Motor rotor position determination method and device, vehicle and storage medium

Abstract

The invention relates to a motor rotor position determination method and device, a vehicle and a storage medium. The method comprises the steps of obtaining an output corner of a corner sensor and a transmission ratio of a speed reducing mechanism, and calculating a first position of a motor rotor based on the output corner and the transmission ratio; obtaining a current phase current waveform, and determining a second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relation; and calculating an error between the first position and the second position, and when the error is greater than a preset threshold value, determining that the position of the motor rotor is in a preset abnormal state. Therefore, the specific position of the motor rotor is calculated through the transmission ratio of the rotation angle sensor to the speed reducing mechanism, and current wave crest detection is adopted as a verification means, so that the problems of high cost, complex sensor installation, incapability of detecting the position of the motor rotor caused by failure of the rotor position sensor and the like in the prior art are solved; the cost is reduced, and meanwhile accurate control over the electronic steering system is achieved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, vehicle and storage medium for determining a motor rotor position. Background Art

[0002] In the Electric Power Steering (EPS) system, the position of the motor rotor is crucial for precise control.

[0003] In the related art, the detection of the real-time position of the motor rotor usually relies on a Hall effect sensor or a photoelectric encoder.

[0004] However, this method has disadvantages such as high cost and complex installation. In addition, in certain harsh environments, the rotor position sensor may fail, affecting the reliability and stability of the system, which needs to be solved urgently. Summary of the invention

[0005] The present application provides a method, device, vehicle and storage medium for determining the motor rotor position to solve the problems of high cost, complex sensor installation and inability to detect the motor rotor position due to failure of the rotor position sensor in the prior art, thereby reducing costs and achieving precise control of the electronic steering system.

[0006] To achieve the above-mentioned object, a first aspect of the present application provides a method for determining a motor rotor position, wherein the method is applied to an electric power steering system without a rotor position sensor, wherein the electric power steering system without a rotor position sensor comprises a motor, a rotation angle sensor and a deceleration mechanism, wherein the method comprises the following steps:

[0007] Acquire an output rotation angle of the rotation angle sensor and a transmission ratio of the reduction mechanism, and calculate a first position of the motor rotor based on the output rotation angle and the transmission ratio;

[0008] Acquire a current phase current waveform, and determine a second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship;

[0009] An error between the first position and the second position is calculated, and when the error is greater than a preset threshold, it is determined that the motor rotor position is in a preset abnormal state.

[0010] According to an embodiment of the present application, determining the second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship includes:

[0011] Determining a target peak position based on the current phase current waveform;

[0012] According to the target peak position, the second position of the motor rotor is obtained from a preset peak position-rotor position mapping relationship.

[0013] According to one embodiment of the present application, before determining the second position of the motor rotor based on the current phase current waveform and the preset peak position-rotor position mapping relationship, the method further includes:

[0014] Acquiring the phase current of the motor and the parameters of the motor;

[0015] generating a phase current waveform based on the phase current, and determining a peak position of the phase current waveform using a preset signal processing strategy;

[0016] Based on the parameters of the motor, the current rotor position of the motor is determined, and based on the current rotor position of the motor and the peak position, the preset peak position-rotor position mapping relationship is generated.

[0017] According to an embodiment of the present application, calculating the first position of the motor rotor based on the output angle and the transmission ratio includes:

[0018] Obtaining a rotor angle of the motor according to the product of the output angle and the transmission ratio;

[0019] A first position of the motor rotor is determined based on an initial position of the motor and the rotor angle.

[0020] According to one embodiment of the present application, after determining that the motor rotor position is in the preset abnormal state, the method further includes:

[0021] Triggering a fault alarm and / or switching to a backup control mode;

[0022] The electric power steering system is controlled based on the fault warning and / or the backup control mode.

