Vehicle motor control method and device, electronic equipment and readable medium

Abstract

The invention provides a control method and device for a vehicle motor, electronic equipment and a readable medium, the control method and device are applied to a motor control system of a vehicle, the motor control system comprises at least one chassis control subsystem to be activated, and power demand information received by the vehicle, the working state of the motor of the vehicle and activation information of the motor control system are obtained; the activation information is information about whether the chassis control subsystem to be activated is activated or not; acquiring a request output torque of the motor based on the power demand information; judging whether the motor meets a preset gear shifting condition or not based on the activation information and the working state of the motor; if the motor meets the gear shifting condition, gear switching of the motor is controlled based on the current output torque, the current rotating speed, the current gear and the request output torque of the motor, whether the motor meets the gear shifting condition or not is judged based on the activation information and the working state of the motor, and instability, caused by gear shifting operation, of motor torque output is avoided; and the driving smoothness of the vehicle is ensured.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a control method for a vehicle motor, a control device for a vehicle motor, an electronic device, and a computer-readable medium. Background Art

[0002] In the related art, a vehicle may include a dual-winding three-phase motor. The dual-winding three-phase motor has two sets of independent three-phase windings. Under different working conditions, the motor can adopt two different winding configurations, which is equivalent to providing two different gears for the motor. According to different working requirements of the vehicle, the motor can switch different gears to adjust the performance of the motor to meet the working requirements of the vehicle.

[0003] When a vehicle is driving, the motor of the vehicle needs to output torque to drive the vehicle. In the related art, when the motor of a vehicle is switched between two gears, the working state of the motor is usually not considered. That is, the related art does not consider the impact of the switching of the motor between two gears on the motor output torque and the impact on the driving of the vehicle. If the working state of the motor is not considered when the vehicle switches between two gears, it may cause instability or fluctuation of the motor torque output, affecting the performance of the vehicle. Summary of the invention

[0004] The embodiments of the present invention provide a control method, device, electronic device and computer-readable storage medium for a vehicle motor to solve the problem that the working state of the motor is usually not taken into consideration when the vehicle switches between two motor gears. If the working state of the motor is not taken into consideration when the vehicle switches between two motor gears, it may cause instability or fluctuation in the motor torque output, affecting the performance of the vehicle.

[0005] An embodiment of the present invention discloses a method for controlling a motor of a vehicle, which is applied to a motor control system of a vehicle, wherein the motor control system includes at least one chassis control subsystem to be activated, and the method includes:

[0006] Acquiring power demand information received by the vehicle, the working state of the motor of the vehicle, and activation information of the motor control system; the activation information is information on whether the chassis control subsystem to be activated is activated;

[0007] Based on the power demand information, obtaining a requested output torque of the motor;

[0008] Based on the activation information and the working state of the motor, determining whether the motor meets a preset shift condition;

[0009] If the motor meets the gear shifting condition, the gear switching of the motor is controlled based on the current output torque, the current rotation speed, the current gear and the requested output torque of the motor.

[0010] Optionally, the working state includes a driving state and / or an energy recovery state; and judging whether the motor meets a preset shifting condition based on the activation information and the working state of the motor includes:

[0011] If the motor is in the driving state, determining whether the motor satisfies the shifting condition based on the activation information;

[0012] If the motor is in the energy recovery state, it is confirmed that the motor does not meet the gear shifting condition.

[0013] Optionally, judging whether the motor meets the gear shifting condition based on the activation information includes:

[0014] Based on the activation information, determining whether the chassis control subsystem to be activated is activated;

[0015] If there is at least one chassis control subsystem that is activated in the motor control system, confirming that the motor does not meet the shift condition;

[0016] If the activated chassis control subsystem does not exist in the motor control system, it is confirmed that the motor meets the gear shifting condition.

[0017] Optionally, the method further comprises:

[0018] Acquiring driving status information of the vehicle;

[0019] Based on the driving state information, determining whether the vehicle has a risk of losing control and / or skidding;

[0020] If the vehicle is at risk of losing control and / or skidding, activating at least one of the chassis control subsystems to be activated;

[0021] Based on the driving state information, the safety required torque of the vehicle is obtained by utilizing the activated chassis control subsystem.

[0022] Optionally, obtaining the requested output torque of the motor based on the power demand information includes:

[0023] Based on the power demand information, obtaining the vehicle required torque of the vehicle;

[0024] Based on the current speed and the current gear, acquiring an output torque threshold of the motor at the current speed and the current gear;

[0025] The requested output torque of the motor is obtained based on the vehicle required torque, the output torque threshold, and the safety required torque.

[0026] Optionally, controlling the gear switching of the motor based on the current output torque, current rotation speed, current gear and the requested output torque of the motor includes:

[0027] determining a first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear, and the requested output torque; the first efficiency is the efficiency of the motor at the current gear and the current speed for adjusting the current output torque to the requested output torque;

[0028] determining a second efficiency of the motor at a preset target gear based on the current output torque, the current speed, the current gear and the requested output torque; the second efficiency is the efficiency of the motor at the target gear and the current speed for adjusting the current output torque to the requested output torque;

[0029] If the first efficiency is not less than the second efficiency, controlling the motor not to perform the gear switching, and controlling the motor to adjust the current output torque to the requested output torque in the current gear;

[0030] If the first efficiency is less than the second efficiency, the motor is controlled to switch the current gear to the target gear, and the motor is controlled to adjust the current output torque to the requested output torque at the target gear.

[0031] Optionally, the method further comprises:

[0032] If the motor does not meet the gear shift condition, the motor is controlled to be in the current gear position to adjust the current output torque to the requested output torque.

