Intelligent driving redundant motor controller, control method and electric vehicle

Abstract

The invention discloses an intelligent driving redundant motor controller, a control method and an electric vehicle, relates to the field of new energy vehicles, and can be applied to pure electric vehicles and hybrid vehicles. The motor controller is used for controlling the driving motor to output a torque value indicated by the human driving torque signal in response to the human driving torque signal, and the torque value indicated by the human driving torque signal changes along with the change of the opening degree of the accelerator pedal operated by the user. And in response to the intelligent driving torque signal, the driving motor is controlled to output a torque value indicated by the intelligent driving torque signal, and the torque value indicated by the intelligent driving torque signal is adjusted by an intelligent driving controller of the electric vehicle according to a sensing data signal indicated by a sensing system of the electric vehicle. The motor controller is further used for receiving a sensing data signal indicated by a sensing system of the electric automobile and controlling the driving motor to adjust torque output according to the sensing data signal. According to the scheme, a whole vehicle level intelligent driving redundant backup function is provided for the whole vehicle, and the safety of the whole vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of new energy vehicles, and more specifically, to an intelligent driving redundant motor controller, a control method and an electric vehicle. Background Art

[0002] As intelligent driving becomes more mature, driving convenience is improved, but safety issues are becoming increasingly prominent.

[0003] Currently, all functions of intelligent driving control are located in the intelligent driving controller. If the intelligent driving controller fails, crashes, degrades, or exits due to various reasons during vehicle driving, the driver needs to take over quickly, and driver takeover usually takes seconds. During the time from the failure of the intelligent driving controller to the driver taking over, the entire vehicle may be in an uncontrollable state, affecting driving safety.

[0004] Therefore, how to improve the safety of intelligent driving is a problem that needs to be solved. Summary of the invention

[0005] The present application provides a motor controller with intelligent driving redundancy, a control method and an electric vehicle. By backing up the intelligent driving system in the motor controller and connecting the relevant signals of the intelligent driving perception system to the motor controller, a redundant intelligent driving function is deployed in the electric drive system. When the intelligent driving control fails and the human driver takes over, the vehicle continues to be controlled to operate normally, providing the entire vehicle with a vehicle-level intelligent driving redundant backup function and improving the safety of the entire vehicle.

[0006] In the first aspect, the present application provides a motor controller with intelligent driving redundancy, which is used to control the output torque of the drive motor of an electric vehicle to drive the wheels of the electric vehicle. The motor controller is used to control the drive motor to output the torque value indicated by the human driving torque signal in response to the human driving torque signal, and the torque value indicated by the human driving torque signal changes with the opening of the accelerator pedal operated by the user. In response to the intelligent driving torque signal, the drive motor is controlled to output the torque value indicated by the intelligent driving torque signal, and the torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller of the electric vehicle according to the perception data signal indicated by the perception system of the electric vehicle. The motor controller is also used to receive the perception data signal indicated by the perception system of the electric vehicle and control the drive motor to adjust the torque output according to the perception data signal.

[0007] The motor controller is suitable for electric vehicles or hybrid vehicles. The electric vehicle can be a distributed motor or a centralized motor architecture, with multiple drive motors and multiple motor controllers. The motor controller can be any one of the multiple motor controllers. The drive motor can be a wheel-side motor or a hub motor. The drive motor can independently drive one wheel of the electric vehicle. The motor controller can output three-phase AC power to the drive motor, thereby controlling the output torque of the drive motor.

[0008] The perception system of electric vehicles can be used to detect the environment around the electric vehicle and the operating status of the electric vehicle. The perception system can include sensors such as cameras, laser radars, and millimeter-wave radars to sense the surrounding environment and collect and process environmental information and in-vehicle information, mainly involving technologies such as road boundary monitoring, vehicle detection, and pedestrian detection. The perception system can also include sensors such as vehicle speed sensors, acceleration sensors, and inertial measurement units to detect vehicle body status and electric vehicle driving information.

[0009] The perception data signal may include information such as relative distance, relative vehicle speed, relative acceleration, lane information, etc. The perception signal may also include information such as electric vehicle speed, acceleration, roll angle, yaw angle, etc.

[0010] The intelligent driving controller in this application can be a domain controller for realizing functions such as perception, positioning, path planning, decision control, etc. The accelerator pedal in this application can also be called an electric accelerator pedal or an accelerator pedal. The opening of the accelerator pedal can indicate the driving force required by the user, that is, the driver. The larger the opening of the accelerator pedal, the greater the driver's demand for driving, and the corresponding torque required to drive the motor output is also greater.

[0011] The motor controller can work in three working modes. When the motor controller is in the human driving mode, the user, i.e. the driver, operates the electric vehicle. When the user steps on the accelerator pedal, the vehicle controller collects the opening of the accelerator pedal, generates a human driving torque signal according to the opening of the accelerator pedal and sends it to the motor controller. The motor controller controls the drive motor to output the torque indicated by the accelerator pedal opening according to the opening of the accelerator pedal. The motor controller controls the torque output by the drive motor to change with the opening of the accelerator pedal. The larger the opening of the accelerator pedal, the greater the torque output by the drive motor. The smaller the opening of the accelerator pedal, the smaller the torque output by the drive motor.

[0012] When the motor controller is in the intelligent driving mode, the intelligent driving controller of the electric vehicle performs intelligent active driving or assists the user in driving. In the intelligent driving mode, the electric vehicle can drive autonomously in a geographical area with little or no control input from the driver, that is, the user can operate the accelerator pedal, brake pedal and steering wheel with little or no operation, and the intelligent driving controller receives the perception data signals sent by the electric vehicle's perception components such as radar, camera and other sensors. The intelligent driving controller fuses the information sensed by various sensors and obtains the driving status and lane information of the electric vehicle based on the perception data signals. By analyzing the distance, speed, acceleration and other signals, the target acceleration and target speed are obtained, and driving decisions / planning are made based on the fused information, and operation commands are issued to the vehicle controller. The vehicle controller sends the intelligent driving torque signal to the motor controller, so that the motor controller outputs the torque value indicated by the intelligent driving torque signal to complete intelligent driving.

[0013] When the motor controller is in the redundant intelligent driving mode, the motor controller receives the perception data signal indicated by the perception system of the electric vehicle, and obtains the driving status and lane information of the electric vehicle based on the perception data signal. By analyzing the distance, speed, acceleration and other signals, the motor controller obtains the target acceleration and target speed, etc., makes driving decisions / planning based on the fused information, and directly controls the drive motor to adjust the output torque. At this time, the motor controller can complete the function and work of the intelligent driving controller to control the drive motor torque in the intelligent driving mode.

[0014] According to the solution of the present application, the motor controller of the electric vehicle is integrated with a redundant intelligent driving function, which can independently receive perception data signals and perform torque control based on the perception data signals, thereby improving the redundancy of intelligent driving control and enhancing the safety of the entire vehicle.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is specifically used to stop controlling the output torque of the drive motor according to the intelligent driving torque signal and control the drive motor to adjust the output torque according to the perception data signal when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel.

[0016] When the electric vehicle is driving in the intelligent driving mode, the intelligent driving controller determines the driving torque of the electric vehicle based on the sensed data signal, so that the motor controller controls the output torque of the drive motor in response to the intelligent driving torque signal. When the intelligent driving controller crashes, degrades, or exits control due to various failures, the intelligent driving controller will stop working, resulting in the inability to continue control in the intelligent driving mode. At this time, the driver needs to take over quickly, and the driver's takeover usually takes seconds. Before the driver takes over, the electric vehicle may be in an uncontrollable state, affecting driving safety. The reason for the failure of the intelligent driving controller may be a hardware failure or an abnormal or crashed software operation, which causes the intelligent driving controller to be unable to continue intelligent driving control and exit the intelligent driving system. This application does not specifically limit the reason for the failure of the intelligent driving controller.

