Vehicle control method and device, vehicle and storage medium

Abstract

The invention provides a control method and device, a vehicle and a storage medium, the method is applied to the field of vehicles, and the method comprises the steps that under the condition that a request flag bit of a voltage control mode of the vehicle is activated, motor request parameters of the vehicle and engine state parameters of the vehicle are obtained; based on the motor request parameters and the engine state parameters, whether the motor request torque is abnormal torque or not is determined, the motor request parameters comprise the motor request torque, and the motor request torque is the torque requested from a vehicle control unit based on the working requirement of the vehicle; and under the condition that the motor request torque is the normal torque, responding to an engine starting request of the vehicle, and outputting the motor request torque to control engine starting of the vehicle. According to the method, under the condition that the voltage control mode request flag bit of the vehicle is activated, whether the motor request torque needs to be output or not is judged, so that the problem that the motor cannot start an engine due to the fact that motor request torque output is limited is avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a vehicle control method, device, vehicle and storage medium in the field of vehicles. Background Art

[0002] With the development of new energy electric control technology, the proportion of hybrid models in the market is increasing. The vehicle's power battery is used to power the vehicle's electronic control devices. However, when the power battery fails and cannot supply power, in order to ensure the normal use of the vehicle, the vehicle's engine drives the vehicle's motor to power the vehicle.

[0003] In the related art, the motor can power multiple components of the vehicle to ensure the voltage stability of multiple components. To ensure the voltage stability of multiple components, the vehicle controller of the vehicle limits the motor request torque of the vehicle. In actual applications, if the power battery fails, the engine is required to provide power to the vehicle so that the vehicle can be used normally, so the engine needs to be started. However, in hybrid vehicles, the motor is generally used to assist the engine in starting. If the output torque of the motor is always limited, the motor cannot provide torque for the engine to start, so the vehicle's engine cannot be started, which will make the vehicle unable to be used normally, bringing a bad experience to users. Summary of the invention

[0004] The present application provides a vehicle control method, device, vehicle and storage medium. The method can determine whether to output the motor request torque when the vehicle voltage control mode request flag is activated, so as to avoid limiting the motor request torque output, which causes the motor to be unable to start the engine.

[0005] In a first aspect, a vehicle control method is provided, which is applied to a vehicle controller of the vehicle, and the method comprises:

[0006] When the request flag of the voltage control mode of the vehicle is activated, the motor request parameter of the vehicle and the engine state parameter of the vehicle are obtained. The voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a fault state.

[0007] Based on the motor request parameter and the engine state parameter, determining whether the motor request torque is an abnormal torque, the motor request parameter including the motor request torque, the motor request torque being a torque requested from the vehicle controller based on the working requirements of the vehicle;

[0008] When the motor request torque is a normal torque, the motor request torque is output in response to an engine start request of the vehicle to control the engine start of the vehicle.

[0009] Through the above technical solution, the method can obtain the motor request parameters of the vehicle and the engine state parameters of the vehicle when the request flag of the voltage control mode of the vehicle is activated. The voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a faulty state. Because when the vehicle is in the voltage control mode, the vehicle controller limits the motor request torque of the vehicle. However, if the power battery of the vehicle fails, the engine needs to be started to provide power for the vehicle. In a hybrid vehicle, the motor can assist the engine start. If the motor request torque of the vehicle is limited, the motor cannot provide torque for the engine start. Therefore, based on the motor request parameters and the engine state parameters, it is determined whether the motor request torque is an abnormal torque. The motor request parameters include the motor request torque, and the motor request torque is the torque requested to the vehicle controller based on the working requirements of the vehicle. When the motor request torque is a normal torque, in response to the engine start request of the vehicle, the motor request torque is output to control the engine start of the vehicle. That is, when the vehicle is in the voltage control mode, the vehicle can respond to the normal motor request torque to start the engine of the vehicle to avoid the problem that the vehicle cannot be used normally.

[0010] In combination with the first aspect, in some possible implementations, the engine state parameter includes an engine start request, the motor request parameter includes a duration of the motor request torque, and determining whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter includes:

[0011] determining whether the absolute value of the motor requested torque is less than a first preset torque;

[0012] When the absolute value of the motor request torque is less than the first preset torque, determining that the motor request torque is a normal torque;

[0013] When the absolute value of the motor request torque is greater than or equal to the first preset torque, it is determined whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque.

[0014] Through the above technical solution, the solution can determine whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque when the absolute value of the motor request torque is greater than or equal to the first preset torque. Since the monitoring layer will limit the motor request torque in the voltage control mode, if the absolute value of the motor request torque is greater than or equal to the first preset torque, it is necessary to further determine whether to start the engine based on the engine start request and the duration of the motor request torque. This avoids treating the motor request torque as an abnormal torque.

[0015] In combination with the first aspect, in some possible implementations, when the absolute value of the motor request torque is greater than or equal to the first preset torque, determining whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque includes:

[0016] In the case where the absolute value of the motor request torque is greater than or equal to the first preset torque, determining whether the engine start request is activated;

[0017] In a case where an engine start request of the vehicle is activated, determining that the motor request torque is a normal torque;

[0018] In a case where an engine start request of the vehicle is not activated, it is determined whether the motor request torque is an abnormal torque based on a duration of the motor request torque.

[0019] Through the above technical solution, the solution can determine that the motor request torque is a normal torque when the engine start request of the vehicle is activated, and determine whether the motor request torque is an abnormal torque based on the duration of the motor request torque when the engine start request of the vehicle is not activated. Since the monitoring layer will limit the motor request torque in the voltage control mode, if the absolute value of the motor request torque is greater than or equal to the first preset torque, it is determined whether the motor request torque is a normal torque according to the engine start request, so as to start the engine based on the normal torque.

[0020] In combination with the first aspect, in some possible implementations, the abnormal torque includes an error torque and an interference torque, and when the engine start request of the vehicle is not activated, determining whether the motor request torque is an abnormal torque based on the duration of the motor request torque includes:

[0021] When the engine start request of the vehicle is not activated and the duration of the motor request torque is greater than or equal to a preset duration, determining that the motor request torque is an error torque, and the error torque is used to indicate a fault of the vehicle controller;

[0022] When the duration of the motor request torque is less than the preset duration, the motor request torque is determined to be an interference torque, where the interference torque is used to indicate that the motor request torque is an instantaneous torque of the motor.