[0023] According to the method for determining the position of the motor rotor proposed in the embodiment of the present application, by obtaining the output angle of the angle sensor and the transmission ratio of the reduction mechanism, the first position of the motor rotor can be calculated based on the output angle and the transmission ratio; by obtaining the current phase current waveform, the second position of the motor rotor can be determined based on the current phase current waveform and the preset peak position-rotor position mapping relationship; the error between the first position and the second position is calculated, and when the error is greater than the preset threshold, the motor rotor position is determined to be in a preset abnormal state. Thus, the specific position of the motor rotor is calculated through the angle sensor and the transmission ratio of the reduction mechanism, and the current peak detection is used as a verification method, which solves the problems of high cost of the prior art, complex sensor installation, and inability to detect the motor rotor position due to failure of the rotor position sensor, thereby reducing costs and achieving precise control of the electronic steering system.

[0024] To achieve the above-mentioned object, a second aspect of the present application provides a device for determining the position of a motor rotor, wherein the device is applied to an electric power steering system without a rotor position sensor, wherein the electric power steering system without a rotor position sensor comprises a motor, a rotation angle sensor and a deceleration mechanism, wherein the device comprises:

[0025] a calculation module, configured to obtain an output rotation angle of the rotation angle sensor and a transmission ratio of the reduction mechanism, and calculate a first position of the motor rotor based on the output rotation angle and the transmission ratio;

[0026] A determination module, configured to obtain a current phase current waveform, and determine a second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship;

[0027] The determination module is used to calculate the error between the first position and the second position, and when the error is greater than a preset threshold, determine that the motor rotor position is in a preset abnormal state.

[0028] According to an embodiment of the present application, the determining module is specifically used to:

[0029] Determining a target peak position based on the current phase current waveform;

[0030] According to the target peak position, the second position of the motor rotor is obtained from a preset peak position-rotor position mapping relationship.

[0031] According to one embodiment of the present application, before determining the second position of the motor rotor based on the current phase current waveform and the preset peak position-rotor position mapping relationship, the determination module is further used to:

[0032] Acquiring the phase current of the motor and the parameters of the motor;

[0033] generating a phase current waveform based on the phase current, and determining a peak position of the phase current waveform using a preset signal processing strategy;

[0034] Based on the parameters of the motor, the current rotor position of the motor is determined, and based on the current rotor position of the motor and the peak position, the preset peak position-rotor position mapping relationship is generated.

[0035] According to one embodiment of the present application, the computing module is specifically used for:

[0036] Obtaining a rotor angle of the motor according to the product of the output angle and the transmission ratio;

[0037] A first position of the motor rotor is determined based on an initial position of the motor and the rotor angle.

[0038] According to one embodiment of the present application, after determining that the motor rotor position is in the preset abnormal state, the determination module is further configured to:

[0039] Triggering a fault alarm and / or switching to a backup control mode;

[0040] The electric power steering system is controlled based on the fault warning and / or the backup control mode.

[0041] According to the motor rotor position determination device proposed in the embodiment of the present application, by obtaining the output angle of the angle sensor and the transmission ratio of the reduction mechanism, the first position of the motor rotor can be calculated based on the output angle and the transmission ratio; by obtaining the current phase current waveform, the second position of the motor rotor can be determined based on the current phase current waveform and the preset peak position-rotor position mapping relationship; the error between the first position and the second position is calculated, and when the error is greater than the preset threshold, the motor rotor position is determined to be in a preset abnormal state. Thus, the specific position of the motor rotor is calculated through the angle sensor and the transmission ratio of the reduction mechanism, and the current peak detection is used as a verification method, which solves the problems of high cost of the prior art, complex sensor installation, and inability to detect the motor rotor position due to failure of the rotor position sensor, thereby reducing costs and achieving precise control of the electronic steering system.

[0042] To achieve the above objectives, the third aspect of the present application proposes a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for determining the motor rotor position as described in the above embodiments.

[0043] To achieve the above objectives, the fourth aspect of the present application proposes a computer-readable storage medium on which a computer program is stored. The program is executed by a processor to implement the method for determining the motor rotor position as described in the above embodiments.

