Motor state judgment method, system and equipment and computer readable storage medium

Abstract

A motor state determination method, system and device and a computer readable storage medium relate to the field of electronic parking, and specifically comprise: when a motor driving type is detected to be clamping, acquiring a first parameter, determining that a motor is in a first state based on the first parameter, and determining that the motor is in a second state based on the first parameter; the first state is any one of a starting peak state, a no-load operation state, a load clamping state and a clamping completion state, and the first parameters comprise motor real-time current, motor real-time no-load current, motor real-time clamping current and motor average current; and when it is detected that the motor driving type is release, a second parameter is obtained, the motor is determined to be in a second state based on the second parameter, and the second state is any one of a starting peak state, a no-load operation state, a load release state and a release completion state. The second parameters comprise the motor real-time current, the motor mean value current, the variation amplitude of the mean value current in the preset period and the distance between the calipers and the brake disc. According to the invention, the specific state of the motor in the clamping and releasing process can be accurately identified.

Description

Technical Field

[0001] The present application relates to the field of electronic parking, and specifically to a method, system, device and computer-readable storage medium for determining a motor state. Background Art

[0002] With the rapid development of electric vehicles and intelligent manufacturing, the demand for motor fault diagnosis technology is increasing. At present, the current curve of the EPB (Electronic Parking Brake) motor is collected by current sensors in related technologies, and then the current integral parameters, slope parameters and time parameters are extracted to distinguish the motor's startup stage, no-load operation stage and load operation stage.

[0003] However, this method does not identify the specific state of the motor during the clamping and releasing process, resulting in an inability to accurately judge the motor state, thereby affecting the accurate execution of the caliper clamping and releasing actions, and thus significantly reducing the user experience and safety when parking the vehicle.

[0004] Therefore, how to provide a new motor state judgment method to accurately identify the specific state of the motor during the clamping and releasing process is a problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a method, system, device and computer-readable storage medium for determining the state of a motor, which can accurately identify the specific state of the motor during the clamping and releasing process.

[0006] In a first aspect, an embodiment of the present application provides a method for determining a motor state, the method for determining a motor state comprising:

[0007] When it is detected that the motor drive type is clamping, a first parameter is obtained, and based on the first parameter, it is determined that the motor is in a first state, the first state is any one of a starting peak state, a no-load running state, a load clamping state, and a clamping completion state, and the first parameter includes a motor real-time current, a motor real-time no-load current, a motor real-time clamping current, and a motor mean current;

[0008] When it is detected that the motor drive type is release, a second parameter is obtained, and based on the second parameter, it is determined that the motor is in a second state, the second state is any one of a starting peak state, a no-load running state, a load release state, and a release completion state, and the second parameter includes the real-time current of the motor, the average current of the motor, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc.

[0009] In combination with the first aspect, in one implementation, determining that the motor is in the first state based on the first parameter includes:

[0010] If it is detected that the real-time current of the motor is not greater than the preset first peak current within the preset first time period, it is determined that the motor is in the starting peak state;

[0011] After the motor enters the starting peak state and lasts for a preset second time period, if it is detected that the real-time no-load current of the motor is within a preset current range within the preset second time period, it is determined that the motor is in a no-load running state;

[0012] After the motor is in a no-load running state, if it is detected that the motor average current is greater than a preset first current threshold and the difference between the motor average current and the motor real-time no-load current is greater than a preset current difference threshold, it is determined that the motor is in a load clamping state;

[0013] After the motor is in a load clamping state and continues for a preset third time period, if it is detected that the real-time clamping current of the motor reaches the target current within the preset third time period, the motor is determined to be in a clamping completion state, and the preset first time period, the preset second time period, and the preset third time period are arranged from large to small as follows: preset second time period, preset third time period, and preset first time period.

[0014] In combination with the first aspect, in one implementation, determining that the motor is in the second state based on the second parameter includes:

[0015] If it is detected that the real-time current of the motor is not greater than the preset second peak current within the preset fourth time period, it is determined that the motor is in a starting peak state;

[0016] After the motor is in the starting peak state and continues for a preset fifth time period, if it is detected that the real-time current of the motor is less than the second peak current within the preset fifth time period, it is determined that the motor is in the load release state, and the preset fourth time period is less than the preset fifth time period;

[0017] After the motor is in a load release state, if it is detected that the motor average current is less than a preset second current threshold, the change amplitude of the motor average current within a preset period is less than a preset amplitude threshold, and the distance between the caliper and the brake disc is greater than a preset distance threshold, then it is determined that the motor is in a no-load running state;

[0018] After the motor is in a no-load running state, if it is detected that the distance between the caliper and the brake disc reaches the target distance, it is determined that the motor is in a release completion state, and the distance threshold is less than the target distance.