[0033] The embodiment of the present invention further discloses a control device for a vehicle motor, which is applied to a motor control system of a vehicle, wherein the motor control system includes at least one chassis control subsystem to be activated, and the device includes:

[0034] an acquisition module, used to acquire power demand information received by the vehicle, the working state of the motor of the vehicle, and activation information of the motor control system; the activation information is information on whether the chassis control subsystem to be activated is activated;

[0035] A requested output torque acquisition module, used for acquiring the requested output torque of the motor based on the power demand information;

[0036] A judging module, configured to judge whether the motor satisfies a preset shifting condition based on the activation information and the working state of the motor;

[0037] The gear switching control module is used to control the gear switching of the motor based on the current output torque, current speed, current gear and the requested output torque of the motor if the motor meets the gear shifting condition.

[0038] Optionally, the working state includes a driving state and / or an energy recovery state; and the judging module includes:

[0039] a judgment submodule, configured to judge whether the motor satisfies the gear shifting condition based on the activation information if the motor is in the driving state;

[0040] The confirmation submodule is used to confirm that the motor does not meet the gear shifting condition if the motor is in the energy recovery state.

[0041] Optionally, the judgment submodule includes:

[0042] a judging unit, configured to judge whether the chassis control subsystem to be activated is activated based on the activation information;

[0043] a first confirmation unit, configured to confirm that the motor does not meet the shift condition if at least one of the chassis control subsystems is activated in the motor control system;

[0044] The second confirmation unit is configured to confirm that the motor satisfies the gear shifting condition if the activated chassis control subsystem does not exist in the motor control system.

[0045] Optionally, the device further comprises:

[0046] A driving status information acquisition module, used to acquire the driving status information of the vehicle;

[0047] A risk judgment module, used for judging whether the vehicle has a risk of losing control and / or skidding based on the driving state information;

[0048] an activation module, configured to activate at least one of the chassis control subsystems to be activated if the vehicle is at risk of losing control and / or skidding;

[0049] The safety requirement torque acquisition module is used to acquire the safety requirement torque of the vehicle based on the driving state information and using the activated chassis control subsystem.

[0050] Optionally, the requested output torque acquisition module includes:

[0051] A vehicle required torque acquisition submodule, used for acquiring the vehicle required torque of the vehicle based on the power demand information;

[0052] An output torque threshold acquisition submodule, used to acquire an output torque threshold of the motor at the current speed and the current gear based on the current speed and the current gear;

[0053] The requested output torque acquisition submodule is used to acquire the requested output torque of the motor based on the vehicle required torque, the output torque threshold and the safety required torque.

[0054] Optionally, the gear switching control module includes:

[0055] A first efficiency determination submodule, configured to determine a first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear, and the requested output torque; the first efficiency is the efficiency of the motor at the current gear and the current speed when adjusting the current output torque to the requested output torque;

[0056] a second efficiency determination submodule, for determining a second efficiency of the motor at a preset target gear based on the current output torque, the current speed, the current gear, and the requested output torque; the second efficiency is the efficiency of the motor at the target gear and the current speed when adjusting the current output torque to the requested output torque;

[0057] a first control submodule, configured to control the motor not to perform the gear switching if the first efficiency is not less than the second efficiency, and control the motor to adjust the current output torque to the requested output torque in the current gear;

[0058] The second control submodule is used to control the motor to switch the current gear to the target gear if the first efficiency is less than the second efficiency, and control the motor to adjust the current output torque to the requested output torque at the target gear.

[0059] Optionally, the device further comprises:

[0060] The adjustment control module is used to control the motor to adjust the current output torque to the requested output torque in the current gear if the motor does not meet the gear shift condition.

[0061] The embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0062] The memory is used to store computer programs;

[0063] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0064] The embodiment of the present invention further discloses one or more computer-readable media on which instructions are stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0065] The embodiments of the present invention include the following advantages:

[0066] In an embodiment of the present invention, the motor control system includes at least one chassis control subsystem to be activated. The motor control system obtains the power demand information received by the vehicle, the working state of the motor of the vehicle, and the activation information of the motor control system; the activation information is the information whether the chassis control subsystem to be activated is activated. Based on the power demand information, the motor control system obtains the requested output torque of the motor; based on the activation information and the working state of the motor, it determines whether the motor meets the preset shifting condition. If the motor meets the shifting condition, the motor control system controls the gear switching of the motor based on the current output torque, current speed, current gear and requested output torque of the motor. Since the activated chassis control subsystem will affect the operation of the motor, resulting in the instability of the motor output torque, the motor control system determines whether the motor meets the shifting condition based on the activation information of whether the chassis control subsystem to be activated is activated and the working state of the motor, thereby avoiding the instability of the motor torque output caused by the shifting operation and ensuring the driving smoothness of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Figure 1 is a flow chart of steps of a method for controlling a vehicle motor provided in an embodiment of the present invention;

[0068] Figure 2 is a structural block diagram of a motor control system provided in an embodiment of the present invention;

[0069] Figure 3 is a schematic diagram of a variable winding two-speed motor provided in an embodiment of the present invention;

[0070] Figure 4 is a structural block diagram of a vehicle motor control device provided in an embodiment of the present invention;

[0071] Figure 5 is a block diagram of an electronic device provided in an embodiment of the present invention;

[0072] Figure 6 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0073] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0074] To facilitate understanding of the technical solutions and technical effects of the embodiments of the present invention, the prior art of the present invention is briefly described below.