[0023] Through the above technical solution, the solution can determine that the motor request torque is an error torque when the engine start request of the vehicle is not activated and the duration of the motor request torque is greater than or equal to the preset duration; when the duration of the motor request torque is less than the preset duration, the motor request torque is determined to be an interference torque. That is, if there is no engine start request and the motor request torque is an error torque, it is possible to timely discover that the functional layer of the vehicle controller has a fault based on the error torque, so that the technicians can repair the vehicle controller in time. If there is no engine start request and the motor request torque is an interference torque, it means that the functional layer has no fault, so that it is possible to monitor in real time whether the vehicle controller has a fault.

[0024] In combination with the first aspect, in some possible implementations, the method further includes:

[0025] When the motor request torque is an abnormal torque, the motor request torque is adjusted to a second preset torque to limit the torque output of the motor in a voltage control mode, and the second preset torque is smaller than the motor request torque.

[0026] Through the above technical solution, the solution can be that when the motor request torque is an abnormal torque, the motor request torque does not meet the conditions required for output. If the motor request torque continues to be output at this time, it will cause the voltage of other electrical equipment in the vehicle to be unstable, and other electrical equipment in the vehicle will be unusable. In order to avoid the above problem, the motor request torque is adjusted to a second preset torque to limit the torque output of the motor in the voltage control mode, and the second preset torque is less than the motor request torque. This prevents the motor from being unable to power other electrical equipment in the vehicle.

[0027] In combination with the first aspect, in some possible implementations, the vehicle controller includes a functional layer, which, when a request flag of a voltage control mode of the vehicle is activated, before obtaining a motor request torque of the vehicle and an engine state parameter of the vehicle, includes:

[0028] The functional layer obtains a battery status parameter, a main relay status parameter and an engine status parameter of the vehicle, wherein the main relay status parameter is used to indicate the on / off state of a circuit in a power system of the vehicle;

[0029] It is determined whether a request flag of a voltage control mode of the vehicle is activated based on the battery state parameter, the main relay state parameter and the engine state parameter.

[0030] Through the above technical solution, the solution can obtain the battery status parameters, main relay status parameters and engine status parameters of the vehicle, and judge whether the request flag of the voltage control mode is activated based on the battery status parameters, main relay status parameters and engine status parameters. That is, based on the battery status parameters, main relay status parameters and engine status parameters, it is determined whether it is necessary to supply power through the vehicle's motor to maintain the voltage stability of various electrical devices of the vehicle.

[0031] In combination with the first aspect, in some possible implementations, the battery status parameter includes a battery voltage, and determining whether a request flag of a voltage control mode of the vehicle is activated based on the battery status parameter, the main relay status parameter, and the engine status parameter includes:

[0032] When the battery voltage is in a low voltage state, the main relay is in a closed state, and the engine is in an unstarted state, determining that a request flag bit of a voltage control mode of the vehicle is activated;

[0033] In a case where the battery voltage is in a high voltage state or the main relay is in a disconnected state or the engine is in a started state, it is determined that a request flag bit for a voltage control mode of the vehicle is not activated.

[0034] Through the above technical solution, the battery voltage is in a high voltage state, indicating that the vehicle's power battery is not faulty. If the main relay is in a disconnected state, it is impossible to determine whether the power system is faulty. If the engine is in a started state, the engine of the vehicle can drive the motor to power the vehicle. Therefore, in this case, there is no need to activate the request flag of the voltage control mode. That is, based on the battery voltage, the state of the main relay and the state of the engine, real-time monitoring is performed to determine whether the vehicle enters the voltage control mode.

[0035] In a second aspect, a vehicle control device is provided, the device comprising:

[0036] an acquisition module, used to acquire the motor request parameters of the vehicle and the engine status parameters of the vehicle when the request flag of the voltage control mode of the vehicle is activated, wherein the voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a fault state;

[0037] a determination module, configured to determine whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter, the motor request parameter including the motor request torque, the motor request torque being a torque requested from the vehicle controller based on the working requirements of the vehicle;

[0038] The output module is used for outputting the motor request torque in response to the engine start request of the vehicle when the motor request torque is a normal torque, so as to control the engine start of the vehicle.

[0039] In a third aspect, a vehicle is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the vehicle executes the method executed by the above-mentioned vehicle control method.

[0040] In a fourth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the method executed by the above-mentioned vehicle control method.

[0041] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method executed by the above-mentioned vehicle control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application;

[0043] Figure 2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0044] Figure 3 is a schematic flow chart of another vehicle control method provided in an embodiment of the present application;

[0045] Figure 4 It is a structural schematic diagram of a vehicle controller provided in an embodiment of the present application;

[0046] Figure 5 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0047] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, 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" means two or more than two.

[0049] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0050] Figure 1 It is a schematic diagram of an implementation environment of a vehicle control method provided in an embodiment of the present application.

[0051] For example, Figure 1 As shown, the implementation environment includes a vehicle controller 110 , a motor controller 120 and an engine 130 .

[0052] The vehicle controller 110 is an important control unit of the vehicle, which can obtain relevant data of the vehicle and control the vehicle to perform corresponding operations based on the relevant data. For example, the vehicle controller 110 controls the power output of the vehicle's power system. In some embodiments, the vehicle controller 110 sends an engine start request to the motor controller 120 to start the engine.

[0053] The motor controller 120 is used to control the motor to output a specified torque and speed. In practical applications, the motor is connected to the flywheel of the engine through a gear transmission mechanism, that is, the output torque of the motor can provide power for the rotation of the engine crankshaft. In some embodiments, the motor controller 120 controls the motor to rotate based on the engine start request of the vehicle controller 110 to start the engine.

[0054] The engine 130 is used to provide power to the vehicle in the event of a failure in the power system of the vehicle so that the vehicle can travel normally. The motor of the vehicle provides power so that the vehicle can travel normally. In some embodiments, the engine 130 can receive the output torque sent by the motor controller 120 and start based on the output torque.