[0019] In combination with the first aspect, in one implementation, the method further includes:

[0020] During the motor clamping process, it is determined whether the jump sequence of the motor state is: starting peak state, no-load running state, load clamping state, and clamping completion state;

[0021] If yes, it is determined that the motor status during the motor clamping process is normal;

[0022] If not, it is determined that the motor state during the motor clamping process is abnormal.

[0023] In combination with the first aspect, in one implementation, the method further includes:

[0024] During the motor release process, it is determined whether the jump sequence of the motor state is: starting peak state, load release state, no-load operation state, and release completion state;

[0025] If so, it is determined that the motor state during the motor release process is normal;

[0026] If not, it is determined that the motor state during the motor release process is abnormal.

[0027] In combination with the first aspect, in one embodiment, before the step of detecting that the motor drive type is clamping, the method further includes:

[0028] If the vehicle speed signal is detected to be 1, the vehicle is stationary and the vehicle is not in a towing state, the motor drive type is determined to be clamping when the electronic brake switch is turned off or the vehicle is in P gear and powered off.

[0029] In combination with the first aspect, in one implementation, before the step of detecting that the motor drive type is released, the method further includes:

[0030] If it is detected that the vehicle is powered on and not in the exhibition vehicle mode, the motor drive type is determined to be released when the preset conditions are met. The preset conditions are any one of the following: the electronic parking brake switch is turned on, the brake pedal is pressed, and the master cylinder pressure value is greater than a preset pressure threshold.

[0031] In a second aspect, an embodiment of the present application provides a system for determining a motor state, the system for determining a motor state comprising:

[0032] A first processing module, which is used to obtain a first parameter when it is detected that the motor drive type is clamping, and determine that the motor is in a first state based on the first parameter, the first state is any one of a starting peak state, a no-load running state, a load clamping state, and a clamping completion state, and the first parameter includes a motor real-time current, a motor real-time no-load current, a motor real-time clamping current, and a motor mean current;

[0033] The second processing module is used to obtain a second parameter when it is detected that the motor drive type is release, and determine that the motor is in a second state based on the second parameter. The second state is any one of a starting peak state, a no-load running state, a load release state, and a release completion state. The second parameter includes the real-time current of the motor, the average current of the motor, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc.

[0034] In a third aspect, an embodiment of the present application provides a device for determining the state of a motor, the device comprising a processor, a memory, and a motor state determination program stored in the memory and executable by the processor, wherein when the motor state determination program is executed by the processor, the steps of the motor state determination method as described in any one of the foregoing items are implemented.

[0035] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a motor state judgment program is stored. When the motor state judgment program is executed by a processor, the steps of the motor state judgment method as described in any of the above items are implemented.

[0036] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0037] When the motor drive type is detected as clamping, the motor is determined to be in any one of the starting peak state, no-load running state, load clamping state, and clamping completion state based on the first parameters obtained, including the motor real-time current, the motor real-time no-load current, the motor real-time clamping current, and the motor mean current; when the motor drive type is detected as releasing, the motor is determined to be in any one of the starting peak state, no-load running state, load release state, and release completion state based on the second parameters obtained, including the motor real-time current, the motor mean current, the amplitude of the average current change within a preset period, and the distance between the caliper and the brake disc. This application clarifies the various stages of the motor in the clamping and releasing process by real-time monitoring of the first parameter and the second parameter, and realizes accurate identification of the specific state of the motor, which helps to ensure the smooth completion of the clamping and releasing actions of the caliper, thereby improving the user experience and safety when parking the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of an embodiment of a method for determining a motor state of the present application;

[0039] Figure 2 For this application Figure 1 A detailed flow chart of step S10;

[0040] Figure 3 For this application Figure 1Detailed flow chart of step S20;

[0041] Figure 4 A schematic flow chart of a normal jump sequence of the motor state during the motor clamping and releasing process in an embodiment of the method for determining the motor state of the present application;

[0042] Figure 5 This is a schematic diagram of the hardware structure of the motor state judgment device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0045] In a first aspect, an embodiment of the present application provides a method for determining a motor state.

[0046] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the method for determining the motor state of the present application. Figure 1 As shown, the method for determining the motor state includes:

[0047] Step S10: When it is detected that the motor drive type is clamping, obtain a first parameter, and based on the first parameter, determine that the motor is in a first state, the first state is any one of a starting peak state, a no-load running state, a load clamping state, and a clamping completion state, and the first parameter includes the motor real-time current, the motor real-time no-load current, the motor real-time clamping current and the motor mean current.

