Motor control method, vehicle control unit and vehicle

Abstract

The invention discloses a motor control method, a vehicle control unit and a vehicle, the motor control method is used for the vehicle, the vehicle comprises a brake air pump and a steering oil pump, a motor is used for driving the brake air pump and / or the steering oil pump, and the control method comprises the steps that the current vehicle speed of the vehicle and a brake inflation request of the brake air pump are obtained; and the target rotating speed of the motor is determined according to the current vehicle speed and / or the braking inflation request. By adopting the method, the brake air pump and the steering oil pump are simultaneously driven by one motor, so that the production cost of the vehicle can be effectively reduced, and the running safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a motor control method, a vehicle controller, and a vehicle. Background Art

[0002] In the related art, an independent motor is used to drive a steering oil pump and a brake air pump, which will increase the production cost of the vehicle. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the first object of the present invention is to provide a motor control method. By using this method, a brake air pump and a steering oil pump can be driven by one motor at the same time, so as to effectively reduce the production cost of the vehicle and improve the driving safety of the vehicle.

[0004] The second object of the present invention is to provide a vehicle controller.

[0005] The third object of the present invention is to provide a vehicle.

[0006] To achieve the above object, a motor control method according to an embodiment of the first aspect of the present invention is for a vehicle. The vehicle includes a brake air pump and a steering oil pump, and the motor is used to drive the brake air pump and / or the steering oil pump. The control method includes: obtaining the current vehicle speed of the vehicle and the brake air charging request of the brake air pump; determining the target speed of the motor according to the current vehicle speed and / or the brake air charging request.

[0007] According to the motor control method provided by the embodiment of the present invention, based on the structure that the brake air pump and the steering oil pump are connected to the same motor, when the motor drives the brake air pump and / or the steering oil pump, the target speed of the motor is controlled according to the current vehicle speed, so as to effectively ensure the safety of the vehicle. And when the brake air charging request is received, the target speed of the motor is controlled according to the required speed corresponding to the brake air charging request. Thus, compared with the prior art in which the steering oil pump and the brake air pump are respectively driven by independent motors, in this application, the same motor is used to drive and control the brake air pump and / or the steering oil pump, so as to reduce the overall vehicle cost.

[0008] In some embodiments of the present invention, determining the target speed of the motor according to the current vehicle speed and / or the brake air charging request includes: determining that the brake air charging request is for air charging; using the maximum operating speed value of the motor as the target speed.

[0009] In some embodiments of the present invention, the vehicle further includes a clutch, and the motor drives the brake air pump through the clutch. The method further includes: obtaining an actual rotation speed value of the motor; determining that a difference between the actual rotation speed value and a target rotation speed value is within a preset error tolerance range, and then driving the clutch to engage.

[0010] In some embodiments of the present invention, controlling the target rotation speed of the motor according to the current vehicle speed and / or a brake air supply request includes: determining that the brake air supply request is no air supply; querying a rotation speed calibration table according to the current vehicle speed to obtain a steering demand rotation speed value of the motor, where the rotation speed calibration table is a calibration table of the relationship between the vehicle speed and the steering demand rotation speed value; and using the steering demand rotation speed value as the target rotation speed.

[0011] In some embodiments of the present invention, the motor control method further includes: obtaining vehicle state information; determining that the vehicle state information meets the motor speed reduction condition, and a duration for which the vehicle state information meets the motor speed reduction condition reaches a preset duration; and controlling the motor to gradually decrease from the target rotation speed to a first rotation speed, where the first rotation speed is greater than or equal to the minimum operating rotation speed of the motor.

[0012] In some embodiments of the present invention, the motor speed reduction conditions include: the current vehicle speed is zero; the gear of the shifter in the vehicle is in neutral; the handbrake of the vehicle is in the pulled-up state; and the brake air supply request is no air supply.

[0013] In some embodiments of the present invention, the vehicle further includes a high-voltage relay, and the high-voltage relay is used to control the power supply state of the motor, including: receiving a vehicle power-off request; controlling the motor to gradually decrease from the target rotation speed to zero; and in response to the vehicle power-off request, controlling the high-voltage relay to disconnect to cut off the power supply of the motor.

[0014] To achieve the above object, a vehicle controller according to a second aspect embodiment of the present invention includes: at least one processor; and a memory communicatively connected to at least one processor; where a computer program executable by at least one processor is stored in the memory, and when at least one processor executes the computer program, the motor control method described in the above embodiments is implemented.