[0075] In the related art, a vehicle may include a dual-winding three-phase motor. A dual-winding three-phase motor has two independent three-phase windings. Under different working conditions, the motor can adopt two different winding configurations, which is equivalent to providing two different gears for the motor. According to different working requirements of the vehicle, the motor can switch different gears to adjust the performance of the motor to meet the working requirements of the vehicle. For example, when the vehicle is running at high speed and low speed, the vehicle can switch the gear of the motor by controlling different winding configurations to access the circuit of the motor.

[0076] When a vehicle is traveling, the motor of the vehicle needs to output torque to drive the vehicle. For example, during the driving process of the vehicle, the chassis of the vehicle needs a specific torque output by the motor to achieve functions such as acceleration, climbing, and maintaining speed of the vehicle.

[0077] When switching between two motor gears in the related art, the working state of the motor is usually not considered. That is, the related art does not consider the impact of switching between two motor gears on the motor output torque and the impact on the vehicle driving. The related art does not disclose under what working state the motor is in, switching between two motor gears will not affect the motor operation and vehicle driving.

[0078] If the vehicle switches between two motor gears without considering the working state of the motor, it may cause instability or fluctuation of the motor torque output, affecting the performance of the vehicle. For example, during the driving process of the vehicle, the vehicle motor is in the driving mode, and the vehicle chassis needs a specific torque output by the motor to achieve the functions of accelerating, climbing and maintaining speed of the vehicle. Specifically, in order to prevent the vehicle from losing control or the drive wheel from slipping, and to ensure the driving stability and safety of the vehicle, the chassis control system such as the vehicle traction control system (TCS) and the direct torque control system (DTC) will be activated and actively intervene to control the output torque of the motor. If the motor performs a gear shift operation during this process, it may cause instability or fluctuation of the torque output, resulting in the motor being unable to immediately provide the required torque to the vehicle chassis, and unable to quickly meet the requested torque of the chassis control system, thereby affecting the stability and response speed of the vehicle performance and affecting the safety of the car.

[0079] In addition, when the vehicle is braking or coasting, the vehicle motor is in energy recovery mode, and the vehicle motor is used as a generator to convert kinetic energy into electrical energy. During the driving process of the vehicle, if the vehicle motor is in energy recovery mode, the vehicle's required torque will be reduced. In order to meet the situation where the vehicle's required torque is reduced, the vehicle's motor can switch gears to reduce the output torque. However, when the motor switches gears, the motor's winding current will suddenly change, causing current fluctuations, which in turn leads to instability in the motor's output torque, causing gear shift shock and affecting the vehicle's driving smoothness.

[0080] Reference Figure 1 , shows a flow chart of the steps of a vehicle motor control method provided in an embodiment of the present invention, which is applied to a vehicle motor control system, wherein the motor control system includes at least one chassis control subsystem to be activated, and specifically may include the following steps:

[0081] Step 101, obtaining power demand information received by the vehicle, the working state of the motor of the vehicle, and activation information of the motor control system; the activation information is information on whether the chassis control subsystem to be activated is activated;

[0082] In an embodiment of the present invention, the motor of the vehicle has at least two gears. The motor control system of the vehicle can control the gear switching of the motor, and the motor control system of the vehicle can also control the output torque of the motor. The motor control system of the vehicle can include at least one chassis control subsystem to be activated.

[0083] In an embodiment of the present invention, the motor control system can obtain the power demand information received by the vehicle, the working state of the motor of the vehicle, and the activation information of the motor control system. The power demand information includes the first opening information of the accelerator pedal of the vehicle and the second opening information of the brake pedal, the working state of the motor includes the driving state and the energy recovery state, and the activation information refers to whether the chassis control subsystem to be activated is activated.

[0084] Reference Figure 2 , shows a block diagram of a motor control system provided in an embodiment of the present invention. The motor control system includes an acceleration / deceleration system 1, a chassis control system 2, a vehicle control system 3 and a variable winding two-speed motor 4.

[0085] In an embodiment of the present invention, the acceleration and deceleration system is also referred to as a vehicle power demand information acquisition system. The acceleration and deceleration system can collect the first opening information of the vehicle's accelerator pedal and the second opening information of the brake pedal, and determine the acceleration and deceleration demand information of the vehicle based on the first opening information and the second opening information. Among them, the acceleration and deceleration demand information can also be referred to as the vehicle's power demand information, the first opening information includes the accelerator pedal opening signal, and the second opening information includes the brake pedal opening signal. In an embodiment of the present invention, the acceleration and deceleration system can transmit the vehicle's power demand information to the vehicle control system.

[0086] In an embodiment of the present invention, the vehicle further includes sensors such as a wheel speed sensor, an acceleration sensor, and a steering angle sensor, and the chassis control system is respectively connected to these sensors in communication. The chassis control system includes at least one chassis control subsystem to be activated. Specifically, the chassis control subsystem to be activated may be a traction control system and / or a direct torque control system.

[0087] Sensors such as wheel speed sensors, acceleration sensors, and steering angle sensors can collect vehicle driving status information such as vehicle speed, acceleration, wheel speed, steering angle, and body posture, and send the driving status information to the chassis control system of the vehicle. The chassis control system can determine whether the vehicle is at risk of losing control and / or skidding based on the vehicle's driving status information, and identify the stability and safety requirements of the vehicle's driving. If the vehicle is at risk of losing control and / or skidding, the chassis control system can activate at least one chassis control subsystem to be activated. The activated chassis control subsystem can calculate the vehicle's safety demand torque based on the vehicle's driving status information. The chassis control system can send information on whether the chassis control subsystem to be activated is activated and the safety demand torque to the vehicle control system. Among them, the information on whether the chassis control subsystem to be activated is activated can also be called the working state of the traction control system and the direct torque control system, and the working state includes an activated state and an inactivated state.