[0048] Exemplarily, in an embodiment of the present application, the first parameter includes the real-time current of the motor, the real-time no-load current of the motor, the real-time clamping current of the motor and the average current of the motor; wherein, it should be noted that the real-time current of the motor refers to the actual working current of the motor at the current moment, which reflects the instantaneous load condition of the motor; the real-time no-load current of the motor refers to the current of the motor in a no-load state, that is, the current consumed by the motor when running without an external load; the real-time clamping current of the motor refers to the current required by the motor when performing a clamping action; the average current of the motor refers to the average current value of the motor within a certain period of time, which can be used to evaluate whether the motor is in a stable working state and avoid misjudgment due to instantaneous fluctuations. The starting spike state refers to the state in which the current will rise sharply for a short period of time to form a spike when the motor is started; the no-load running state refers to the state in which the motor runs without load, and the motor consumes less power in this state; the load clamping state refers to the state in which the motor needs to overcome the resistance of the load and provide sufficient force to complete the clamping operation when performing the clamping action; the clamping completion state refers to the state in which the current tends to stabilize after the motor completes the clamping operation. The first state can be any one of the starting spike state, the no-load running state, the load clamping state, and the clamping completion state.

[0049] Specifically, the actuator layer detects the motor drive type. If it detects that the motor drive type is clamping, the motor enters the start drive state (Start), and can obtain the first parameters including the motor real-time current, the motor real-time no-load current, the motor real-time clamping current, and the motor mean current, and further analyzes the working state of the motor based on the first parameters obtained to determine whether it is in any of the starting peak state, no-load operation state, load clamping state, or clamping completion state. It should be understood that by comparing the change rules of the motor real-time current with the motor no-load current, the motor clamping current, and the motor mean current, the specific state of the motor can be effectively determined, and the necessary feedback information can be provided to the motor control system accordingly, thereby ensuring that the motor accurately executes the actions of each stage during the clamping process.

[0050] Step S20: When it is detected that the motor drive type is release, a second parameter is obtained, and based on the second parameter, it is determined that the motor is in a second state, the second state is any one of a starting peak state, a no-load running state, a load release state, and a release completion state, and the second parameter includes the real-time current of the motor, the average current of the motor, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc.

[0051] Exemplarily, in the embodiment of the present application, the second parameter includes the real-time current of the motor, the mean current of the motor, the variation amplitude of the mean current within a preset period, and the distance between the caliper and the brake disc; wherein, it should be noted that the variation amplitude of the mean current within a preset period refers to the fluctuation amplitude of the mean current of the motor within the preset period, which reflects the variation of the motor load, especially the stability of the working load of the motor within the period. If the variation amplitude of the mean current is large, it indicates that the load fluctuation of the motor is large and there is an unstable working state; and if the variation amplitude is small, it indicates that the working load of the motor is relatively stable; the caliper is usually used to clamp objects, and the distance between the caliper and the brake disc refers to the distance between the caliper and the brake disc when performing the release action. It can be understood that the load release state refers to the state corresponding to when the motor is performing the load release operation, that is, separating or releasing the load from the load; the release completion state refers to the state corresponding to when the current tends to stabilize and returns to a lower level after the motor completes the load release operation, and the second state is any one of the starting peak state, the no-load operation state, the load release state, and the release completion state.

[0052] Specifically, the actuator layer detects the motor drive type. If it detects that the motor drive type is release, the motor enters the start drive state (Start), and can obtain the second parameters such as the motor real-time current, the motor average current, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc. The above parameters provide necessary information for judging the current working state of the motor; among them, by analyzing the real-time current of the motor, the load condition of the motor at the current moment can be evaluated; the average current helps to understand the load stability of the motor over a period of time; the change amplitude of the average current within a preset period reflects the volatility of the motor load; the distance between the caliper and the brake disc is related to the release operation of the motor, which is used to judge whether the load release is completed.

[0053] It should be noted that based on the comprehensive analysis of the above parameters, the system can determine whether the motor is currently in any of the second states of the starting peak state, no-load running state, load release state or release completion state. The above process accurately identifies the working state of the motor through real-time monitoring and parameter judgment, thereby realizing intelligent control of the motor.

[0054] When the motor drive type is detected as clamping, the present application determines whether the motor is in any one of the starting peak state, no-load operation state, load clamping state, and clamping completion state based on the first parameters obtained, including the motor real-time current, the motor real-time no-load current, the motor real-time clamping current, and the motor mean current; when the motor drive type is detected as releasing, the present application determines whether the motor is in any one of the starting peak state, no-load operation state, load release state, and release completion state based on the second parameters obtained, including the motor real-time current, the motor mean current, the amplitude of the average current change within a preset period, and the distance between the caliper and the brake disc. The present application clarifies the various stages of the motor in the clamping and releasing process by real-time monitoring of the first parameter and the second parameter, realizes accurate identification of the specific state of the motor, helps to ensure the smooth completion of the clamping and releasing actions of the caliper, and thus improves the user experience and safety when parking the vehicle.

