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

Abstract

The application relates to a vehicle control method and device, computer equipment, a storage medium and a program product, and relates to the technical field of electric vehicle control. The method comprises the following steps: receiving, by a vehicle control system, a wheel rotation direction of a vehicle and a gear position of the vehicle sent by a linear control system; in response to the vehicle control system detecting that the wheel rotation direction of the vehicle is opposite to a direction corresponding to the gear position of the vehicle, determining, by the vehicle control system, a torque control instruction; the torque control instruction is one of an increase in a torque slope increase instruction and a drag torque elimination instruction; receiving, by a drive control system, the torque control instruction sent by the vehicle control system; and performing, by the drive control system, a torque control operation corresponding to the torque control instruction. The above scheme can improve the control effect of the vehicle.

Description

Technical Field

[0001] This application relates to the field of electric vehicle control technology, and in particular to a vehicle control method, device, computer equipment, storage medium, and program product. Background Technology

[0002] With the continuous advancement of electric vehicle technology, electric vehicles have provided tremendous convenience to people's lives, and the safety requirements for electric vehicles are also constantly increasing, among which driving safety strategies are particularly important.

[0003] In related technologies, electric vehicles have energy recovery functions. When the electric vehicle is traveling forward and the brake is applied, the vehicle controller requests the motor to execute negative torque. The motor operates in regenerative braking mode, that is, when the vehicle decelerates or coasts, it converts kinetic energy into electrical energy through reverse torque and feeds it back to the battery. The electric vehicle enters the energy recovery state. When the electric vehicle is on a high-friction surface, due to the high road adhesion coefficient, the tires are in the rolling friction stage with the ground. The resistance experienced by the electric vehicle is greater than the inertial force of the electric vehicle, and the electric vehicle decelerates normally.

[0004] However, in the above scheme, when the electric vehicle brakes from a high-friction surface to a low-friction surface, the wheels will reverse, which can easily cause the motor to reverse and the vehicle to run away. The electric vehicle has poor control and low stability. Summary of the Invention

[0005] This application provides a vehicle control method, apparatus, computer equipment, storage medium, and program product, which can effectively improve vehicle control performance. The technical solution is as follows:

[0006] On one hand, a vehicle control method is provided, the method being executed by a vehicle, the vehicle including a vehicle control system, a linear control system, and a drive control system, the method comprising:

[0007] The vehicle control system receives information from the linear control system regarding the direction of wheel rotation and the vehicle's gear position.

[0008] In response to the vehicle control system detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle, the vehicle control system determines a torque control command; the torque control command is one of an increase torque ramp command and a drag torque elimination command; the increase torque ramp command is used to instruct the original torque change rate of the vehicle's motor to be increased by a specified torque change rate, so that the torque value of the motor reaches a target torque value within a first time period, the target torque value being the torque value that ensures the drive wheels of the vehicle do not slip; the drag torque elimination command is used to instruct the negative torque of the motor to be reduced to zero within a second time period.

[0009] The drive control system receives the torque control command sent by the vehicle control system.

[0010] The drive control system executes torque control operations corresponding to the torque control command.

[0011] On the other hand, a vehicle control device is provided, the device comprising:

[0012] The information receiving module is used to receive, through the vehicle control system, information sent by the linear control system regarding the direction of wheel rotation and the gear position of the vehicle.

[0013] A torque control command determination module is used to determine a torque control command in response to the vehicle control system detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle. The torque control command is one of an increase torque ramp command and a drag torque elimination command. The increase torque ramp command instructs the addition of a specified torque change rate to the original torque change rate of the vehicle's motor, so that the torque value of the motor reaches a target torque value within a first time period. The target torque value is the torque value that ensures that the drive wheels of the vehicle do not slip. The drag torque elimination command instructs the reduction of the negative torque of the motor to zero within a second time period.

[0014] A torque control command receiving module is used to receive the torque control command sent by the vehicle control system through the drive control system.

[0015] The torque control operation execution module is used to execute torque control operations corresponding to the torque control command through the drive control system.

[0016] On the other hand, a vehicle control system is provided, the system including a vehicle control system, a linear control system and a drive control system;

[0017] The vehicle control system is used to receive the vehicle's wheel rotation direction and gear position from the linear control system.