[0055] In a hybrid vehicle, a storage battery and a power battery are configured in the vehicle. The storage battery can provide energy for starting the motor in the event of a failure of the power battery. In some embodiments, if the power battery of the vehicle fails, the engine 130 is required to provide power for the vehicle. After the motor is started, the engine can be driven to rotate through the gear transmission mechanism, thereby starting the engine 130. If the motor of the vehicle only relies on the storage battery to power other electrical devices of the vehicle, the battery will be exhausted. Therefore, after the engine 130 is started, the engine 130 can drive the motor to rotate so that the motor can power other electrical devices of the vehicle, thereby avoiding the motor from consuming the battery power all the time.

[0056] Figure 2 It is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0057] For example, Figure 2 As shown, taking the execution subject as a vehicle controller as an example, a vehicle control method of the present application is described, and the method 200 includes the following steps 201-203.

[0058] Step 201, when the request flag of the vehicle's voltage control mode is activated, obtain the vehicle's motor request parameters and the vehicle's engine status parameters. The voltage control mode is used to supply power through the vehicle's motor when the vehicle's power battery is in a fault state.

[0059] The activation of the request flag of the voltage control mode indicates that the vehicle controller requests to enter the voltage control mode. The voltage control mode is used to maintain the voltage stability of various components of the vehicle through the vehicle's motor when the vehicle's power battery is in a fault state. In other words, the vehicle's motor is used for power supply.

[0060] The motor request parameter is used to represent the instruction or signal sent by the vehicle controller to the motor. The instruction or signal indicates that the motor should perform the corresponding operation. In some embodiments, the motor request parameter includes the motor request torque and the duration of the motor request torque. Among them, the motor request torque is used to represent the torque that the vehicle controller requires the motor to generate. In actual applications, the vehicle controller sends a request torque to the motor to adjust the input current and voltage of the motor so that the motor outputs an actual torque that matches the motor request torque.

[0061] It is understandable that in actual applications, if the motor responds to an instantaneous signal, the vehicle will be disturbed and the driving safety of the vehicle will be affected. Therefore, in order to avoid the influence of the instantaneous signal of the motor, the duration of the motor's requested torque is usually determined to ensure that the motor's requested torque is stable.

[0062] The vehicle's engine status parameters are used to describe the engine's operating status. The engine status parameters include an engine start request. The engine start request is a start signal sent by the vehicle controller to the engine.

[0063] Step 202 : determining whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter. The motor request parameter includes the motor request torque, which is the torque requested from the vehicle controller based on the working requirements of the vehicle.

[0064] It should be understood that when the power battery of the vehicle fails and cannot supply power, the vehicle will be ready to enter the voltage control mode to ensure the normal use of the vehicle. When the vehicle is in the voltage control mode, the motor of the vehicle acts as a generator to supply power to other electrical equipment of the vehicle. In this case, the torque of the motor is negative so that the energy recovery of the vehicle maintains the voltage stability of the vehicle. If the vehicle controller receives a positive torque, the voltage of the vehicle will be unstable, so the vehicle controller limits the motor request torque of the vehicle and adjusts the motor request torque to 0 Nm (Nm) to maintain the voltage stability of multiple components in the vehicle. However, the motor can assist the engine in starting. If the output torque of the motor is always limited, the motor cannot provide torque for the engine to start. In this case, in order to ensure the normal start of the vehicle's engine, it is necessary to determine whether the motor request torque of the vehicle is a normal torque to start the engine.

[0065] The motor request torque is the torque requested from the vehicle controller based on the working requirements of the vehicle. If the motor request torque of the vehicle is a normal torque, it means that the motor request torque is used to start the engine, and the motor request torque needs to be responded to normally. If the motor request torque of the vehicle is an abnormal torque, it means that the motor request torque is an unexpected torque, that is, the motor request torque is a torque calculated incorrectly, so the motor request torque does not need to be responded to.

[0066] Step 203 : when the motor request torque is a normal torque, in response to a vehicle engine start request, the motor request torque is output to control the vehicle engine start.

[0067] It should be understood that the normal torque of the motor request torque indicates that the motor request torque can be output, and since the motor request torque is the torque requested from the vehicle controller based on the working requirements of the vehicle, the engine start of the vehicle can be controlled based on the motor request torque.

[0068] Among them, since the vehicle's engine parameters include an engine start request, and the motor request torque is the torque requested from the vehicle controller based on the vehicle's working needs, the vehicle's working needs are to start the engine. In this case, the motor request torque is output to control the vehicle's engine start.

[0069] The embodiment of the present application provides a vehicle control method, which can obtain the motor request parameter of the vehicle and the engine state parameter of the vehicle when the request flag of the voltage control mode of the vehicle is activated. The voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a faulty state. Because when the vehicle is in the voltage control mode, the vehicle controller limits the motor request torque of the vehicle. However, if the power battery of the vehicle fails, the engine needs to be started to provide power for the vehicle. In a hybrid vehicle, the motor can assist the engine start. If the motor request torque of the vehicle is limited, the motor cannot provide torque for the engine start. Therefore, based on the motor request parameter and the engine state parameter, it is determined whether the motor request torque is an abnormal torque. The motor request parameter includes the motor request torque, and the motor request torque is the torque requested to the vehicle controller based on the working requirements of the vehicle. When the motor request torque is a normal torque, in response to the engine start request of the vehicle, the motor request torque is output to control the engine start of the vehicle. That is, when the vehicle is in the voltage control mode, the vehicle can respond to the normal motor request torque to start the engine of the vehicle to avoid the problem that the vehicle cannot be used normally.

[0070] Figure 3 It is a schematic flow chart of another vehicle control method provided in an embodiment of the present application.

[0071] It should be noted that the above steps 201-203 are a simple description of a vehicle control method provided in an embodiment of the present application. The following will provide a more detailed description of a vehicle control method provided in an embodiment of the present application in combination with some examples. Figure 3 Taking the execution subject as the vehicle controller as an example, the method includes the following steps 301 to 305.

