Vehicle, control method and device thereof, storage medium and computer program product

Abstract

The invention discloses a vehicle and a control method and device thereof, a storage medium and a computer program product, and the method comprises the steps: obtaining the state information of the vehicle under the condition that a motor of the vehicle needs to be started in a preset outdoor environment temperature range; determining whether the current state of the vehicle allows a motor of the vehicle to start or not according to the state information of the vehicle; if it is determined that the current state of the vehicle does not allow the motor of the vehicle to start, controlling the motor of the vehicle not to work; if it is determined that the current state of the vehicle allows starting, the current temperature of a motor is obtained, and running information of the vehicle is obtained; and in combination with the current temperature of the motor and the running information of the vehicle, the motor starting of the vehicle is controlled, so that protection control over the motor starting of the vehicle within the preset outdoor environment temperature range is achieved. According to the scheme, starting protection is carried out on the vehicle according to the temperature of the motor under the low-temperature condition, the motor is prevented from being demagnetized under the action of large current, the motor operates normally, and the safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle technology, and specifically relates to a vehicle control method, device, vehicle, storage medium and computer program product, and more particularly to a permanent magnet assisted reluctance motor starting protection control method, device, vehicle (such as a new energy vehicle), storage medium and computer program product for a vehicle (such as a new energy vehicle). Background Art

[0002] Permanent Magnet Synchronous Motor (PMSM) is widely used in vehicles (such as pure electric or hybrid new energy vehicles) because of its advantages of high power density, wide speed regulation range, small size, and high efficiency. Compared with other types of motors, permanent magnet assisted synchronous reluctance motors have some unsurpassed advantages, but also some disadvantages: the magnetic steel material commonly used in permanent magnet assisted synchronous reluctance motors is ferrite, which is prone to irreversible demagnetization under low temperature and high current, affecting the normal operation of the motor and the safety of the vehicle.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The object of the present invention is to provide a vehicle control method, device, vehicle, storage medium and computer program product to solve the problem that the magnetic steel of the vehicle's motor (such as a permanent magnet synchronous motor) is easily demagnetized under the action of low temperature and large current, affecting the normal operation of the motor and the safety of the vehicle. The purpose of the present invention is to achieve the effect of preventing the motor from being demagnetized under the action of large current when the vehicle starts under low temperature conditions by protecting the vehicle from starting according to the temperature of the motor, so that the motor can operate normally and the safety of the vehicle can be improved.

[0005] The present invention provides a vehicle control method, comprising: obtaining status information of the vehicle when a motor of the vehicle needs to be started within a preset outdoor ambient temperature range; determining whether the current status of the vehicle allows the motor to be started based on the status information of the vehicle; if it is determined that the current status of the vehicle does not allow the motor to be started, controlling the motor not to work; if it is determined that the current status of the vehicle allows the motor to be started, obtaining the current temperature of the motor and obtaining the operating information of the vehicle; and controlling the motor to start in combination with the current temperature of the motor and the operating information of the vehicle, so as to achieve protective control of the motor starting within the preset outdoor ambient temperature range.

[0006] In some embodiments, the status information of the vehicle includes at least one of the following: information on whether the vehicle has been powered on with high voltage, fault information of the vehicle, and gear information of the vehicle; based on the status information of the vehicle, determining whether the current status of the vehicle allows the motor to start, including: determining whether the vehicle has been powered on with high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear; if it is determined that it is not satisfied, determining that the current status of the vehicle does not allow the motor to start; if it is determined that it is satisfied, determining that the current status of the vehicle allows the motor to start.

[0007] In some embodiments, the starting of the motor is controlled in combination with the current temperature of the motor and the operating information of the vehicle, including: determining whether the current temperature of the motor is less than or equal to a preset temperature threshold; if it is determined that the current temperature of the motor is greater than the preset temperature threshold, controlling the starting of the motor according to the operating information of the vehicle; if it is determined that the current temperature of the motor is less than or equal to the preset temperature threshold, determining the current limit input to the motor according to the current temperature of the motor to obtain the current amplitude of the motor; and controlling the starting of the motor according to the current amplitude of the motor.

[0008] In some embodiments, the operating information of the vehicle includes at least one of the following: an accelerator pedal signal of the vehicle, a gear status signal of the vehicle, and a current speed of the vehicle; controlling the motor to start according to the operating information of the vehicle includes: calculating the torque of the motor according to the operating information of the vehicle; and causing the motor controller of the motor to output current to the motor according to the torque of the motor, so that the motor outputs the torque of the motor, thereby controlling the motor to start.

[0009] In some implementations, determining the current limit value input to the motor according to the current temperature of the motor to obtain the current amplitude of the motor includes: calculating the current amplitude of the motor according to the following formula according to the current temperature of the motor:

[0010] I limit =I max *[1+α(T-T0)];

[0011] Among them, I limit I is the current amplitude of the motor, that is, the current amplitude that the motor controller of the motor can output after limiting; max is the current value output by the motor controller of the motor when the motor outputs the maximum torque before the limit; α is the coercive force temperature coefficient, T is the current temperature of the motor, and T0 is the reference temperature.

[0012] In some embodiments, controlling the starting of the motor according to the current amplitude of the motor includes: when the current output by the motor controller of the motor is less than or equal to the current amplitude of the motor, causing the motor to output a corresponding torque to control the starting of the motor.

[0013] Matching the above method, the present invention provides a vehicle control device on the other hand, including: an acquisition unit, configured to acquire status information of the vehicle when it is necessary to start the motor of the vehicle within a preset outdoor ambient temperature range; a control unit, configured to determine whether the current status of the vehicle allows the motor to start based on the status information of the vehicle; the control unit is also configured to control the motor not to work if it is determined that the current status of the vehicle does not allow the motor to start; the acquisition unit is also configured to acquire the current temperature of the motor and acquire the operating information of the vehicle if it is determined that the current status of the vehicle allows starting; the control unit is also configured to control the starting of the motor in combination with the current temperature of the motor and the operating information of the vehicle, so as to achieve protective control of the starting of the motor within the preset outdoor ambient temperature range.