[0055] Further, in one embodiment, referring to Figure 2 As shown, the determining that the motor is in the first state based on the first parameter includes:

[0056] Step S101: If it is detected that the real-time current of the motor is not greater than the preset first peak current within the preset first time period, it is determined that the motor is in a starting peak state;

[0057] Step S102: after the motor enters the startup peak state and lasts for a preset second time period, if it is detected that the real-time no-load current of the motor is within a preset current range within the preset second time period, it is determined that the motor is in a no-load running state;

[0058] Step S103: After the motor is in a no-load running state, if it is detected that the motor mean current is greater than a preset first current threshold and the difference between the motor mean current and the real-time no-load current of the motor is greater than a preset current difference threshold, it is determined that the motor is in a load clamping state;

[0059] Step S104: After the motor is in a load clamping state and continues for a preset third time period, if it is detected that the real-time clamping current of the motor reaches the target current within the preset third time period, it is determined that the motor is in a clamping completion state, and the preset first time period, the preset second time period, and the preset third time period are arranged from large to small as follows: preset second time period, preset third time period, and preset first time period.

[0060] Exemplarily, in an embodiment of the present application, the specific values ​​of the preset first time length, the preset second time length, and the preset third time length can be determined according to actual needs, and they only need to be arranged in descending order as follows: the preset second time length, the preset third time length, and the preset first time length, and are not limited here; the target current refers to the ideal current value that the motor needs to reach when the clamping operation is completed, and the peak current refers to the instantaneous current peak value caused by the sudden change in current when the motor is started. The specific values ​​of the preset first peak current, the preset first current threshold, and the preset current difference threshold can be determined according to actual needs, and are not limited here.

[0061] Specifically, the motor current value can be continuously monitored to determine whether the motor meets the preset conditions and determine the state of the motor during the clamping process. If the real-time current of the motor is always ≤ the preset first peak current within the preset first time period, it means that a peak occurs after the motor starts (that is, the real-time current of the motor reaches the peak current at a certain moment), and the motor is determined to be in the starting peak state (Rush); when the motor has entered the starting peak state and has been running continuously for a preset second time period, if it is detected that the real-time no-load current of the motor is stable within the preset current range within the time period, it means that there is no additional load requiring the motor to output more power, and the motor is determined to be in the no-load running state. state (Load); if the motor is in the no-load running state, then monitor the motor average current. If it is detected that the average current is greater than the preset first current threshold and the difference between the motor average current and the motor no-load current is greater than the preset current difference threshold, it indicates that the motor load has changed and the load is large. Then it can be determined that the motor is in the load clamping state (Idle), indicating that the load of the motor is gradually increasing. When the motor is in the load clamping state and continues to run for a preset third time period, if the real-time clamping current of the motor reaches the target current within the time period, the system determines that the motor is in the clamping completion state (Stop), indicating that the motor has completed the load clamping process and is running stably.

[0062] It should be understood that the timing is started after the clamping completion state appears. After a certain period of accumulated timing, the actuator resets the motor state to prepare for the state recognition when the motor moves next time. At this time, the motor enters the reset state (None).

[0063] Further, in one embodiment, referring to Figure 3 As shown, the determining that the motor is in the second state based on the second parameter includes:

[0064] Step S201: If it is detected that the real-time current of the motor is not greater than the preset second peak current within the preset fourth time period, it is determined that the motor is in a starting peak state;

[0065] Step S202: after the motor is in the starting peak state and lasts for a preset fifth time period, if it is detected that the real-time current of the motor is less than the second peak current within the preset fifth time period, it is determined that the motor is in a load release state, and the preset fourth time period is less than the preset fifth time period;

[0066] Step S203: After the motor is in the load release state, if it is detected that the motor mean current is less than the preset second current threshold, the change amplitude of the motor mean current within the preset period is less than the preset amplitude threshold, and the distance between the caliper and the brake disc is greater than the preset distance threshold, it is determined that the motor is in the no-load running state;

[0067] Step S204: After the motor is in a no-load running state, if it is detected that the distance between the caliper and the brake disc reaches the target distance, it is determined that the motor is in a release completion state, and the distance threshold is less than the target distance.

[0068] Exemplarily, in an embodiment of the present application, the specific values ​​of the preset fourth time duration and the preset fifth time duration can be determined according to actual needs, and it is sufficient that the preset fourth time duration is less than the preset fifth time duration, and no limitation is made here; the target distance refers to the ideal distance required to be reached between the caliper and the brake disc when the release operation is completed, and the preset distance threshold is less than the target distance; the specific values ​​of the preset second peak current, the preset second current threshold, the preset amplitude threshold, the preset distance threshold, and the preset period can be determined according to actual needs, and no limitation is made here.

[0069] Specifically, the motor current value can be continuously monitored to determine whether the motor meets the preset conditions and determine the state of the motor during the release process. If the real-time current of the motor is ≤ the preset second peak current within the preset fourth time period, it means that a peak occurs after the motor starts (that is, the real-time current of the motor reaches the peak current at a certain moment), and the motor is determined to be in a starting peak state (Rush); when the motor is already in the starting peak state and continues for a preset fifth time period, if it is detected that the real-time current of the motor is < the second peak current within the preset fifth time period, it means that the motor load has begun to be released. At this time, the motor load gradually decreases, and the current also decreases accordingly, then it can be determined that the motor is in a load state. Load release state (Load); after the motor is in the load release state, if it is detected that the motor average current is less than the preset second current threshold, the change amplitude of the motor average current within the preset period is less than the preset amplitude threshold (that is, the current fluctuation is very small), and the distance between the caliper and the brake disc is greater than the preset distance threshold (indicating that the load of the mechanical system has been released, the motor has no load or the load is very small), then the motor is determined to be in the no-load running state (Idle); after the motor is in the no-load running state, if it is detected that the distance between the caliper and the brake disc reaches the target distance, indicating that the brake disc has been completely released or loosened, then the motor is determined to be in the release completion state (Stop).