[0072] Step 301 : determining whether a request flag of a voltage control mode of a vehicle is activated based on a battery state parameter, a main relay state parameter, and an engine state parameter.

[0073] It should be understood that when the vehicle is in voltage control mode, the vehicle controller will limit the output of the motor's requested torque, which will cause the motor to be unable to provide torque to the engine. Therefore, it is necessary to determine whether the vehicle has entered the voltage control mode. That is, determine whether the request flag of the vehicle's voltage control mode is activated.

[0074] The following describes the content of determining whether the request flag of the voltage control mode of the vehicle is activated based on the battery state parameter, the main relay state parameter and the engine state parameter.

[0075] In one possible implementation, the functional layer obtains the battery status parameter, main relay status parameter and engine status parameter of the vehicle, where the main relay status parameter is used to indicate the on / off status of the circuit in the power system of the vehicle; and determines whether the request flag of the voltage control mode of the vehicle is activated based on the battery status parameter, the main relay status parameter and the engine status parameter.

[0076] It should be understood that since the voltage control mode is used to supply power through the vehicle's motor to maintain voltage stability of various electrical equipment in the vehicle in the event of a power battery failure, it is possible to determine whether the request flag of the voltage control mode is activated based on the battery status parameters, main relay status parameters and engine status parameters.

[0077] Among them, the request flag of the voltage control mode is used to indicate whether the vehicle controller needs to update the output voltage to power the vehicle's components. The battery status parameter is used to indicate the remaining battery power and the output capacity of the battery. The battery status parameters include the battery voltage. If the battery voltage is too low, the vehicle's electrical equipment will not work properly, so the voltage control mode is required to enable the motor to provide power to the vehicle's electrical equipment. The main relay parameter is used to indicate whether the battery is connected to other electrical components of the vehicle. The main relay parameter includes the state of the main relay, for example, the state of the main relay is closed or the state of the main relay is open. The engine status parameter is used to indicate whether the vehicle is started. The engine status parameter includes an engine start request.

[0078] In some embodiments, the vehicle controller includes a functional layer. In practical applications, the functional layer is used to perform various specific functions and operations of the vehicle. For example, the functional layer can collect battery status parameters of the vehicle through sensors to determine whether the request flag of the voltage control mode is activated. For another example, the functional layer includes components such as a brake control system, an engine control unit, or a steering control system.

[0079] In some embodiments, the functional layer is used to determine whether a request flag of the voltage control mode is activated.

[0080] In this implementation, the functional layer obtains the battery status parameters, main relay status parameters and engine status parameters of the vehicle, and determines whether the request flag of the voltage control mode is activated based on the battery status parameters, main relay status parameters and engine status parameters. That is, based on the battery status parameters, main relay status parameters and engine status parameters, it is determined whether it is necessary to supply power through the vehicle's motor to maintain the voltage stability of various electrical devices in the vehicle.

[0081] In order to explain the above implementation in more detail, the above implementation is explained in several parts below.

[0082] The first part describes the contents of obtaining the battery status parameters, main relay status parameters and engine status parameters of the vehicle.

[0083] In a possible implementation, the battery status parameters of the vehicle are acquired based on a battery management system (BMS).

[0084] The BMS is a system for managing and maintaining batteries. The BMS is used to monitor the battery status of the batteries. In some embodiments, the BMS includes a power battery sensor.

[0085] In some embodiments, a battery status parameter of a power battery in the vehicle is acquired based on a power battery sensor of the vehicle.

[0086] The power battery sensor is installed on the positive or negative electrode of the power battery of the vehicle. The battery status parameters of the power battery include the voltage and current of the power battery. The voltage and current of the power battery are measured based on the power battery sensor.

[0087] In this embodiment, the battery status parameters of the vehicle are acquired based on the BMS, thereby monitoring the battery status of the vehicle's power battery in real time.

[0088] In a possible implementation manner, a voltage difference between a power battery and a direct current-direct current (DCDC) converter is obtained to determine the state of the main relay.

[0089] Among them, the DCDC converter is used to convert high-voltage direct current into low-voltage direct current.

[0090] It should be understood that since the main relay is used to indicate the on / off state of a circuit in the power system of the vehicle, it is possible to determine whether the main relay is in a closed state based on the voltage difference between the power battery and the DCDC converter.

[0091] In some embodiments, the state of the main relay is determined based on the voltage difference between the power battery and the DCDC converter; if the voltage difference is 0, it indicates that the main relay is in a closed state; if the voltage difference is not 0, it indicates that the main relay is in an open state.

[0092] It should be understood that in actual applications, the voltage difference between the power battery and the DCDC converter will not be 0, but if the main relay is in a closed state, the voltage difference between the power battery and the DCDC converter is small and can be ignored. If the main relay is in an open state, the voltage difference between the power battery and the DCDC converter is large.

[0093] In this implementation, the state of the main relay is determined based on the voltage difference between the power battery and the DCDC converter, thereby monitoring the state of the main relay in real time.

[0094] In a possible implementation manner, the vehicle controller obtains the engine state parameter via an engine speed sensor.

[0095] The engine status parameter includes the engine start status. The engine speed sensor is used to monitor the engine speed.

[0096] In some embodiments, when it is detected that the engine speed is less than or equal to a preset speed, it is determined that the engine is in an unstarted state.

[0097] The preset speed is a speed automatically determined by the vehicle controller. The present application embodiment does not limit the preset speed. For example, the preset speed may be 0 revolutions per minute (rpm).

[0098] In some embodiments, when it is detected that the engine speed is greater than a preset speed, it is determined that the engine is in the starting state.

[0099] In this embodiment, the engine speed is monitored by an engine speed sensor, thereby monitoring the engine status in real time.

[0100] The second part describes the content of determining whether the request flag of the vehicle's voltage control mode is activated based on the battery status parameters, the main relay status parameters and the engine status parameters.

[0101] In some embodiments, when the battery voltage is in a low voltage state, the main relay is in a closed state, and the engine is in an unstarted state, it is determined that a request flag for the voltage control mode of the vehicle is activated.