[0014] In some embodiments, the status information of the vehicle includes at least one of the following: information on whether the vehicle has been powered on with high voltage, fault information of the vehicle, and gear information of the vehicle; the control unit determines, based on the status information of the vehicle, whether the current status of the vehicle allows the motor to start, including: determining whether the vehicle has been powered on with high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear; if it is determined that it is not satisfied, determining that the current status of the vehicle does not allow the motor to start; if it is determined that it is satisfied, determining that the current status of the vehicle allows the motor to start.

[0015] In some embodiments, the control unit, in combination with the current temperature of the motor and the operating information of the vehicle, controls the starting of the motor, including: determining whether the current temperature of the motor is less than or equal to a preset temperature threshold; if it is determined that the current temperature of the motor is greater than the preset temperature threshold, controlling the starting of the motor according to the operating information of the vehicle; if it is determined that the current temperature of the motor is less than or equal to the preset temperature threshold, determining the current limit input to the motor according to the current temperature of the motor to obtain the current amplitude of the motor; and controlling the starting of the motor according to the current amplitude of the motor.

[0016] In some embodiments, the operating information of the vehicle includes at least one of the following: an accelerator pedal signal of the vehicle, a gear status signal of the vehicle, and a current speed of the vehicle; the control unit controls the starting of the motor according to the operating information of the vehicle, including: calculating the torque of the motor according to the operating information of the vehicle; and causing the motor controller of the motor to output current to the motor according to the torque of the motor, so that the motor outputs the torque of the motor, thereby controlling the starting of the motor.

[0017] In some embodiments, the control unit determines the current limit input to the motor according to the current temperature of the motor to obtain the current amplitude of the motor, including: according to the current temperature of the motor, calculating the current amplitude of the motor according to the following formula:

[0018] I limit =I max *[1+α(T-T0)];

[0019] Among them, I limit I is the current amplitude of the motor, that is, the current amplitude that the motor controller of the motor can output after limiting; max is the current value output by the motor controller of the motor when the motor outputs the maximum torque before the limit; α is the coercive force temperature coefficient, T is the current temperature of the motor, and T0 is the reference temperature.

[0020] In some embodiments, the control unit controls the starting of the motor according to the current amplitude of the motor, including: when the current output by the motor controller of the motor is less than or equal to the current amplitude of the motor, causing the motor to output a corresponding torque to control the starting of the motor.

[0021] Matching the above-mentioned device, the present invention further provides a vehicle on the other hand, including: the vehicle control device mentioned above.

[0022] In accordance with the above method, the present invention provides a storage medium on the other hand, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the vehicle control method described above.

[0023] In accordance with the above method, the present invention provides a computer program product on another aspect, including a computer program, which implements the steps of the above vehicle control method when executed by a processor.

[0024] Therefore, the scheme of the present invention obtains the current temperature of the motor when the vehicle state is allowed to start under low temperature conditions, and determines whether it is necessary to limit the current input to the motor according to the current temperature of the motor: if so, the current limit input to the motor is calculated, and the output torque of the motor is controlled according to the current limit input to the motor; otherwise, the output torque of the motor is controlled in a normal manner to achieve starting protection of the vehicle under low temperature conditions; thus, by performing starting protection for the vehicle according to the temperature of the motor under low temperature conditions, the motor can be prevented from being demagnetized by a large current when the vehicle starts under low temperature conditions, so that the motor can operate normally and the safety of the vehicle is improved.

[0025] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention.

[0026] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic flow chart of an embodiment of a vehicle control method of the present invention;

[0028] Figure 2 A schematic diagram of a flow chart of an embodiment of the method of the present invention for determining whether the current state of the vehicle allows the motor to start;

[0029] Figure 3 A flow chart of an embodiment of the method of the present invention for controlling the starting of the motor by combining the current temperature of the motor and the operating information of the vehicle;

[0030] Figure 4 It is a flow chart of an embodiment of controlling the motor to start according to the running information of the vehicle in the method of the present invention;

[0031] Figure 5 A schematic structural diagram of an embodiment of a vehicle control device of the present invention;

[0032] Figure 6 It is a schematic diagram of the connection structure between the voltage type pulse width modulation inverter and the motor;

[0033] Figure 7 Schematic diagram of the connection structure of the upper and lower switch elements of the same bridge arm in a voltage-type pulse width modulation inverter;

[0034] Figure 8 Schematic diagram of waveforms of ideal and actual switching conditions of upper and lower switching elements of the same phase bridge arm in a voltage-type pulse width modulation inverter;

[0035] Fig. 9It is a flow chart of the vehicle starting control strategy in the relevant scheme;

[0036] Fig.10 It is a flow chart of the vehicle starting control strategy of the present invention, that is, a flow chart of the motor protection control strategy of a new energy vehicle.

[0037] In conjunction with the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0038] 102 - acquisition unit; 104 - control unit. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] Considering that the magnetic steel of the vehicle's motor (such as a permanent magnet synchronous motor) is prone to demagnetization under the action of low temperature and high current, affecting the normal operation of the motor and the safety of the vehicle. When the vehicle (such as a new energy vehicle) is in the stage of rapid start or acceleration, the motor needs to output a large torque in a short time, and the current passing through the motor winding is large, which makes the motor prone to demagnetization, affecting the normal operation of the motor and the safety of the vehicle.

[0041] Figure 6 The schematic diagram of the connection structure between the voltage type pulse width modulation inverter and the motor is as follows: Figure 6 As shown, the voltage-type pulse width modulation inverter is an inverter bridge composed of switching elements IGBT1, IGBT2, IGBT3, IGBT4, IGBT5 and IGBT6, and the switching element IGBT1 has a freewheeling diode D1, the switching element IGBT2 has a freewheeling diode D2, the switching element IGBT3 has a freewheeling diode D3, the switching element IGBT4 has a freewheeling diode D4, the switching element IGBT5 has a freewheeling diode D5 and the switching element IGBT6 has a freewheeling diode D6.

