Control method and device, vehicle and storage medium

Abstract

The embodiment of the invention discloses a control method and device, a vehicle and a storage medium, and belongs to the technical field of motor driving control, and the method comprises the steps: determining a predicted value and an actual value of a target parameter of a driving motor under the condition that the vehicle is in a position-sensorless control mode, the target parameter comprises a rotating speed or a rotor position of the driving motor; based on the predicted value and the actual value of the target parameter of the driving motor, the control state of the position-sensorless control mode is determined, and the control state of the position-sensorless control mode comprises a valid state or an invalid state; the vehicle is controlled based on a control state of the position sensorless control mode. The accuracy of the predicted values of the parameters predicted by the controller in the position-sensorless control mode can be verified, so that the driving safety and reliability of the vehicle in the position-sensorless control mode can be improved as much as possible.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of motor drive control, including but not limited to a control method and device, a vehicle, and a storage medium. Background Art

[0002] With the rapid development of automatic control technology and automotive technology, more and more new energy vehicles have entered people's lives, bringing great convenience to people's travel. However, in these new energy vehicles, the motor system is the core power component, so it is necessary to accurately and reliably control the motor to ensure the performance and safety of the vehicle.

[0003] In the related art, a position sensor in the motor system is generally used to monitor the rotational speed and rotor position of the motor, and then the motor is controlled based on the rotational speed and rotor position monitored by the position sensor. In the case of a failure of the position sensor, the vehicle can enter a sensorless control mode, and the rotational speed and rotor position of the motor are estimated by software, and then the motor is controlled.

[0004] However, when the vehicle is actually working, it will be affected by various factors, which may cause deviations in the estimation results in the sensorless control mode, thereby affecting the control of the motor. Therefore, how to improve the reliability and safety of vehicle control in the sensorless control mode is an urgent technical problem to be solved. Summary of the Invention

[0005] In view of this, the control method, device, vehicle, and storage medium provided by the embodiments of the present application can at least partially solve the above technical problems. The control method, device, vehicle, and storage medium provided by the embodiments of the present application are implemented as follows:

[0006] In a first aspect of the embodiments of the present application, a control method is provided, which is applied to a vehicle, and the vehicle includes a drive motor; the method includes:

[0007] When the vehicle is in a sensorless control mode, determine a predicted value and an actual value of a target parameter of the drive motor, where the target parameter includes the rotational speed or rotor position of the drive motor;

[0008] Based on the predicted value and the actual value of the target parameter of the drive motor, determine a control state of the sensorless control mode, where the control state of the sensorless control mode includes an effective state or an invalid state;

[0009] Control the vehicle based on the control state of the sensorless control mode.

[0010] Optionally, determining the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor includes:

[0011] Determining the difference between the predicted value and the actual value of the target parameter of the drive motor;

[0012] Based on the difference, determining the control state of the sensorless control mode.

[0013] Optionally, determining the control state of the sensorless control mode based on the difference includes:

[0014] When the difference is greater than a first preset threshold, determining the control state of the sensorless control mode as the invalid state;

[0015] When the difference is less than or equal to the first preset threshold, determining the control state of the sensorless control mode as the valid state.

[0016] Optionally, determining the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor includes:

[0017] Determining the difference between the predicted value and the actual value of the target parameter of the drive motor;

[0018] Based on the difference and the real-time vehicle speed, determining the control state of the sensorless control mode.

[0019] Optionally, determining the control state of the sensorless control mode based on the difference and the real-time vehicle speed includes:

[0020] When the real-time vehicle speed is greater than a speed threshold and the difference is greater than a second preset threshold, determining the control state of the sensorless control mode as the invalid state;

[0021] When the real-time vehicle speed is greater than the speed threshold and the difference is less than or equal to the second preset threshold, determining the control state of the sensorless control mode as the valid state;

[0022] When the real-time vehicle speed is less than or equal to the speed threshold and the difference is greater than a third preset threshold, determining the control state of the sensorless control mode as the invalid state;

[0023] When the real-time vehicle speed is less than or equal to the speed threshold and the difference is less than or equal to the third preset threshold, determine that the control state of the sensorless control mode is the effective state;

[0024] Wherein, the third preset threshold is greater than the second preset threshold.

[0025] Optionally, the target parameter includes the rotational speed of the drive motor, and a wheel speed sensor is provided on the drive wheel of the vehicle; the method further includes:

[0026] Obtain the wheel speed information of the drive wheel of the vehicle through the wheel speed sensor;

[0027] Based on the wheel speed information of the drive wheel of the vehicle, the transmission ratio of the vehicle, and the rolling radius of the drive wheel, determine the actual value of the rotational speed of the drive motor.