[0017] Since the motor controller has a redundant intelligent driving function, when the intelligent driving controller fails and the human driver has not taken over, that is, the user has not operated the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel, the motor controller cannot receive the intelligent driving torque signal. The motor controller can switch to the redundant intelligent driving mode, and the motor controller directly controls the drive motor to adjust the output torque according to the sensed data signal. Before the human driver takes over, the motor controller takes over the intelligent driving controller to continue the intelligent driving control, ensuring the driving safety of electric vehicles.

[0018] It should be understood that in the intelligent driving mode, the motor controller and the intelligent driving controller can synchronously receive the perception data signal indicated by the perception system, and the motor controller receives the distance, vehicle speed, acceleration and lane information signals sent by the perception system in real time, and calculates the drive motor torque in real time in the background. When the motor controller switches from the intelligent driving mode to the redundant intelligent driving mode, the output torque of the drive motor can be adjusted immediately according to the received perception data signal, thereby reducing the torque calculation time.

[0019] According to the solution of this application, the electric vehicle's motor controller integrates a redundant intelligent driving function, which can independently receive sensory data signals and perform backup operation in the vehicle's intelligent driving mode. When the vehicle's intelligent driving controller fails, before the human driver takes over, the motor controller can quickly switch to achieve redundant intelligent driving mode takeover, reduce downtime, reduce the risk of electric vehicles losing control, and improve vehicle safety.

[0020] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is used to stop controlling the drive motor to adjust the torque output according to the perception data signal and control the drive motor to output the torque value indicated by the driver torque signal when the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes during the process of controlling the drive motor to output the torque according to the perception data signal.

[0021] When the motor controller is in the redundant intelligent driving mode, it controls the drive motor to adjust the torque output according to the sensed data signal. At this time, the user has not taken over the control of the electric vehicle and has not operated the accelerator pedal, brake pedal and steering wheel. If the driver intervenes in the control and manipulates the accelerator pedal, brake pedal or steering wheel, so that the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes, it can be considered that the human driver has taken over, and the electric vehicle switches from the redundant intelligent driving mode to the human driving mode. The motor controller no longer controls the drive motor to adjust the torque according to the sensed data signal, but directly outputs the torque indicated by the opening of the accelerator pedal in response to the human driving torque signal according to the driver's control.

[0022] It should be understood that electric vehicles usually give the highest priority to human driving. When the driver's intervention control is detected, the motor controller will respond to the driver's operation output torque first. When the intelligent driving controller fails, the electric vehicle will send a prompt message to the user. When the user receives the prompt message, he will take over. Therefore, the motor controller responds to the driver's operation information, enters the human driving mode, stops controlling the drive motor to adjust the torque output according to the sensed data signal, and controls the drive motor to output the torque value indicated by the human driving torque signal.

[0023] According to the solution of the present application, after the intelligent driving controller fails and shuts down, before the human driver takes over, the motor controller implements the redundant intelligent driving function to control the entire vehicle to continue running, thereby preventing the entire vehicle from losing control. When the human driver takes over in time, the motor controller controls the vehicle according to the human driver's operation, thereby improving vehicle safety.

[0024] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is further used to control a steering system of the electric vehicle to adjust a driving direction of the electric vehicle according to the perception data signal.

[0025] When an electric vehicle is driving in the intelligent driving mode, the intelligent driving controller of the electric vehicle performs intelligent active driving or assists the user in driving. In the intelligent driving mode, the electric vehicle can drive autonomously in a geographical area with little or no control input from the driver, that is, the user can operate the accelerator pedal, brake pedal and steering wheel with little or no operation, and the intelligent driving controller receives the perception data signals sent by the electric vehicle's perception components such as radar, cameras and other sensors. The intelligent driving controller fuses the information sensed by various sensors and obtains the driving status and lane information of the electric vehicle based on the perception data signals. By analyzing signals such as distance, speed, acceleration, etc., it obtains the target steering angle or steering assist torque, etc., makes driving decisions / planning based on the fused information, issues operation commands to the steering system, and the steering system executes the steering command to achieve the function of maintaining the current lane or changing lanes for the entire vehicle, thus completing intelligent driving.

[0026] When the motor controller is in the redundant intelligent driving mode, the motor controller receives the perception data signal indicated by the perception system of the electric vehicle, and obtains the driving status and lane information of the electric vehicle based on the perception data signal. By analyzing the distance, speed, acceleration and other signals, the motor controller obtains the target steering angle or steering assist torque, etc., makes driving decisions / planning based on the fused information, and controls the steering system to adjust the driving direction of the electric vehicle. At this time, the motor controller can complete the function and work of the intelligent driving controller to control steering in the intelligent driving mode.

[0027] In some possible embodiments, the motor controller can be connected to a communication line such as a chassis controller area network (CAN) bus or a high-speed fault-tolerant network protocol (FlexRay) of the electric vehicle, and send a steering instruction to the steering system through the bus.

[0028] In some other possible embodiments, the motor controller may first send the steering command to the vehicle controller, which then forwards the command to the steering system via the bus.

[0029] According to the solution of the present application, the motor controller of the electric vehicle is integrated with a redundant intelligent driving function, which can independently receive perception data signals and perform steering control based on the perception data signals, thereby improving the redundancy of intelligent driving control and enhancing the safety of the entire vehicle.

[0030] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is used to control the drive motor to adjust the torque output for a preset duration in response to a perception data signal indicated by a perception system of the electric vehicle, control the steering system to make the electric vehicle approach one side of the driving direction and control the drive motor to reduce the output torque to stop the electric vehicle.

[0031] When the motor controller is in the redundant intelligent driving mode, it controls the drive motor to adjust the torque output according to the sensed data signal. At this time, the user has not taken over the control of the electric vehicle and has not operated the accelerator pedal, brake pedal and steering wheel. If the driver does not intervene in the control for a long time, and the accelerator pedal opening, brake pedal opening or steering wheel angle operated by the user does not change within the preset time, the motor controller can generate a path for pull-over parking under the redundant intelligent driving function, and control the torque output by the drive motor and the steering system according to the generated path to complete the pull-over parking process. The motor controller controls the steering system to make the electric vehicle approach one side of the driving direction and controls the drive motor to reduce the output torque to stop the electric vehicle.

[0032] It should be understood that the computing power of the motor controller may be lower than that of the intelligent driving controller. Therefore, after the intelligent driving controller fails, the motor controller can perform redundant intelligent driving control within a preset time period. The preset time period can be set according to the capabilities of the motor controller. If the human driver does not take over within the preset time period, the motor controller can stop performing redundant intelligent driving and use the redundant intelligent driving function to generate a pull-over parking path and control the parking of the electric vehicle.

[0033] According to the solution of the present application, after the intelligent driving controller fails and crashes, the human driver does not take over for a long time. The motor controller controls the entire vehicle to park by the redundant intelligent driving function, thus avoiding loss of control of the entire vehicle and improving vehicle safety.

[0034] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is also used to control the body signal lights of the electric vehicle to send a warning signal when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle during the process of controlling the output torque of the drive motor according to the intelligent driving torque signal.