[0018] The vehicle control system is configured to determine a torque control command in response to detecting that the rotation direction of the vehicle's wheels is opposite to the direction corresponding to the vehicle's gear position. The torque control command is one of an increased torque ramp command and a drag torque elimination command. The increased torque ramp command instructs the addition of a specified torque change rate to the original torque change rate of the vehicle's motor, causing the motor's torque value to reach a target torque value within a first time period. The target torque value is the torque value that ensures the vehicle's drive wheels do not slip. The drag torque elimination command instructs the reduction of the motor's negative torque to zero within a second time period.

[0019] The drive control system is used to receive the torque control command sent by the vehicle control system and execute the torque control operation corresponding to the torque control command.

[0020] In another aspect, a computer device is provided, the computer device comprising a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least one program, the code set or instruction set being loaded and executed by the processor to implement the vehicle control method as described above.

[0021] In another aspect, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, code set, or instruction set is stored therein, wherein the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the vehicle control method described above.

[0022] In another aspect, a computer program product is provided, comprising a computer program stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium and executes the computer program, causing the computer device to perform the vehicle control method provided in the various optional implementations described above.

[0023] The technical solution provided in this application may include the following beneficial effects:

[0024] When the vehicle provides wheel rotation direction and gear information to the vehicle control system through the linear control system, the vehicle control system can monitor and analyze the vehicle dynamics in real time. When it detects that the wheel rotation direction is opposite to the direction indicated by the gear, the vehicle control system will select an appropriate torque control command: by increasing the torque ramp command, the vehicle can quickly increase the motor torque without causing the drive wheels to slip, and quickly respond to the driver's operation; by eliminating drag torque, it can effectively solve the drag problem that may occur during vehicle deceleration, avoid unnecessary energy loss, and improve the vehicle's control efficiency; by determining different torque control commands, it can effectively improve the vehicle's stability under different driving conditions, optimize power transmission efficiency, reduce vehicle energy consumption, effectively improve vehicle control efficiency, and ensure the vehicle's control effect.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] Figure 1 This is a structural diagram of a vehicle control system according to an embodiment of this application;

[0028] Figure 2 This is a flowchart of a vehicle control method provided in one embodiment of this application;

[0029] Figure 3 This is a flowchart of a vehicle control method provided in one embodiment of this application;

[0030] Figure 4 This is a flowchart of a vehicle control method provided in one embodiment of this application;

[0031] Figure 5 This is a schematic diagram of an electric vehicle anti-rollover method provided in one embodiment of this application;

[0032] Figure 6 This is a block diagram of a vehicle control device provided in an exemplary embodiment of this application;

[0033] Figure 7 This is a schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application. Detailed Implementation

[0034] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0035] Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0036] Figure 1 This is a structural diagram of a vehicle control system according to one embodiment of this application. Figure 1 As shown, the vehicle control system is integrated into the vehicle 100, which includes a vehicle control system 101, a linear control system 102, and a drive control system 103.

[0037] The vehicle control system 101 is used to receive information from the linear control system 102 regarding the direction of wheel rotation and the gear position of the vehicle.

[0038] The vehicle control system 101 is used to determine a torque control command in response to detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle. The torque control command is one of an increase torque ramp command and a drag torque elimination command. The increase torque ramp command is used to indicate that a specified torque change rate is increased on the original torque change rate of the vehicle's motor, so that the torque value of the motor reaches the target torque value within a first duration. The target torque value is the torque value that ensures that the drive wheels of the vehicle do not slip. The drag torque elimination command is used to indicate that the negative torque of the motor is reduced to zero within a second duration.

[0039] The drive control system 103 is used to receive torque control commands sent by the vehicle control system 101 and execute torque control operations corresponding to the torque control commands.

[0040] In this embodiment, the vehicle control system integrates the vehicle control system 101, the linear control system 102, and the drive control system 103. When the rotation direction of the wheels of the vehicle 100 is opposite to the direction corresponding to the gear, the vehicle control system 101 can quickly issue torque control commands. For example, a command to increase the torque ramp ensures that the drive wheels do not slip, or a command to eliminate drag torque reduces unnecessary energy loss. The instant response mechanism avoids the operation delay that may occur in traditional systems, improves the speed and accuracy of torque adjustment, thereby enhancing the vehicle's handling stability, optimizing the driving experience, and improving overall control efficiency.