[0015] According to the vehicle controller of the embodiment of the present invention, by executing the motor control method described in the above embodiments, a brake air pump and a steering oil pump can be simultaneously driven by one motor, thereby effectively reducing the production cost of the vehicle and improving the driving safety of the vehicle.

[0016] To achieve the above object, a vehicle according to an embodiment of the third aspect of the present invention includes: a brake air pump and a steering oil pump; an electric motor for driving the brake air pump and / or the steering oil pump; and the vehicle controller described in the above embodiment, which is connected to the electric motor and used to control the working state of the electric motor.

[0017] For the vehicle according to an embodiment of the present invention, through the vehicle controller in the above embodiment, a single electric motor can be used to drive both the brake air pump and the steering oil pump, thereby effectively reducing the production cost of the vehicle and improving the driving safety of the vehicle.

[0018] In some embodiments of the present invention, the vehicle further includes: a clutch connected to the electric motor and used to drive the brake air pump under the action of the electric motor; and an electronic air treatment unit connected to the vehicle controller and used to output a brake air supply request according to the current air pressure value of the brake air tank.

[0019] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, where: Figure 1 is a flowchart of a motor control method according to an embodiment of the present invention; Figure 2 is a flowchart of a motor control method according to another embodiment of the present invention; Figure 3 is a structural block diagram of a vehicle controller according to an embodiment of the present invention; Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 5 is a structural block diagram of the working principle of a motor according to an embodiment of the present invention.

[0021] REFERENCE SIGNS: Vehicle 100; Brake air pump 1; Steering oil pump 2; Electric motor 3; Vehicle controller 4; Clutch 5; Electronic air treatment unit 6; Processor 41; Memory 42. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Embodiments of the present invention will be described in detail below. The embodiments described with reference to the drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0023] To solve the above problems, an embodiment of the first aspect of the present invention provides a motor control method for a vehicle. By using this method, a motor can drive a brake air pump and a steering oil pump simultaneously, thereby effectively reducing the production cost of the vehicle and improving the driving safety of the vehicle.

[0024] In the embodiment, the vehicle includes a brake air pump and a steering oil pump, and the motor is used to drive the brake air pump and / or the steering oil pump. That is to say, the motor in this application can be a two-in-one motor for the steering oil pump motor and the brake air pump motor, that is, using one motor can simultaneously realize the drive control of the brake air pump and the steering oil pump.

[0025] Next, refer to Figure 1 to describe the motor control method according to the embodiment of the present invention. As Figure 1 shown, the method at least includes step S1-step S2, specifically as follows.

[0026] Step S1, obtain the current vehicle speed of the vehicle and the braking air injection request of the brake air pump.

[0027] Specifically, the current vehicle speed of the vehicle is detected by a speed sensor installed in the vehicle, and the current vehicle speed is sent to the vehicle controller, thereby obtaining the current vehicle speed of the vehicle; and when the current air pressure value of the brake air tank is lower than a preset air pressure threshold, where the preset air pressure threshold can be understood as the lowest air pressure value at which the remaining gas in the brake air tank can ensure the braking function. At this time, the brake air tank is short of gas and the brake air pump needs to inject air into the brake air tank, then a braking air injection request of the brake air pump is sent to the vehicle controller, thereby obtaining the braking air injection request of the brake air pump.

[0028] Step S2, determine the target speed of the motor according to the current vehicle speed and / or the braking air injection request.

[0029] Specifically, when the motor drives the steering oil pump, if the steering assist is higher when the vehicle speed is higher, the steering will be more sensitive when the user operates the steering wheel, which is not conducive to the stable operation of the vehicle. Therefore, in order to improve the safety of the vehicle, the target speed of the motor is determined according to the current vehicle speed, that is, the vehicle controller can determine the target speed of the motor according to the current vehicle speed, so that the steering oil pump can provide a steering assist force that matches the current speed when the user steers through the steering wheel, thereby effectively ensuring the safety of the vehicle; or, when the motor drives the brake air pump, the target speed of the motor is determined according to the brake air filling request. That is to say, after the vehicle controller receives the brake air filling request, the target speed of the motor is determined according to the required speed corresponding to the brake air filling request, where the required speed is the speed value calibrated according to the air filling volume corresponding to the shortage of air in the brake air tank, so that the brake air pump can fill the brake air tank, thereby ensuring the braking performance of the vehicle; or, when the motor drives the steering oil pump and the brake air pump at the same time, the required speed corresponding to the brake air filling request is used as the target speed, thereby ensuring that the vehicle realizes the braking and steering functions. Thus, compared with the prior art in which the steering oil pump and the brake air pump are respectively driven by independent motors, in this application, the same motor is used to drive and control the brake air pump and / or the steering oil pump, thereby reducing the overall vehicle cost.