[0088] In an embodiment of the present invention, the motor may be a variable winding two-speed motor, and the motor has two different gears. The motor may switch different gears according to different working requirements of the vehicle to adjust the performance of the motor to meet the working requirements of the vehicle. The motor may send information such as the working state, current speed, current output torque, and current gear to the vehicle control system.

[0089] In an embodiment of the present invention, the vehicle control system can receive the vehicle power demand information sent by the acceleration and deceleration system, and parse the vehicle power demand information to obtain the vehicle demand torque to meet the vehicle power demand. The vehicle control system can obtain the requested output torque of the motor based on the vehicle demand torque and the safety demand torque, and send the requested output torque of the motor to the motor. The vehicle control system can also determine whether the motor meets the preset shifting conditions based on the working status of the motor and the information on whether the chassis control subsystem to be activated is activated, and output the shift flag to the motor. If the motor meets the shifting conditions, the vehicle control system outputs the shift flag to allow the shift to the motor; if the motor does not meet the shifting conditions, the vehicle control system outputs the shift flag to not allow the shift to the motor.

[0090] Reference Figure 3 , showing a schematic diagram of a variable winding two-speed motor provided in an embodiment of the present invention. In an embodiment of the present invention, the variable winding two-speed motor has two gears, namely, first gear and second gear. The structure of the variable winding two-speed motor includes two main winding parts, namely, the ABC winding with a number of turns W1 and the abc winding with a number of turns W2. The two windings are connected in series to the circuit system of the motor. Specifically, the three-phase series connection point of the ABC winding and the abc winding is connected to the key point of the bridge arm of the IGBT (Insulated Gate Bipolar Transistor) half-bridge module, together forming the main winding loop of the motor.

[0091] When the motor is in the first gear, the ABC winding and the abc winding work together. At this time, the entire winding is fully operational, allowing the motor to output a larger torque; when the motor is in the second gear, only the ABC winding is connected to the circuit to participate in the work, while the abc winding is in a suspended state and does not participate in the work. At this time, only part of the winding is working, and the motor has a higher speed output.

[0092] Step 102, obtaining a requested output torque of the motor based on the power demand information;

[0093] In an embodiment of the present invention, the motor control system includes an acceleration / deceleration system and a vehicle control system. The acceleration / deceleration system can collect first opening information of the vehicle's accelerator pedal and second opening information of the brake pedal, and determine the power demand information of the vehicle based on the first opening information and the second opening information. The vehicle control system can obtain the vehicle's required torque based on the power demand information, and obtain the requested output torque of the motor based on the vehicle's required torque.

[0094] In some embodiments of the present invention, the method further comprises:

[0095] Acquiring driving status information of the vehicle;

[0096] Based on the driving state information, determining whether the vehicle has a risk of losing control and / or skidding;

[0097] If the vehicle is at risk of losing control and / or skidding, activating at least one of the chassis control subsystems to be activated;

[0098] Based on the driving state information, the safety required torque of the vehicle is obtained by utilizing the activated chassis control subsystem.

[0099] Specifically, the motor control system also includes a chassis control system. The chassis control system of the vehicle can receive the vehicle's driving state information such as the vehicle speed, acceleration, wheel speed, steering angle, body posture, etc. collected by sensors such as wheel speed sensors, acceleration sensors, and steering angle sensors on the vehicle, and judge whether the vehicle is at risk of losing control and / or skidding based on the vehicle's driving state information. If the vehicle is at risk of losing control and / or skidding, the chassis control system can activate at least one chassis control subsystem to be activated. The activated chassis control subsystem can calculate the vehicle's safety requirement torque based on the vehicle's driving state information. The chassis control system can send the safety requirement torque to the vehicle control system.

[0100] In the embodiment of the present invention, the motor control system determines whether the vehicle is at risk of losing control and / or skidding based on the vehicle's driving state information. If the vehicle is at risk of losing control and / or skidding, at least one chassis control subsystem to be activated is activated, and based on the driving state information, the activated chassis control subsystem is used to obtain the vehicle's safety demand torque. The motor control system can determine the motor's request demand torque based on the safety demand torque, thereby ensuring the stability and safety of the vehicle's driving.

[0101] In some embodiments of the present invention, obtaining the requested output torque of the motor based on the power demand information includes:

[0102] Based on the power demand information, obtaining the vehicle required torque of the vehicle;

[0103] Based on the current speed and the current gear, acquiring an output torque threshold of the motor at the current speed and the current gear;

[0104] The requested output torque of the motor is obtained based on the vehicle required torque, the output torque threshold, and the safety required torque.

[0105] Specifically, the vehicle control system can obtain the vehicle's required torque based on the vehicle's power demand information. The vehicle's motor can send the motor's current speed and current gear to the vehicle control system. The vehicle control system can obtain the motor's output torque threshold at the current speed and current gear, i.e., the maximum output torque, based on the current speed and current gear.

[0106] The vehicle demand torque is used to meet the vehicle's power requirements, and the safety demand torque is used to meet the vehicle's safety and stability requirements. The vehicle control system can determine the motor's requested output torque based on the vehicle demand torque, output torque threshold, and safety demand torque, in accordance with the principle that safety and stability requirements are superior to power requirements. It should be noted that under the limitation of the motor's maximum output torque, if the motor's output torque cannot reach the vehicle demand torque and safety demand torque, the motor's maximum output torque will be used as the motor's requested output torque.