[0044] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0046] Figure 1 A flowchart of a method for determining a motor rotor position according to an embodiment of the present application;

[0047] Figure 2 It is a structural schematic diagram of an electric power steering system without a rotor position sensor according to an embodiment of the present application;

[0048] Figure 3 A block diagram of a device for determining a motor rotor position according to an embodiment of the present application;

[0049] Figure 4 It is a schematic diagram of the structure of a vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0050] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0051] The following describes a method, device, vehicle, and storage medium for determining a motor rotor position according to an embodiment of the present application with reference to the accompanying drawings.

[0052] Figure 1 It is a flow chart of a method for determining the motor rotor position according to an embodiment of the present application.

[0053] The method for determining the motor rotor position is applied to an electric power steering system without a rotor position sensor, such as Figure 2As shown, the electric power steering system without rotor position sensor includes a motor 1, a rotation angle sensor 2 and a (worm gear) reduction mechanism 3. The rotation angle sensor 2 is installed on the steering shaft to detect the rotation angle of the steering shaft; the reduction mechanism 3 is arranged between the motor 1 and the motor-driven steering device; the motor 1 and the rotation angle sensor 2 control unit are both electrically connected to the control unit to ensure the coordinated operation and precise control of the entire system.

[0054] For example, Figure 1 As shown, the method for determining the motor rotor position includes the following steps:

[0055] In step S101, the output rotation angle of the rotation angle sensor and the transmission ratio of the speed reduction mechanism are acquired, and based on the output rotation angle and the transmission ratio, the first position of the motor rotor is calculated.

[0056] Among them, the output angle refers to the angle that the output shaft rotates from the start of the motor to the current moment. The transmission ratio is a numerical value that describes the proportional relationship between the speed of the input shaft and the output shaft in a mechanical transmission system. In a reduction mechanism, the transmission ratio is a known parameter, usually greater than 1, indicating that the speed of the output shaft is slower than the input shaft, thereby achieving deceleration.

[0057] That is to say, by accurately measuring the output rotation angle of the rotation angle sensor and combining it with the transmission ratio of the speed reduction mechanism, the position of the motor rotor (ie, the first position of the motor rotor) can be further calculated.

[0058] As a possible implementation method, in some embodiments, the first position of the motor rotor is calculated based on the output angle and the transmission ratio, including: obtaining the rotor angle of the motor according to the product of the output angle and the transmission ratio; and determining the first position of the motor rotor based on the initial position of the motor and the rotor angle.

[0059] Specifically, first, the output angle of the angle sensor can be multiplied by the transmission ratio of the reduction mechanism to obtain the rotation angle of the motor rotor (i.e., the rotor angle), that is, the actual rotation angle of the motor rotor at the current moment. Next, in order to determine the actual position of the motor rotor (i.e., the first position), it is necessary to obtain the initial position of the motor. The initial position refers to the initial angle of the rotor when the motor is started. Based on the initial position, combined with the previously calculated rotor angle, the first position of the motor rotor at the current moment can be determined.

[0060] In step S102, the current phase current waveform is acquired, and the second position of the motor rotor is determined based on the current phase current waveform and a preset peak position-rotor position mapping relationship.

[0061] That is, after the first position of the motor rotor is calculated in step S101, the second position of the motor rotor can be inferred by using the current peak detection method based on the preset peak position-rotor position mapping relationship to serve as a check.

[0062] Specifically, in order to obtain the waveform of the current phase current, appropriate sensors and data acquisition equipment can be used to monitor and record the current changes of the motor in different operating states in real time. These current data will form a series of waveforms, reflecting the current changes of the motor at various times. After obtaining the current phase current waveform, the preset peak position-rotor position mapping relationship can be used to convert the peak position in the current waveform into the specific position information of the rotor.

[0063] The following describes in detail how to determine the second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship.

[0064] As a possible implementation method, in some embodiments, the second position of the motor rotor is determined based on the current phase current waveform and a preset peak position-rotor position mapping relationship, including: determining the target peak position based on the current phase current waveform; and obtaining the second position of the motor rotor from a preset peak position-rotor position mapping relationship based on the target peak position.