[0028] Optionally, the target parameter includes the rotor position of the drive motor, and a wheel speed sensor is provided on the drive wheel of the vehicle; the method further includes:

[0029] Obtain the wheel speed information of the drive wheel of the vehicle through the wheel speed sensor;

[0030] Based on the wheel speed information of the drive wheel of the vehicle, the transmission ratio of the vehicle, and the rolling radius of the drive wheel, determine the actual value of the rotational speed of the drive motor;

[0031] Based on the actual value of the rotational speed of the drive motor and the initial value of the rotor position of the drive motor, determine the actual value of the rotor position of the drive motor.

[0032] Optionally, controlling the vehicle based on the control state of the sensorless control mode includes:

[0033] When the control state of the sensorless control mode is the invalid state, adjust the operating parameters of the vehicle, and the operating parameters of the vehicle include the vehicle speed.

[0034] Optionally, the vehicle further includes a position sensor; before determining the predicted value and the actual value of the target parameter of the drive motor, the method further includes:

[0035] Obtain the detection signal output by the position sensor;

[0036] When it is determined according to the detection signal that the working state of the position sensor is an abnormal state, control the vehicle to be in the sensorless control mode.

[0037] In a second aspect of the embodiments of the present application, a control device is further provided, which is applied to a vehicle, and the vehicle includes a drive motor; the device includes:

[0038] A parameter determination module, configured to determine a predicted value and an actual value of a target parameter of the drive motor when the vehicle is in a sensorless control mode, where the target parameter includes the rotational speed or rotor position of the drive motor;

[0039] A state determination module, configured to determine a control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor, where the control state of the sensorless control mode includes an effective state or an invalid state;

[0040] A control module, configured to control the vehicle based on the control state of the sensorless control mode.

[0041] The vehicle provided by the embodiments of the present application includes a memory and a processor, the memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiments of the present application is implemented.

[0042] The computer-readable storage medium provided by the embodiments of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided by the embodiments of the present application is implemented.

[0043] The control method, device, vehicle, and computer-readable storage medium provided by the embodiments of the present application determine a predicted value and an actual value of a target parameter of the drive motor when the vehicle is in a sensorless control mode. Based on the predicted value and the actual value of the target parameter of the drive motor, the control state of the sensorless control mode is determined. The vehicle is controlled based on the control state of the sensorless control mode.

[0044] Wherein, the actual value of the target parameter can be used as a reference benchmark for judging whether the predicted value of the target parameter is accurate. Then, by comparing the difference between the actual value of the target parameter and the predicted value of the target parameter, the control state of the sensorless control mode can be accurately determined, and the accuracy of the predicted values of the various parameters predicted by the controller in the sensorless control mode can be accurately verified. Furthermore, the vehicle and the drive motor can be flexibly controlled according to the control state of the sensorless control mode, so as to improve the safety and reliability of controlling the vehicle based on the sensorless control mode as much as possible.

[0045] In this way, the purpose of verifying the accuracy of the predicted values of various parameters predicted by the controller in the sensorless control mode can be achieved. Moreover, the driving safety and reliability of the vehicle in the sensorless control mode can be improved as much as possible, so as to at least partially solve the technical problems raised in the background art. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 Schematic diagram of an application scenario provided by an embodiment of the present application;

[0048] Figure 2 Flowchart of the first control method provided by an embodiment of the present application;

[0049] Figure 3 Flowchart of the second control method provided by an embodiment of the present application;

[0050] Figure 4 Flowchart of the third control method provided by an embodiment of the present application;

[0051] Figure 5 Flowchart of the fourth control method provided by an embodiment of the present application;

[0052] Figure 6 Flowchart of the fifth control method provided by an embodiment of the present application;

[0053] Figure 7 Flowchart of the sixth control method provided by an embodiment of the present application;

[0054] Figure 8 Schematic structural diagram of a control device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0055] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will further describe the specific technical solutions of the present application in detail with reference to the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application but are not intended to limit the scope of the present application.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0057] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0058] It should be noted that the terms "first / second / third" involved in the embodiments of the present application are used to distinguish similar or different objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged with a specific order or sequence when permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0059] In the related art, a position sensor in a motor system is generally used to monitor the rotational speed and rotor position of the motor, and then the motor is controlled based on the rotational speed and rotor position monitored by the position sensor. In the case where the position sensor fails, the vehicle can enter a sensorless control mode, and the rotational speed and rotor position of the motor are estimated by software, and then the motor is controlled.

[0060] However, when the vehicle is actually operating, it is affected by various factors, which may cause deviations in the estimation results in the sensorless control mode, thereby affecting the control of the motor. Therefore, how to improve the reliability and safety of vehicle control in the sensorless control mode is a technical problem that needs to be solved urgently at present.