[0035] When an electric vehicle is driving in intelligent driving mode, if the intelligent driving controller fails, degrades, or exits control due to various failures, the intelligent driving controller will stop working, making it impossible to continue the control in the intelligent driving mode. At this time, the driver needs to take over quickly, and the driver's takeover usually takes seconds. Before the driver takes over, the electric vehicle may be in an uncontrollable state, affecting driving safety. The motor controller enters the redundant intelligent driving mode, and the motor controller can control the body signal light to send a warning signal, thereby reminding that the electric vehicle has entered an abnormal state.

[0036] In some possible embodiments, the motor controller can be connected to a communication line such as a body controller area network bus CAN or a high-speed fault-tolerant network protocol FlexRay of the electric vehicle, and send instructions to the body signal lights through the bus.

[0037] In some other possible embodiments, the motor controller may first send the warning instruction to the vehicle controller, which then forwards the warning instruction to the vehicle body signal light via the bus.

[0038] According to the solution of the present application, after the intelligent driving controller fails and shuts down, before the human driver takes over, the motor controller implements the redundant intelligent driving function to control the entire vehicle to continue running. At the same time, a warning message is sent through the body signal lights to alert other vehicles, thereby reducing driving risks and improving vehicle safety.

[0039] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is also used to control the body signal lights of the electric vehicle to stop issuing warning signals in response to changes in the intelligent driving torque signal or the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user.

[0040] When an electric vehicle is driving in the redundant intelligent driving mode, if the intelligent driving controller resumes operation or the human driver takes over, the electric vehicle will switch from the redundant intelligent driving mode to the intelligent driving mode or the human driving mode, and the motor controller will eliminate the body signal lights. The electric vehicle has returned to normal or has been taken over by the driver, and no further warning is required.

[0041] According to the solution of the present application, after the intelligent driving controller fails and shuts down, before the human driver takes over, the motor controller implements the redundant intelligent driving function to control the entire vehicle to continue running, and at the same time sends out warning messages through the body signal lights to alert other vehicles. When the intelligent driving controller recovers or the human driver takes over, the body signal lights are eliminated, which reduces driving risks and improves vehicle safety.

[0042] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is also used to control the torque output by the drive motor to change to the torque indicated by the intelligent driving torque signal at a preset change rate in response to the intelligent driving torque signal during the process of controlling the output torque of the drive motor according to the perception data signal.

[0043] When the motor controller switches from the redundant intelligent driving mode to the intelligent driving mode, the torque output of the control drive motor is smoothly transitioned to the torque indicated by the intelligent driving torque signal. The preset change rate can be calibrated according to the vehicle.

[0044] According to the solution of the present application, after the intelligent driving controller fails and shuts down, before the human driver takes over, the motor controller implements the redundant intelligent driving function to control the entire vehicle to continue running. When the intelligent driving controller recovers and takes over, the motor controller controls the torque output by the drive motor to smoothly switch to the intelligent driving control system command, avoiding the frustration of switching between different modes and improving the comfort of the electric vehicle during driving.

[0045] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is used to control the output torque of the drive motor according to the perception data signal. When the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes, the motor controller is used to control the torque output by the drive motor according to a preset change rate, so that the torque changes from the torque adjusted according to the perception data signal to the torque indicated by the human driving torque signal.

[0046] When the motor controller switches from the redundant intelligent driving mode to the human driving mode, the torque output of the control drive motor is smoothly transitioned to the torque indicated by the human driving torque signal. The preset change rate can be calibrated according to the vehicle.

[0047] According to the solution of the present application, after the intelligent driving controller fails and shuts down, before the human driver takes over, the motor controller implements the redundant intelligent driving function to control the entire vehicle to continue running. When the human driver takes over in time, the motor controller controls the torque output by the drive motor to smoothly switch to the driver's control, avoiding the frustration of switching between different modes and improving the comfort of the electric vehicle during driving.

[0048] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is also used to control the drive motor to output the torque value indicated by the driver torque signal in response to changes in the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user, while controlling the steering system to make the electric vehicle approach one side of the driving direction and controlling the drive motor to reduce the output torque to stop the electric vehicle.

[0049] When the motor controller is in the redundant intelligent driving mode, it controls the drive motor to adjust the torque output according to the sensed data signal. If the driver does not intervene in the control for a long time, and the accelerator pedal opening, brake pedal opening or steering wheel angle operated by the user do not change within the preset time, the motor controller can generate a pull-over parking path under the redundant intelligent driving function, and control the torque output by the drive motor and the steering system according to the generated path to complete the pull-over parking process. During the process of the motor controller controlling the electric vehicle to pull over, when the driver intervenes in the control, the human driving command is given priority to control, and the pull-over parking path instruction is terminated.

[0050] According to the solution of the present application, during the process of the motor controller pulling over to park through the redundant intelligent driving function, when a human driver intervenes, the human driver's instructions are executed first to control the electric vehicle, thereby improving the safety of the vehicle.

[0051] In combination with the first aspect, in certain implementations of the first aspect, the motor controller is used to stop controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle when the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes during the process of controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle according to the perception data signal.

[0052] When the motor controller is in redundant intelligent driving mode, the motor controller receives the perception data signal indicated by the perception system of the electric vehicle, and obtains the driving status and lane information of the electric vehicle based on the perception data signal. By analyzing the distance, speed, acceleration and other signals, the motor controller obtains the target steering angle or steering assist torque, etc., makes driving decisions / planning based on the fused information, and controls the steering system to adjust the driving direction of the electric vehicle. When the human driver intervenes in the control, the steering system responds to the human driver's instructions again to control the driving direction of the electric vehicle.

[0053] It should be understood that when the electric vehicle is in the intelligent driving mode or the redundant intelligent driving mode, the steering wheel will rotate with the steering angle determined by the intelligent driving controller or the motor controller, so the steering wheel angle will change in the intelligent driving mode or the redundant intelligent driving mode, and the human driving instruction requires the user to operate the steering wheel. In this application, the change in the steering wheel angle operated by the user refers to the change in the steering wheel angle caused by the driver controlling the steering wheel rotation, rather than the change in the steering wheel angle when the steering wheel rotates automatically. The electric vehicle can detect the torque received on the steering wheel based on the sensor to detect whether the change in the steering wheel angle is caused by user operation. The electric vehicle can also detect in other ways, and this application is not limited to this.

[0054] According to the solution of the present application, when the motor controller controls the driving direction of the electric vehicle through the redundant intelligent driving function, when human driving intervenes, the human driving instructions are executed first to control the electric vehicle, thereby improving the safety of the vehicle.

[0055] In the second aspect, the present application provides a control method for an electric vehicle with a redundant intelligent driving function, the control method comprising, at a first moment, in response to a human driving torque signal, controlling the drive motor of the electric vehicle to output the torque value indicated by the human driving torque signal, the torque value indicated by the human driving torque signal changes with the change in the opening of the accelerator pedal of the electric vehicle operated by the user. At a second moment after the first moment, in response to the human driving torque signal switching to the intelligent driving torque signal, controlling the drive motor to output the torque value indicated by the intelligent driving torque signal, the torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller of the electric vehicle according to the perception data signal indicated by the perception system of the electric vehicle. At a third moment after the second moment, when the intelligent driving torque signal is stopped from being received and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel, the drive motor is controlled to adjust the torque output according to the perception data signal.

[0056] In combination with the second aspect, in certain implementations of the second aspect, the control method also includes, at a fourth moment after the third moment, when the user's operation of the accelerator pedal opening, the brake pedal opening or the steering wheel angle changes, stopping controlling the drive motor to adjust the torque output according to the perception data signal and controlling the drive motor of the electric vehicle to output the torque value indicated by the driver torque signal.