[0041] Figure 2This is a flowchart illustrating a vehicle control method according to an embodiment of this application. The vehicle control method can be executed by a vehicle, which includes a vehicle control system, a linear control system, and a drive control system; for example, the vehicle can be one of the aforementioned... Figure 1 The vehicle 100 shown can have its vehicle control system, linear control system, and drive control system as described above. Figure 1 The vehicle control system 101, the linear control system 102, and the drive control system 103 are included.

[0042] The aforementioned vehicle control system is the core unit that integrates and manages data from all vehicle subsystems, and is used to optimize the overall performance of the vehicle.

[0043] The aforementioned linear control system is a system focused on monitoring the straight-line driving characteristics of a vehicle to ensure that the vehicle moves stably along the expected path.

[0044] The aforementioned drive control system controls the motor to perform specified operations based on torque control commands, and is used to manage the torque output of the motor.

[0045] The above vehicle control method may include steps 210, 220, 230, and 240, and is specifically implemented as follows:

[0046] Step 210: Receive the vehicle's wheel rotation direction and gear position from the linear control system via the vehicle control system.

[0047] The aforementioned wheel rotation direction refers to the current rotation direction of the vehicle's four wheels. The wheel rotation direction can be forward (i.e., the vehicle moves forward) or backward (i.e., the vehicle moves backward).

[0048] The gears of the aforementioned vehicles can be P (Park gear, used to lock the transmission system when parking to prevent the vehicle from moving), R (Reverse gear, used for the vehicle to move backward), N (Neutral gear, used for the vehicle to coast without using engine power), or D (Drive gear, used for the vehicle to move forward).

[0049] In this embodiment of the application, during the operation of the vehicle, the vehicle's linear control system can monitor the rotation direction of the wheels and the current gear position of the vehicle in real time through different vehicle sensors, and transmit the real-time monitored wheel rotation direction and gear position to the vehicle control system.

[0050] In some embodiments, the linear control system can obtain the direction of wheel rotation of the vehicle through a steering angle sensor; the linear control system can monitor and collect the gear position of the vehicle through a gear position sensor.

[0051] Step 220: In response to the vehicle control system detecting that the direction of wheel rotation is opposite to the direction corresponding to the gear position, the vehicle control system determines a torque control command. The torque control command is one of the torque ramp increase command and drag torque elimination command. The torque ramp increase command is used to indicate that a specified torque change rate is increased on the original torque change rate of the vehicle's motor, so that the motor's torque value reaches the target torque value within a first time period. The target torque value is the torque value that ensures that the vehicle's drive wheels do not slip. The drag torque elimination command is used to indicate that the negative torque of the motor is reduced to zero within a second time period.

[0052] The torque control command mentioned above is a command issued by the vehicle control system based on the current vehicle status, used to adjust the output torque of the vehicle's motor.

[0053] In this embodiment of the application, the vehicle control system receives the vehicle's wheel rotation direction and gear position from the linear control system in real time, and dynamically adjusts the torque control command based on the wheel rotation direction and gear position.

[0054] Step 230: Receive torque control commands sent by the vehicle control system through the drive control system.

[0055] In this embodiment of the application, after the vehicle control system generates a torque control command, it can send the torque control command to the drive control system. The drive control system receives the torque control command and immediately executes the torque adjustment operation corresponding to the torque control command. The torque adjustment operation may be to increase the specified torque change rate so that the motor reaches the target torque value, or to reduce the negative torque to zero within a second time period to ensure the safety and stability of the vehicle.

[0056] Step 240: Execute torque control operation corresponding to torque control command through drive control system.

[0057] In this embodiment, after receiving a torque control command, the drive control system executes a torque control operation corresponding to the torque control command.

[0058] In this embodiment, when the vehicle provides wheel rotation direction and gear information to the vehicle control system through the linear control system, the vehicle control system can monitor and analyze the vehicle dynamics in real time. When it detects that the wheel rotation direction is opposite to the direction indicated by the gear, the vehicle control system will select an appropriate torque control command: by increasing the torque ramp command, the vehicle can quickly increase the motor torque without causing the drive wheels to slip, and quickly respond to the driver's operation; by eliminating drag torque, the vehicle can effectively solve the drag problem that may occur during deceleration, avoid unnecessary energy loss, and improve the vehicle's control efficiency; by determining different torque control commands, the vehicle's stability under different driving conditions can be effectively improved, power transmission efficiency can be optimized, vehicle energy consumption can be reduced, the vehicle's control efficiency can be effectively improved, and the vehicle's control effect can be guaranteed.