[0061] For this reason, the embodiments of the present application provide a control method. When the vehicle is in the sensorless control mode, the predicted value and the actual value of the target parameter of the drive motor are determined. Based on the predicted value and the actual value of the target parameter of the drive motor, the control state of the sensorless control mode is determined. The vehicle is controlled based on the control state of the sensorless control mode. Wherein, the target parameter includes the rotational speed or rotor position of the drive motor, and the control state of the sensorless control mode includes an effective state or an invalid state. In this way, the accuracy of the predicted values of the various parameters predicted by the controller in the sensorless control mode can be verified, and thus the safety of the vehicle when it is in the sensorless control mode can be improved as much as possible.

[0062] The embodiments of the present application are described by taking the control method applied to a vehicle as an example. However, it does not mean that the embodiments of the present application can only be applied to control the drive motor in the vehicle.

[0063] Optionally, the vehicle may include, but is not limited to, a battery electric vehicle, a range extender vehicle, or a hybrid vehicle. Specifically, the vehicle may be any vehicle powered by a drive motor, that is, the vehicle may include at least one drive motor.

[0064] Figure 1 A schematic diagram of an application scenario is provided. Refer to Figure 1 , in which Vehicle A is provided. Vehicle A may include multiple drive wheels L, and Vehicle A also includes at least one drive motor T, a transmission D, a drive shaft Z, and a controller K. That is, Vehicle A may be a vehicle powered by drive motor T.

[0065] Among them, the controller K may be any control unit and / or processor with functions such as processing, controlling, identifying, and computing. The embodiments of the present application do not limit this.

[0066] In this embodiment, the controller K may be used to control the drive motor T in response to corresponding control instructions. For example, the controller K may be used to control the rotational speed of the drive motor T, the rotor position of the drive motor T, the rotation direction of the drive motor T, and control the start and stop states of the drive motor T, etc. In addition, the controller K may also be used to execute any other possible software programs. The embodiments of the present application do not limit this.

[0067] In this embodiment, the drive motor T may be used to output corresponding rotational torque to any drive wheel L through the drive shaft Z and the transmission D under the control of the controller K. That is, the drive shaft Z and the transmission D can transmit the torque output by the drive motor T to any drive wheel L in Vehicle A, so that Vehicle A can generate driving force, and thus Vehicle A can travel at a certain speed.

[0068] Optionally, as Figure 1 shown, a position sensor Q1 may be provided in the drive motor T, and the position sensor Q1 outputs a corresponding resolver signal. Specifically, the resolver signal is used to indicate parameters such as the rotational speed of the drive motor T, the rotational angle of the rotor of the drive motor, and the position of the rotor. The position sensor Q1 may be a resolver.

[0069] Optionally, as Figure 1 shown, a wheel speed sensor Q2 may also be provided in any one of the drive wheels L, and the wheel speed sensor Q2 outputs a corresponding electrical signal for indicating the wheel speed of the drive wheel L. Specifically, the wheel speed sensor Q2 may be a magnetoelectric wheel speed sensor or a Hall wheel speed sensor. The embodiments of the present application do not limit this.

[0070] Moreover, corresponding communication wiring harnesses can also be provided in vehicle A. For example, a communication wiring harness for transmitting the resolver signal can be provided between the position sensor Q1 and the controller K, a communication wiring harness for outputting an electrical signal indicating the wheel speed of the drive wheel L can be provided between the wheel speed sensor Q2 and the controller K, and a communication wiring harness for transmitting corresponding control signals can be provided between the controller K and the drive motor T. The embodiments of the present application do not limit this.

[0071] In this case, the controller K can be used to analyze the resolver signal, perform any possible processing operations on the resolver signal (such as determining the working state of the position sensor Q1 based on the resolver signal, etc.), and control the drive motor T based on the resolver signal. The controller K can also analyze the electrical signal indicating the wheel speed of the drive wheel L to determine the wheel speed information of any one drive wheel L. The embodiments of the present application do not limit this.

[0072] It should be noted that Figure 1 the vehicle A shown is only an example of an application scenario provided by the embodiments of the present application, and does not mean that the control method provided by the embodiments of the present application can only be applied to the vehicle A as Figure 1 shown. In actual application, this method can be applied to vehicles with any number of drive wheels and drive motors. The embodiments of the present application do not limit this.

[0073] The control method provided by the embodiments of the present application will be explained in detail below.

[0074] Figure 2 is a schematic flowchart of a control method provided by the present application. This method can be applied to the above vehicle and can be specifically executed by the controller in the vehicle. Refer to Figure 2 . The embodiments of the present application provide a control method, which includes:

[0075] Step 101: When the vehicle is in a sensorless control mode, determine the predicted value and the actual value of the target parameter of the drive motor.