[0057] In combination with the second aspect, in certain implementations of the second aspect, the control method also includes, after the third moment, controlling the drive motor to adjust the torque output for a preset duration in response to a perception data signal indicated by a perception system of the electric vehicle, controlling the steering system to make the electric vehicle approach one side of the driving direction and controlling the drive motor to reduce the output torque to stop the electric vehicle.

[0058] In combination with the second aspect, in some implementations of the second aspect, the control method further includes controlling the body signal light of the electric vehicle to send out a warning signal from the third moment to the fourth moment. At the fourth moment, controlling the body signal light of the electric vehicle to stop sending out the warning signal.

[0059] In a third aspect, the present application provides an electric vehicle, the electric vehicle comprising a vehicle controller, an intelligent driving controller, and a motor controller as described in the first aspect and various implementations thereof, the intelligent driving controller being used to send an intelligent driving torque signal to the motor controller according to a perception data signal indicated by a perception system of the electric vehicle. The vehicle controller is used to send an intelligent driving failure signal to the motor controller when the intelligent driving controller fails, and the intelligent driving failure signal is used to indicate that the intelligent driving controller fails.

[0060] The beneficial effects of other aspects can refer to the beneficial effects described in the first aspect and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a schematic diagram of the intelligent driving control provided by an embodiment of the present application;

[0062] Figure 2 is a schematic diagram of an electric vehicle provided in an embodiment of the present application;

[0063] Figure 3 is a schematic diagram of the architecture of an electric vehicle provided in an embodiment of the present application;

[0064] Figure 4 is a schematic diagram of a motor controller provided in an embodiment of the present application;

[0065] Figure 5 is a schematic diagram of the signal connection of the motor controller provided in an embodiment of the present application;

[0066] Figure 6 It is a schematic diagram of the redundant intelligent driving function of the motor controller provided in an embodiment of the present application;

[0067] Figure 7 It is a schematic diagram of a motor controller redundant intelligent driving process provided by an embodiment of the present application;

[0068] Figure 8 It is a schematic diagram of the redundant intelligent driving process provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The following will describe the technical solution in the present application in conjunction with the accompanying drawings. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0070] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or. For example, A / B can mean A or B. The “and / or” in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0071] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.

[0072] References to "some embodiments" and the like described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment" and the like that appear at different places in this specification do not necessarily all refer to the same embodiment, but rather mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0073] As intelligent driving becomes more mature, driving convenience improves, but safety issues also become increasingly prominent. The typical intelligent driving scene control process is as follows: Figure 1As shown, the intelligent driving controller needs to control the longitudinal and lateral directions of the vehicle. In the longitudinal direction, the intelligent driving controller obtains the target longitudinal distance, speed, acceleration and other signals analyzed by the vehicle's sensing components (radar, camera, etc.), obtains its own target acceleration or target speed according to the vehicle's own state, and obtains the vehicle's target torque through the vehicle longitudinal control module (VLC), which is converted into motor torque and sent to the motor controller. In the lateral direction, the intelligent driving controller obtains the lane information analyzed by the vehicle's sensing components, obtains the target steering angle or steering assist torque according to the vehicle's own state, and sends it to the steering system, thereby enabling the vehicle to maintain the current lane, such as lane center control (LCC) or lane keeping assist (LKA) or change lanes, such as automatic lane change assist (ALC).

[0074] The application of intelligent driving controller redundancy in autonomous driving is one of the key technologies to ensure system safety.

[0075] In one possible implementation, all current intelligent driving control functions are located in the intelligent driving controller, and the electric drive system only acts as a torque actuator to perform torque control.

[0076] It should be understood that when the intelligent driving controller fails, shuts down, degrades or exits due to various reasons, the driver needs to take over quickly, and the driver's takeover usually takes seconds. Before the driver takes over, the entire vehicle may be in an uncontrollable state, affecting driving safety.

[0077] Based on the above problems, the present application provides a motor controller with intelligent driving redundancy, a control method and an electric vehicle. By backing up the intelligent driving system in the motor controller and connecting the relevant signals of the intelligent driving perception system to the motor controller, a redundant intelligent driving function is deployed in the electric drive system. When the intelligent driving control fails and human driving takes over, the vehicle continues to be controlled to operate normally, providing the entire vehicle with a vehicle-level intelligent driving redundant backup function and improving the safety of the entire vehicle.

[0078] Figure 2 and Figure 3 Schematic diagram of the electric vehicle 10 architecture provided in an embodiment of the present application.

[0079] like Figure 2As shown, the electric vehicle 10 includes an intelligent driving controller 20, a vehicle controller 30, a motor controller 40, a power battery (not shown) and a plurality of wheels. The motor controller 40 is used to output current to the drive motor 50 to control the drive motor 50 to output torque to drive the electric vehicle 10. The intelligent driving controller 20 is used to send an intelligent driving torque signal to the motor controller 40 according to the perception data signal indicated by the perception system of the electric vehicle. The vehicle controller 30 is used to send an intelligent driving failure signal to the motor controller 40 when the intelligent driving controller 20 fails, and the intelligent driving failure signal is used to indicate that the intelligent driving controller 20 fails.

[0080] It is understandable that the electric vehicle 10 in the embodiment of the present application can be any one of different types of vehicles such as a car, a truck, a passenger bus, etc., and can also be a transport device for carrying people or goods such as a tricycle, a two-wheeled vehicle, a train, or other types of vehicles driven by power batteries, which are not limited in the embodiment of the present application. Among them, the vehicle includes but is not limited to pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / battery EV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), new energy vehicles (new energy vehicle, NEV), etc.

[0081] It is understandable that the power battery in the embodiment of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-metal hydride battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., and the present application does not limit this. In terms of scale, the power battery in the embodiment of the present application can be a single cell, or a battery module or a battery pack, and the present application does not limit this. The power battery can also power other electrical devices in the vehicle, such as the air conditioner in the vehicle, the car player, etc.

[0082] The electric vehicle 10 may be a wheel-side four-drive motor drive architecture, where the drive motor 50 is arranged on the side of the driven wheel and is controlled by a separate motor controller 40. The electric vehicle 10 may also be a centralized drive motor drive architecture, where two drive motors for driving two front wheels or two rear wheels are arranged together. The motor controller 40 may be one or more. The motor controller 40 and the drive motor 50 may correspond one to one, or one motor controller 40 may correspond to multiple drive motors 50. The motor controller 40 is used to control one or more drive motors 50 to output torque to drive the electric vehicle 10.

[0083] In one embodiment, if Figure 3 As shown in (a) of FIG. 1 , the electric vehicle 10 may be a wheel-side four-drive motor drive architecture, where the drive motor is arranged on the side of the driven wheel and is controlled by a separate motor controller. The electric vehicle 10 may also be a Figure 3 In the centralized four-motor drive architecture shown in (b), two drive motors for driving two front wheels or two rear wheels are arranged together.

[0084] Exemplarily, the electric vehicle 10 includes four motor controllers, including a motor controller 41, a motor controller 42, a motor controller 43, and a motor controller 44. The four motors include a drive motor 51, a drive motor 52, a drive motor 53, and a drive motor 54. The motor controller 41 controls the drive motor 51 to drive one wheel, the motor controller 42 controls the drive motor 52 to drive one wheel, the motor controller 43 controls the drive motor 53 to drive one wheel, and the motor controller 44 controls the drive motor 54 to drive one wheel.