[0065] Specifically, by performing detailed analysis and processing on the current phase current waveform, the target peak position can be identified; then, by referring to the mapping relationship between the preset peak position and the rotor position, the specific position of the motor rotor during operation (ie, the second position) can be directly derived from the target peak position.

[0066] Furthermore, in some embodiments, before determining the second position of the motor rotor based on the current phase current waveform and the preset peak position-rotor position mapping relationship, it also includes: acquiring the phase current of the motor and the parameters of the motor; generating a phase current waveform based on the phase current, and determining the peak position of the phase current waveform using a preset signal processing strategy; determining the current rotor position of the motor based on the parameters of the motor, and generating a preset peak position-rotor position mapping relationship based on the current rotor position and peak position of the motor.

[0067] Among them, the relevant parameter information of the motor includes key parameters such as the rated voltage, current, power, and speed of the motor.

[0068] Specifically, the corresponding phase current waveform can be generated based on the acquired phase current data. In order to analyze the waveform more accurately, a series of preset signal processing strategies, such as filtering, amplification and digital processing, can be adopted to ensure the accuracy and reliability of the waveform data. After processing the phase current waveform, the peak position in the waveform can be further determined. By accurately identifying the peak position, it is convenient to better understand the operating status and performance of the motor. At the same time, the current rotor position of the motor can also be determined according to the parameters of the motor. This usually involves the physical structure and working principle of the motor, such as the magnetic pole distribution and speed of the rotor. By comprehensively considering these factors, the real-time position of the motor rotor can be more accurately inferred. Finally, combining the current rotor position of the motor and the previously determined peak position, a preset peak position-rotor position mapping relationship can be generated. Through this mapping relationship, the detected peak position can be converted into the specific position of the motor rotor during operation, realizing real-time monitoring and precise control of the motor operation state, thereby improving the efficiency and reliability of the motor.

[0069] In step S103, the error between the first position and the second position is calculated, and when the error is greater than a preset threshold, it is determined that the motor rotor position is in a preset abnormal state.

[0070] Among them, the preset threshold value can be a value pre-set by researchers in this field based on the normal operating standards and safety requirements of the motor, or a value obtained through a limited number of experiments, or a value obtained through a limited number of computer simulations, and is not specifically limited here.

[0071] Specifically, after obtaining the first position and the second position respectively, the error value between the first position and the second position can be calculated, and this error value refers to the degree of difference between the two rotor positions. After calculating the error value, it can be compared with a preset threshold value to determine whether the rotor position is within an acceptable range. If the calculated error value exceeds this preset threshold value, it can be determined that the rotor position of the motor is in an abnormal state. This abnormal state means that there are certain problems inside the motor, such as rotor imbalance, mechanical failure, or sensor failure. By comparing the calculated second position with the first position calculated previously, an effective verification can be performed to ensure that the measurement result of the motor rotor position has high accuracy and reliability.

[0072] Furthermore, in some embodiments, after determining that the motor rotor position is in a preset abnormal state, it also includes: triggering a fault alarm and / or switching to a backup control mode; and controlling the electric power steering system based on the fault alarm and / or the backup control mode.

[0073] It is understandable that in order to ensure the safe and stable operation of the system, once the motor rotor position is detected to be in an abnormal state, the system can immediately issue a fault alarm to notify the operator or related systems of the abnormal situation. At the same time, the system can automatically switch to the backup control mode to ensure that the electric power steering system can continue to operate in a fault state. In this way, based on the dual mechanism of fault alarm and backup control mode, the electric power steering system can be effectively managed and controlled, thereby ensuring the safe driving of the vehicle.