[0070] It should be understood that the timing is started after the release completion state appears. After a certain period of accumulated timing, the actuator resets the motor state to prepare for the state recognition when the motor moves next time. At this time, the motor enters the reset state (None).

[0071] Furthermore, in one embodiment, the method further includes:

[0072] During the motor clamping process, it is determined whether the jump sequence of the motor state is: starting peak state, no-load running state, load clamping state, and clamping completion state;

[0073] If yes, it is determined that the motor status during the motor clamping process is normal;

[0074] If not, it is determined that the motor state during the motor clamping process is abnormal.

[0075] Exemplarily, in the embodiment of the present application, during the motor clamping process, the system will make judgments according to a specific state sequence to ensure the normal change of the motor state. First, according to the judgment condition of the starting peak state (i.e., whether the real-time current of the motor is not greater than the preset first peak current within the preset first time length), it is detected whether the motor enters the starting peak state, and then according to the judgment condition of the no-load operation state (i.e., whether the real-time no-load current of the motor is within the preset current range within the preset second time length), it is detected whether the motor enters the no-load operation state, which indicates that the motor has no load; then according to the judgment condition of the load clamping state (i.e., whether the mean current of the motor is greater than the preset first current threshold value and whether the difference between the mean current of the motor and the real-time no-load current of the motor is greater than the preset current difference threshold value), it is detected whether the motor enters the load clamping state, which indicates that the clamping action of the motor is in progress and the load is gradually increasing; finally, according to the judgment condition of the clamping completion state (i.e., whether the real-time clamping current of the motor reaches the target current within the preset third time length), it is detected whether the motor enters the clamping completion state, which indicates that the clamping operation has been completed.

[0076] It should be noted that, refer to Figure 4 As shown, during the motor clamping operation, if the state of the motor jumps in sequence according to the starting peak state, no-load running state, load clamping state, and clamping completion state, indicating that the motor clamping process conforms to the expected workflow, the system will determine that the motor state during the motor clamping process is normal; if any state jumps abnormally and does not change in the above order, indicating that the motor clamping process does not conform to the expected workflow, the system will determine that the motor state during the motor clamping process is abnormal, thereby triggering a fault warning or taking emergency measures to ensure the safety of the motor and the entire vehicle.

[0077] Furthermore, in one embodiment, the method further includes:

[0078] During the motor release process, it is determined whether the jump sequence of the motor state is: starting peak state, load release state, no-load operation state, and release completion state;

[0079] If so, it is determined that the motor state during the motor release process is normal;

[0080] If not, it is determined that the motor state during the motor release process is abnormal.

[0081] Exemplarily, in the embodiment of the present application, during the motor release process, the system will make judgments according to a specific state sequence to ensure the normal change of the motor state. First, according to the judgment condition of the starting peak state (i.e., whether the real-time current of the motor is not greater than the preset second peak current within the preset fourth time period), it is detected whether the motor enters the starting peak state, and then according to the judgment condition of the load release state (i.e., whether the real-time current of the motor is less than the second peak current within the preset fifth time period), it is detected whether the motor enters the load release state. This state indicates that the motor begins to unload and release the load it carries; then, according to the judgment condition of no-load operation (i.e., whether the average current of the motor is less than the preset second current threshold, whether the change amplitude of the average current of the motor within the preset period is less than the preset amplitude threshold, and whether the distance between the caliper and the brake disc is greater than the preset distance threshold), it is detected whether the motor enters the no-load operation state. This state indicates that the load has been completely released, that is, the motor is in an idling state without load; finally, according to the judgment condition of release completion (i.e., whether the distance between the caliper and the brake disc reaches the target distance), it is detected whether the motor enters the release completion state. This state indicates that the release process of the motor has been completed and all drive and control states have stabilized.

[0082] It should be noted that, refer to Figure 4 As shown, during the motor release operation, if the state of the motor jumps in sequence according to the starting peak state, load release state, no-load operation state, and release completion state, indicating that the release process of the motor conforms to the expected workflow, the system will determine that the motor state during the motor release process is normal; if any state jumps abnormally, that is, it does not change in the above order, indicating that the release process of the motor does not conform to the expected workflow, the motor state during the motor release process is determined to be abnormal, thereby triggering a fault warning or taking emergency measures to ensure the safety of the motor and the entire vehicle.