[0059] Based on the solutions shown in any one or more of the above embodiments, based on Figure 2 Please refer to Figure 3 , Figure 3 This is a flowchart of a vehicle control method provided in one embodiment of this application. Figure 2 Step 220 can be implemented as steps 220a and 220b, as follows:

[0060] Step 220a: Receive the vehicle's drive wheel status information sent by the braking system through the vehicle control system; the drive wheel status information is used to indicate whether the vehicle's drive wheels are slipping.

[0061] In this embodiment of the application, when the vehicle is in motion, the vehicle's braking system can monitor the information of the vehicle's drive wheels in real time, and determine whether the drive wheels are slipping based on the drive wheel information. The drive wheel information includes, but is not limited to: the rotational speed of the drive wheels, the acceleration and / or deceleration of the drive wheels, the lateral acceleration of the drive wheels, the longitudinal acceleration of the drive wheels, the steering angle, and the road friction coefficient of the drive wheels. The vehicle's braking system determines whether the vehicle's drive wheels are slipping based on the drive wheel information, and generates drive wheel status information to indicate whether the vehicle's drive wheels are slipping, and sends the drive wheel status information to the vehicle control system.

[0062] In some embodiments, the aforementioned drive wheel status information can be sent to the vehicle control system as a 1-bit signal. The 1-bit signal can be "0" or "1". For example, a 1-bit signal value of "0" indicates that the vehicle's drive wheels are in normal working condition and the vehicle's drive wheels are not slipping; a 1-bit signal value of "1" indicates that the vehicle's drive wheels have slipped.

[0063] Step 220b: Determine the torque control command based on the drive wheel status information through the vehicle control system.

[0064] In this embodiment of the application, after receiving the drive wheel status information, the vehicle control system analyzes the drive wheel status information, determines whether the drive wheels of the current vehicle are slipping, and determines the torque control command based on whether the drive wheels of the current vehicle are slipping.

[0065] In this embodiment, the vehicle control system uses the drive wheel status information sent by the braking system to assist in decision-making. The drive wheel status information can indicate the current grip of the vehicle. By determining the torque control command based on the drive wheel status information, the vehicle control system can effectively ensure that the torque control command is in line with the current state of the vehicle, thereby improving the generation quality of the torque control command.

[0066] Based on the solutions shown in any one or more of the above embodiments, step 220b can be implemented as follows: when the drive wheel status information indicates that the drive wheel of the vehicle is slipping, the vehicle control system generates a torque ramp increase command based on the target torque value; when the drive wheel status information indicates that the drive wheel of the vehicle is not slipping, the vehicle control system determines a drag torque elimination command.

[0067] In some embodiments, when the drive wheel status information indicates that the vehicle's drive wheels are slipping, the vehicle control system determines a target torque value based on the vehicle's current driving state and the road conditions; a torque ramp increase command is generated based on the target torque value; the target torque value is the torque value that ensures the vehicle's drive wheels do not slip.

[0068] In this embodiment, when the drive wheel status information indicates that the vehicle's drive wheels are slipping, the vehicle control system can set a target torque value based on the vehicle's current state (e.g., vehicle speed) and the current road conditions (e.g., road surface conditions). The target torque value is the torque value that ensures the vehicle's drive wheels do not slip. For example, if the road surface is icy or snowy and the vehicle speed is high, the target torque value can be set to a lower torque value to prevent excessive motor output that could cause severe slippage. If the road surface is dry and the vehicle speed is low, the target torque value can be set to a higher torque value to facilitate vehicle acceleration.

[0069] In this embodiment, after the vehicle control system determines the target torque value, the vehicle control system generates a torque change rate (i.e., torque ramp) based on the current torque change rate of the vehicle and the target torque value, which is used to allow the torque value of the vehicle's motor to rise to the target torque value within a first time period (e.g., between a few milliseconds and several hundred milliseconds). In some embodiments, the above-mentioned torque ramp can be dynamically adjusted according to the current driving state of the vehicle and the road conditions.

[0070] In some embodiments, when the drive wheel status information indicates that the vehicle's drive wheels are not slipping, the vehicle control system determines a drag torque elimination command based on the vehicle's current driving state and the road conditions. The drag torque elimination command is used to instruct the negative torque of the vehicle's motor to be reduced to zero within a second duration.