[0076] Optionally, the sensorless control mode may refer to a mode in which the controller does not need to use a position sensor to obtain the target parameter of the drive motor to control the drive motor. That is, when the vehicle is in the sensorless control mode, the controller can estimate / predict parameters such as the rotational speed, rotor position, rotor rotation angle, and rotor rotation direction of the drive motor based on any other possible parameters (such as measuring the working voltage and working current of the drive motor).

[0077] Optionally, when the position sensor in the vehicle is in an abnormal state (or fails), the vehicle can be made to enter a position sensorless control mode. Also, when no position sensor is provided in the vehicle, the vehicle can be made to enter a position sensorless control mode.

[0078] Generally, if the position sensor is provided in the vehicle, the position sensor can be disposed inside the drive motor so that the position sensor can accurately detect the rotational speed and / or rotor position of the drive motor.

[0079] Exemplarily, when the vehicle is in the position sensorless control mode, the controller can adopt any possible position sensorless control strategy to predict the target parameters of the drive motor. For example, the controller can specifically adopt the back electromotive force method, the stator third harmonic method, the current path monitoring method, or any other possible strategy. The embodiments of the present application do not make any limitations in this regard.

[0080] In this embodiment, the target parameters can include the rotational speed or rotor position of the drive motor. The target parameters can also include any other parameters that can accurately determine the actual value. The embodiments of the present application do not make any limitations in this regard.

[0081] Among them, the predicted value of the target parameter is the parameter value estimated by the controller for the target parameters of the drive motor. The actual value of the target parameter is the value detected by other devices in the vehicle except the position sensor for the target parameter. The actual value of the target parameter can accurately reflect the true operating conditions of the vehicle and the drive motor.

[0082] It should be understood that if the vehicle is in the position sensorless control mode, it can be indicated that in the current situation, the controller cannot obtain the target parameters of the drive motor based on the position sensor. However, the controller needs to control the drive motor based on the target parameters of the drive motor. Therefore, it is necessary to ensure that the predicted value of the target parameter predicted by the controller is as accurate as possible. In this way, the controller can control the drive motor with a higher control accuracy and reliability.

[0083] It is worth noting that in this embodiment, the actual value of the target parameter can be directly measured by other devices in the vehicle except the position sensor. Generally, the actual value of the target parameter can accurately reflect the true operating conditions of the vehicle and the drive motor. Therefore, by determining the predicted value and the actual value of the target parameter, it is convenient to verify whether the predicted value of the target parameter is accurate with the actual value of the target parameter as the reference benchmark in the subsequent process.

[0084] Step 102: Determine the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor.

[0085] Optionally, the control state of the sensorless control mode includes an effective state or an ineffective state.

[0086] Specifically, when determining the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor, the difference between the predicted value and the actual value of the target parameter can be compared to determine whether the control state of the sensorless control mode is an effective state or an ineffective state. For example, if the predicted value of the target parameter is the same as (or has a small difference from) the actual value of the target parameter, it can be determined that the control state of the sensorless control mode is an effective state; if the predicted value of the target parameter is different from (or has a large difference from) the actual value of the target parameter, it can be determined that the control state of the sensorless control mode is an ineffective state.

[0087] In this embodiment, if the control state of the sensorless control mode is an effective state, it can indicate that the predicted value of the target parameter and other parameters predicted by the controller in the sensorless control mode are accurate. If the control state of the sensorless control mode is an ineffective state, it can indicate that the predicted value of the target parameter and / or other parameters predicted by the controller in the sensorless control mode are inaccurate.

[0088] It should be noted that based on the predicted value and the actual value of the target parameter, it can be accurately determined whether the predicted value of the target parameter predicted by the controller in the sensorless control mode is accurate (whether it conforms to the actual operating conditions of the vehicle and the drive motor). Specifically, the difference between the predicted value and the actual value of the target parameter can be compared to determine whether the predicted value of the target parameter is accurate. Generally, when it is determined that the predicted value of the target parameter is accurate, it can be considered that other parameters predicted by the controller in the sensorless control mode are also accurate.

[0089] In this way, the control state of the sensorless control mode and whether the predicted values of various parameters predicted by the controller in the sensorless control mode are accurate can be accurately and reliably determined.

[0090] Step 103: Control the vehicle based on the control state of the sensorless control mode.