[0083] Furthermore, in one embodiment, before the step of detecting that the motor drive type is clamping, the method further includes:

[0084] If the vehicle speed signal is detected to be 1, the vehicle is stationary and the vehicle is not in a towing state, the motor drive type is determined to be clamping when the electronic brake switch is turned off or the vehicle is in P gear and powered off.

[0085] Exemplarily, in the embodiment of the present application, the driving type of the motor can be determined by comprehensive detection of the vehicle state and signal and judgment of various conditions; specifically, if the vehicle speed signal is detected to be 1 (i.e., the vehicle speed signal is valid at this time), the vehicle is in a stationary state (i.e., the vehicle is not in the process of driving) and the vehicle is not in a trailer state (i.e., the vehicle is not in the process of towing), that is, only when the above conditions are met, the motor can perform the clamping operation to prevent the clamping operation from causing safety problems under inappropriate conditions; the system monitors the electronic brake switch and the vehicle gear signal, and if it is detected that the electronic brake switch is in the off state or the vehicle is in the P gear (parking gear) and the power is off, it means that the vehicle is already in a safe state where the brake is not activated, and the motor can enter the clamping operation to ensure the safety of the operation. At this time, the motor drive type can be accurately determined to be the clamping state. It should be understood that the judgment of the above motor drive type is achieved through the coordinated action of multiple signals to ensure that the motor drive mode matches the working state of the vehicle, ensuring the safety and stability of the system under specific working conditions.

[0086] Furthermore, in one embodiment, before the step of detecting that the motor drive type is released, the method further includes:

[0087] If it is detected that the vehicle is powered on and not in the exhibition vehicle mode, the motor drive type is determined to be released when the preset conditions are met. The preset conditions are any one of the following: the electronic parking brake switch is turned on, the brake pedal is pressed, and the master cylinder pressure value is greater than a preset pressure threshold.

[0088] Exemplarily, in the embodiment of the present application, the preset condition is any one of the following: the electronic parking brake switch is turned on, the brake pedal is pressed, and the master cylinder pressure value is greater than the preset pressure threshold. The vehicle power supply can be confirmed to be turned on by detecting the power-on state of the whole vehicle, and the state of the whole vehicle in the exhibition mode is excluded to ensure that the vehicle is in the normal operation mode. The system monitors and judges the state of the electronic parking brake switch, the operation of the brake pedal and the master cylinder pressure value. If any one of the preset conditions is met, that is, the electronic parking brake switch is turned on (indicating that the vehicle is stopped and the brake system has been activated, and the motor needs to be released at this time to avoid the vehicle from continuing to generate power), the brake pedal is pressed (at this time, the driver obviously wants the vehicle to stop moving, so the motor must stop driving or release to ensure that the vehicle can stop smoothly) or the master cylinder pressure value is greater than the set pressure threshold (indicating that the brake system is working, and the motor drive must be released to avoid conflicts or operation errors when the motor and the brake system work together), the system determines that the whole vehicle is in a state where the motor drive needs to be released, and thus determines that the drive type of the motor is released. The above-mentioned determination logic ensures accurate triggering of the release of the motor drive in a suitable driving environment by detecting multiple operation signals of the vehicle in real time.

[0089] In a second aspect, an embodiment of the present application further provides a system for determining a motor state, the system for determining a motor state comprising:

[0090] A first processing module, which is used to obtain a first parameter when it is detected that the motor drive type is clamping, and determine that the motor is in a first state based on the first parameter, the first state is any one of a starting peak state, a no-load running state, a load clamping state, and a clamping completion state, and the first parameter includes a motor real-time current, a motor real-time no-load current, a motor real-time clamping current, and a motor mean current;

[0091] The second processing module is used to obtain a second parameter when it is detected that the motor drive type is release, and determine that the motor is in a second state based on the second parameter. The second state is any one of a starting peak state, a no-load running state, a load release state, and a release completion state. The second parameter includes the real-time current of the motor, the average current of the motor, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc.

[0092] Furthermore, in one embodiment, the first processing module is specifically configured to:

[0093] If it is detected that the real-time current of the motor is not greater than the preset first peak current within the preset first time period, it is determined that the motor is in the starting peak state;

[0094] After the motor enters the starting peak state and lasts for a preset second time period, if it is detected that the real-time no-load current of the motor is within a preset current range within the preset second time period, it is determined that the motor is in a no-load running state;

[0095] After the motor is in a no-load running state, if it is detected that the motor average current is greater than a preset first current threshold and the difference between the motor average current and the motor real-time no-load current is greater than a preset current difference threshold, it is determined that the motor is in a load clamping state;

[0096] After the motor is in a load clamping state and continues for a preset third time period, if it is detected that the real-time clamping current of the motor reaches the target current within the preset third time period, the motor is determined to be in a clamping completion state, and the preset first time period, the preset second time period, and the preset third time period are arranged from large to small as follows: preset second time period, preset third time period, and preset first time period.