[0042] The positive electrode of the battery is connected to the positive electrode of the capacitor C1; the negative electrode of the battery is connected to the negative electrode of the capacitor C1. The positive electrode of the battery is also connected to the collector of the switching element IGBT1, the collector of the switching element IGBT3, and the collector of the switching element IGBT5; the negative electrode of the battery is also connected to the emitter of the switching element IGBT2, the emitter of the switching element IGBT4, and the emitter of the switching element IGBT6. The emitter of the switching element IGBT1 is connected to the collector of the switching element IGBT2, and the common end of the emitter of the switching element IGBT1 and the collector of the switching element IGBT2 is connected to the power supply end of the a-phase winding among the three-phase windings of the motor (Motor); the emitter of the switching element IGBT3 is connected to the collector of the switching element IGBT4, and the common end of the emitter of the switching element IGBT3 and the collector of the switching element IGBT4 is connected to the power supply end of the b-phase winding among the three-phase windings of the motor; the emitter of the switching element IGBT5 is connected to the collector of the switching element IGBT6, and the common end of the emitter of the switching element IGBT5 and the collector of the switching element IGBT6 is connected to the power supply end of the c-phase winding among the three-phase windings of the motor.

[0043] Figure 7 Schematic diagram of the connection structure of the upper and lower switching elements in the same bridge arm of the voltage-type pulse width modulation inverter. Figure 7 As shown, the upper bridge arm of the a-phase bridge arm is the switching element IGBT1, and the lower bridge arm is the switching element IGBT2. Similarly, the upper bridge arm of the b-phase bridge arm is the switching element IGBT3, and the lower bridge arm is the switching element IGBT4, and the upper bridge arm of the c-phase bridge arm is the switching element IGBT5, and the lower bridge arm is the switching element IGBT6.

[0044] Figure 8 Schematic diagram of the waveform of the ideal and actual opening conditions of the upper and lower switch elements of the same phase bridge arm in the voltage-type pulse width modulation inverter. Figure 8 As shown, the waveform of the ideal turn-on condition of the upper and lower switch elements of the same phase bridge arm is shown in S a +* , S a -* The waveform of the actual opening of the upper and lower switch elements of the same phase bridge arm is shown in S a + , S a - . Combined Figure 7 The example shown, Figure 8 In the example shown, there are high level and low level. Figure 7 The bridge arm in the bridge is divided into an upper bridge arm and a lower bridge arm, S a + , S a - Indicates the opening status of the upper and lower bridge arms. Figure 8 S a + When it changes from low level to high level, it indicates Figure 7 The upper arm of the bridge is turned on; similarly: when Figure 8 S a + When it changes from high level to low level, it indicates Figure 7 The upper arm in the circuit is turned off. a +* , S a -* is the ideal opening situation, S a + , S a - It is the actual opening situation.

[0045] In the related scheme, the automobile motor is driven by a voltage-type pulse width modulation inverter (such as Figure 6 As shown) to power the drive motor, in order to avoid the upper and lower switching elements of the same bridge arm in the inverter (such as Figure 7 As shown in the figure, if the short circuit fault is caused by direct conduction, the conduction trigger signal of the upper and lower switch elements of the same bridge arm must be delayed for a period of dead time (such as Figure 8 The existence of dead time will cause the inverter output voltage to be distorted and the motor current to have a large number of harmonics. Especially when the motor speed is low, the dead time effect is more serious and the current waveform is more distorted.

[0046] Therefore, under the combined effects of low temperature and large current with high harmonic content, the permanent magnet assisted synchronous reluctance main drive motor is prone to demagnetization, posing a huge threat to the safety of drivers and passengers of new energy vehicles.

[0047] Therefore, in view of the problem that the permanent magnet assisted synchronous reluctance motor is prone to irreversible demagnetization when the vehicle starts suddenly in a low temperature environment, if the permanent magnet in the motor works under low temperature and strong reverse magnetic field conditions, it will cause the ferrite type permanent magnet to be irreversibly demagnetized, resulting in a significant decrease in motor torque or even vehicle loss of control, affecting the normal operation of the entire drive system and the safety of passengers. The scheme of the present invention proposes a vehicle control method, specifically a permanent magnet assisted reluctance motor starting protection control method for a vehicle (such as a new energy vehicle), by adding a starting protection control strategy to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor, to prevent the permanent magnet assisted reluctance motor from being irreversibly demagnetized when starting suddenly in a low temperature environment such as winter, such as preventing the permanent magnet assisted synchronous reluctance motor from being demagnetized under the action of a large current when the vehicle is ejected at low temperature, reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the whole vehicle.

[0048] According to an embodiment of the present invention, a vehicle control method is provided, such as Figure 1 The flowchart of an embodiment of the method of the present invention is shown in FIG. The vehicle control method may include: steps S110 to S150.

[0049] In step S110, when the motor of the vehicle needs to be started in a preset outdoor ambient temperature range, the state information of the vehicle is obtained. The preset outdoor ambient temperature range is, for example, -20°C to -30°C, i.e., a low temperature environment in winter.

[0050] In step S120 , it is determined whether the current state of the vehicle allows the motor to start based on the state information of the vehicle.

[0051] At step S130, if it is determined that the current state of the vehicle does not allow the motor to start, the motor is controlled not to work, and then the process returns to determine whether the current state of the vehicle allows starting based on the vehicle state information.

[0052] In step S140 , if it is determined that the current state of the vehicle allows starting, the current temperature of the motor is obtained, and the operation information of the vehicle is obtained.

[0053] In step S150, the motor is controlled to start in combination with the current temperature of the motor and the operation information of the vehicle, so as to achieve protection control of the motor start within a preset outdoor ambient temperature range.