[0030] According to the motor control method proposed by the embodiment of the present invention, based on the structure in which the brake air pump and the steering oil pump are connected to the same motor, when the motor drives the brake air pump and / or the steering oil pump, the target speed of the motor is controlled according to the current vehicle speed, thereby effectively ensuring the safety of the vehicle, and when the brake air filling request is received, the target speed of the motor is controlled according to the required speed corresponding to the brake air filling request. Thus, compared with the prior art in which the steering oil pump and the brake air pump are respectively driven by independent motors, in this application, the same motor is used to drive and control the brake air pump and / or the steering oil pump, thereby reducing the overall vehicle cost.

[0031] In some embodiments of the present invention, determining the target speed of the motor according to the current vehicle speed and / or the brake air filling request includes: determining that the brake air filling request is for air filling; using the maximum operating speed value of the motor as the target speed.

[0032] Among them, the maximum operating speed value can be understood as the speed corresponding to the maximum brake air filling demand. The maximum brake air filling demand is the air filling demand that can meet the braking assist required when continuously stepping on the brakes. The maximum operating speed value can be calibrated through actual vehicle tests according to the maximum operating duration of the brake air pump. The shorter the air filling duration, the larger the maximum operating speed value.

[0033] Specifically, to avoid the situation where the motor speed cannot meet the maximum braking air supply requirement of the vehicle, when the vehicle controller receives a braking air supply request for air supply, the maximum operating speed value is used as the target speed to control the motor to provide power for the brake air pump at the maximum operating speed value, so that the brake air pump fills the brake air tank under this power, so that the air storage capacity of the brake air tank can meet the maximum braking requirement of the vehicle, thereby avoiding the problem of the vehicle's braking performance degradation.

[0034] In some embodiments of the present invention, the vehicle further includes a clutch, and the motor drives the brake air pump through the clutch. The motor control method further includes: obtaining the actual speed value of the motor; determining that the difference between the actual speed value and the target speed value is within a preset error allowable range, and then driving the clutch to engage.

[0035] Among them, the preset error allowable range can be understood as the allowable error range preset when controlling the motor speed to the target speed. The preset error allowable range can be the maximum operating speed value ±50 rpm.

[0036] Specifically, since the motor speed cannot accurately reach the target speed when controlling the motor speed, therefore, in this application, the preset error allowable range is set based on the difference between the actual speed value and the target speed value. That is to say, after the vehicle controller controls the motor speed to the target speed, the actual speed value of the motor is obtained in real time, and then it is judged whether the difference between the actual speed value and the target speed value is within the preset error allowable range. If it is, it means that the actual speed value of the motor is close to the target speed value at this time, and it is considered that the actual speed value of the motor reaches the target speed value. The vehicle controller sends a clutch engagement signal to the motor, and after the motor receives the clutch engagement signal sent by the vehicle controller, it drives the clutch to engage, that is, controls the mechanical connection between the motor and the brake air pump, so that the power output by the motor can be transmitted to the brake air pump through the clutch, thereby ensuring that the brake air pump can quickly fill the brake air tank under the drive of the motor.

[0037] In addition, in some embodiments of the present invention, controlling the target speed of the motor according to the current vehicle speed and / or the braking air supply request includes: determining that the braking air supply request is no air supply; querying the speed calibration table according to the current vehicle speed to obtain the steering demand speed value of the motor, where the speed calibration table is a relationship calibration table between the vehicle speed and the steering demand speed value; using the steering demand speed value as the target speed.

[0038] Specifically, if the air pressure value of the brake air tank is higher than the preset air pressure threshold, it is determined that the brake air injection request is no air injection. At this time, in order to provide steering assistance in advance before the user controls the vehicle to turn, the target speed of the motor is determined according to the current vehicle speed, that is, the current vehicle speed of the vehicle is obtained, and then the speed calibration table is queried according to the current vehicle speed to obtain the steering required speed value of the motor. The speed calibration table is shown in Table 1. For example, if the current vehicle speed is 0 kph, the steering required speed value of the motor is the maximum operating speed value; if the current vehicle speed is V1 kph, the steering required speed value of the motor is R1 rpm; if the current vehicle speed is V2 kph, the steering required speed value of the motor is R2 rpm.