[0071] In this embodiment, when the drive wheel status information indicates that the vehicle's drive wheels are not slipping, the vehicle control system can set a target speed based on the vehicle's current state (e.g., vehicle speed) and the current road conditions (e.g., road surface conditions). The target speed is the speed at which the vehicle's motor reduces its negative torque to zero within a second time period. For example, if the road surface is icy or snowy and the vehicle speed is high, the target speed can be set to a lower value to prevent the vehicle from reducing the motor's negative torque too quickly, which could lead to severe slippage. If the road surface is dry and the vehicle speed is low, the target speed can be set to a higher value to allow the vehicle to quickly reduce the motor's negative torque to zero while maintaining stability. In some embodiments, the target speed can be dynamically adjusted based on the vehicle's current driving state and the road conditions.

[0072] In this embodiment, when the braking system detects slippage of the vehicle's drive wheels, the vehicle control system generates a torque ramp increase command based on a preset target torque value. This effectively ensures that the motor increases torque output in a short time, but the increased torque does not exceed the safety threshold to prevent tire slippage, thereby effectively restoring the vehicle's traction and avoiding loss of control due to insufficient or excessive power. When the braking system detects that the vehicle's drive wheels are not slipping, the vehicle control system gradually reduces and eliminates the negative torque of the motor through a drag torque elimination command. This not only improves energy utilization efficiency but also reduces the burden on the braking system, effectively ensuring smoother and more stable vehicle operation. This embodiment, through the vehicle control system dynamically adjusting the torque command according to the vehicle's drive wheel status information, can effectively improve vehicle stability and control efficiency.

[0073] Based on the scheme shown in any one or more of the above embodiments, when the torque control command is a drag torque elimination command, the drive control system performs a torque increase operation on the negative torque of the motor; in response to the negative torque of the motor decreasing to zero within a second time period, the torque increase operation stops.

[0074] In this embodiment of the application, after the vehicle's drive control system receives the drag torque elimination command, it begins to perform a torque increase operation on the negative torque of the motor, that is, gradually reduces the negative torque of the motor, so that the negative torque of the motor gradually decreases and reaches zero at the end of the second time period. At this time, the drive control system stops the torque increase operation.

[0075] In some embodiments, when the torque control command is a drag torque elimination command, the drag torque elimination command includes a target speed, and the drive control system performs a torque increase operation on the negative torque of the motor at the target speed; in response to the negative torque of the motor decreasing to zero within a second duration, the torque increase operation is stopped.

[0076] In other embodiments, when the torque control command is a drag torque elimination command, the drive control system performs a torque increase operation on the negative torque of the motor, and the speed of the torque increase operation is dynamically adjusted based on the current driving state of the vehicle and the current road conditions; in response to the negative torque of the motor decreasing to zero within a second time period, the torque increase operation stops.

[0077] In this embodiment, when the drive wheel is detected not to slip, the vehicle control system issues a drag torque elimination command, and the drive control system begins to perform torque increase operation on the negative torque of the motor, gradually reducing the negative torque value of the motor. This can avoid the risk of tire lock-up or loss of control caused by drag, and improve the stability of the vehicle and the efficiency of vehicle control.

[0078] based on Figure 2 Please refer to Figure 4 , Figure 4 This is a flowchart of a vehicle control method provided in one embodiment of this application. Figure 4 The vehicle control method shown also includes step 250:

[0079] Step 250: When the drive control system detects that the rate of change of the reverse speed of the motor exceeds the threshold of the rate of change of the reverse speed, the drive control system stops the torque control operation and enters the zero torque mode; the zero torque mode is the mode in which the motor stops generating braking torque.

[0080] The aforementioned reverse rotation speed change rate refers to the rate of change of the vehicle's motor speed in an unexpected direction.

[0081] The aforementioned reverse rotation speed change rate threshold is a preset critical value used to determine whether the reverse rotation speed change of the motor exceeds the normal range.

[0082] The zero-torque mode mentioned above is a working mode in which the motor stops generating braking torque and does not apply additional pressure.

[0083] In this embodiment of the application, when the vehicle is running, the drive control system continuously monitors the rate of change of the reverse rotation speed of the motor. When the rate of change of the reverse rotation speed is detected to exceed the preset threshold, the current torque control operation is stopped and the system switches to zero torque mode. In zero torque mode, the motor does not generate braking torque, which can effectively ensure that the vehicle can be restored to a safe and controllable state in a short time and effectively protect the vehicle motor from potential damage.