[0074] According to the method for determining the position of the motor rotor proposed in the embodiment of the present application, by obtaining the output angle of the angle sensor and the transmission ratio of the reduction mechanism, the first position of the motor rotor can be calculated based on the output angle and the transmission ratio; by obtaining the current phase current waveform, the second position of the motor rotor can be determined based on the current phase current waveform and the preset peak position-rotor position mapping relationship; the error between the first position and the second position is calculated, and when the error is greater than the preset threshold, the motor rotor position is determined to be in a preset abnormal state. Thus, the specific position of the motor rotor is calculated through the angle sensor and the transmission ratio of the reduction mechanism, and the current peak detection is used as a verification method, which solves the problems of high cost of the prior art, complex sensor installation, and inability to detect the motor rotor position due to failure of the rotor position sensor, thereby reducing costs and achieving precise control of the electronic steering system.

[0075] Next, a device for determining the position of a motor rotor proposed in an embodiment of the present application will be described with reference to the accompanying drawings.

[0076] Figure 3 The block diagram of a device for determining the motor rotor position of an embodiment of the present application is applied to an electric power steering system without a rotor position sensor, and the electric power steering system without a rotor position sensor includes a motor, a rotation angle sensor and a speed reduction mechanism.

[0077] like Figure 3 As shown, the device 10 for determining the motor rotor position includes: a calculation module 100 , a determination module 200 and a judgment module 300 .

[0078] The calculation module 100 is used to obtain the output angle of the angle sensor and the transmission ratio of the speed reduction mechanism, and calculate the first position of the motor rotor based on the output angle and the transmission ratio;

[0079] The determination module 200 is used to obtain the current phase current waveform and determine the second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship;

[0080] The determination module 300 is used to calculate the error between the first position and the second position, and when the error is greater than a preset threshold, determine that the motor rotor position is in a preset abnormal state.

[0081] Further, in some embodiments, the determination module 200 is specifically configured to:

[0082] Based on the current phase current waveform, determine the target peak position;

[0083] According to the target peak position, the second position of the motor rotor is obtained from a preset peak position-rotor position mapping relationship.

[0084] Further, in some embodiments, before determining the second position of the motor rotor based on the current phase current waveform and the preset peak position-rotor position mapping relationship, the determination module 200 is further used to:

[0085] Get the motor phase current and motor parameters;

[0086] Generate a phase current waveform based on the phase current, and determine the peak position of the phase current waveform using a preset signal processing strategy;

[0087] Based on the parameters of the motor, the current rotor position of the motor is determined, and based on the current rotor position and the peak position of the motor, a preset peak position-rotor position mapping relationship is generated.

[0088] Furthermore, in some embodiments, the computing module 100 is specifically configured to:

[0089] The rotor angle of the motor is obtained according to the product of the output angle and the transmission ratio;

[0090] A first position of a rotor of the motor is determined based on an initial position of the motor and a rotor angle.

[0091] Further, in some embodiments, after determining that the motor rotor position is in a preset abnormal state, the determination module 300 is further configured to:

[0092] Triggering a fault alarm and / or switching to a backup control mode;

[0093] The electric power steering system is controlled based on fault warning and / or backup control mode.

[0094] It should be noted that the above explanation of the embodiment of the method for determining the motor rotor position is also applicable to the device for determining the motor rotor position of this embodiment, and will not be repeated here.

[0095] According to the motor rotor position determination device proposed in the embodiment of the present application, by obtaining the output angle of the angle sensor and the transmission ratio of the reduction mechanism, the first position of the motor rotor can be calculated based on the output angle and the transmission ratio; by obtaining the current phase current waveform, the second position of the motor rotor can be determined based on the current phase current waveform and the preset peak position-rotor position mapping relationship; the error between the first rotor position and the second rotor position is calculated, and when the error is greater than the preset threshold, the motor rotor position is determined to be in a preset abnormal state. Thus, the specific position of the motor rotor is calculated through the angle sensor and the transmission ratio of the reduction mechanism, and the current peak detection is used as a verification method, which solves the problems of high cost of the prior art, complex sensor installation, and inability to detect the motor rotor position due to failure of the rotor position sensor, thereby reducing costs and achieving precise control of the electronic steering system.

[0096] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0097] Memory 401 , processor 402 , and a computer program stored in the memory 401 and executable on the processor 402 .