[0091] It should be noted that if the control state of the sensorless control mode is a valid state, it can indicate that all the parameters predicted by the controller in the sensorless control mode are accurate. That is, the controller can currently obtain accurate parameters of the vehicle and the drive motor without using the position sensor. In this case, it can be determined that the drive motor can be controlled as stably and reliably as possible currently, and the vehicle can be controlled based on the predicted values of the parameters predicted by the controller in the sensorless control mode. Additionally, if the control state of the sensorless control mode is an invalid state, it can indicate that at least some of the parameters predicted by the controller in the sensorless control mode are inaccurate. That is, the controller cannot currently obtain accurate parameters of the vehicle and the drive motor. In this case, it can be determined that the drive motor cannot be controlled stably and reliably currently and it may not be possible to ensure the safe driving of the vehicle. Therefore, the vehicle needs to be controlled to decelerate or stop.

[0092] In this way, the vehicle and the drive motor can be flexibly controlled according to the control state of the sensorless control mode, so as to improve the safety and reliability of controlling the vehicle based on the sensorless control mode as much as possible.

[0093] In an embodiment of the present application, when the vehicle is in the sensorless control mode, the predicted value and the actual value of the target parameter of the drive motor are determined. Based on the predicted value and the actual value of the target parameter of the drive motor, the control state of the sensorless control mode is determined. The vehicle is controlled based on the control state of the sensorless control mode.

[0094] Among them, the actual value of the target parameter can be used as a reference benchmark for judging whether the predicted value of the target parameter is accurate. Then, by comparing the difference between the actual value of the target parameter and the predicted value of the target parameter, the control state of the sensorless control mode can be accurately determined, and the accuracy of the predicted values of the parameters predicted by the controller in the sensorless control mode can be accurately verified. Furthermore, the vehicle and the drive motor can be flexibly controlled according to the control state of the sensorless control mode, so as to improve the safety and reliability of controlling the vehicle based on the sensorless control mode as much as possible.

[0095] In this way, the purpose of verifying the accuracy of the predicted values of the parameters predicted by the controller in the sensorless control mode can be achieved, and the safety and reliability of the vehicle when it is in the sensorless control mode can be improved as much as possible.

[0096] In a possible implementation manner, refer to Figure 3, determining the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor, including:

[0097] Step 1021: Determine the difference between the predicted value and the actual value of the target parameter of the drive motor.

[0098] Optionally, the difference may refer to the difference obtained by subtracting the actual value of the target parameter from the predicted value of the target parameter, or it may refer to the difference obtained by subtracting the actual value of the target parameter from the predicted value of the target parameter. Alternatively, the difference may also be the absolute value of the difference between the predicted value and the actual value of the target parameter. The embodiments of the present application do not limit this.

[0099] Exemplarily, since the target parameter may include the rotational speed or the rotor position of the drive motor, the difference may be the difference between the actual value and the predicted value of the rotational speed of the drive motor, or alternatively, it may also be the difference between the actual value and the predicted value of the rotor position of the drive motor. The embodiments of the present application do not limit this.

[0100] In this embodiment, the difference is used to characterize the degree of difference between the predicted value and the actual value of the target parameter, that is, this difference can be used to characterize the difference between the predicted values of the various parameters predicted by the controller in the sensorless mode and the actual operating conditions of the vehicle. Generally, the larger the difference, the greater the degree of difference between the predicted value and the actual value of the target parameter, and the greater the difference between the predicted values of the various parameters predicted by the controller in the sensorless mode and the actual operating conditions of the vehicle. On the contrary, the smaller the difference, the smaller the degree of difference between the predicted value and the actual value of the target parameter, and the smaller the difference between the predicted values of the various parameters predicted by the controller in the sensorless mode and the actual operating conditions of the vehicle.

[0101] Step 1022: Determine the control state of the sensorless control mode based on the difference.

[0102] Further, when performing step 1022, specifically, the control state of the sensorless control mode can also be determined according to the difference and a corresponding threshold (denoted as threshold 1). For example, if the difference is greater than threshold 1, it can be determined that the control state of the sensorless control mode is an invalid state; if the difference is less than or equal to threshold 1, it can be determined that the control state of the sensorless control mode is a valid state. The embodiments of the present application do not limit this.

[0103] It should be noted that since this difference can accurately reflect the degree of difference between the predicted value of the target parameter and the actual value of the target parameter, and can also accurately reflect the difference between the predicted values of the various parameters predicted by the controller in the sensorless mode and the actual operating conditions of the vehicle, therefore, determining the control state of the sensorless control mode based on this difference has high accuracy and reliability.

[0104] In a possible implementation, refer to Figure 4 , based on this difference, determining the control state of the sensorless control mode includes:

[0105] Step 1023: When this difference is greater than the first preset threshold, determine the control state of the sensorless control mode as an invalid state.

[0106] Step 1024: When this difference is less than or equal to the first preset threshold, determine the control state of the sensorless control mode as a valid state.