[0084] In this embodiment, when the motor exhibits an abnormally high rate of change in reverse rotational speed, it indicates that the vehicle is under extreme or unexpected operating conditions, such as sharp turns or sudden deceleration. If the original torque control is continued under these conditions, it may increase the risk of loss of control. When the drive control system recognizes this situation, it switches the vehicle motor to zero torque mode, which can effectively prevent problems caused by inappropriate torque output. In zero torque mode, the motor stops generating braking torque, effectively preventing potential risks and ensuring that the vehicle is always in the best control state.

[0085] Based on the above Figure 2 to Figure 4 The steps in the embodiments of this application illustrate an anti-reverse runaway control scheme for electric vehicle motors.

[0086] The solutions shown in the embodiments of this application mainly involve the vehicle controller (hereinafter referred to as VCU, Vehicle Control Unit), the linear control braking system (hereinafter referred to as WCBS, Linear Control Braking System), the drive controller (hereinafter referred to as MCU, Motor Control Unit), the drag torque control (hereinafter referred to as DTC, Drag Torque Control), and the forward gear (hereinafter referred to as D gear).

[0087] Condition 1: When the vehicle triggers the DTC function while braking on a low-friction road, and the WCBS detects that the tire speed is negative, the DTC requests the VCU to increase the torque increase request slope. The VCU requests the MCU to increase the negative torque of the motor. The MCU executes the increase of negative torque, which can suppress the reverse rotation trend of the tire. If the reverse rotation trend of the tire is not effectively suppressed, and the rate of change of the reverse rotation speed of the motor exceeds the set threshold, the motor will not respond to the torque request command of the VCU and will execute 0 torque.

[0088] Condition 2: When the vehicle is braking on a low-friction road and the DTC function is not triggered, if the WCBS detects that the tire speed is negative, the VCU will increase the requested negative torque of the motor to 0 N·m within a set time. If the reverse rotation trend of the tire is not effectively curbed and the rate of change of the reverse rotation speed of the motor exceeds the set threshold, the motor will not respond to the requested torque command of the VCU and will execute 0 torque.

[0089] Please refer to Figure 5 , Figure 5 This is a schematic diagram of an electric vehicle anti-reverse runaway method provided in one embodiment of this application.

[0090] Step 501: The linear control system detects the wheel steering and gear shift requirements.

[0091] In this embodiment, the triggering prerequisite for the vehicle motor anti-reverse runaway function is that the WCBS detects information such as tire steering, tire speed, and DTC function triggering status in real time, and sends the information to the vehicle bus.

[0092] In this embodiment, the VCU receives wheel steering and wheel speed information from the WCBS and autonomously identifies the current gear position. The VCU sends the requested torque to the motor onto the bus. The MCU receives and executes the torque command and gear position information from the VCU, and autonomously monitors the motor's speed and steering information. When the VCU detects that the wheel steering sent by the WCBS is opposite to the direction required by the gear position, it triggers the motor anti-reverse runaway function.

[0093] In this embodiment of the application, if the linear control system detects that the wheel steering is inconsistent with the gear steering requirement, it executes step 502a; if it detects that the wheel steering is consistent with the gear steering requirement, it executes step 502b.

[0094] Step 502a: The vehicle controller responds to the drag torque control request torque.

[0095] In this embodiment, when the DTC function of WCBS is triggered, WCBS needs to increase the original torque ramp rate before sending the torque value to the bus. The specific ramp rate adjustment needs to be calibrated according to the actual vehicle to avoid problems such as vehicle impact and slippage. When the DTC function is triggered, VCU needs to immediately exit the braking torque mode, respond to the torque command of WCBS, and convert it into the torque required by the motor for the motor to execute.

[0096] Step 502b: The vehicle controller requests that the torque drop to zero within a set time.

[0097] In this embodiment, when the DTC function is not triggered, the VCU needs to reduce the original braking torque request to 0 N·m within a set time. The specific time needs to be calibrated based on the actual vehicle to avoid vehicle impact problems.

[0098] Step 503: The drive controller responds to the torque command from the vehicle controller; when the fault threshold is triggered, it does not respond to the command from the vehicle controller and executes zero torque.

[0099] In this embodiment, the MCU receives and executes the torque request command from the VCU. When the MCU detects that the motor's direction of rotation is inconsistent with the required direction of the gear and the rate of change of the motor's reverse speed exceeds a limit, the MCU does not execute the VCU torque request and enters a 0 torque mode. The reverse speed limit needs to be calibrated according to the actual vehicle.