[0098] When the processor 402 executes the program, the method for determining the motor rotor position provided in the above embodiment is implemented.

[0099] Furthermore, the vehicle also includes:

[0100] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0101] The memory 401 is used to store computer programs that can be executed on the processor 402 .

[0102] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0103] If the memory 401, the processor 402 and the communication interface 403 are implemented independently, the communication interface 403, the memory 401 and the processor 402 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0104] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0105] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0106] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the above method for determining the motor rotor position when the program is executed by a processor.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0109] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for determining the position of a motor rotor, characterized in that: The method is applied to an electric power steering system without a rotor position sensor, wherein the electric power steering system without a rotor position sensor comprises a motor, a rotation angle sensor and a deceleration mechanism, wherein the method comprises the following steps: Acquire an output rotation angle of the rotation angle sensor and a transmission ratio of the reduction mechanism, and calculate a first position of the motor rotor based on the output rotation angle and the transmission ratio; Acquire a current phase current waveform, and determine a second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship; An error between the first position and the second position is calculated, and when the error is greater than a preset threshold, it is determined that the motor rotor position is in a preset abnormal state.

2. The method according to claim 1, characterized in that The determining the second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship comprises: Determining a target peak position based on the current phase current waveform; According to the target peak position, the second position of the motor rotor is obtained from a preset peak position-rotor position mapping relationship.

3. The method according to claim 2, characterized in that Before determining the second position of the motor rotor based on the current phase current waveform and the preset peak position-rotor position mapping relationship, the method further includes: Acquiring the phase current of the motor and the parameters of the motor; generating a phase current waveform based on the phase current, and determining a peak position of the phase current waveform using a preset signal processing strategy; Based on the parameters of the motor, the current rotor position of the motor is determined, and based on the current rotor position of the motor and the peak position, the preset peak position-rotor position mapping relationship is generated.

4. The method according to claim 1, characterized in that: The step of calculating a first position of a motor rotor based on the output angle and the transmission ratio comprises: Obtaining a rotor angle of the motor according to the product of the output angle and the transmission ratio; A first position of the motor rotor is determined based on an initial position of the motor and the rotor angle.

5. The method according to claim 1, characterized in that After determining that the motor rotor position is in the preset abnormal state, the method further includes: Triggering a fault alarm and / or switching to a backup control mode; The electric power steering system is controlled based on the fault warning and / or the backup control mode.

6. A device for determining the position of a motor rotor, characterized in that: The device is applied to an electric power steering system without a rotor position sensor, wherein the electric power steering system without a rotor position sensor comprises a motor, a rotation angle sensor and a deceleration mechanism, wherein the device comprises: a calculation module, configured to obtain an output rotation angle of the rotation angle sensor and a transmission ratio of the reduction mechanism, and calculate a first position of the motor rotor based on the output rotation angle and the transmission ratio; A determination module, configured to obtain a current phase current waveform, and determine a second position of the motor rotor based on the current phase current waveform and a preset peak position-rotor position mapping relationship; The determination module is used to calculate the error between the first position and the second position, and when the error is greater than a preset threshold, determine that the motor rotor position is in a preset abnormal state.

7. The device according to claim 6, characterized in that The determination module is specifically used for: Determining a target peak position based on the current phase current waveform; According to the target peak position, the second position of the motor rotor is obtained from a preset peak position-rotor position mapping relationship.

8. The device according to claim 7, characterized in that Before determining the second position of the motor rotor based on the current phase current waveform and the preset peak position-rotor position mapping relationship, the determination module is further used to: Acquiring the phase current of the motor and the parameters of the motor; generating a phase current waveform based on the phase current, and determining a peak position of the phase current waveform using a preset signal processing strategy; Based on the parameters of the motor, the current rotor position of the motor is determined, and based on the current rotor position of the motor and the peak position, the preset peak position-rotor position mapping relationship is generated.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for determining the motor rotor position according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the method for determining the motor rotor position as described in any one of claims 1 to 5.

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