[0107] In a specific example, the traction control system in the chassis control system is activated, the safety requirement torque calculated by the traction control system is T1, the vehicle control system parses the power requirement information of the vehicle to obtain the vehicle requirement torque of T2, and the maximum output torque of the motor at the current gear and current speed is T3. The step of determining the requested output torque of the motor includes: if T1≤T2 and T1≤T3, the requested output torque is T1; if T1≤T2 and T1>T3, the requested output torque is T3; if T2<T1 and T2≤T3, the requested output torque is T2; if T2<T1 and T2>T3, the requested output torque is T3.

[0108] The direct torque control system in the chassis control system is activated, the safety requirement torque calculated by the direct torque control system is T1, the vehicle control system parses the power requirement information of the vehicle to obtain the vehicle requirement torque of the vehicle as T2, and the maximum output torque of the motor at the current gear and current speed is T3. The steps for determining the requested output torque of the motor include: if T1≥T2 and T1≥T3, the requested output torque is T1; if T1≥T2 and T1<T3, the requested output torque is T3; if T2>T1 and T2≥T3, the requested output torque is T2; if T2>T1 and T2<T3, the requested output torque is T3.

[0109] In an embodiment of the present invention, the motor control system obtains the vehicle's required torque based on the power demand information, obtains the output torque threshold of the motor at the current speed and the current gear based on the current speed and the current gear, and obtains the requested output torque of the motor based on the vehicle's required torque, the output torque threshold and the safety required torque, thereby realizing the comprehensive management of the vehicle's dynamics and safety by the motor control system, and ensuring the performance and safety of the vehicle under different driving conditions.

[0110] Step 103, based on the activation information and the working state of the motor, determining whether the motor meets a preset shift condition;

[0111] In an embodiment of the present invention, the chassis control system can send information on whether the chassis control subsystem to be activated is activated to the vehicle control system, and the motor can send the working state of the motor to the vehicle control system. The working state of the motor includes the driving state and the energy recovery state. The vehicle control system can determine whether the motor meets the preset shifting condition based on the activation information and the working state of the motor, and output the shifting flag to the motor.

[0112] In some embodiments of the present invention, the working state includes a driving state and / or an energy recovery state; and judging whether the motor satisfies a preset shift condition based on the activation information and the working state of the motor includes:

[0113] If the motor is in the driving state, determining whether the motor satisfies the shifting condition based on the activation information;

[0114] If the motor is in the energy recovery state, it is confirmed that the motor does not meet the gear shifting condition.

[0115] Specifically, the working state of the motor includes a driving state and / or an energy recovery state. If the motor is in a driving state, the vehicle control system determines whether the motor meets the shifting condition based on the activation information; if the motor is in an energy recovery state, the vehicle control system determines that the motor does not meet the shifting condition.

[0116] In some embodiments of the present invention, judging whether the motor meets the shifting condition based on the activation information includes:

[0117] Based on the activation information, determining whether the chassis control subsystem to be activated is activated;

[0118] If there is at least one chassis control subsystem that is activated in the motor control system, confirming that the motor does not meet the shift condition;

[0119] If the activated chassis control subsystem does not exist in the motor control system, it is confirmed that the motor meets the gear shifting condition.

[0120] Specifically, if the motor is in the driving state, the vehicle control system determines whether the chassis control subsystem to be activated is activated based on the activation information. If there is at least one activated chassis control subsystem in the motor control system, the vehicle control system confirms that the motor does not meet the shifting conditions; if there is no activated chassis control subsystem in the motor control system, the vehicle control system confirms that the motor meets the shifting conditions.

[0121] The information on whether the chassis control subsystem to be activated is activated can also be referred to as the working state of the traction control system and the direct torque control system, and the working state includes an activated state and an inactivated state. The relationship between the working state of the motor, the working state of the traction control system and the direct torque control system, and the shift flag is shown in Table 1 below.

[0122] Table 1: Example of the relationship between the working state of the motor, the working state of the traction control system and the direct torque control system, and the shift flag position

[0123]

[0124]

[0125] In an embodiment of the present invention, if the motor is in a driving state and at least one chassis control subsystem to be activated is activated, the activated chassis control subsystem will actively intervene to control the output torque of the motor. If the motor performs a gear shifting operation during this process, it may cause instability or fluctuation in torque output, resulting in the motor being unable to immediately provide the required torque to the vehicle chassis, affecting the stability and response speed of vehicle performance. Therefore, if the motor is in a driving state and at least one chassis control subsystem to be activated is activated, the gear shift flag is that gear shifting is not allowed; if the motor is in a driving state and no chassis control subsystem to be activated is activated, the gear shift flag is that gear shifting is allowed.

[0126] If the motor is in an energy recovery state, the required torque of the vehicle will be reduced. If, in order to meet the situation where the required torque of the vehicle is reduced, the motor switches gears to reduce the output torque, then when the motor switches gears, the winding current of the motor will change suddenly, causing current fluctuations, which in turn leads to instability of the motor output torque, causing shift shock, and affecting the driving smoothness of the vehicle. Therefore, if the motor is in an energy recovery state, the shift flag is that shifting is not allowed. In an embodiment of the present invention, the vehicle control system determines whether the motor meets the shifting conditions based on the activation information and the working status of the motor, thereby avoiding the instability of the motor torque output caused by the shifting operation and ensuring the driving smoothness of the vehicle.

[0127] Step 104 : If the motor meets the gear shifting condition, the gear switching of the motor is controlled based on the current output torque, current rotation speed, current gear and the requested output torque of the motor.