[0107] Optionally, the first preset threshold can be flexibly set according to actual needs.

[0108] Exemplarily, taking the difference between the actual value of the rotational speed of the drive motor and the predicted value of the rotational speed of the drive motor as an example, denoting the predicted value of the rotational speed of the drive motor as rotational speed A, denoting the actual value of the rotational speed of the drive motor as rotational speed B, and denoting the first preset threshold as X, then this difference can be denoted as |A - B|. Then, when |A - B| ≤ X, the control state of the sensorless control mode can be determined as a valid state; when |A - B| is greater than X, the control state of the sensorless control mode can be determined as an invalid state.

[0109] It should be noted that the first preset threshold can be set to be relatively small. In this way, when the degree of difference between the predicted value of the target parameter and the actual value of the target parameter is relatively small, the control state of the sensorless control mode can be determined as an invalid state. In addition, the first preset threshold can also be set to be relatively large. In this way, when the degree of difference between the predicted value of the target parameter and the actual value of the target parameter is relatively large, the control state of the sensorless control mode will be determined as an invalid state. It can be seen that by adjusting the first preset threshold, the purpose of flexibly adjusting the robustness of the vehicle can be achieved.

[0110] In a possible implementation, refer to Figure 5 , based on the predicted value and the actual value of the target parameter of the drive motor, determining the control state of the sensorless control mode includes:

[0111] Step 1025: Determine the difference between the predicted value and the actual value of the target parameter of the drive motor.

[0112] It can be understood that the operations required to execute Step 1025 are the same as those required to execute the above-mentioned Step 1021. Therefore, the relevant definitions and descriptions of Step 1021 can be referred to, and the embodiments of the present application will not elaborate herein.

[0113] Step 1026: Based on the difference and the real-time vehicle speed of the vehicle, determine the control state of the sensorless control mode.

[0114] Optionally, the real-time vehicle speed of the vehicle may refer to the driving speed of the vehicle at the current moment. Moreover, the real-time vehicle speed of the vehicle may refer to the vehicle speed in the head direction of the vehicle, or may refer to the vehicle speed in the tail direction of the vehicle, or may also refer to the vehicle speed in any possible direction of the vehicle. The embodiments of the present application do not limit this.

[0115] In a possible embodiment, determining the control state of the sensorless control mode based on the difference and the real-time vehicle speed of the vehicle includes:

[0116] When the real-time vehicle speed of the vehicle is greater than the speed threshold and the difference is greater than the second preset threshold, determine that the control state of the sensorless control mode is an invalid state.

[0117] Optionally, the speed threshold can be set according to actual needs. Moreover, in order to improve the safety of the vehicle, the speed threshold can be set to be relatively small.

[0118] Optionally, the second preset threshold can also be set according to actual needs. Moreover, in order to improve the accuracy of the parameters used for controlling the drive motor, the second preset threshold can be set to be relatively small.

[0119] It is worth noting that generally, if the real-time vehicle speed of the vehicle is greater than the speed threshold, it can indicate that the vehicle is currently driving relatively fast and the vehicle is prone to safety problems. Therefore, there are relatively high requirements for controlling the drive motor. Then, more accurate parameters are needed to control the drive motor. At the same time, if the difference is greater than the second preset threshold, it indicates that the predicted value of the target parameter and the predicted values of other parameters predicted by the controller in the sensorless control mode are not accurate enough. Therefore, determining the control state of the sensorless control mode as an invalid state can enable the controller to determine that it may not be possible to ensure the safe driving of the vehicle currently, and then control the vehicle to decelerate or stop to ensure the safety and reliability of the vehicle driving as much as possible.

[0120] When the real-time vehicle speed of the vehicle is greater than the speed threshold and the difference is less than or equal to the second preset threshold, it is determined that the control state of the position sensorless control mode is a valid state.

[0121] It is worth noting that, in general, if the real-time speed of the vehicle is greater than the speed threshold, it can be indicated that the vehicle is currently traveling faster and the vehicle is prone to safety problems, so there are higher requirements for controlling the drive motor. At the same time, if the difference is less than or equal to the second preset threshold, it indicates that the predicted value of the target parameter and the predicted values ​​of other parameters predicted by the controller under the position sensorless control mode are relatively accurate. Therefore, the control state of the position sensorless control mode is determined to be a valid state, so that the controller can determine that the safe driving of the vehicle may be ensured to a certain extent at present, and control the vehicle based on the predicted values ​​of various parameters predicted by the controller under the position sensorless control mode. In this way, the user experience can be improved to a certain extent.

[0122] When the real-time vehicle speed of the vehicle is less than or equal to the speed threshold and the difference is greater than a third preset threshold, it is determined that the control state of the position sensorless control mode is an invalid state.