[0102] It should be understood that the vehicle may enter the voltage control mode to supply power through the vehicle's motor only when the power battery fails. The main relay is in a closed state, indicating that the circuit of the power system is closed. If the battery voltage is in a low voltage state, it means that the vehicle's power battery has failed. In this case, if the engine is not started, it means that the vehicle needs to start the engine to drive the motor, so as to supply power through the vehicle's motor. That is, when the battery voltage is in a low voltage state, the main relay is in a closed state, and the engine is not started, the request flag for determining the voltage control mode of the vehicle is activated.

[0103] In some embodiments, when the battery voltage is in a high voltage state or the main relay is in a disconnected state or the engine is in a started state, it is determined that a request flag for the voltage control mode of the vehicle is not activated.

[0104] It should be understood that the high voltage of the battery indicates that the vehicle's power battery is not faulty. If the main relay is disconnected, it is impossible to determine whether the power system is faulty. If the engine is started, the engine of the vehicle can drive the motor to power the vehicle. Therefore, in this case, there is no need to activate the request flag of the voltage control mode.

[0105] Step 302, when the request flag of the vehicle's voltage control mode is activated, obtain the vehicle's motor request parameters and the vehicle's engine status parameters. The voltage control mode is used to supply power through the vehicle's motor when the vehicle's power battery is in a fault state.

[0106] It should be understood that the activation of the request flag of the vehicle's voltage control mode indicates that the vehicle controller requests to enter the voltage control mode. If the vehicle enters the voltage control mode, the vehicle controller will limit the motor request torque to within the second preset torque. However, in actual applications, after the vehicle's power battery fails, the engine needs to be started to provide power for the vehicle, and the motor can assist the vehicle's engine start, so it is necessary to obtain the vehicle's motor request parameters and engine status parameters.

[0107] The motor request parameters include the motor request torque and the duration of the motor request torque. The motor request torque is used to indicate the torque that the vehicle controller requires the motor to generate.

[0108] In some embodiments, the functional layer obtains engine status parameters via the CAN bus to calculate the motor request torque.

[0109] The engine status parameters include an engine start request and an engine speed.

[0110] It should be understood that during the engine startup process, a larger torque is required to overcome static friction. As the engine speed gradually increases, the motor request torque will gradually decrease until the engine starts. That is, different engine speeds correspond to different motor request torques.

[0111] That is, the engine start request and the engine speed are obtained in real time through the CAN bus, so as to calculate the motor request torque in real time.

[0112] Step 303, based on the motor request parameter and the engine state parameter, determine whether the motor request torque is an abnormal torque, the motor request parameter includes the motor request torque, and the motor request torque is the torque requested from the vehicle controller based on the working requirements of the vehicle.

[0113] In some embodiments, the vehicle controller includes a monitoring layer. The monitoring layer is used to monitor the status of various systems of the vehicle and perform fault diagnosis and protection. For example, the monitoring layer includes a vehicle diagnostic control unit, a network monitoring module, and an airbag control unit.

[0114] In some embodiments, the monitoring layer is used to monitor whether the motor requested torque is normal torque to ensure the stability and safety of the vehicle controller.

[0115] The engine state parameter includes an engine start request, and the motor request parameter includes a duration of the motor request torque.

[0116] It should be understood that in actual applications, the vehicle controller can calculate the positive or negative motor request torque. For example, in a hybrid vehicle, the positive torque of the motor is used for acceleration, while the negative torque is used for braking and energy recovery. In this case, the monitoring layer can monitor the positive or negative motor request torque. However, in the process of determining whether the motor request torque is an abnormal torque, the positive or negative motor request torque can start the engine, so it is necessary to calculate the absolute value of the motor request torque.

[0117] In one possible implementation, it is determined whether the absolute value of the motor requested torque is less than the first preset torque; when the absolute value of the motor requested torque is less than the first preset torque, the motor requested torque is determined to be a normal torque; and when the absolute value of the motor requested torque is greater than or equal to the first preset torque, it is determined whether the motor requested torque is an abnormal torque based on the engine start request and the duration of the motor requested torque.

[0118] It should be understood that since the monitoring layer can monitor the positive or negative motor request torque, the absolute value of the motor request torque is calculated before determining whether the motor request torque is an abnormal torque.

[0119] The first preset torque is a torque automatically determined by the vehicle controller. The first preset torque is not limited in the present embodiment. For example, the first preset torque may be 10 Nm.

[0120] It should be understood that in actual applications, the motor assists the engine and supplies power to the vehicle's electrical equipment through the motor. If the motor request torque is small, it means that the motor is used to maintain the voltage stability of the vehicle's electrical equipment. Therefore, when the absolute value of the motor request torque is less than the first preset torque, the motor request torque is determined to be a normal torque. If the absolute value of the motor request torque is greater than or equal to the first preset torque, it is necessary to further determine whether the motor request torque is an abnormal torque.

[0121] In this embodiment, it is determined whether the absolute value of the motor request torque is less than the first preset torque. When the absolute value of the motor request torque is less than the first preset torque, the motor request torque is determined to be a normal torque. When the absolute value of the motor request torque is greater than or equal to the first preset torque, it is determined whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque. That is, since the monitoring layer will limit the motor request torque in the voltage control mode, if the absolute value of the motor request torque is greater than or equal to the first preset torque, it is necessary to further determine whether to start the engine based on the engine start request and the duration of the motor request torque to avoid treating the motor request torque as an abnormal torque.

[0122] The following describes the content of determining whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque when the absolute value of the motor request torque is greater than or equal to the first preset torque.

[0123] In one possible implementation, when the absolute value of the motor requested torque is greater than or equal to the first preset torque, it is determined whether the engine start request is activated; when the engine start request of the vehicle is activated, it is determined that the motor requested torque is a normal torque; when the engine start request of the vehicle is not activated, it is determined whether the motor requested torque is an abnormal torque based on the duration of the motor requested torque.

[0124] It should be understood that the vehicle will limit the output of the motor request torque in the voltage control mode. However, in order to start the engine, the motor request torque needs to be output. In this case, the monitoring layer will determine whether there is an engine start request, that is, whether the engine start request is activated, so as to determine whether to output the motor request torque as normal torque.