[0054] The scheme of the present invention provides a permanent magnet assisted reluctance motor starting protection control scheme for a vehicle (such as a new energy vehicle). By adding a starting protection control strategy to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor, the permanent magnet assisted reluctance motor is prevented from irreversibly demagnetizing when it is started suddenly in a low temperature environment such as winter. For example, when the vehicle is ejected and started at a low temperature, the permanent magnet assisted synchronous reluctance motor is prevented from being demagnetized under the action of a large current, thereby reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0055] In some embodiments, the status information of the vehicle includes at least one of the following: information on whether the vehicle has been powered on at high voltage, fault information of the vehicle, and gear information of the vehicle. The current status of the vehicle includes: based on the operation information of the vehicle, determining that the vehicle has been powered on at high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear; or, based on the operation information of the vehicle, determining that at least one of the following is not satisfied: the vehicle has been powered on at high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear.

[0056] For the specific process of determining whether the current state of the vehicle allows the motor to start according to the state information of the vehicle in step S120, see the following exemplary description.

[0057] Combine the following Figure 2 The flowchart of an embodiment of determining whether the current state of the vehicle allows the motor to start in the method of the present invention is shown, further illustrating the specific process of determining whether the current state of the vehicle allows the motor to start in step S120, including: steps S210 to S230.

[0058] Step S210, determining whether the vehicle has been powered on at high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear, wherein the preset gear is, for example, D gear or L gear.

[0059] Step S220: If it is determined that the condition is not satisfied, it is determined that the current state of the vehicle does not allow the motor to start.

[0060] Step S230: If the conditions are met, it is determined that the current state of the vehicle allows the motor to start.

[0061] Fig.10 This is a flow chart of the vehicle starting control strategy of the present invention, that is, a flow chart of the motor protection control strategy of a new energy vehicle. Fig.10 As shown, the temperature control strategy of the motor of the new energy vehicle in the solution of the present invention includes:

[0062] Step 21, the vehicle controller VCU of the vehicle obtains the signal collected by the vehicle sensor to determine the vehicle state according to the signal collected by the sensor, and then enters step 22.

[0063] Step 22, judging whether the current vehicle can start according to the vehicle status (such as whether the high-voltage power-on is completed, whether there is no fault in the vehicle, and gear information): if it is judged that the vehicle status does not allow, the motor will not work and the vehicle cannot start, then return to step 22 to re-judge whether the current vehicle can start according to the vehicle status; if it is judged that the vehicle status allows, enter step 23.

[0064] In step 22, it is specifically detected whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L: if so, it is considered that the vehicle state allows starting, otherwise it is considered that the vehicle state does not allow starting.

[0065] In the solution of the present invention, by detecting the vehicle status information before the vehicle starts (specifically the vehicle motor starts) in low temperature conditions in winter to determine whether starting is allowed, it is beneficial to improve the safety of starting and the safety of the entire vehicle.

[0066] In some embodiments, the specific process of controlling the starting of the motor in step S150 is combined with the current temperature of the motor and the operating information of the vehicle, as shown in the following exemplary description.

[0067] Combine the following Figure 3 The flowchart of an embodiment of the method of the present invention for controlling the starting of the motor in combination with the current temperature of the motor and the operating information of the vehicle is shown, further illustrating the specific process of controlling the starting of the motor in combination with the current temperature of the motor and the operating information of the vehicle in step S150, including: steps S310 to S330.

[0068] Step S310, determining whether the current temperature of the motor is less than or equal to a preset temperature threshold, wherein the preset temperature threshold is, for example, -25°C.

[0069] Step S320: If it is determined that the current temperature of the motor is greater than a preset temperature threshold, the motor is controlled to start according to the operation information of the vehicle.

[0070] Step S330: If it is determined that the current temperature of the motor is less than or equal to the preset temperature threshold, the current limit value input to the motor is determined according to the current temperature of the motor to obtain the current amplitude of the motor, such as the current amplitude I that the inverter can output after the limit value is set. limit ; and controlling the motor to start according to the current amplitude of the motor.

[0071] like Fig.10 As shown, the temperature control strategy for the motor of the new energy vehicle in the scheme of the present invention also includes: step 23, judging whether the motor temperature signal T≤-25°C is satisfied according to the collected motor temperature signal T: if not, the current of the input motor is not limited, and the motor works normally according to the original control strategy, that is: the vehicle's VCU calculates the torque of the motor according to the accelerator pedal signal, the gear state, and the current vehicle speed, and then gives instructions to the vehicle's MCU, and the MCU controls the inverter to output electrical energy to the motor, and then enters step 25; if it is satisfied, enter step 24.

[0072] Among them, the judgment standard of motor temperature is -25℃. For permanent magnet assisted synchronous reluctance motors using other brands of ferrite materials, the reference value should be changed accordingly. The reference value is determined by the proportion of coercive force decrease. For example, when the coercive force decreases to 75%, 70% of the original, etc., the temperature judgment standard can also be set to other values ​​such as -30℃, -20℃, etc.

[0073] In the scheme of the present invention, a starting protection control strategy for a permanent magnet assisted reluctance motor of a new energy vehicle is provided. By adding measures such as determining whether to limit the current of the input motor according to the current motor temperature signal and a calculation formula for limiting the current of the input motor to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor, irreversible demagnetization of the permanent magnet assisted reluctance motor can be prevented when the vehicle is started suddenly in a low temperature environment such as winter. For example, the permanent magnet assisted synchronous reluctance motor can be prevented from being demagnetized by a large current when the vehicle is ejected and started at a low temperature, thereby reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0074] In some embodiments, the operation information of the vehicle includes at least one of the following: an accelerator pedal signal of the vehicle, a gear state signal of the vehicle, and a current speed of the vehicle.

[0075] The specific process of controlling the motor to start according to the operating information of the vehicle in step S320 is described in the following exemplary embodiment.

[0076] Combine the following Figure 4 The flowchart of an embodiment of controlling the starting of the motor according to the operating information of the vehicle in the method of the present invention further illustrates the specific process of controlling the starting of the motor according to the operating information of the vehicle in step S320, including: step S410 to step S420.

[0077] Step S410, calculating the torque of the motor according to the operating information of the vehicle.