[0085] In one embodiment, the electric vehicle 10 may also be Figure 3 As shown in (c), one driving motor is used to drive the two front wheels of the electric vehicle 10, and two driving motors are used to drive the two rear wheels of the electric vehicle 10 respectively.

[0086] In one embodiment, the various architectures mentioned above may be combined, for example, the front drive adopts a wheel-side drive motor architecture and the rear drive adopts a centralized drive motor architecture.

[0087] The motor controller provided in the implementation of the present application may be any one of a plurality of motor controllers. The following embodiments only take one motor controller 40 as an example, and the actions of other motor controllers may be similarly understood by referring to the description.

[0088] The electric vehicle 10 further includes an accelerator pedal, a brake pedal, and a steering wheel. The accelerator pedal is used to indicate the torque output to the wheels of the electric vehicle 10 , and the brake pedal is used to indicate the braking force output to the multiple wheels of the electric vehicle 10 .

[0089] In one embodiment, the motor controller 40 includes a signal interface, and the motor controller 40 is connected to the vehicle controller 30 and other motor controllers 40 through the signal interface. The vehicle controller 30 is connected to the accelerator pedal signal, and the vehicle controller 30 calculates the vehicle torque demand according to the opening of the accelerator pedal during the driving of the electric vehicle 10, and sends a torque signal to the motor controller 40 according to the vehicle torque demand. Each motor controller 40 controls the corresponding drive motor 50 to output torque to drive the corresponding wheel according to the indication of the torque signal.

[0090] In one embodiment, each motor controller 40 may also be directly connected to the accelerator pedal, and control the corresponding motor output torque according to the torque signal output by the accelerator pedal.

[0091] The electric vehicle 10 further includes a steering system, which is used to control the driving direction of the electric vehicle by controlling the orientation of the wheels.

[0092] In one embodiment, the motor controller 40 can be connected to the perception system, the body control system, and the chassis control system through a controller area network (CAN), a high-speed fault-tolerant network protocol (FlexRay), or other types of connection methods, and obtain the perception data signal sent by the perception system through the bus, and send a steering instruction to the steering system through the bus.

[0093] Combine the following Figure 4 The functions of the motor controller 40 with redundant intelligent driving provided in this application are explained.

[0094] The motor controller 40 can operate in a variety of operating modes, including human driving mode, intelligent driving mode and redundant intelligent driving mode.

[0095] The motor controller 40 is used to control the drive motor 50 to output the torque value indicated by the human driving torque signal in response to the human driving torque signal. The torque value indicated by the human driving torque signal changes with the opening degree of the accelerator pedal operated by the user.

[0096] When the motor controller 40 is in the human driving mode, the user, i.e., the driver, operates the electric vehicle. When the user steps on the accelerator pedal, the vehicle controller 30 collects the opening of the accelerator pedal, generates a human driving torque signal according to the opening of the accelerator pedal, and sends it to the motor controller 40. Thus, the motor controller 40 controls the drive motor 50 to output the torque indicated by the opening of the accelerator pedal according to the opening of the accelerator pedal. The torque output by the drive motor 50 controlled by the motor controller 40 changes with the opening of the accelerator pedal. The larger the opening of the accelerator pedal, the greater the torque output by the drive motor 50. The smaller the opening of the accelerator pedal, the smaller the torque output by the drive motor 50.

[0097] The motor controller 40 is used to respond to the intelligent driving torque signal to control the drive motor 50 to output the torque value indicated by the intelligent driving torque signal. The torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller 20 of the electric vehicle 10 according to the perception data signal indicated by the perception system of the electric vehicle 10.

[0098] When the motor controller 40 is in the intelligent driving mode, the intelligent driving controller 20 of the electric vehicle 10 performs intelligent active driving or assists the user in driving. In the intelligent driving mode, the electric vehicle 10 can drive autonomously in a geographical area with little or no control input from the driver, that is, the user can operate the accelerator pedal, brake pedal and steering wheel with little or no operation, and the intelligent driving controller 20 receives the perception data signals sent by the sensing components of the electric vehicle 10, such as radar, camera and other sensors. The intelligent driving controller 20 fuses the information sensed by various sensors and obtains the driving state and lane information of the electric vehicle 10 according to the perception data signals. By analyzing the distance, speed, acceleration and other signals, the target acceleration and target speed are obtained, and the driving decision / planning is made based on the fused information, and the operation command is issued to the vehicle controller 30. The vehicle controller 30 sends the intelligent driving torque signal to the motor controller 40, so that the motor controller 40 outputs the torque value indicated by the intelligent driving torque signal to realize intelligent driving.

[0099] At the same time, the intelligent driving controller 20 will also control the steering system of the electric vehicle. The intelligent driving controller integrates the information sensed by various perception systems and obtains the driving status and lane information of the electric vehicle based on the perception data signals. By analyzing signals such as distance, speed, acceleration, etc., it obtains the target steering angle or steering assist torque, etc., makes driving decisions / planning based on the integrated information, issues operation commands to the steering system, and the steering system executes the steering commands, so that the whole vehicle can maintain the current lane or change lanes, thus realizing intelligent driving.

[0100] The motor controller 40 is further configured to receive a sensing data signal indicated by a sensing system of the electric vehicle 10 and control the drive motor 50 to adjust the torque output according to the sensing data signal.

[0101] When the motor controller 40 is in the redundant intelligent driving mode, the motor controller 40 receives the perception data signal indicated by the perception system of the electric vehicle 10, and the motor controller 40 obtains the driving state and lane information of the electric vehicle 10 according to the perception data signal, and obtains the target acceleration and target speed by analyzing the distance, speed, acceleration and other signals, and makes driving decisions / planning based on the fused information, and directly controls the drive motor 50 to adjust the output torque. At this time, the motor controller 40 can complete the function and work of the intelligent driving controller 20 in the intelligent driving mode to control the torque of the drive motor.

[0102] According to the solution of the present application, the motor controller of the electric vehicle is integrated with a redundant intelligent driving function, which can independently receive perception data signals and perform torque control based on the perception data signals, thereby improving the redundancy of intelligent driving control and enhancing the safety of the entire vehicle.

[0103] In one embodiment, the motor controller 40 is specifically used to stop controlling the output torque of the drive motor 50 according to the intelligent driving torque signal and control the drive motor 50 to adjust the output torque according to the perception data signal when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle during the process of controlling the output torque of the drive motor 50 according to the intelligent driving torque signal.

[0104] When the intelligent driving controller 20 crashes, degrades, or exits control due to various failures, the intelligent driving controller 20 will stop working, resulting in the inability to continue control in the intelligent driving mode. At this time, the driver needs to take over quickly, and the driver's takeover usually takes seconds. Before the driver takes over, the electric vehicle 10 may be in an uncontrollable state, affecting driving safety. The reason for the failure of the intelligent driving controller 20 may be a hardware failure or an abnormal or crashed software operation, which causes the intelligent driving controller 20 to be unable to continue intelligent driving control and exit the intelligent driving system. This application does not specifically limit the reason for the failure of the intelligent driving controller 20.

[0105] Since the motor controller 40 has a redundant intelligent driving function, when the intelligent driving controller 20 fails and the human driver has not taken over, that is, the user has not operated the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel, the motor controller 40 cannot receive the intelligent driving torque signal at this time, and the motor controller 40 can switch to the redundant intelligent driving mode, and the motor controller 40 directly controls the drive motor 50 to adjust the output torque according to the sensed data signal. Before the human driver takes over, the motor controller 40 takes over the intelligent driving controller 20 to continue the intelligent driving control, ensuring the driving safety of the electric vehicle 10.