[0125] In this embodiment, when the absolute value of the motor request torque is greater than or equal to the first preset torque, it is determined whether the engine start request is activated; when the engine start request of the vehicle is activated, it is determined that the motor request torque is a normal torque; when the engine start request of the vehicle is not activated, it is determined whether the motor request torque is an abnormal torque based on the duration of the motor request torque. That is, since the monitoring layer will limit the motor request torque in the voltage control mode, if the absolute value of the motor request torque is greater than or equal to the first preset torque, it is determined whether the motor request torque is a normal torque according to the engine start request, so as to start the engine based on the normal torque.

[0126] The first part describes the content of determining whether the engine start request is activated when the absolute value of the motor request torque is greater than or equal to the first preset torque.

[0127] In some embodiments, when the absolute value of the motor request torque is greater than or equal to the first preset torque, it is determined whether the engine request is activated based on the engine start request flag.

[0128] For example, when the engine start request flag is 0, it indicates that the engine start request is not activated. When the engine start request flag is 1, it indicates that the engine start request is activated.

[0129] The second part describes the content of determining that the motor request torque is a normal torque when the engine start request of the vehicle is activated.

[0130] It should be understood that the activation of the vehicle's engine start request indicates that the motor request torque is not a torque calculated incorrectly by the functional layer, but a torque for starting the engine, and therefore the motor request torque is determined to be a normal torque.

[0131] For example, when the engine start request flag of the vehicle is 1, it is determined that the motor request torque is a normal torque.

[0132] Part 3 describes the content of determining whether the motor request torque is an abnormal torque based on the duration of the motor request torque when the engine start request of the vehicle is not activated.

[0133] It should be understood that when the engine start request of the vehicle is not activated, it means that the motor request torque is abnormal torque. However, in actual application, interference may occur during the transmission of torque, so it is necessary to determine whether the torque is abnormal torque based on the torque transmitted stably.

[0134] The abnormal torque includes error torque and interference torque.

[0135] In one possible implementation, when the engine start request of the vehicle is not activated and the duration of the motor requested torque is greater than or equal to a preset duration, the motor requested torque is determined to be an error torque, and the error torque is used to indicate a vehicle controller failure; when the duration of the motor requested torque is less than a preset duration, the motor requested torque is determined to be an interference torque, and the interference torque is used to indicate that the motor requested torque is the instantaneous torque of the motor.

[0136] The preset time length is the torque automatically determined by the vehicle controller. The present application embodiment does not limit the preset time length. For example, the preset time length may be 10 seconds (S).

[0137] In some embodiments, when the engine start request flag is 0 and the duration of the motor request torque is greater than or equal to a preset duration, the motor request torque is determined to be an erroneous torque. That is, the erroneous torque indicates that a functional layer of the vehicle fails and the motor request torque is calculated incorrectly.

[0138] It should be understood that in actual applications, the motor request torque is an instantaneous motor request torque that occurs when the load driven by the motor changes. If the duration of the motor request torque is less than the preset duration, it means that the motor request torque is an instantaneous torque, then it is determined that the motor request torque is an interference torque, and the functional layer has no fault. In other words, the functional layer does not have the problem of incorrectly calculating the motor request torque.

[0139] In some embodiments, when the duration of the motor request torque is less than a preset duration, it is determined that the motor request torque is an interference torque and no fault occurs in the functional layer.

[0140] In this embodiment, when the engine start request of the vehicle is not activated and the duration of the motor request torque is greater than or equal to the preset duration, the motor request torque is determined to be an error torque; when the duration of the motor request torque is less than the preset duration, the motor request torque is determined to be an interference torque. That is, if there is no engine start request and the motor request torque is an error torque, it is possible to timely discover that the functional layer of the vehicle controller has a fault based on the error torque, so that the technician can repair the vehicle controller in time. If there is no engine start request and the motor request torque is an interference torque, it means that the functional layer has no fault, so that it is possible to monitor in real time whether the vehicle controller has a fault.

[0141] Optionally, after step 303, execute the following step 304 or execute the following step 305 according to actual conditions.

[0142] Step 304 , when the motor request torque is a normal torque, in response to the engine start request of the vehicle, the motor request torque is output to control the engine start of the vehicle.

[0143] It should be understood that when the motor requested torque is a normal torque, the motor requested torque is used to start the engine, so the vehicle controller needs to output the motor requested torque to control the engine to output power corresponding to the motor requested torque.

[0144] In some embodiments, the vehicle controller further includes an arbitration layer, which sends the motor request torque to the motor controller of the vehicle so that the motor outputs the corresponding torque, thereby controlling the engine start of the vehicle.

[0145] For example, if the motor request torque is 10 Nm, and the motor request torque is a normal torque, the arbitration layer sends the motor request torque to the motor controller of the vehicle so that the motor outputs the corresponding torque to control the engine start of the vehicle.

[0146] When the motor request torque is a normal torque, the engine start request is responded to in a timely manner, and the motor request torque is output to start the vehicle's engine in a timely manner, thereby providing power to the vehicle through the vehicle's engine, so that the vehicle can be used normally.

[0147] Step 305 , when the motor request torque is an abnormal torque, adjusting the motor request torque to a second preset torque to limit the torque output of the motor in the voltage control mode, wherein the second preset torque is smaller than the motor request torque.

[0148] It should be understood that when the motor request torque is an abnormal torque, the motor request torque does not meet the conditions required for output. If the motor request torque continues to be output at this time, the voltage of other electrical equipment of the vehicle will be unstable, and other electrical equipment of the vehicle will be unusable. In order to avoid the above problem, the motor request torque is adjusted to a second preset torque to limit the torque output of the motor in the voltage control mode, and the second preset torque is less than the motor request torque.

[0149] The second preset torque is a torque automatically determined by the vehicle controller. The second preset torque is not limited in the present embodiment. For example, the second preset torque may be 0 Nm.

[0150] For example, when the motor request torque is an abnormal torque, the motor request torque is 36 Nm, and the motor request torque is adjusted from 36 Nm to 0 Nm to avoid other electrical equipment of the vehicle being unable to be used.