[0078] Step S420, according to the torque of the motor, the motor controller of the motor outputs current to the motor, so that the motor outputs the torque of the motor and controls the motor to start.

[0079] Fig. 9 Figure 1 is a flow chart of the vehicle starting control strategy in the relevant scheme. Fig. 9 As shown, the vehicle starting control strategy includes:

[0080] Step 11, obtain the current vehicle status information, and then execute step 12.

[0081] Step 12, check whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L: If so, execute step 13, otherwise the vehicle's motor does not work and returns to step 12 to continue checking whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L.

[0082] Among them, whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L will generate relevant signals, and the corresponding signals are transmitted to the vehicle's vehicle control unit (VCU) through the wiring harness, so that it can be detected whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L.

[0083] Step 13, the vehicle's VCU calculates the torque of the motor according to the accelerator pedal signal, gear state, and current vehicle speed, and then gives instructions to the vehicle's motor control unit, such as the motor controller (Microcontroller Unit, MCU), and the MCU controls the inverter to output electrical energy to the motor, and then executes step 14. Among them, the calculation of the motor torque according to the accelerator pedal signal, gear state, and current vehicle speed is mainly used to distinguish the force of the driver's accelerator pedal; when the driver's accelerator pedal force is small, the motor torque that the motor should output is small; and when the driver's accelerator pedal force is large, the motor torque that the motor should output is large.

[0084] Step 14: The motor outputs torque, and then returns to step 12 to re-check whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L.

[0085] In the solution of the present invention, the motor protection control strategy of the new energy vehicle is Fig. 9 Based on the original control strategy shown in the figure, a temperature judgment step and a current limit calculation formula are added: 1+α(T-T0). According to the current temperature judgment result, it is determined whether to limit the current input to the motor. If it is determined that the current input to the motor is limited, the current limit I is calculated according to the calculation formula. limit Calculation of: I limit =I max *[1+α(T-T0)]. Because the current output by the controller of an electric vehicle is very large when launching, and the ferrite material is very easy to demagnetize in a low temperature environment, the solution of the present invention limits the current input to the motor with reference to the current temperature T, thereby preventing the permanent magnet assisted synchronous reluctance motor from being demagnetized under the combined action of the large current after low temperature starting and dead zone effect distortion, reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0086] In some embodiments, determining the current limit value input to the motor according to the current temperature of the motor in step S330 to obtain the current amplitude of the motor includes: calculating the current amplitude of the motor according to the following formula according to the current temperature of the motor:

[0087] I limit =I max *[1+α(T-T0)];

[0088] Among them, I limit I is the current amplitude of the motor, that is, the current amplitude that the motor controller of the motor can output after limiting; max is the current value output by the motor controller of the motor when the motor outputs the maximum torque before the limit; α is the coercive force temperature coefficient, T is the current temperature of the motor, and T0 is the reference temperature.

[0089] like Fig.10 As shown, the temperature control strategy of the motor of the new energy vehicle in the scheme of the present invention also includes: step 24, the motor controller MCU calculates the current limit value I of the input motor according to the limit value calculation formula (1) limit , then proceed to step 25:

[0090] I limit =I max *[1+α(T-T0)] (1).

[0091] Among them, I max is the current value before the limit when the inverter outputs the maximum torque according to the instruction, I limit is the current amplitude that the inverter can output after limiting. The coefficient α is the coercive force temperature coefficient. For ferrite materials, the value range of α is (0.4~0.6)% / K. T is the current motor temperature collected by the whole vehicle, T0 is the reference temperature, and in actual calculations, the reference temperature T0 is often taken as 20°C. K represents the temperature unit Kelvin; (0.4~0.6)% / K means: for every 1K increase in temperature, the coercive force temperature coefficient changes by (0.4~0.6)%, which is equivalent to every 1°C increase in temperature, the coercive force temperature coefficient changes by (0.4~0.6)%.

[0092] In the scheme of the present invention, when it is judged that the current input to the motor needs to be limited based on the current motor temperature signal, the current amplitude that can be output by the motor controller of the motor after the limit value is determined according to the calculation formula for limiting the current input to the motor, thereby preventing the permanent magnet assisted reluctance motor from irreversibly demagnetizing when starting suddenly in low temperature environments such as winter. For example, when the vehicle is launched at low temperature, the permanent magnet assisted synchronous reluctance motor is prevented from being demagnetized by large current, thereby reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0093] In some embodiments, in step S330, the motor is controlled to start according to the current amplitude of the motor, including: when the current output by the motor controller of the motor is less than or equal to the current amplitude of the motor, the motor is caused to output a corresponding torque to control the motor to start.

[0094] like Fig.10As shown, the temperature control strategy of the motor of the new energy vehicle in the solution of the present invention also includes: Step 25: the motor inputs the current I in The output torque is generated under the action of the motor, and the vehicle starts. in ≤I limit The torque of the motor can be determined based on the throttle opening, current vehicle speed, and other reference conditions. For example, the torque of the motor can be calculated by the accelerator pedal signal, gear position, and current vehicle speed. When the torque of the motor is determined, the current I in is also determined accordingly.

[0095] In the scheme of the present invention, a starting protection control strategy for a permanent magnet assisted reluctance motor of a new energy vehicle is adopted, and a starting protection control strategy for a new energy vehicle using a permanent magnet assisted synchronous reluctance motor is adopted. A starting protection control strategy (such as adding a temperature judgment link and a limiting formula) is added to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor to prevent the permanent magnet assisted reluctance motor from irreversibly demagnetizing when starting suddenly in a low temperature environment such as winter, reduce the probability of demagnetization of the permanent magnet assisted reluctance motor, avoid serious failures of the entire drive system, and improve the safety of the entire vehicle. Thus, the problem that the magnetic steel of the vehicle's motor (such as a permanent magnet synchronous motor) is prone to demagnetization under the action of low temperature and high current, affecting the normal operation of the motor and affecting the safety of the vehicle is solved; at the same time, the problem that the new energy permanent magnet assisted synchronous reluctance motor is prone to demagnetization when starting suddenly under low temperature conditions is solved.