[0123] Optionally, the third preset threshold value may also be set according to actual needs. Moreover, the third preset threshold value may also be set relatively small, so that the third preset threshold value is greater than the second preset threshold value.

[0124] It is worth noting that, in general, if the real-time speed of the vehicle is less than or equal to the speed threshold, it can be indicated that the vehicle is currently traveling slowly and the vehicle is less likely to have safety problems. Therefore, the requirements for controlling the drive motor can be appropriately lowered, that is, the drive motor can be controlled using parameters with relatively low accuracy. At the same time, if the difference is greater than the third preset threshold, it indicates that the predicted value of the target parameter and the predicted values ​​of other parameters predicted by the controller in the position sensorless control mode are less accurate. Therefore, the control state of the position sensorless control mode is determined to be an invalid state, so that the controller can determine that the safe driving of the vehicle may not be ensured at present, and then control the vehicle to slow down or stop, so as to ensure the safety and reliability of the vehicle's driving as much as possible.

[0125] When the real-time speed of the vehicle is less than or equal to the speed threshold, and the difference is less than or equal to the third preset threshold, determining that the control state of the position sensorless control mode is a valid state;

[0126] It should be noted that, generally, if the real-time vehicle speed of the vehicle is less than or equal to the speed threshold, it can indicate that the vehicle is driving slowly at present and it is not easy for the vehicle to have safety problems. Therefore, the requirements for controlling the drive motor can be appropriately reduced, that is, the drive motor can be controlled by using parameters with relatively low accuracy. At the same time, if the difference is less than or equal to the third preset threshold, it indicates that the predicted values of the target parameter and other parameters predicted by the controller in the sensorless control mode are relatively accurate. Therefore, the control state of the sensorless control mode is determined to be an effective state. In this way, it can be made that the controller determines that it may ensure the safe driving of the vehicle to a certain extent at present, and the vehicle is controlled based on the predicted values of various parameters predicted by the controller in the sensorless control mode. In this way, the user experience can be improved to a certain extent.

[0127] It can be understood that by determining the control state of the sensorless control mode based on the difference and the real-time vehicle speed of the vehicle, the vehicle can adopt different control strategies to judge the control state of the sensorless control mode when driving at a high speed or at a low speed respectively. In this way, the robustness of the control method can be improved.

[0128] Because in some vehicles, corresponding wheel speed sensors may also be provided on the drive wheels of the vehicle. For this reason, the embodiment of the present application also provides a possible implementation manner. The method further includes:

[0129] Obtain the wheel speed information of the drive wheel of the vehicle through the wheel speed sensor.

[0130] Optionally, the wheel speed sensor can be installed at the edge position of the drive wheel of the vehicle, or at any possible position on the drive wheel of the vehicle. The embodiment of the present application does not limit this.

[0131] In this embodiment, the wheel speed information of the drive wheel of the vehicle may include: the rotational speed at the edge position of the drive wheel. For example, it may be the rotational speed of the contact point between the drive wheel and the ground. The embodiment of the present application does not limit this.

[0132] Based on the wheel speed information of the drive wheel of the vehicle, the transmission ratio of the vehicle, and the rolling radius of the drive wheel, determine the actual value of the rotational speed of the drive motor.

[0133] Optionally, the transmission ratio of the vehicle and the rolling radius of the drive wheel may be preset values measured in advance. The embodiment of the present application does not limit this.

[0134] In this embodiment, the transmission ratio of the vehicle is used to characterize the relationship between the rotational speed of the drive motor and the wheel speed information of the drive wheel. That is, the transmission ratio of the vehicle can indicate the ratio between the rotational speed of the drive motor and the rotational speed of the drive wheel.

[0135] In this embodiment, the rolling radius of the drive wheel can refer to the radius of the contact point between the drive wheel and the ground when the drive wheel is rolling.

[0136] For example, the actual value of the rotational speed of the drive motor is denoted as n (revolutions per minute), the transmission ratio of the vehicle is denoted as i, the rolling radius of the drive wheel is denoted as r (meters), and the rotational speed indicated by the wheel speed information of the drive wheel of the vehicle is denoted as v (meters per second). The actual value of the rotational speed of the drive motor can be calculated in the following way: n = (v * 60 * i) / (2π * r).

[0137] It should be noted that since the wheel speed information of the drive wheel of the vehicle is obtained by a wheel speed sensor installed on the drive wheel, generally speaking, the wheel speed information of the drive wheel of the vehicle is relatively accurate, while the transmission ratio of the vehicle and the rolling radius of the drive wheel are measured. Then, by the wheel speed information of the drive wheel of the vehicle, the transmission ratio of the vehicle, and the rolling radius of the drive wheel, obtaining the actual value of the rotational speed of the drive motor can ensure that the actual value of the rotational speed of the drive motor is the same as (or as close as possible to) the actual operating condition of the drive motor. In this way, the accuracy and reliability of determining the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor can be improved.