[0151] In some embodiments, when the motor request torque is an abnormal torque, the motor is used to power other electrical devices of the vehicle, that is, the vehicle enters a voltage control mode.

[0152] In some embodiments, after the vehicle enters the voltage control mode, the vehicle voltage is adjusted by proportional-integral (PI) to maintain the voltage stability of the vehicle.

[0153] In some embodiments, when the vehicle enters the voltage control mode, the motor request torque output is 0 Nm, so the motor request torque is adjusted based on the second preset torque. The vehicle controller compares the error between the motor request torque and the second preset torque and calculates the error e(t).

[0154] In some embodiments, the output is adjusted according to the ratio of the current error, where the formula for the ratio control is as follows.

[0155] N p =K p ×e(t)

[0156] Among them, K p is the proportional gain, e(t) is the error signal, N p is the output motor request torque for proportional control.

[0157] In some embodiments, by accumulating the acquired errors and adjusting the output according to the total error, the formula of integral control is as follows.

[0158]

[0159] Among them, K i is the integral gain, N I is the output motor request torque of the integral control.

[0160] In some embodiments, by P I The formula for adjusting the total output motor request torque is as follows.

[0161] N out =N p +N I

[0162] Among them, N out is the total output motor torque requested, N p is the output motor request torque of the proportional control, N I is the output motor request torque of the integral control.

[0163] In some embodiments, based on the above formula, proportional control and integral control are used in combination to ensure long-term voltage stability of the vehicle's electrical components.

[0164] The embodiment of the present application provides a control method for a vehicle, which can determine whether the request flag of the voltage control mode of the vehicle is activated based on the battery state parameter, the main relay state parameter and the engine state parameter. In the case where the request flag of the voltage control mode of the vehicle is activated, the motor request parameter of the vehicle and the engine state parameter of the vehicle are obtained, and the voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a fault state. Based on the motor request parameter and the engine state parameter, it is determined whether the motor request torque is an abnormal torque, and the motor request parameter includes the motor request torque, and the motor request torque is the torque requested to the vehicle controller based on the working requirements of the vehicle. In the case where the motor request torque is a normal torque, in response to the engine start request of the vehicle, the motor request torque is output to control the engine start of the vehicle. That is, in the case where the engine start request of the vehicle is activated, it is determined that the motor request torque is used to start the engine, and the motor request torque is output so that the engine of the vehicle is started and the vehicle is powered based on the engine. In the case where the motor request torque is an abnormal torque, the motor request torque is adjusted to a second preset torque to limit the torque output of the motor in the voltage control mode, and the second preset torque is less than the motor request torque. That is, if the motor request torque is not a torque for starting the engine, in order to ensure that other electrical equipment of the vehicle can be used, the motor request torque is adjusted to the second preset torque to maintain the voltage stability of other electrical equipment of the vehicle.

[0165] Figure 4 It is a structural schematic diagram of a vehicle controller provided in an embodiment of the present application.

[0166] For example, Figure 4As shown, the vehicle controller includes a CAN bus, a functional layer, a monitoring layer and an arbitration layer. Among them, the CAN bus receives the battery status parameters, the main relay status parameters and the engine status parameters of the vehicle and sends them to the functional layer. Based on the battery status parameters, the main relay status parameters and the engine status parameters, the functional layer determines whether the request flag of the voltage control mode is activated and calculates the motor request torque. The motor request torque is the torque requested from the vehicle controller based on the working requirements of the vehicle. When the request flag of the voltage control mode is activated, the monitoring layer determines whether the motor request torque is an abnormal torque. In other words, it determines whether an abnormality occurs inside the functional layer, and determines whether the conditions required to start the engine are met inside the functional layer. When the motor request torque is a normal torque, the monitoring layer detects whether the motor request torque triggers the motor request torque fault flag, and the motor request torque fault flag is used to indicate that the motor request torque of the vehicle does not meet the conditions required to start the engine; when the motor request torque does not trigger the motor request torque fault flag, the motor request torque is sent to the arbitration layer, and the arbitration layer outputs the motor request torque to start the engine.

[0167] Figure 5 It is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application.

[0168] For example, Figure 5 As shown, the device 500 includes:

[0169] An acquisition module 501 is used to acquire a motor request parameter of the vehicle and an engine status parameter of the vehicle when a request flag of a voltage control mode of the vehicle is activated. The voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a fault state;

[0170] A determination module 502 is used to determine whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter, the motor request parameter includes the motor request torque, and the motor request torque is the torque requested from the vehicle controller based on the working requirements of the vehicle;

[0171] The output module 503 is used for outputting the motor request torque in response to the vehicle engine start request when the motor request torque is a normal torque, so as to control the vehicle engine start.

[0172] In a possible implementation manner, the device 500 further includes:

[0173] A determination module 502 is used to determine whether the absolute value of the motor requested torque is less than a first preset torque;

[0174] A determination module 502, configured to determine that the motor request torque is a normal torque when the absolute value of the motor request torque is less than a first preset torque;

[0175] The determination module 502 is configured to determine whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque when the absolute value of the motor request torque is greater than or equal to the first preset torque.

[0176] In a possible implementation manner, the device 500 further includes:

[0177] A determination module 502 is used to determine whether the engine start request is activated when the absolute value of the motor request torque is greater than or equal to the first preset torque;

[0178] A determination module 502 is used to determine that the motor request torque is a normal torque when the engine start request of the vehicle is activated;

[0179] The determination module 502 is configured to determine whether the motor request torque is an abnormal torque based on a duration of the motor request torque when the engine start request of the vehicle is not activated.

[0180] In a possible implementation manner, the device 500 further includes:

[0181] A determination module 502 is used to determine that the motor request torque is an error torque when the engine start request of the vehicle is not activated and the duration of the motor request torque is greater than or equal to a preset duration, and the error torque is used to indicate a vehicle controller failure;

[0182] The determination module 502 is used to determine that the motor request torque is a disturbance torque when the duration of the motor request torque is less than a preset duration, and the disturbance torque is used to indicate that the motor request torque is an instantaneous torque of the motor.