[0100] In summary, this technical solution specifically discloses a control strategy for preventing electric motor reversal and runaway. Through the coordinated control of the WCBS, VCU, and MCU systems, the problem of motor reversal and runaway under low-friction braking conditions can be effectively solved, greatly improving the vehicle's safety performance.

[0101] The above is merely one embodiment of this application and should not be considered as a limitation thereof. Those skilled in the art will understand that various modifications and variations can be made to the embodiments to adapt to different application requirements. Therefore, the scope of this application should be defined by the claims appended to the claims.

[0102] Please refer to Figure 6 The diagram illustrates a block diagram of a vehicle control device provided in an exemplary embodiment of this application. This vehicle control device can be implemented as all or part of a computer device through hardware or a combination of hardware and software, to achieve the above-described... Figure 2 to Figure 4 All or part of the steps in the illustrated embodiments. For example... Figure 6 As shown, the vehicle control device includes:

[0103] The information receiving module 601 is used to receive the vehicle's wheel rotation direction and gear position from the linear control system via the vehicle control system.

[0104] The torque control command determination module 602 is used to determine a torque control command in response to the vehicle control system detecting that the direction of wheel rotation is opposite to the direction corresponding to the gear position. The torque control command is one of the torque ramp increase command and the drag torque elimination command. The torque ramp increase command is used to indicate that a specified torque change rate is increased on the original torque change rate of the vehicle's motor, so that the motor's torque value reaches the target torque value within a first time period. The target torque value is the torque value that ensures that the vehicle's drive wheels do not slip. The drag torque elimination command is used to indicate that the negative torque of the motor is reduced to zero within a second time period.

[0105] The torque control command receiving module 603 is used to receive torque control commands sent by the vehicle control system through the drive control system.

[0106] The torque control operation execution module 604 is used to execute torque control operations corresponding to torque control commands through the drive control system.

[0107] Please refer toFigure 7 , Figure 7 This is a schematic diagram of the structure of a computer device provided in an exemplary embodiment of this application. The computer device 700 includes a Central Processing Unit (CPU) 701, a system memory 704 including Random Access Memory (RAM) 702 and Read-Only Memory (ROM) 703, and a system bus 705 connecting the system memory 704 and the CPU 701. The computer device 700 also includes a Basic Input / Output System (I / O System) 706 that facilitates the transfer of information between various devices within the computer, and a mass storage device 707 for storing the operating system 713, application programs 714, and other program modules 715.

[0108] The basic input / output system 706 includes a display 708 for displaying information and an input device 709 for user input, such as a mouse or keyboard. Both the display 708 and the input device 709 are connected to the central processing unit 701 via an input / output controller 710 connected to the system bus 705. The basic input / output system 706 may also include the input / output controller 710 for receiving and processing input from multiple other devices such as a keyboard, mouse, or electronic stylus. Similarly, the input / output controller 710 also provides output to a display screen, printer, or other types of output devices.

[0109] Mass storage device 707 is connected to central processing unit 701 via a mass storage controller (not shown) connected to system bus 705. Mass storage device 707 and its associated computer-readable media provide non-volatile storage for computer device 700. That is, mass storage device 707 may include computer-readable media (not shown) such as hard disk or CD-ROM (Compact Disc Read-Only Memory) drive.

[0110] Without loss of generality, computer-readable media can include computer storage media and communication media. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented using any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include RAM (Random Access Memory), ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage, or other magnetic storage devices. Of course, those skilled in the art will recognize that computer storage media are not limited to the above-mentioned types. The system memory 704 and mass storage device 707 described above can be collectively referred to as memory.

[0111] Computer device 700 can be connected to the Internet or other network devices via network interface unit 711 connected to system bus 705.

[0112] The memory also includes one or more programs, which are stored in the memory. The central processing unit 701 implements these programs by executing them. Figure 2 to Figure 4 All or some of the steps in the method shown.

[0113] In an exemplary embodiment, a chip is also provided, the chip including programmable logic circuitry and / or program instructions, which, when the chip is run on a computer device, are used to implement all or part of the steps of the methods shown in the above embodiments of this application.

[0114] In an exemplary embodiment, a computer program product is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions to implement all or part of the steps of the methods shown in the above embodiments of this application.