[0096] By adopting the technical solution of this embodiment, when the vehicle state is allowed to start under low temperature conditions, the current temperature of the motor is obtained, and it is determined whether the current input to the motor needs to be limited according to the current temperature of the motor: if so, the current limit input to the motor is calculated, and the output torque of the motor is controlled according to the current limit input to the motor; otherwise, the output torque of the motor is controlled in a normal manner to achieve starting protection of the vehicle under low temperature conditions; thus, by performing starting protection for the vehicle according to the temperature of the motor under low temperature conditions, the motor can be prevented from being demagnetized by a large current when the vehicle starts under low temperature conditions, so that the motor can operate normally and the safety of the vehicle is improved.

[0097] According to an embodiment of the present invention, a vehicle control device corresponding to the vehicle control method is also provided. Figure 5 The schematic diagram of the structure of an embodiment of the device of the present invention is shown. The vehicle control device may include: an acquisition unit and a control unit.

[0098] The acquisition unit is configured to acquire the vehicle status information when the motor of the vehicle needs to be started in a preset outdoor ambient temperature range. The preset outdoor ambient temperature range is, for example, -20°C to -30°C, i.e., a low temperature environment in winter. The specific functions and processing of the acquisition unit refer to step S110.

[0099] The control unit is configured to determine whether the current state of the vehicle allows the motor to start according to the state information of the vehicle. The specific functions and processing of the control unit refer to step S120.

[0100] The control unit is further configured to control the motor to not work if it is determined that the current state of the vehicle does not allow the motor to start, and then return to determine whether the current state of the vehicle allows starting again based on the vehicle state information. The specific functions and processing of the control unit are also referred to step S130.

[0101] The acquisition unit is further configured to acquire the current temperature of the motor and the operation information of the vehicle if it is determined that the current state of the vehicle allows starting. The specific functions and processing of the acquisition unit are also shown in step S140.

[0102] The control unit is further configured to control the motor to start in combination with the current temperature of the motor and the operation information of the vehicle, so as to achieve protection control of the motor start within a preset outdoor ambient temperature range. The specific functions and processing of the control unit are also referred to step S150.

[0103] The scheme of the present invention provides a permanent magnet assisted reluctance motor starting protection control scheme for a vehicle (such as a new energy vehicle). By adding a starting protection control strategy to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor, the permanent magnet assisted reluctance motor is prevented from irreversibly demagnetizing when it is started suddenly in a low temperature environment such as winter. For example, when the vehicle is ejected and started at a low temperature, the permanent magnet assisted synchronous reluctance motor is prevented from being demagnetized under the action of a large current, thereby reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0104] In some embodiments, the status information of the vehicle includes at least one of the following: information on whether the vehicle has been powered on at high voltage, fault information of the vehicle, and gear information of the vehicle.

[0105] The control unit determines, according to the state information of the vehicle, whether the current state of the vehicle allows the motor to start, including:

[0106] The control unit is further configured to determine whether the vehicle has been powered on at high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear. The specific functions and processing of the control unit are also referred to step S210. The preset gear is, for example, D gear or L gear.

[0107] The control unit is further configured to determine that the current state of the vehicle does not allow the motor to start if the condition is not satisfied. The specific functions and processing of the control unit are also shown in step S220.

[0108] The control unit is further configured to determine that the current state of the vehicle allows the motor to start if the condition is satisfied. The specific functions and processing of the control unit are also shown in step S230.

[0109] Fig.10 This is a flow chart of the vehicle starting control strategy of the present invention, that is, a flow chart of the motor protection control strategy of a new energy vehicle. Fig.10 As shown, the temperature control strategy of the motor of the new energy vehicle in the solution of the present invention includes:

[0110] Step 21, the vehicle controller VCU of the vehicle obtains the signal collected by the vehicle sensor to determine the vehicle state according to the signal collected by the sensor, and then enters step 22.

[0111] Step 22, judging whether the current vehicle can start according to the vehicle status (such as whether the high-voltage power-on is completed, whether there is no fault in the vehicle, and gear information): if it is judged that the vehicle status does not allow, the motor will not work and the vehicle cannot start, then return to step 22 to re-judge whether the current vehicle can start according to the vehicle status; if it is judged that the vehicle status allows, enter step 23.

[0112] In step 22, it is specifically detected whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L: if so, it is considered that the vehicle state allows starting, otherwise it is considered that the vehicle state does not allow starting.

[0113] In the solution of the present invention, by detecting the vehicle status information before the vehicle starts (specifically the vehicle motor starts) in low temperature conditions in winter to determine whether starting is allowed, it is beneficial to improve the safety of starting and the safety of the entire vehicle.

[0114] In some implementations, the control unit controls the motor to start based on the current temperature of the motor and the operation information of the vehicle, including:

[0115] The control unit is further configured to determine whether the current temperature of the motor is less than or equal to a preset temperature threshold. The specific functions and processing of the control unit are also shown in step S310. The preset temperature threshold is, for example, -25°C.

[0116] The control unit is further configured to control the motor to start according to the vehicle operation information if it is determined that the current temperature of the motor is greater than a preset temperature threshold. The specific functions and processing of the control unit are also shown in step S320.

[0117] The control unit is further configured to determine the current limit value input to the motor according to the current temperature of the motor if it is determined that the current temperature of the motor is less than or equal to the preset temperature threshold, and obtain the current amplitude of the motor, such as the current amplitude I that the inverter can output after the limit value is set. limit ; and control the motor to start according to the current amplitude of the motor. The specific functions and processing of the control unit can also be found in step S330.

[0118] like Fig.10 As shown, the temperature control strategy for the motor of the new energy vehicle in the scheme of the present invention also includes: step 23, judging whether the motor temperature signal T≤-25°C is satisfied according to the collected motor temperature signal T: if not, the current of the input motor is not limited, and the motor works normally according to the original control strategy, that is: the vehicle's VCU calculates the torque of the motor according to the accelerator pedal signal, the gear state, and the current vehicle speed, and then gives instructions to the vehicle's MCU, and the MCU controls the inverter to output electrical energy to the motor, and then enters step 25; if it is satisfied, enter step 24.