[0183] In a possible implementation manner, the device 500 further includes:

[0184] The adjustment module is used to adjust the motor request torque to a second preset torque to limit the torque output of the motor in the voltage control mode when the motor request torque is an abnormal torque, and the second preset torque is less than the motor request torque.

[0185] In a possible implementation manner, the device 500 further includes:

[0186] An acquisition module 501 is used for acquiring battery status parameters, main relay status parameters and engine status parameters of a vehicle at a functional level. The main relay status parameters are used to indicate the on / off status of a circuit in a power system of the vehicle.

[0187] The voltage control mode determination module is used to determine whether a request flag of a voltage control mode of the vehicle is activated based on a battery state parameter, a main relay state parameter, and an engine state parameter.

[0188] In a possible implementation manner, the device 500 further includes:

[0189] A voltage control mode determination module, used to determine that a request flag bit of a voltage control mode of the vehicle is activated when the battery voltage is in a low voltage state, the main relay is in a closed state, and the engine is in an unstarted state;

[0190] The voltage control mode determination module is used to determine that a request flag bit of a voltage control mode of the vehicle is not activated when the battery voltage is in a high voltage state, the main relay is in a disconnected state, or the engine is in a started state.

[0191] Figure 6 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0192] For example, Figure 6 As shown, the vehicle 600 includes: a memory 601 and a processor 602, wherein the memory 601 stores an executable program code 603, and the processor 602 is used to call and execute the executable program code 603 to perform a vehicle control method.

[0193] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a vehicle control method provided by an embodiment of the present application.

[0194] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0195] In the case of dividing each functional module according to each function, the device may also include an adjustment module and a voltage control mode determination module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0196] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0197] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0198] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0199] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0200] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above embodiment.

[0201] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0202] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0203] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0204] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0205] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: A vehicle controller applied to a vehicle, the method comprising: When a request flag of a voltage control mode of the vehicle is activated, obtaining a motor request parameter of the vehicle and an engine state parameter of the vehicle, wherein the voltage control mode is used to supply power through the motor of the vehicle when the power battery of the vehicle is in a fault state; Determining whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter, the motor request parameter including the motor request torque, the motor request torque being a torque requested from the vehicle controller based on the working requirements of the vehicle; When the motor request torque is a normal torque, the motor request torque is output in response to an engine start request of the vehicle to control the engine start of the vehicle.

2. The method according to claim 1, characterized in that The engine state parameter includes an engine start request, the motor request parameter includes a duration of the motor request torque, and determining whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter includes: determining whether the absolute value of the motor requested torque is less than a first preset torque; When the absolute value of the motor request torque is less than the first preset torque, determining that the motor request torque is a normal torque; When the absolute value of the motor request torque is greater than or equal to a first preset torque, it is determined whether the motor request torque is an abnormal torque based on the engine start request and a duration of the motor request torque.

3. The method according to claim 2, characterized in that The step of determining whether the motor request torque is an abnormal torque based on the engine start request and the duration of the motor request torque when the absolute value of the motor request torque is greater than or equal to the first preset torque includes: In a case where the absolute value of the motor request torque is greater than or equal to a first preset torque, determining whether the engine start request is activated; determining that the motor requested torque is a normal torque when an engine start request of the vehicle is activated; Whether the motor request torque is an abnormal torque is determined based on a duration of the motor request torque in a condition where an engine start request of the vehicle is not activated.

4. The method according to claim 3, characterized in that: The abnormal torque includes an erroneous torque and an interference torque, and determining whether the motor request torque is an abnormal torque based on a duration of the motor request torque when the engine start request of the vehicle is not activated includes: When the engine start request of the vehicle is not activated and the duration of the motor request torque is greater than or equal to a preset duration, determining that the motor request torque is an error torque, and the error torque is used to indicate a fault of the vehicle controller; When the duration of the motor request torque is less than the preset duration, the motor request torque is determined to be an interference torque, and the interference torque is used to indicate that the motor request torque is an instantaneous torque of the motor.

5. The method according to claim 1, characterized in that The method further comprises: When the motor request torque is an abnormal torque, the motor request torque is adjusted to a second preset torque to limit the torque output of the motor in a voltage control mode, and the second preset torque is smaller than the motor request torque.

6. The method according to claim 1, characterized in that The vehicle controller includes a functional layer, and before obtaining the motor request parameter of the vehicle and the engine state parameter of the vehicle when the request flag of the voltage control mode of the vehicle is activated, the vehicle controller includes: The functional layer acquires a battery status parameter, a main relay status parameter, and an engine status parameter of the vehicle, wherein the main relay status parameter is used to indicate the on / off state of a circuit in a power system of the vehicle; It is determined whether a request flag of a voltage control mode of the vehicle is activated based on the battery state parameter, the main relay state parameter, and the engine state parameter.

7. The method according to claim 6, characterized in that The battery status parameter includes a battery voltage, and determining whether a request flag of a voltage control mode of the vehicle is activated based on the battery status parameter, the main relay status parameter, and the engine status parameter includes: In a case where the battery voltage is in a low voltage state, the main relay is in a closed state, and the engine is in an unstarted state, determining that a request flag bit of a voltage control mode of the vehicle is activated; In a case where the battery voltage is in a high voltage state or the main relay is in a disconnected state or the engine is in a started state, it is determined that a request flag for a voltage control mode of the vehicle is not activated.

8. A vehicle control device, characterized in that: The device comprises: an acquisition module, configured to acquire a motor request parameter of the vehicle and an engine status parameter of the vehicle when a request flag of a voltage control mode of the vehicle is activated, wherein the voltage control mode is configured to supply power through the motor of the vehicle when the power battery of the vehicle is in a fault state; a determination module, configured to determine whether the motor request torque is an abnormal torque based on the motor request parameter and the engine state parameter, the motor request parameter including the motor request torque, the motor request torque being a torque requested from a vehicle controller based on a working demand of the vehicle; The output module is used for outputting the motor request torque in response to the engine start request of the vehicle when the motor request torque is a normal torque, so as to control the engine start of the vehicle.

9. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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