[0115] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores a computer program that is loaded and executed by a processor to implement all or part of the steps of the methods shown in the above embodiments of this application.

[0116] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0117] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0118] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A vehicle control method, characterized in that, The method is performed by a vehicle, the vehicle including a vehicle control system, a linear control system, and a drive control system, and the method includes: The vehicle control system receives the wheel rotation direction and gear position of the vehicle from the linear control system. In response to the vehicle control system detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle, the vehicle control system determines a torque control command; the torque control command is one of an increase torque ramp command and a drag torque elimination command; the increase torque ramp command is used to instruct the original torque change rate of the vehicle's motor to be increased by a specified torque change rate, so that the torque value of the motor reaches a target torque value within a first time period, the target torque value being the torque value that ensures the drive wheels of the vehicle do not slip; the drag torque elimination command is used to instruct the negative torque of the motor to be reduced to zero within a second time period. The drive control system receives the torque control command sent by the vehicle control system. The drive control system executes torque control operations corresponding to the torque control command.

2. The method according to claim 1, characterized in that, The vehicle also includes: a braking system; The determination of torque control commands through the vehicle control system includes: The vehicle control system receives the drive wheel status information of the vehicle from the braking system; the drive wheel status information is used to indicate whether the drive wheels of the vehicle are slipping. The vehicle control system determines the torque control command based on the drive wheel status information.

3. The method according to claim 2, characterized in that, The step of determining the torque control command based on the drive wheel state information through the vehicle control system includes: When the drive wheel status information indicates that the vehicle's drive wheels are slipping, the vehicle control system generates the torque ramp increase command based on the target torque value. When the drive wheel status information indicates that the vehicle's drive wheels are not slipping, the vehicle control system determines a drag torque elimination command.

4. The method according to claim 3, characterized in that, When the torque control command is the drag torque elimination command, the execution of the torque control operation corresponding to the torque control command through the drive control system includes: The drive control system performs a torque increase operation on the negative torque of the motor. In response to the negative torque of the motor decreasing to zero within the second duration, the torque increase operation is stopped.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: When the drive control system detects that the rate of change of the reverse rotation speed of the motor exceeds the threshold of the rate of change of the reverse rotation speed, the drive control system stops the torque control operation and enters the zero torque mode; the zero torque mode is the mode in which the motor stops generating braking torque.

6. A vehicle control device, characterized in that, The device includes: The information receiving module is used to receive the wheel rotation direction and gear position of the vehicle from the linear control system through the vehicle control system. A torque control command determination module is used to determine a torque control command in response to the vehicle control system detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle. The torque control command is one of an increase torque ramp command and a drag torque elimination command. The increase torque ramp command instructs the addition of a specified torque change rate to the original torque change rate of the vehicle's motor, so that the torque value of the motor reaches a target torque value within a first time period. The target torque value is the torque value that ensures that the drive wheels of the vehicle do not slip. The drag torque elimination command instructs the reduction of the negative torque of the motor to zero within a second time period. A torque control command receiving module is used to receive the torque control command sent by the vehicle control system through the drive control system; The torque control operation execution module is used to execute torque control operations corresponding to the torque control command through the drive control system.

7. A vehicle control system, characterized in that, The system includes a vehicle control system, a linear control system, and a drive control system; The vehicle control system is used to receive the wheel rotation direction and gear position of the vehicle sent by the linear control system. The vehicle control system is configured to determine a torque control command in response to detecting that the rotation direction of the vehicle's wheels is opposite to the direction corresponding to the vehicle's gear position. The torque control command is one of an increased torque ramp command and a drag torque elimination command. The increased torque ramp command instructs the addition of a specified torque change rate to the original torque change rate of the vehicle's motor, causing the motor's torque value to reach a target torque value within a first time period. The target torque value is the torque value that ensures the vehicle's drive wheels do not slip. The drag torque elimination command instructs the reduction of the motor's negative torque to zero within a second time period. The drive control system is used to receive the torque control command sent by the vehicle control system and execute the torque control operation corresponding to the torque control command.

8. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing instructions which are executed by the processor to implement the vehicle control method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that, The storage medium stores instructions that are executed by a processor of a computer device to implement the vehicle control method as described in any one of claims 1 to 5.

10. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium; the computer instructions are read and executed by a processor of a computer device to implement the vehicle control method as described in any one of claims 1 to 5.

Images