[0097] Furthermore, in one embodiment, the second processing module is specifically configured to:

[0098] If it is detected that the real-time current of the motor is not greater than the preset second peak current within the preset fourth time period, it is determined that the motor is in a starting peak state;

[0099] After the motor is in the starting peak state and continues for a preset fifth time period, if it is detected that the real-time current of the motor is less than the second peak current within the preset fifth time period, it is determined that the motor is in the load release state, and the preset fourth time period is less than the preset fifth time period;

[0100] After the motor is in a load release state, if it is detected that the motor average current is less than a preset second current threshold, the change amplitude of the motor average current within a preset period is less than a preset amplitude threshold, and the distance between the caliper and the brake disc is greater than a preset distance threshold, then it is determined that the motor is in a no-load running state;

[0101] After the motor is in a no-load running state, if it is detected that the distance between the caliper and the brake disc reaches the target distance, it is determined that the motor is in a release completion state, and the distance threshold is less than the target distance.

[0102] Furthermore, in one embodiment, the first processing module is further configured to:

[0103] During the motor clamping process, it is determined whether the jump sequence of the motor state is: starting peak state, no-load running state, load clamping state, and clamping completion state;

[0104] If yes, it is determined that the motor status during the motor clamping process is normal;

[0105] If not, it is determined that the motor state during the motor clamping process is abnormal.

[0106] Furthermore, in one embodiment, the second processing module is further configured to:

[0107] During the motor release process, it is determined whether the jump sequence of the motor state is: starting peak state, load release state, no-load operation state, and release completion state;

[0108] If so, it is determined that the motor state during the motor release process is normal;

[0109] If not, it is determined that the motor state during the motor release process is abnormal.

[0110] Furthermore, in one embodiment, the first processing module is further configured to:

[0111] If the vehicle speed signal is detected to be 1, the vehicle is stationary and the vehicle is not in a towing state, the motor drive type is determined to be clamping when the electronic brake switch is turned off or the vehicle is in P gear and powered off.

[0112] Furthermore, in one embodiment, the second processing module is further configured to:

[0113] If it is detected that the vehicle is powered on and not in the exhibition vehicle mode, the motor drive type is determined to be released when the preset conditions are met. The preset conditions are any one of the following: the electronic parking brake switch is turned on, the brake pedal is pressed, and the master cylinder pressure value is greater than a preset pressure threshold.

[0114] When the motor drive type is detected as clamping, the present application determines whether the motor is in any one of the starting peak state, no-load operation state, load clamping state, and clamping completion state based on the first parameters obtained, including the motor real-time current, the motor real-time no-load current, the motor real-time clamping current, and the motor mean current; when the motor drive type is detected as releasing, the present application determines whether the motor is in any one of the starting peak state, no-load operation state, load release state, and release completion state based on the second parameters obtained, including the motor real-time current, the motor mean current, the amplitude of the average current change within a preset period, and the distance between the caliper and the brake disc. The present application clarifies the various stages of the motor in the clamping and releasing process by real-time monitoring of the first parameter and the second parameter, realizes accurate identification of the specific state of the motor, helps to ensure the smooth completion of the clamping and releasing actions of the caliper, and thus improves the user experience and safety when parking the vehicle.

[0115] Among them, the functional implementation of each module in the above-mentioned motor state judgment system corresponds to each step in the above-mentioned motor state judgment method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0116] In a third aspect, an embodiment of the present application provides a device for determining the state of a motor. The device for determining the state of a motor may be a personal computer (PC), a laptop computer, a server, or other device having a data processing function.

[0117] Reference Figure 5 , Figure 5 Schematic diagram of the hardware structure of the motor state determination device involved in the embodiment of the present application. In the embodiment of the present application, the motor state determination device may include a processor, a memory, a communication interface and a communication bus.

[0118] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0119] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, etc., which are used to interconnect the devices inside the motor state judgment device, and an interface used to interconnect the motor state judgment device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0120] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0121] The processor may be a general-purpose processor, and the general-purpose processor may call the judgment program of the motor state stored in the memory, and execute the judgment method of the motor state provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). Among them, the method executed when the judgment program of the motor state is called can refer to the various embodiments of the judgment method of the motor state of the present application, which will not be repeated here.

[0122] Those skilled in the art will understand that Figure 5The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0123] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0124] The readable storage medium of the present application stores a motor state determination program, wherein when the motor state determination program is executed by a processor, the steps of the motor state determination method as described above are implemented.

[0125] Among them, the method implemented when the motor state judgment program is executed can refer to the various embodiments of the motor state judgment method of the present application, and will not be repeated here.

