method, characterized in that, include: In response to the motor resolver signal fault message sent by the motor controller, the system outputs a vehicle fault alarm command to the vehicle instrument panel and controls the vehicle to reduce high voltage. In response to the input emergency switch activation signal, the vehicle's braking depth signal and ignition switch opening signal are acquired; The corresponding braking state signal and motor torque signal are determined based on the braking depth signal and the throttle opening signal. The braking status signal and the motor torque signal are sent to the motor controller so that the motor controller can determine the motor speed based on the braking status signal and the motor torque signal, and control the vehicle's drive motor based on the motor speed. The step of determining the corresponding braking state signal and motor torque signal based on the braking depth signal and the throttle opening signal includes: The vehicle is currently in a braking state is determined based on the braking depth signal and the throttle opening signal. If the vehicle is in braking mode, the braking status signal is assigned a value of 1, and the corresponding motor torque signal is determined based on the fact that the motor torque is zero. If the device is not in braking mode, the braking status signal is set to 0, and the corresponding motor torque signal is determined based on the throttle opening signal.

2. The motor control method according to claim 1, characterized in that, The step of determining whether the vehicle is currently in a braking state based on 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 the condition is met, then the vehicle is determined to be in a braking state. If the conditions are not met, it is determined that the vehicle is not currently braking.

3. The motor control method according to claim 1, characterized in that, The step of determining the corresponding motor torque signal based on the throttle opening signal includes: Based on the preset correspondence between the throttle opening signal and the motor torque, the real-time motor torque corresponding to the throttle opening signal is determined; Determine the motor torque signal corresponding to the real-time torque of the motor; Wherein, the output power of the motor corresponding to the real-time torque of the motor does not exceed the rated power of the drive motor.

4. The motor control method according to any one of claims 1-3, characterized in that, Sending the braking status signal and the motor torque signal to the motor controller, so that the motor controller determines the motor speed based on the braking status signal and the motor torque signal, and controls the vehicle's drive motor based on the motor speed, includes any one of the following: The braking status signal with a value of 1 and the motor torque signal are sent to the motor controller. The braking status signal with 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. The braking state signal with a value of 0 and the motor torque signal are sent to the motor controller. The braking state signal with a value of 0 is used to instruct the motor controller to obtain the magnetic flux signal and back electromotive force of the drive motor, and to determine the motor speed based on the motor torque signal, the magnetic flux signal and the back electromotive force, and to control the operation of the drive motor based on the motor speed.

5. The motor control method according to claim 4, characterized in that, When the braking status signal is assigned a value of 0, the method further includes: A gear lock command is sent to the vehicle's remote information control unit, the gear lock command being used to instruct the remote information control unit to lock the vehicle speed gear.

6. The motor control method according to any one of claims 1-3, characterized in that, Also includes: In response to the input forward / reverse shift operation command, a forward / reverse shift signal is sent to the motor controller according to the forward / reverse shift operation command. The forward / reverse shift signal is used to instruct the motor controller to clear the braking status signal, clear the motor output torque to zero, and re-associate the braking status signal after the shift is completed.

7. A vehicle controller, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executed instructions; The processor is used to execute computer execution instructions stored in the memory, causing the processor to perform the motor control method as described in any one of claims 1-6.

8. An electric vehicle, characterized in that, include: Drive motor, motor controller, vehicle instrument panel, emergency switch, and vehicle controller as described in claim 7; The vehicle controller is communicatively connected to the motor controller and the vehicle instrument panel, and is also connected to the emergency switch. The motor controller is also connected to the drive motor. The vehicle controller is used to output a vehicle fault alarm command to the vehicle instrument panel after receiving a motor resolver signal fault message sent by the motor controller, and control the vehicle to reduce high voltage; in response to the input emergency switch opening signal, it acquires the vehicle's braking depth signal and ignition switch opening signal; and determines whether the vehicle is currently in a braking state based on the braking depth signal and ignition switch opening signal. If the vehicle is in braking mode, the braking status signal is assigned a value of 1, and the corresponding motor torque signal is determined based on the fact that the motor torque is zero. If the device is not in braking mode, the braking status signal is set to 0, and the corresponding motor torque signal is determined based on the throttle opening signal; the braking status signal and the motor torque signal are then sent to the motor controller. The motor controller is used to determine the motor speed based on the braking status signal and the motor torque signal, and to control the drive motor based on the motor speed.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the motor control method according to any one of claims 1-6.

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