[0128] In an embodiment of the present invention, the vehicle control system can send a shift flag to the motor according to whether the motor meets the shift condition. If the motor meets the shift condition, the motor can control the gear switching of the motor based on the current output torque, current speed, current gear and requested output torque of the motor.

[0129] In some embodiments of the present invention, controlling the gear switching of the motor based on the current output torque, current speed, current gear and the requested output torque of the motor includes:

[0130] determining a first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear, and the requested output torque; the first efficiency is the efficiency of the motor at the current gear and the current speed for adjusting the current output torque to the requested output torque;

[0131] determining a second efficiency of the motor at a preset target gear based on the current output torque, the current speed, the current gear and the requested output torque; the second efficiency is the efficiency of the motor at the target gear and the current speed for adjusting the current output torque to the requested output torque;

[0132] If the first efficiency is not less than the second efficiency, controlling the motor not to perform the gear switching, and controlling the motor to adjust the current output torque to the requested output torque in the current gear;

[0133] If the first efficiency is less than the second efficiency, the motor is controlled to switch the current gear to the target gear, and the motor is controlled to adjust the current output torque to the requested output torque at the target gear.

[0134] Specifically, the motor in the motor control system can determine whether the motor needs to switch gears based on the current output torque, current speed, current gear and requested output torque of the motor. It should be noted that the motor has two gears, namely the current gear and the target gear.

[0135] The motor control system can determine the first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear and the requested output torque. The first efficiency is the efficiency of the motor adjusting the current output torque to the requested output torque at the current gear and the current speed. The motor control system can determine the second efficiency of the motor at the preset target gear based on the current output torque, the current speed, the current gear and the requested output torque. The second efficiency is the efficiency of the motor adjusting the current output torque to the requested output torque at the target gear and the current speed. If the first efficiency is not less than the second efficiency, the motor control system controls the motor not to switch gears, and controls the motor to adjust the current output torque to the requested output torque at the current gear. If the first efficiency is less than the second efficiency, the motor control system controls the motor to switch the current gear to the target gear, and controls the motor to adjust the current output torque to the requested output torque at the target gear.

[0136] In some embodiments of the present invention, the method further comprises:

[0137] If the motor does not meet the gear shift condition, the motor is controlled to be in the current gear position to adjust the current output torque to the requested output torque.

[0138] In the embodiment of the present invention, if the motor does not meet the gear shifting condition, the motor control system controls the motor to adjust the current output torque to the requested output torque in the current gear.

[0139] In an embodiment of the present invention, the motor control system includes at least one chassis control subsystem to be activated. The motor control system obtains the power demand information received by the vehicle, the working state of the motor of the vehicle, and the activation information of the motor control system; the activation information is the information whether the chassis control subsystem to be activated is activated. Based on the power demand information, the motor control system obtains the requested output torque of the motor; based on the activation information and the working state of the motor, it determines whether the motor meets the preset shifting condition. If the motor meets the shifting condition, the motor control system controls the gear switching of the motor based on the current output torque, current speed, current gear and requested output torque of the motor. Since the activated chassis control subsystem will affect the operation of the motor, resulting in the instability of the motor output torque, the motor control system determines whether the motor meets the shifting condition based on the activation information of whether the chassis control subsystem to be activated is activated and the working state of the motor, thereby avoiding the instability of the motor torque output caused by the shifting operation and ensuring the driving smoothness of the vehicle.

[0140] In the embodiment of the present invention, when the chassis control subsystem to be activated is activated and the motor is in a driving state, two judgments are performed, namely, whether the motor meets the gear shifting conditions and whether the motor needs to shift gears. This reduces the frequency of motor shifting and solves the problem that after the chassis control subsystem to be activated is activated, the output torque of the motor is actively controlled, resulting in the gear shifting operation at this time causing instability or fluctuation of the torque output, thereby causing the motor to be unable to immediately provide the vehicle chassis with the required torque, affecting the response speed. This improves the response speed of the motor output torque.

[0141] At the same time, whether to allow gear shifting is determined based on the working status of the motor, which reduces the output torque fluctuation caused by gear shifting when the user frequently accelerates and decelerates, reduces the gear shift shock, improves the robustness of the gear shifting system, and reduces the vehicle NVH (noise, vibration and roughness) problem caused by frequent gear shifting. Especially when the vehicle slips, the wheel speed difference is too large, and the vehicle is at risk of losing control or slipping, based on the current output torque, current speed, current gear and requested output torque of the motor, the motor is controlled to switch gears, and the motor is controlled to adjust the current output torque to the requested output torque according to the maximum efficiency. It can quickly respond to the torque request of the chassis control system, avoid the problem that the torque fluctuation caused by gear shifting of the two-speed motor cannot be responded quickly, and can quickly maintain the stability and safety of the vehicle.

[0142] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0143] Reference Figure 4 , shows a structural block diagram of a vehicle motor control device provided in an embodiment of the present invention, which is applied to a vehicle motor control system, wherein the motor control system includes at least one chassis control subsystem to be activated, and specifically may include the following modules:

[0144] The acquisition module 401 is used to acquire the power demand information received by the vehicle, the working state of the motor of the vehicle and the activation information of the motor control system; the activation information is the information of whether the chassis control subsystem to be activated is activated;

[0145] A requested output torque acquisition module 402, configured to acquire a requested output torque of the motor based on the power demand information;

[0146] A judgment module 403, configured to judge whether the motor meets a preset shift condition based on the activation information and the working state of the motor;

[0147] The gear switching control module 404 is used to control the gear switching of the motor based on the current output torque, current speed, current gear and the requested output torque of the motor if the motor meets the gear shifting condition.