[0039] Table 1

[0040] Among them, R1, R2, R3, R4, R5, and R6 in Table 1 can all be calibrated according to the actual vehicle situation.

[0041] Therefore, the present application queries the speed calibration table according to the current vehicle speed to obtain the steering required speed value of the motor, so as to control the motor to provide power for the steering oil pump at the steering required speed value, thereby ensuring that the steering oil pump provides steering assistance in advance before the user controls the vehicle to turn. At the same time, determining the steering required speed value according to the current vehicle speed can also effectively ensure the safety of the vehicle during the turning process.

[0042] In some embodiments of the present invention, the motor control method further includes: obtaining vehicle state information; determining that the vehicle state information satisfies the motor speed reduction condition, and the duration for which the vehicle state information satisfies the motor speed reduction condition reaches a preset duration; controlling the motor to gradually decrease from the target speed to a first speed, where the first speed is greater than or equal to the minimum operating speed of the motor.

[0043] Among them, the first interval speed is the interval for reducing the motor speed according to the actual vehicle calibration, and the first interval speed is related to the speed at which the motor speed decreases. The vehicle state information can be understood as the information of the vehicle during operation. The vehicle state information can be the current vehicle speed, operating state, etc., and there is no limitation on this. The minimum operating speed can be 0, or other calibrated low speed values. The preset duration can be understood as the time preset to avoid misjudgment when determining that the vehicle state information satisfies the motor speed reduction condition, and the preset duration is obtained according to the actual vehicle calibration.

[0044] Specifically, when the motor is operating at the target speed with no air pumping request for braking and no steering condition, it will result in high energy consumption of the whole vehicle. In this application, a motor speed reduction condition is set to detect whether the motor speed can be reduced to save energy. The motor speed reduction condition can be a condition for determining no braking air pumping request and no steering condition. That is to say, if the vehicle state information meets the motor speed reduction condition, it indicates that the motor does not need to provide power for the braking air pump or the steering oil pump at this time. And when it is determined that the duration for which the motor speed reduction condition is met reaches a preset duration, the preset duration can be understood as the time preset to avoid misjudgment when determining that the vehicle state information meets the motor speed reduction condition. At this time, it is considered that the vehicle state information continuously meets the motor speed reduction condition, rather than a short-term or temporary state change causing the vehicle state information to continuously meet the motor speed reduction condition. Then, the motor is controlled to reduce from the target speed to the first speed at a speed of the first interval speed per second, so as to achieve the purpose of saving vehicle energy consumption under the premise of meeting driving requirements, and at the same time avoid misoperation of motor speed reduction caused by short-term or temporary state changes of the vehicle.

[0045] In some embodiments of the present invention, the motor speed reduction condition includes: the current vehicle speed is zero; the gear of the shifter in the vehicle is in neutral; the handbrake of the vehicle is in the pulled-up state; the braking air pumping request is no air pumping.

[0046] Specifically, during the operation of the motor at the maximum working speed value or the steering demand speed value, if it is detected that the vehicle state information meets the motor speed reduction condition, that is, it is detected that the current vehicle speed is zero, which means the vehicle is in a stationary state; and it is detected that the gear of the shifter in the vehicle is in neutral, which means the vehicle is in a parked state; and it is detected that the handbrake of the vehicle is in the pulled-up state, which means the wheels are locked. Based on the above conditions, there is no possible steering demand for the vehicle, and it is determined that the braking air pumping request is no air pumping, that is, the motor does not need to provide power for the braking air pump or the steering oil pump. Then, the motor is controlled to gradually reduce from the target speed to the first speed, so as to achieve the purpose of saving vehicle energy consumption.

[0047] In some embodiments of the present invention, the vehicle further includes a high-voltage relay, and the high-voltage relay is used to control the power supply state of the motor, including: receiving a vehicle power-off request; controlling the motor to gradually reduce from the target speed to zero; in response to the vehicle power-off request, controlling the high-voltage relay to disconnect to cut off the power supply of the motor.

[0048] Wherein, the second interval speed is the interval for reducing the motor speed according to the actual vehicle calibration, and the second interval speed is related to the speed of motor speed reduction.