[0119] Among them, the judgment standard of motor temperature is -25℃. For permanent magnet assisted synchronous reluctance motors using other brands of ferrite materials, the reference value should be changed accordingly. The reference value is determined by the proportion of coercive force decrease. For example, when the coercive force decreases to 75%, 70% of the original, etc., the temperature judgment standard can also be set to other values ​​such as -30℃, -20℃, etc.

[0120] In the scheme of the present invention, a starting protection control strategy for a permanent magnet assisted reluctance motor of a new energy vehicle is provided. By adding measures such as determining whether to limit the current of the input motor according to the current motor temperature signal and a calculation formula for limiting the current of the input motor to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor, irreversible demagnetization of the permanent magnet assisted reluctance motor can be prevented when the vehicle is started suddenly in a low temperature environment such as winter. For example, the permanent magnet assisted synchronous reluctance motor can be prevented from being demagnetized by a large current when the vehicle is ejected and started at a low temperature, thereby reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0121] In some embodiments, the operation information of the vehicle includes at least one of the following: an accelerator pedal signal of the vehicle, a gear state signal of the vehicle, and a current speed of the vehicle.

[0122] The control unit controls the motor to start according to the operation information of the vehicle, including:

[0123] The control unit is further configured to calculate the torque of the motor according to the operation information of the vehicle. The specific functions and processing of the control unit are also shown in step S410.

[0124] The control unit is further configured to make the motor controller of the motor output current to the motor according to the torque of the motor, so that the motor outputs the torque of the motor and controls the motor to start. The specific functions and processing of the control unit are also shown in step S420.

[0125] Fig. 9 Figure 1 is a flow chart of the vehicle starting control strategy in the relevant scheme. Fig. 9 As shown, the vehicle starting control strategy includes:

[0126] Step 11, obtain the current vehicle status information, and then execute step 12.

[0127] Step 12, check whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L: If so, execute step 13, otherwise the vehicle's motor does not work and returns to step 12 to continue checking whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L.

[0128] Step 13, the vehicle control unit (VCU) of the vehicle calculates the torque of the motor according to the accelerator pedal signal, gear status, and current vehicle speed, and then gives instructions to the vehicle's motor control unit such as the motor controller (Microcontroller Unit, MCU). The MCU controls the inverter to output electrical energy to the motor, and then executes step 14.

[0129] Step 14: The motor outputs torque, and then returns to step 12 to re-check whether the vehicle is powered on with high voltage, has no faults, and is in gear D or L.

[0130] In the solution of the present invention, the motor protection control strategy of the new energy vehicle is Fig. 9 Based on the original control strategy shown in the figure, a temperature judgment step and a current limit calculation formula are added: 1+α(T-T0). According to the current temperature judgment result, it is determined whether to limit the current input to the motor. If it is determined that the current input to the motor is limited, the current limit I is calculated according to the calculation formula. limitCalculation of: I limit =I max *[1+α(T-T0)]. Because the current output by the controller of an electric vehicle is very large when launching, and the ferrite material is very easy to demagnetize in a low temperature environment, the solution of the present invention limits the current input to the motor with reference to the current temperature T, thereby preventing the permanent magnet assisted synchronous reluctance motor from being demagnetized under the combined action of the large current after low temperature starting and dead zone effect distortion, reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0131] In some embodiments, the control unit determines the current limit input to the motor according to the current temperature of the motor to obtain the current amplitude of the motor, including: the control unit is further configured to calculate the current amplitude of the motor according to the following formula according to the current temperature of the motor:

[0132] I limit =I max *[1+α(T-T0)];

[0133] Among them, I limit I is the current amplitude of the motor, that is, the current amplitude that the motor controller of the motor can output after limiting; max is the current value output by the motor controller of the motor when the motor outputs the maximum torque before the limit; α is the coercive force temperature coefficient, T is the current temperature of the motor, and T0 is the reference temperature.

[0134] like Fig.10 As shown, the temperature control strategy of the motor of the new energy vehicle in the scheme of the present invention also includes: step 24, the motor controller MCU calculates the current limit value I of the input motor according to the limit value calculation formula (1) limit , then proceed to step 25:

[0135] I limit =I max *[1+α(T-T0)] (1).

[0136] Among them, I max is the current value before the limit when the inverter outputs the maximum torque according to the instruction, I limit is the current amplitude that the inverter can output after limiting. The coefficient α is the coercive force temperature coefficient. For ferrite materials, the value range of α is (0.4~0.6)% / K. T is the current motor temperature collected by the vehicle, and T0 is the reference temperature. In actual calculations, the reference temperature T0 is usually 20℃.

[0137] In the scheme of the present invention, when it is judged that the current input to the motor needs to be limited based on the current motor temperature signal, the current amplitude that can be output by the motor controller of the motor after the limit value is determined according to the calculation formula for limiting the current input to the motor, thereby preventing the permanent magnet assisted reluctance motor from irreversibly demagnetizing when starting suddenly in low temperature environments such as winter. For example, when the vehicle is launched at low temperature, the permanent magnet assisted synchronous reluctance motor is prevented from being demagnetized by large current, thereby reducing the probability of demagnetization of the permanent magnet assisted reluctance motor, avoiding serious failures of the entire drive system, and improving the safety of the entire vehicle.

[0138] In some embodiments, the control unit controls the starting of the motor according to the current amplitude of the motor, including: the control unit is specifically configured to make the motor output a corresponding torque to control the starting of the motor when the current output by the motor controller of the motor is less than or equal to the current amplitude of the motor.

[0139] like Fig.10 As shown, the temperature control strategy of the motor of the new energy vehicle in the solution of the present invention also includes: Step 25: the motor inputs the current I in The output torque is generated under the action of the motor, and the vehicle starts. in ≤I limit .