[0126] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0127] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0128] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0129] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0130] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0132] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for determining a motor state, characterized in that: The method for determining the motor state includes: When it is detected that the motor drive type is clamping, a first parameter is obtained, and based on the first parameter, it is determined that the motor is in a first state, the first state is any one of a starting peak state, a no-load running state, a load clamping state, and a clamping completion state, and the first parameter includes a motor real-time current, a motor real-time no-load current, a motor real-time clamping current, and a motor mean current; When it is detected that the motor drive type is release, a second parameter is obtained, and based on the second parameter, it is determined that the motor is in a second state, the second state is any one of a starting peak state, a no-load running state, a load release state, and a release completion state, and the second parameter includes the real-time current of the motor, the average current of the motor, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc.

2. The method for determining the state of a motor according to claim 1, wherein: The determining that the motor is in a first state based on the first parameter includes: If it is detected that the real-time current of the motor is not greater than the preset first peak current within the preset first time period, it is determined that the motor is in the starting peak state; After the motor enters the starting peak state and lasts for a preset second time period, if it is detected that the real-time no-load current of the motor is within a preset current range within the preset second time period, it is determined that the motor is in a no-load running state; After the motor is in a no-load running state, if it is detected that the motor average current is greater than a preset first current threshold and the difference between the motor average current and the motor real-time no-load current is greater than a preset current difference threshold, it is determined that the motor is in a load clamping state; After the motor is in a load clamping state and continues for a preset third time period, if it is detected that the real-time clamping current of the motor reaches the target current within the preset third time period, the motor is determined to be in a clamping completion state, and the preset first time period, the preset second time period, and the preset third time period are arranged from large to small as follows: preset second time period, preset third time period, and preset first time period.

3. The method for determining the state of a motor according to claim 1, wherein: The determining that the motor is in the second state based on the second parameter comprises: If it is detected that the real-time current of the motor is not greater than the preset second peak current within the preset fourth time period, it is determined that the motor is in a starting peak state; After the motor is in the starting peak state and continues for a preset fifth time period, if it is detected that the real-time current of the motor is less than the second peak current within the preset fifth time period, it is determined that the motor is in the load release state, and the preset fourth time period is less than the preset fifth time period; After the motor is in a load release state, if it is detected that the motor average current is less than a preset second current threshold, the change amplitude of the motor average current within a preset period is less than a preset amplitude threshold, and the distance between the caliper and the brake disc is greater than a preset distance threshold, then it is determined that the motor is in a no-load running state; After the motor is in a no-load running state, if it is detected that the distance between the caliper and the brake disc reaches the target distance, it is determined that the motor is in a release completion state, and the distance threshold is less than the target distance.

4. The method for determining the state of a motor according to claim 1, wherein: The method further comprises: During the motor clamping process, it is determined whether the jump sequence of the motor state is: starting peak state, no-load running state, load clamping state, and clamping completion state; If yes, it is determined that the motor status during the motor clamping process is normal; If not, it is determined that the motor state during the motor clamping process is abnormal.

5. The method for determining the state of a motor according to claim 1, wherein: The method further comprises: During the motor release process, it is determined whether the jump sequence of the motor state is: starting peak state, load release state, no-load operation state, and release completion state; If so, it is determined that the motor state during the motor release process is normal; If not, it is determined that the motor state during the motor release process is abnormal.

6. The method for determining the state of a motor according to claim 1, wherein: Before the step of detecting that the motor drive type is clamping, the method further includes: If the vehicle speed signal is detected to be 1, the vehicle is stationary and the vehicle is not in a towing state, the motor drive type is determined to be clamping when the electronic brake switch is turned off or the vehicle is in P gear and powered off.

7. The method for determining the state of a motor according to claim 1, wherein: Before the step of detecting that the motor drive type is released, the method further includes: If it is detected that the vehicle is powered on and not in the exhibition vehicle mode, the motor drive type is determined to be released when the preset conditions are met. The preset conditions are any one of the following: the electronic parking brake switch is turned on, the brake pedal is pressed, and the master cylinder pressure value is greater than a preset pressure threshold.

8. A motor state determination system, characterized in that: The motor state judgment system comprises: A first processing module, which is used to obtain a first parameter when it is detected that the motor drive type is clamping, and determine that the motor is in a first state based on the first parameter, the first state is any one of a starting peak state, a no-load running state, a load clamping state, and a clamping completion state, and the first parameter includes a motor real-time current, a motor real-time no-load current, a motor real-time clamping current, and a motor mean current; The second processing module is used to obtain a second parameter when it is detected that the motor drive type is release, and determine that the motor is in a second state based on the second parameter. The second state is any one of a starting peak state, a no-load running state, a load release state, and a release completion state. The second parameter includes the real-time current of the motor, the average current of the motor, the change amplitude of the average current within a preset period, and the distance between the caliper and the brake disc.

9. A device for determining the state of a motor, characterized in that: The motor state judgment device includes a processor, a memory, and a motor state judgment program stored in the memory and executable by the processor, wherein when the motor state judgment program is executed by the processor, the steps of the motor state judgment method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a motor state determination program, wherein when the motor state determination program is executed by a processor, the steps of the motor state determination method according to any one of claims 1 to 7 are implemented.

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