[0148] In an optional embodiment of the present invention, the working state includes a driving state and / or an energy recovery state; the judgment module includes:

[0149] a judgment submodule, configured to judge whether the motor satisfies the gear shifting condition based on the activation information if the motor is in the driving state;

[0150] The confirmation submodule is used to confirm that the motor does not meet the gear shifting condition if the motor is in the energy recovery state.

[0151] In an optional embodiment of the present invention, the judgment submodule includes:

[0152] a judging unit, configured to judge whether the chassis control subsystem to be activated is activated based on the activation information;

[0153] a first confirmation unit, configured to confirm that the motor does not meet the shift condition if at least one of the chassis control subsystems is activated in the motor control system;

[0154] The second confirmation unit is configured to confirm that the motor satisfies the gear shifting condition if the activated chassis control subsystem does not exist in the motor control system.

[0155] In an optional embodiment of the present invention, the device further comprises:

[0156] A driving status information acquisition module, used to acquire the driving status information of the vehicle;

[0157] A risk judgment module, used for judging whether the vehicle has a risk of losing control and / or skidding based on the driving state information;

[0158] an activation module, configured to activate at least one of the chassis control subsystems to be activated if the vehicle is at risk of losing control and / or skidding;

[0159] The safety requirement torque acquisition module is used to acquire the safety requirement torque of the vehicle based on the driving state information and using the activated chassis control subsystem.

[0160] In an optional embodiment of the present invention, the requested output torque acquisition module includes:

[0161] A vehicle required torque acquisition submodule, used for acquiring the vehicle required torque of the vehicle based on the power demand information;

[0162] An output torque threshold acquisition submodule, used to acquire an output torque threshold of the motor at the current speed and the current gear based on the current speed and the current gear;

[0163] The requested output torque acquisition submodule is used to acquire the requested output torque of the motor based on the vehicle required torque, the output torque threshold and the safety required torque.

[0164] In an optional embodiment of the present invention, the gear switching control module includes:

[0165] A first efficiency determination submodule, configured to determine a first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear, and the requested output torque; the first efficiency is the efficiency of the motor at the current gear and the current speed when adjusting the current output torque to the requested output torque;

[0166] a second efficiency determination submodule, for determining a second efficiency of the motor at a preset target gear based on the current output torque, the current speed, the current gear, and the requested output torque; the second efficiency is the efficiency of the motor at the target gear and the current speed when adjusting the current output torque to the requested output torque;

[0167] a first control submodule, configured to control the motor not to perform the gear switching if the first efficiency is not less than the second efficiency, and control the motor to adjust the current output torque to the requested output torque in the current gear;

[0168] The second control submodule is used to control the motor to switch the current gear to the target gear if the first efficiency is less than the second efficiency, and control the motor to adjust the current output torque to the requested output torque at the target gear.

[0169] In an optional embodiment of the present invention, the device further comprises:

[0170] The adjustment control module is used to control the motor to adjust the current output torque to the requested output torque in the current gear if the motor does not meet the gear shift condition.

[0171] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0172] In addition, an embodiment of the present invention further provides an electronic device, such as Figure 5 As shown, it includes a processor 501, a communication interface 502, a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 communicate with each other through the communication bus 504.

[0173] Memory 503, used for storing computer programs;

[0174] The processor 501 is used to execute the program stored in the memory 503, and implements the following steps:

[0175] Acquiring power demand information received by the vehicle, the working state of the motor of the vehicle, and activation information of the motor control system; the activation information is information on whether the chassis control subsystem to be activated is activated;

[0176] Based on the power demand information, obtaining a requested output torque of the motor;

[0177] Based on the activation information and the working state of the motor, determining whether the motor meets a preset shift condition;

[0178] If the motor meets the gear shifting condition, the gear switching of the motor is controlled based on the current output torque, the current rotation speed, the current gear and the requested output torque of the motor.

[0179] In an optional embodiment of the present invention, the working state includes a driving state and / or an energy recovery state; and judging whether the motor satisfies a preset shift condition based on the activation information and the working state of the motor includes:

[0180] If the motor is in the driving state, determining whether the motor satisfies the shifting condition based on the activation information;

[0181] If the motor is in the energy recovery state, it is confirmed that the motor does not meet the gear shifting condition.

[0182] In an optional embodiment of the present invention, judging whether the motor meets the shifting condition based on the activation information includes:

[0183] Based on the activation information, determining whether the chassis control subsystem to be activated is activated;

[0184] If there is at least one chassis control subsystem that is activated in the motor control system, confirming that the motor does not meet the shift condition;

[0185] If the activated chassis control subsystem does not exist in the motor control system, it is confirmed that the motor meets the gear shifting condition.

[0186] In an optional embodiment of the present invention, the method further includes:

[0187] Acquiring driving status information of the vehicle;

[0188] Based on the driving state information, determining whether the vehicle has a risk of losing control and / or skidding;

[0189] If the vehicle is at risk of losing control and / or skidding, activating at least one of the chassis control subsystems to be activated;

[0190] Based on the driving state information, the safety required torque of the vehicle is obtained by utilizing the activated chassis control subsystem.

[0191] In an optional embodiment of the present invention, obtaining the requested output torque of the motor based on the power demand information includes:

[0192] Based on the power demand information, obtaining the vehicle required torque of the vehicle;

[0193] Based on the current speed and the current gear, acquiring an output torque threshold of the motor at the current speed and the current gear;

[0194] The requested output torque of the motor is obtained based on the vehicle required torque, the output torque threshold, and the safety required torque.