[0049] Specifically, before controlling the vehicle to power off, it is necessary to control the motor speed to decrease to zero. Therefore, after receiving the vehicle power-off request, the vehicle controller first controls the motor to decrease from the target speed to zero at a second interval speed per second, and then the vehicle controller sends a motor non-enable instruction to the motor, and then controls the high-voltage relay to disconnect to cut off the power supply of the battery to the motor, so as to ensure the normal power-off of the vehicle.

[0050] The following will refer to Figure 2 shown to illustrate the motor control method of the embodiment of the present invention, and the specific content is as follows.

[0051] Step S3, the vehicle is powered on at low voltage.

[0052] Step S4, the vehicle controller defaults to send a motor non-enable instruction, and the target speed of the motor is 0 rpm.

[0053] Step S5, determine whether the working mode of the vehicle is the driving mode. If so, execute Step S6; otherwise, execute Step S4.

[0054] Step S6, determine whether the vehicle is powered on at high voltage. If so, execute Step S7; otherwise, execute Step S4.

[0055] Step S7, determine whether the vehicle high-voltage detection is completed and whether the motor has no zero-power failure. If so, execute Step S8; otherwise, execute Step S4.

[0056] Step S8, the vehicle controller sends a motor enable instruction to the motor and controls the target speed of the motor to be 0 rpm.

[0057] Step S9, determine whether the motor feeds back a motor enable signal. If so, execute Step S10; otherwise, execute Step S8.

[0058] Step S10, query the speed calibration table through the current vehicle speed to obtain the steering demand speed.

[0059] Step S11, determine whether the vehicle status information meets the motor speed reduction condition. If so, execute Step S12; otherwise, execute Step S15.

[0060] Step S12, the timer starts timing.

[0061] Step S13, determine whether the timing duration of the timer is greater than or equal to the preset duration. If so, execute Step S14; otherwise, execute Step S11.

[0062] Step S14, the vehicle controller controls the motor to gradually decrease from the target speed to the first speed.

[0063] Step S15, clear the timing duration of the timer, and control the target speed of the motor to be the steering demand speed value.

[0064] Step S16, determine whether the vehicle has a power-off request. If so, execute Step S17; otherwise, execute Step S10.

[0065] Step S17, the vehicle controller controls the motor to gradually reduce its speed from the target speed to zero.

[0066] Step S18, in response to the power-off request of the vehicle, the vehicle controller controls the high-voltage relay to disconnect to cut off the power supply to the motor.

[0067] In a second aspect embodiment of the present invention, a vehicle controller is proposed, as Figure 3 shown, the vehicle controller 4 includes at least one processor 41 and a memory 42 communicatively connected to the at least one processor 41.

[0068] Wherein, the memory 42 stores a computer program executable by the at least one processor 41, and when the at least one processor 41 executes the computer program, it implements the motor control method of any one of the above embodiments.

[0069] According to the vehicle controller 4 proposed in the embodiments of the present invention, by executing the motor control method described in the above embodiments, a motor can be used to drive the brake air pump and the steering oil pump simultaneously, thereby effectively reducing the production cost of the vehicle and improving the driving safety of the vehicle.

[0070] In a third aspect embodiment of the present invention, a vehicle is proposed, as Figure 4 and Figure 5 shown, the vehicle 100 includes a brake air pump 1, a steering oil pump 2, a motor 3, and the vehicle controller 4 of the above embodiments. The motor 3 is used to drive the brake air pump 1 and / or the steering oil pump 2, and the vehicle controller 4 is connected to the motor 3 for controlling the working state of the motor 3.

[0071] It can be understood that the brake air pump 1 provides air source power for the braking components to ensure the braking ability of the vehicle 100, and the steering oil pump 2 provides power for the steering components to ensure the steering ability of the vehicle 100.

[0072] According to the vehicle 100 of the embodiments of the present invention, through the vehicle controller 4 of the above embodiments, a motor 3 can be used to drive the brake air pump 1 and the steering oil pump 2 simultaneously, thereby effectively reducing the production cost of the vehicle 100 and improving the driving safety of the vehicle 100.

[0073] In some embodiments, as Figure 5As shown, the vehicle 100 further includes a clutch 5 and an electronically controlled air treatment unit 6. The clutch 5 is connected to the motor 3 and is used to drive the brake air pump 1 under the action of the motor 3. The electronically controlled air treatment unit 6 is connected to the vehicle controller 4 and is used to output a brake air injection request according to the current air pressure value of the brake air tank.