[0106] According to the solution of this application, the electric vehicle's motor controller integrates a redundant intelligent driving function, which can independently receive sensory data signals and perform backup operation in the vehicle's intelligent driving mode. When the vehicle's intelligent driving controller fails, before the human driver takes over, the motor controller can quickly switch to achieve redundant intelligent driving mode takeover, reduce downtime, reduce the risk of electric vehicles losing control, and improve vehicle safety.

[0107] In one embodiment, the motor controller 40 is also used to control the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 according to the perception data signal when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle during the process of controlling the output torque of the drive motor 50 according to the intelligent driving torque signal.

[0108] When the motor controller 40 is in the redundant intelligent driving mode, the motor controller 40 receives the perception data signal indicated by the perception system of the electric vehicle 10, and the motor controller 40 obtains the driving state and lane information of the electric vehicle according to the perception data signal, and obtains the target steering angle or steering assist torque by analyzing the distance, speed, acceleration and other signals, and makes driving decisions / planning based on the fused information, and controls the steering system to adjust the driving direction of the electric vehicle 10. At this time, the motor controller can complete the function and work of the intelligent driving controller controlling the steering in the intelligent driving mode.

[0109] In the intelligent driving mode, the motor controller 40 receives in real time signals such as relative distance, relative vehicle speed, relative acceleration, lane information, etc. sent by the perception system. The motor controller 40 integrates a redundant intelligent driving function to provide a vehicle-level redundant backup for the intelligent driving controller 20. When the electric vehicle 10 is in the intelligent driving mode, it calculates the motor torque command and steering command in real time in the background. When the intelligent driving controller 20 fails and crashes, before the human driver takes over, the redundant intelligent driving function module controls the vehicle to continue driving according to the information of the perception system, and the longitudinal torque command is controlled by the longitudinal torque arbitration module to switch to the output command of the redundant intelligent driving function, and the steering command is controlled by the steering arbitration module to switch to the output command of the redundant intelligent driving function module.

[0110] In one embodiment, the motor controller 40 is also used to control the body signal lights of the electric vehicle 10 to send a warning signal when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle during the process of controlling the output torque of the drive motor according to the intelligent driving torque signal.

[0111] When an electric vehicle is driving in intelligent driving mode, if the intelligent driving controller fails, degrades, or exits control due to various failures, the intelligent driving controller will stop working, making it impossible to continue the control in the intelligent driving mode. At this time, the driver needs to take over quickly, and the driver's takeover usually takes seconds. Before the driver takes over, the electric vehicle may be in an uncontrollable state, affecting driving safety. The motor controller enters the redundant intelligent driving mode, and the motor controller can control the body signal light to send a warning signal, thereby reminding that the electric vehicle has entered an abnormal state.

[0112] In one embodiment, the motor controller 40 is used to stop controlling the drive motor 50 to adjust the torque output according to the perception data signal and control the drive motor 50 to output the torque value indicated by the human driving torque signal when the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes during the process of controlling the drive motor 50 to output the torque according to the perception data signal.

[0113] When the motor controller 40 is in the redundant intelligent driving mode, the drive motor is controlled to adjust the torque output according to the sensed data signal. At this time, the user has not taken over the control of the electric vehicle and has not operated the accelerator pedal, brake pedal and steering wheel. If the driver intervenes in the control and manipulates the accelerator pedal, brake pedal or steering wheel, so that the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes, it can be considered that the human driver has taken over, and the electric vehicle 10 switches from the redundant intelligent driving mode to the human driving mode. The motor controller 40 no longer controls the drive motor to adjust the torque according to the sensed data signal, but directly outputs the torque indicated by the opening of the accelerator pedal in response to the human driving torque signal according to the control of the driver.

[0114] In one embodiment, the motor controller 40 is used to stop controlling the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 when the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user changes during the process of controlling the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 according to the perception data signal.

[0115] When the motor controller 40 is in the redundant intelligent driving mode, the motor controller 40 receives the perception data signal indicated by the perception system of the electric vehicle, and obtains the driving state and lane information of the electric vehicle according to the perception data signal, and obtains the target steering angle or steering assist torque by analyzing the distance, speed, acceleration and other signals, and makes driving decisions / planning based on the fused information, and controls the steering system to adjust the driving direction of the electric vehicle. When the human driver intervenes in the control, the steering system responds to the human driver's instructions again to control the driving direction of the electric vehicle 10.

[0116] When the human driver takes over, the torque arbitration module controls the motor torque command to smoothly transition to the human driving mode, and the steering arbitration module controls the steering command to smoothly transition to the human driving mode.

[0117] In one embodiment, the motor controller 40 is also used to control the body signal lights of the electric vehicle 10 to stop sending warning signals in response to a change in the intelligent driving torque signal or the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user.

[0118] When the electric vehicle 10 is driving in the redundant intelligent driving mode, if the intelligent driving controller resumes operation or the human driver takes over, the electric vehicle will switch from the redundant intelligent driving mode to the intelligent driving mode or the human driving mode, and the motor controller 40 will control the elimination of the vehicle body signal lights. The electric vehicle 10 has returned to normal or has been taken over by the driver, and no further warning is required.

[0119] In one embodiment, the motor controller 40 is used to control the drive motor 50 to adjust the torque output for a preset duration in response to a perception data signal indicated by a perception system of the electric vehicle 10, control the steering system to make the electric vehicle 10 approach one side of the driving direction, and control the drive motor 50 to reduce the output torque to stop the electric vehicle.

[0120] When the motor controller 40 is in the redundant intelligent driving mode, the drive motor is controlled to adjust the torque output according to the sensed data signal. At this time, the user has not taken over the control of the electric vehicle and has not operated the accelerator pedal, brake pedal and steering wheel. If the driver does not intervene in the control for a long time, the accelerator pedal opening, brake pedal opening or steering wheel angle operated by the user does not change within the preset time. The motor controller 40 can generate a path for pull-over parking under the redundant intelligent driving function, and control the torque output by the drive motor and the steering system according to the generated path to complete the pull-over parking process. The motor controller 40 controls the steering system to make the electric vehicle approach one side of the driving direction and controls the drive motor 50 to reduce the output torque to stop the electric vehicle.

[0121] It should be understood that the computing power of the motor controller 40 may be lower than that of the intelligent driving controller. Therefore, after the intelligent driving controller 20 fails, the motor controller 40 can perform redundant intelligent driving control within a preset time period, and the preset time period can be set according to the capabilities of the motor controller. If the human driver does not take over within the preset time period, the motor controller can stop performing redundant intelligent driving and use the redundant intelligent driving function to generate a pull-over parking path and control the parking of the electric vehicle.

[0122] According to the solution of the present application, after the intelligent driving controller fails and crashes, the human driver does not take over for a long time. The motor controller controls the entire vehicle to park by the redundant intelligent driving function, thus avoiding loss of control of the entire vehicle and improving vehicle safety.

[0123] In one embodiment, the motor controller 40 is also used to control the drive motor 50 to output the torque value indicated by the driving torque signal in response to changes in the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user, while controlling the steering system to make the electric vehicle 10 approach one side of the driving direction and controlling the drive motor 50 to reduce the output torque to stop the electric vehicle 10.