[0195] In an optional embodiment of the present invention, controlling the gear switching of the motor based on the current output torque, current speed, current gear and the requested output torque of the motor includes:

[0196] determining a first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear, and the requested output torque; the first efficiency is the efficiency of the motor at the current gear and the current speed for adjusting the current output torque to the requested output torque;

[0197] determining a second efficiency of the motor at a preset target gear based on the current output torque, the current speed, the current gear and the requested output torque; the second efficiency is the efficiency of the motor at the target gear and the current speed for adjusting the current output torque to the requested output torque;

[0198] If the first efficiency is not less than the second efficiency, controlling the motor not to perform the gear switching, and controlling the motor to adjust the current output torque to the requested output torque in the current gear;

[0199] If the first efficiency is less than the second efficiency, the motor is controlled to switch the current gear to the target gear, and the motor is controlled to adjust the current output torque to the requested output torque at the target gear.

[0200] In an optional embodiment of the present invention, the method further includes:

[0201] If the motor does not meet the gear shift condition, the motor is controlled to be in the current gear position to adjust the current output torque to the requested output torque.

[0202] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0203] The communication interface is used for communication between the above terminal and other devices.

[0204] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0205] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0206] like Figure 6 As shown, in another embodiment provided by the present invention, a computer-readable storage medium 601 is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes a vehicle motor control method described in the above embodiment.

[0207] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the vehicle motor control method described in the above embodiment.

[0208] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0209] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0210] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0211] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for controlling a vehicle motor, characterized in that: A motor control system applied to a vehicle, the motor control system comprising at least one chassis control subsystem to be activated, the method comprising: Acquiring power demand information received by the vehicle, the working state of the motor of the vehicle, and activation information of the motor control system; the activation information is information on whether the chassis control subsystem to be activated is activated; Based on the power demand information, obtaining a requested output torque of the motor; Based on the activation information and the working state of the motor, determining whether the motor meets a preset shift condition; If the motor meets the gear shifting condition, the gear switching of the motor is controlled based on the current output torque, the current rotation speed, the current gear and the requested output torque of the motor.

2. The method according to claim 1, characterized in that The working state includes a driving state and / or an energy recovery state; and judging whether the motor meets a preset shifting condition based on the activation information and the working state of the motor includes: If the motor is in the driving state, determining whether the motor satisfies the shifting condition based on the activation information; If the motor is in the energy recovery state, it is confirmed that the motor does not meet the gear shifting condition.

3. The method according to claim 2, characterized in that The determining whether the motor satisfies the shifting condition based on the activation information includes: Based on the activation information, determining whether the chassis control subsystem to be activated is activated; If there is at least one chassis control subsystem that is activated in the motor control system, confirming that the motor does not meet the shift condition; If the activated chassis control subsystem does not exist in the motor control system, it is confirmed that the motor meets the gear shifting condition.

4. The method according to claim 1, characterized in that: The method further comprises: Acquiring driving status information of the vehicle; Based on the driving state information, determining whether the vehicle has a risk of losing control and / or skidding; If the vehicle is at risk of losing control and / or skidding, activating at least one of the chassis control subsystems to be activated; Based on the driving state information, the safety required torque of the vehicle is obtained by utilizing the activated chassis control subsystem.

5. The method according to claim 4, characterized in that The obtaining the requested output torque of the motor based on the power demand information includes: Based on the power demand information, obtaining the vehicle required torque of the vehicle; Based on the current speed and the current gear, acquiring an output torque threshold of the motor at the current speed and the current gear; The requested output torque of the motor is obtained based on the vehicle required torque, the output torque threshold, and the safety required torque.

6. The method according to claim 1, characterized in that The controlling the gear switching of the motor based on the current output torque, the current rotation speed, the current gear and the requested output torque of the motor comprises: determining a first efficiency of the motor at the current gear based on the current output torque, the current speed, the current gear, and the requested output torque; the first efficiency is the efficiency of the motor at the current gear and the current speed for adjusting the current output torque to the requested output torque; determining a second efficiency of the motor at a preset target gear based on the current output torque, the current speed, the current gear and the requested output torque; the second efficiency is the efficiency of the motor at the target gear and the current speed for adjusting the current output torque to the requested output torque; If the first efficiency is not less than the second efficiency, controlling the motor not to perform the gear switching, and controlling the motor to adjust the current output torque to the requested output torque in the current gear; If the first efficiency is less than the second efficiency, the motor is controlled to switch the current gear to the target gear, and the motor is controlled to adjust the current output torque to the requested output torque at the target gear.

7. The method according to claim 1, characterized in that The method further comprises: If the motor does not meet the gear shift condition, the motor is controlled to be in the current gear position to adjust the current output torque to the requested output torque.

8. A control device for a vehicle motor, characterized in that: A motor control system applied to a vehicle, the motor control system comprising at least one chassis control subsystem to be activated, the device comprising: an acquisition module, used to acquire power demand information received by the vehicle, the working state of the motor of the vehicle, and activation information of the motor control system; the activation information is information on whether the chassis control subsystem to be activated is activated; A requested output torque acquisition module, used for acquiring the requested output torque of the motor based on the power demand information; A judging module, configured to judge whether the motor satisfies a preset shifting condition based on the activation information and the working state of the motor; The gear switching control module is used to control the gear switching of the motor based on the current output torque, current speed, current gear and the requested output torque of the motor if the motor meets the gear shifting condition.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 7 when executing the program stored in the memory.

10. One or more computer-readable media having instructions stored thereon, which when executed by one or more processors cause the processors to perform the method according to any one of claims 1 to 7.

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