[0074] Specifically, the electronically controlled air treatment unit 6 can obtain the current air pressure value of the brake air tank, and determine whether the brake air injection request is for air injection by judging whether the current air pressure value of the brake air tank is lower than the preset air pressure threshold. That is to say, if the current air pressure value of the brake air tank is less than the preset air pressure threshold, the brake air injection request is for air injection; if the current air pressure value of the brake air tank is greater than or equal to the preset air pressure threshold, the brake air injection request is for no air injection.

[0075] Specifically, if the current air pressure value of the brake air tank is less than the preset air pressure threshold, the electronically controlled air treatment unit 6 outputs a brake air injection request for air injection to the vehicle controller 4. Then, the vehicle controller 4 sends a clutch engagement signal to the motor 3 through the CAN bus. After receiving the clutch engagement signal sent by the vehicle controller 4, the motor 3 drives the clutch 5 to engage, that is, controls the mechanical connection between the motor 3 and the brake air pump 1, so that the power output by the motor 3 can be transmitted to the brake air pump 1 through the clutch 5, thereby ensuring that the brake air pump 1 can quickly inject air into the brake air tank under the drive of the motor 3.

[0076] In the embodiment, if the motor 3 detects the loss of the vehicle controller message, it uses the maximum operating speed as the target speed control.

[0077] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example.

[0078] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A motor control method, characterized in that: For a vehicle, the vehicle includes a brake air pump and a steering oil pump, the motor is used to drive the brake air pump and / or the steering oil pump, and the control method includes: Acquiring the current speed of the vehicle and the brake inflation request of the brake air pump; The target speed of the motor is determined according to the current vehicle speed and / or the brake inflation request.

2. The motor control method according to claim 1, characterized in that: Determining the target speed of the motor according to the current vehicle speed and / or the brake inflation request includes: Determining that the brake inflation request is inflation; The maximum operating speed value of the motor is used as the target speed.

3. The motor control method according to claim 2, characterized in that: The vehicle further includes a clutch, the motor drives the brake air pump via the clutch, and the method further includes: Obtaining an actual speed value of the motor; If it is determined that the difference between the actual speed value and the target speed value is within a preset error allowable range, the clutch is driven to engage.

4. The motor control method according to claim 1, characterized in that: Controlling the target speed of the motor according to the current vehicle speed and / or the brake inflation request includes: Determining that the brake inflation request is no inflation; According to the current vehicle speed, a speed calibration table is queried to obtain the steering speed value required by the motor, wherein the speed calibration table is a calibration table of the relationship between the vehicle speed and the steering speed value required; The steering required speed value is used as the target speed.

5. The motor control method according to any one of claims 1 to 4, characterized in that: The method further comprises: Get vehicle status information; Determining that the vehicle state information satisfies a motor speed reduction condition, and that a duration for which the vehicle state information satisfies the motor speed reduction condition reaches a preset time length; The motor is controlled to gradually decrease from the target speed to a first speed, wherein the first speed is greater than or equal to a minimum operating speed of the motor.

6. The motor control method according to claim 5, characterized in that: The motor speed reduction conditions include: The current vehicle speed is zero; The gear position of the gear shifter in the vehicle is in neutral; The handbrake of the vehicle is in the pulled up state; The brake inflation request is no inflation.

7. The motor control method according to claim 1, characterized in that: The vehicle further includes a high-voltage relay, which is used to control the power supply state of the motor, including: Receiving a vehicle power-off request; Controlling the motor to gradually decrease from the target speed to zero; In response to the vehicle power-off request, the high-voltage relay is controlled to be opened to cut off power supply to the motor.

8. A vehicle controller, characterized in that it includes: at least one processor; a memory communicatively coupled to at least one of the processors; The memory stores a computer program executable by at least one of the processors, and when at least one of the processors executes the computer program, the motor control method according to any one of claims 1 to 7 is implemented.

9. A vehicle, characterized in that: include: Brake air pump and steering oil pump; A motor, the motor is used to drive the brake air pump and / or the steering oil pump; The vehicle controller according to claim 8 is connected to the motor and is used to control the working state of the motor.

10. The vehicle according to claim 9, characterized in that Also includes: A clutch, the clutch is connected to the motor and is used to drive the brake air pump under the action of the motor; An electronically controlled air processing unit is connected to the vehicle controller and is used to output a brake inflation request according to a current air pressure value of the brake air tank.

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