[0124] When the motor controller 40 is in the redundant intelligent driving mode, the drive motor 50 is controlled to adjust the torque output according to the sensed data signal. If the driver does not intervene in the control for a long time, the accelerator pedal opening, brake pedal opening or steering wheel angle operated by the user does not change within the preset time. The motor controller 40 can generate a pull-over parking path under the redundant intelligent driving function, and control the torque output by the drive motor and the steering system according to the generated path to complete the pull-over parking process. During the process of the motor controller 40 controlling the electric vehicle 10 to pull over, when the driver intervenes in the control, the human driving instruction is given priority to control, and the pull-over parking path instruction is terminated.

[0125] like Figure 5 As shown, the motor controller 40 is connected to the power CAN, chassis CAN and body CAN at the same time. The MCU connected to the chassis CAN can directly send steering instructions to the steering system after the intelligent driving system fails. The MCU connected to the body CAN can control the body-related signals to send warning signals to surrounding vehicles after the intelligent driving system fails. This enables the redundant intelligent driving function to send steering instructions to the steering system under abnormal working conditions, and the minimum system to warn surrounding vehicles through the body warning lights under abnormal working conditions.

[0126] The motor controller 40 can obtain the relative distance, relative speed and other signals analyzed by the perception system (radar, camera) from the bus (CAN or FlexRay, etc.). And obtain the intelligent driving failure signal from the bus. The motor controller 40 can also send the current redundant intelligent driving function activation status, motor target torque, motor actual torque, etc. to the bus (CAN or FlexRay, etc.). Send the steering command output by the redundant intelligent driving function to the bus. Send the body signal light warning signal to the bus.

[0127] The motor controller 40 may also first send the vehicle body signal light instruction or the steering instruction to the vehicle controller, and then the vehicle controller forwards it to the vehicle body signal light and steering system through the bus.

[0128] In one embodiment, the motor controller 40 is also used to control the torque output by the drive motor 50 to change to the torque indicated by the intelligent driving torque signal at a preset change rate in response to the intelligent driving torque signal during the process of controlling the output torque of the drive motor 50 according to the perception data signal.

[0129] In one embodiment, the motor controller 40 is used to control the torque output by the drive motor 50 according to the perception data signal. When the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes, the motor controller 40 is used to control the torque output by the drive motor 50 according to a preset change rate, so as to change from the torque adjusted according to the perception data signal to the torque indicated by the human driving torque signal.

[0130] When the motor controller switches from the redundant intelligent driving mode to the intelligent driving mode or the human driving mode, the torque output of the control drive motor is smoothly transitioned to the torque indicated by the intelligent driving torque signal. The preset change rate can be calibrated according to the vehicle.

[0131] During the switching process between the redundant intelligent driving function and the intelligent driving system output control signal or the human driving control signal, a smooth transition is performed, avoiding the frustration of switching between different modes and improving the comfort of electric vehicles during driving.

[0132] If the intelligent driving controller 20 resumes operation within a short period of time, the longitudinal torque arbitration module controls the motor torque command to smoothly transition to the vehicle intelligent driving system command, and the steering arbitration module controls the steering command to smoothly transition to the vehicle intelligent driving system command, while eliminating the body warning lights.

[0133] If human driving takes over within a short period of time, the torque arbitration module controls the motor torque command to smoothly transition to human driving mode, and the steering arbitration module controls the steering command to smoothly transition to human driving mode, while eliminating the body warning lights.

[0134] If the intelligent driving function is not restored within a long period of time and the human driver does not intervene, the redundant intelligent driving function will control the entire vehicle through the longitudinal and lateral systems to complete pull-over parking.

[0135] Exemplarily, the operation process of the redundant intelligent driving function of the motor controller 40 is as follows: Figure 6 and Figure 7 shown.

[0136] First, after the electric vehicle 10 enters the intelligent driving mode, the redundant intelligent function module of the motor controller 40 receives the perception data signal of the perception system, which may include the relative distance, relative speed, acceleration, lane information, etc. of the electric vehicle 10. The motor controller 40 calculates the longitudinal torque and lateral torque required by the vehicle in real time according to the perception data signal.

[0137] The vehicle controller 30 determines whether the intelligent driving controller 20 fails or crashes. If the intelligent driving controller 20 fails or crashes, the longitudinal torque command is controlled by the longitudinal torque arbitration module to switch to the output command of the redundant intelligent driving function, and the lateral steering command is controlled by the steering arbitration module to switch to the output command of the redundant intelligent driving function module. At the same time, the motor controller 40 controls the vehicle body warning lights to send warning signals to surrounding vehicles.

[0138] When the intelligent driving controller 20 fails and shuts down, if the intelligent driving controller 20 resumes operation in a short time, the longitudinal torque arbitration module controls the motor torque command to smoothly transition to the intelligent driving controller 20 command, and the steering arbitration module controls the steering command to smoothly transition to the intelligent driving controller 20 command. At the same time, the vehicle body warning light is eliminated.

[0139] If the intelligent driving controller cannot be restored, it is determined whether the human driver takes over within the preset time. If the human driver takes over in time within the preset time, the vehicle control command is the output of the redundant intelligent driving function module during the period from the failure of the intelligent driving controller to the human driver taking over. When the human driver takes over, the torque arbitration module controls the drive motor torque command to smoothly transition to the human driving mode, and the steering arbitration module controls the steering command to smoothly transition to the human driving mode, and eliminates the vehicle body warning lights at the same time.

[0140] If the human driver does not take over within the preset time, the redundant intelligent driving function of the motor controller 40 generates a pull-over parking path and controls the entire vehicle to complete the pull-over parking process.

[0141] According to the solution of this application, a vehicle-level intelligent driving redundant backup function is provided for the entire vehicle to improve the safety of the entire vehicle.

[0142] The present application provides a control method for an electric vehicle with a redundant intelligent driving function.

[0143] The method can be applied to the electric vehicle 10 described above.

[0144] The control method includes, at a first moment, responding to a human driving torque signal, controlling a driving motor 50 of an electric vehicle to output a torque value indicated by the human driving torque signal, wherein the torque value indicated by the human driving torque signal changes with the opening degree of an accelerator pedal of the electric vehicle operated by a user.

[0145] At a second moment after the first moment, in response to the human driving torque signal switching to the intelligent driving torque signal, the drive motor 50 is controlled to output the torque value indicated by the intelligent driving torque signal, and the torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller 20 of the electric vehicle according to the perception data signal indicated by the perception system of the electric vehicle.

[0146] At the third moment after the second moment, when the intelligent driving torque signal is stopped from being received and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle, the drive motor 50 is controlled to adjust the torque output according to the perception data signal.

[0147] In one embodiment, the control method further includes, at a fourth moment after the third moment, when the user operates the accelerator pedal opening, the brake pedal opening, or the steering wheel angle to change, stopping controlling the drive motor 50 to adjust the torque output according to the perception data signal and controlling the drive motor 50 of the electric vehicle 10 to output the torque value indicated by the human driving torque signal.

[0148] In one embodiment, the control method further includes controlling the vehicle body signal light of the electric vehicle 10 to send out a warning signal from the third moment to the fourth moment. At the fourth moment, controlling the vehicle body signal light of the electric vehicle 10 to stop sending out the warning signal.

[0149] like Figure 8 As shown in (a), from the first moment t1 to the second moment t2, the motor controller 40 responds to the human driving torque signal, and the steering system is controlled by the user operating the steering wheel. At the second moment t2, the electric car 10 switches to the intelligent driving mode, and the motor controller 40 and the steering system are controlled by the intelligent driving instructions of the intelligent driving controller 20. At the third moment t3, the intelligent driving controller 20 fails, and the motor controller 40 enters the redundant intelligent driving mode to control the output torque of the drive motor 50 and the steering angle of the steering wheel. At the fourth moment t4, the user intervenes in the control, and the motor controller 40 responds to the human driving instructions again for control. During the period from the third moment t3 to the fourth moment t4, the motor controller 40 controls the vehicle body signal lights to send a warning signal, and at the fourth moment t4, the vehicle body signal lights are turned off.