[0140] In the scheme of the present invention, a starting protection control strategy for a permanent magnet assisted reluctance motor of a new energy vehicle is adopted, and a starting protection control strategy for a new energy vehicle using a permanent magnet assisted synchronous reluctance motor is adopted. A starting protection control strategy (such as adding a temperature judgment link and a limiting formula) is added to the starting strategy of a new energy vehicle using a permanent magnet assisted synchronous reluctance motor to prevent the permanent magnet assisted reluctance motor from irreversibly demagnetizing when starting suddenly in a low temperature environment such as winter, reduce the probability of demagnetization of the permanent magnet assisted reluctance motor, avoid serious failures of the entire drive system, and improve the safety of the entire vehicle. Thus, the problem that the magnetic steel of the vehicle's motor (such as a permanent magnet synchronous motor) is prone to demagnetization under the action of low temperature and high current, affecting the normal operation of the motor and affecting the safety of the vehicle is solved; at the same time, the problem that the new energy permanent magnet assisted synchronous reluctance motor is prone to demagnetization when starting suddenly under low temperature conditions is solved.

[0141] Since the processing and functions implemented by the device of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0142] According to an embodiment of the present invention, a vehicle corresponding to a control device of the vehicle is also provided. The vehicle may include: the control device of the vehicle described above.

[0143] Since the processing and functions implemented by the vehicle of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned devices, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0144] According to an embodiment of the present invention, a computer program product corresponding to a vehicle is also provided, comprising a computer program, and when the computer program is executed by a processor, the steps of the vehicle control method described above are implemented.

[0145] Since the processing and functions implemented by the product of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned vehicle, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0146] According to an embodiment of the present invention, a storage medium corresponding to a vehicle control method is also provided, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the steps of the vehicle control method described above.

[0147] Since the processing and functions implemented by the storage medium of this embodiment basically correspond to the embodiments, principles and examples of the aforementioned method, for the details not fully described in this embodiment, please refer to the relevant descriptions in the aforementioned embodiments, and no further elaboration will be made here.

[0148] In summary, it is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0149] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the claims of the present invention.

Claims

1. A vehicle control method, characterized in that: include: When the motor of the vehicle needs to be started within a preset outdoor ambient temperature range, obtaining status information of the vehicle; Determining, according to the state information of the vehicle, whether the current state of the vehicle allows the motor to start; If it is determined that the current state of the vehicle does not allow the motor to start, controlling the motor to not work; If it is determined that the current state of the vehicle allows starting, obtaining the current temperature of the motor and obtaining the operation information of the vehicle; The motor is controlled to start in combination with the current temperature of the motor and the operation information of the vehicle, so as to achieve protection control of the motor start within a preset outdoor ambient temperature range.

2. The vehicle control method according to claim 1, characterized in that: The vehicle status information includes at least one of the following: information on whether the vehicle has been powered on at high voltage, fault information of the vehicle, and gear information of the vehicle; Determining, according to the state information of the vehicle, whether the current state of the vehicle allows the motor to start, includes: Determine whether the vehicle has been powered on at high voltage, the fault information of the vehicle is that the vehicle has no fault, and the gear information of the vehicle is that the gear of the vehicle is a preset gear; If it is determined that the condition is not satisfied, determining that the current state of the vehicle does not allow the motor to start; If it is determined that the condition is satisfied, it is determined that the current state of the vehicle allows the motor to start.

3. The vehicle control method according to claim 1 or 2, characterized in that: Controlling the motor to start based on the current temperature of the motor and the operation information of the vehicle includes: Determining whether the current temperature of the motor is less than or equal to a preset temperature threshold; If it is determined that the current temperature of the motor is greater than a preset temperature threshold, controlling the motor to start according to the operation information of the vehicle; If it is determined that the current temperature of the motor is less than or equal to a preset temperature threshold, the current limit input to the motor is determined according to the current temperature of the motor to obtain the current amplitude of the motor; and the motor is controlled to start according to the current amplitude of the motor.

4. The vehicle control method according to claim 3, characterized in that: The vehicle operation information includes at least one of the following: an accelerator pedal signal of the vehicle, a gear state signal of the vehicle, and a current speed of the vehicle; Controlling the motor to start according to the running information of the vehicle includes: Calculating the torque of the motor according to the operation information of the vehicle; The torque of the motor is calculated according to the operating information of the vehicle.

5. The vehicle control method according to claim 3 or 4, characterized in that: Determining a current limit value input to the motor according to a current temperature of the motor to obtain a current amplitude of the motor includes: According to the current temperature of the motor, the current amplitude of the motor is calculated according to the following formula: I limit =I max *[1+α(T-T0)]; Among them, I limit I is the current amplitude of the motor, that is, the current amplitude that the motor controller of the motor can output after limiting; max is the current value output by the motor controller of the motor when the motor outputs the maximum torque before the limit; α is the coercive force temperature coefficient, T is the current temperature of the motor, and T0 is the reference temperature.

6. The vehicle control method according to any one of claims 3 to 5, characterized in that: Controlling the motor to start according to the current amplitude of the motor includes: When the current output by the motor controller of the motor is less than or equal to the current amplitude of the motor, the motor is made to output a corresponding torque to control the motor to start.

7. A vehicle control device, characterized in that: include: an acquisition unit configured to acquire the state information of the vehicle when the motor of the vehicle needs to be started within a preset outdoor ambient temperature range; a control unit configured to determine whether a current state of the vehicle allows the motor to start according to the state information of the vehicle; The control unit is further configured to control the motor to not work if it is determined that the current state of the vehicle does not allow the motor to start; The acquisition unit is further configured to acquire the current temperature of the motor and the operation information of the vehicle if it is determined that the current state of the vehicle allows starting; The control unit is further configured to control the starting of the motor in combination with the current temperature of the motor and the operating information of the vehicle, so as to achieve protective control of the starting of the motor within a preset outdoor ambient temperature range.

8. A vehicle, characterized in that: include: A vehicle control device as claimed in claim 7.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the vehicle control method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the vehicle control method according to any one of claims 1 to 6 are implemented.

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