[0150] In one embodiment, the control method further includes, after the third moment, controlling the drive motor 50 to adjust the torque output for a preset duration in response to a perception data signal indicated by a perception system of the electric vehicle 10, controlling the steering system to make the electric vehicle 10 approach one side of the driving direction and controlling the drive motor 50 to reduce the output torque to stop the electric vehicle 10.

[0151] like Figure 8 As shown in (b), from the first moment t1 to the second moment t2, the motor controller 40 responds to the human driving torque signal, and the steering system is controlled by the user operating the steering wheel. At the second moment t2, the electric vehicle 10 switches to the intelligent driving mode, and the motor controller 40 and the steering system are controlled by the intelligent driving instructions of the intelligent driving controller 20. At the third moment t3, the intelligent driving controller 20 fails, and the motor controller 40 enters the redundant intelligent driving mode, controlling the output torque of the drive motor 50 and the steering angle of the steering wheel. After the preset time, the human driver still does not intervene, and the motor controller 40 generates a pull-over parking path according to the perception data signal, and controls the electric vehicle 10 to complete the pull-over parking process.

[0152] According to the solution of the present application, after the intelligent driving controller fails and shuts down, before the human driver takes over, the motor controller implements the redundant intelligent driving function to control the entire vehicle to continue running, avoiding loss of control of the entire vehicle and improving vehicle safety.

[0153] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0154] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0155] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0156] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A motor controller with intelligent driving redundancy, characterized in that: The motor controller is used to control the output torque of the driving motor of the electric vehicle to drive the wheels of the electric vehicle; the motor controller is used to: In response to a human driving torque signal, controlling the drive motor to output a torque value indicated by the human driving torque signal, wherein the torque value indicated by the human driving torque signal changes with a change in the opening degree of an accelerator pedal operated by a user; In response to the intelligent driving torque signal, controlling the drive motor to output a torque value indicated by the intelligent driving torque signal, the torque value indicated by the intelligent driving torque signal being adjusted by the intelligent driving controller of the electric vehicle according to a perception data signal indicated by a perception system of the electric vehicle; The motor controller is also used for: Receive a perception data signal indicated by a perception system of the electric vehicle and control the drive motor to adjust the torque output according to the perception data signal.

2. The motor controller according to claim 1, characterized in that: The motor controller is specifically used for: In the process of controlling the output torque of the drive motor according to the intelligent driving torque signal, when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel, stop controlling the output torque of the drive motor according to the intelligent driving torque signal and control the drive motor to adjust the output torque according to the perception data signal.

3. The motor controller according to claim 1, characterized in that: The motor controller is used to: In the process of controlling the drive motor to output the torque according to the perception data signal, when the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes, stop controlling the drive motor to adjust the torque output according to the perception data signal and control the drive motor to output the torque value indicated by the driver torque signal.

4. The motor controller according to claim 1, characterized in that: The motor controller is also used for: The steering system of the electric vehicle is controlled according to the sensing data signal to adjust the driving direction of the electric vehicle.

5. The motor controller according to claim 4, characterized in that: The motor controller is used to: In response to a perception data signal indicated by a perception system of the electric vehicle, the drive motor is controlled to adjust the torque output for a preset duration, the steering system is controlled to make the electric vehicle approach one side of the driving direction, and the drive motor is controlled to reduce the output torque to stop the electric vehicle.

6. The motor controller according to claim 1, characterized in that: The motor controller is also used for: In the process of controlling the output torque of the drive motor according to the intelligent driving torque signal, when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel, the body signal lights of the electric vehicle are controlled to send out a warning signal.

7. The motor controller according to claim 6, characterized in that: The motor controller is also used for: During the process of controlling the body signal lights of the electric vehicle to send out a warning signal, in response to a change in the intelligent driving torque signal or the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user, the body signal lights of the electric vehicle are controlled to stop sending out the warning signal.

8. The motor controller according to claim 1, characterized in that: The motor controller is also used for: In the process of controlling the output torque of the drive motor according to the perception data signal, in response to the intelligent driving torque signal, the torque output by the drive motor is controlled to change to the torque indicated by the intelligent driving torque signal at a preset change rate.

9. The motor controller according to claim 3, characterized in that: The step of stopping controlling the drive motor to adjust the torque output according to the sensed data signal and controlling the drive motor to output the torque value indicated by the driving torque signal includes: The torque output by the drive motor is controlled at a preset change rate to change from the torque adjusted according to the perception data signal to the torque indicated by the human driving torque signal.

10. The motor controller according to claim 5, characterized in that: The motor controller is also used for: In the process of controlling the steering system to make the electric vehicle approach one side of the driving direction and controlling the drive motor to reduce the output torque to stop the electric vehicle, in response to changes in the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user, the drive motor is controlled to output the torque value indicated by the human driving torque signal.

11. The motor controller according to claim 4, characterized in that: The motor controller is used to: In the process of controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle according to the perception data signal, when the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel angle operated by the user changes, stop controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle.

12. A control method for an electric vehicle with redundant intelligent driving function, characterized in that: The control method comprises: At a first moment, in response to a human driving torque signal, a driving motor of the electric vehicle is controlled to output a torque value indicated by the human driving torque signal, wherein the torque value indicated by the human driving torque signal changes with a change in the opening degree of an accelerator pedal of the electric vehicle operated by a user; At a second moment after the first moment, in response to the human driving torque signal switching to the intelligent driving torque signal, the drive motor is controlled to output a torque value indicated by the intelligent driving torque signal, and the torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller of the electric vehicle according to a perception data signal indicated by a perception system of the electric vehicle; At a third moment after the second moment, when the intelligent driving torque signal is stopped from being received and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the angle of the steering wheel, the drive motor is controlled to adjust the torque output according to the perception data signal.

13. The control method according to claim 12, characterized in that: The control method further comprises: At the fourth moment after the third moment, when the user's operating angle of the accelerator pedal, the brake pedal or the steering wheel changes, stop controlling the drive motor to adjust the torque output according to the perception data signal and control the drive motor of the electric vehicle to output the torque value indicated by the human driving torque signal.

14. The control method according to claim 12, characterized in that: The control method further comprises: After the third moment, in response to a perception data signal indicated by a perception system of the electric vehicle, the drive motor is controlled to adjust the torque output for a preset duration, the steering system is controlled to make the electric vehicle approach one side of the driving direction and the drive motor is controlled to reduce the output torque to stop the electric vehicle.

15. The control method according to claim 13, characterized in that: The control method further comprises: From the third moment to the fourth moment, controlling the body signal light of the electric vehicle to send out a warning signal; At the fourth moment, the body signal light of the electric vehicle is controlled to stop sending the warning signal.

16. An electric vehicle, characterized in that: The electric vehicle comprises a vehicle controller, an intelligent driving controller and a motor controller according to any one of claims 1 to 11, wherein the intelligent driving controller is used to send an intelligent driving torque signal to the motor controller according to a perception data signal indicated by a perception system of the electric vehicle; the vehicle controller is used to: When the intelligent driving controller fails, an intelligent driving failure signal is sent to the motor controller, and the intelligent driving failure signal is used to indicate that the intelligent driving controller has failed.

Images