[0138] Another possible implementation manner is also provided in the embodiment of the present application. The method further includes:

[0139] Obtain the wheel speed information of the drive wheel of the vehicle through the wheel speed sensor.

[0140] Based on the wheel speed information of the drive wheel of the vehicle, the transmission ratio of the vehicle, and the rolling radius of the drive wheel, determine the actual value of the rotational speed of the drive motor.

[0141] It can be understood that for the specific operations when performing the above two steps, reference can be made to the relevant definitions and descriptions in the previous embodiment, and the embodiment of the present application will not elaborate herein.

[0142] Based on the actual value of the rotational speed of the drive motor and the initial value of the rotor position of the drive motor, determine the actual value of the rotor position of the drive motor.

[0143] Optionally, the initial value of the rotor position of the drive motor can be set according to actual needs. The initial value of the rotor position of the drive motor is used to provide a reference position of the rotor when determining the actual value of the rotor position of the drive motor.

[0144] In this embodiment, the target rotation angle of the rotor of the drive motor within a preset time period can be calculated based on the actual value of the rotational speed of the drive motor, and then the actual value of the rotor position of the drive motor can be determined based on the target rotation angle and the initial value of the rotor position of the drive motor.

[0145] Among them, the starting moment of the preset time period can be the moment when the initial value of the rotor position of the drive motor is determined (or it can also be the moment when the drive motor starts to rotate), and the ending moment of the preset time period can be the current moment (or it can also be the moment when the drive motor stops rotating). The embodiments of the present application do not limit this.

[0146] For example, assuming that the drive motor rotates clockwise, the actual value of the rotational speed of the drive motor is 600 revolutions per minute, and the preset time period is 30.05 seconds, then it can be determined that within the preset time period, the rotor of the drive motor rotates 300.5 revolutions, and the target rotation angle is 108180°. In this case, it can be determined that the actual value of the rotor position of the drive motor is the position that is 180° different from the initial value of the rotor position of the drive motor. Another example, assuming that the drive motor rotates counterclockwise, the actual value of the rotational speed of the drive motor is 200 revolutions per minute, and the preset time period is 69.09 seconds, then it can be determined that within the preset time period, the rotor of the drive motor rotates 200.3 revolutions, and the target rotation angle is 72108°. In this case, the rotor of the drive motor is at the position that rotates 108° counterclockwise relative to the initial value of the rotor position of the drive motor. In this way, the actual value of the rotor position of the drive motor can be accurately determined.

[0147] Another example, the initial value of the rotor position of the drive motor can be used to represent the position where the position sensor of the rotor of the drive motor outputs an accurate signal for the last time in the vehicle. Moreover, when the rotational speed of the drive motor decreases from a value greater than 0 to 0, the initial value of the rotor position of the drive motor currently recorded can be updated based on the target rotation angle of the rotor of the drive motor during this rotation process.

[0148] That is to say, if the initial value of the rotor position of the drive motor currently recorded is 0°, then taking the moment when the drive motor starts to rotate next time as the starting moment of the preset duration, and the moment when the drive motor stops rotating as the ending moment of the preset duration. Assuming that the rotor of the drive motor rotates 180730° within the preset duration, then the initial value of the rotor position of the drive motor can be updated to 10°. The embodiments of the present application do not limit this.

[0149] In addition, in the control method provided by the embodiments of the present application, the actual value of the rotor position of the drive motor can also be determined by any other possible means. For example, the actual value of the rotor position of the drive motor can also be indirectly calculated through parameters such as the real-time speed of the vehicle, the transmission ratio of the vehicle, and the rolling radius of the tire wheel. That is, it is only necessary to ensure that the actual value of the rotor position of the drive motor can accurately reflect the real operating conditions of the vehicle and the drive motor. The embodiments of the present application do not limit this.

[0150] It should be noted that since the wheel speed information of the drive wheel of the vehicle is obtained by a wheel speed sensor installed on the drive wheel, and the transmission ratio of the vehicle and the rolling radius of the drive wheel are measured. Therefore, it is possible to ensure that the actual value of the rotational speed of the drive motor is the same as the real operating conditions of the drive motor as much as possible. Furthermore, the accuracy of the actual value of the rotor position of the drive motor converted according to the actual value of the rotational speed of the drive motor can be ensured as much as possible. In this way, the accuracy and reliability of determining the control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor can be improved.

[0151] It should be noted that, as can be seen from the above two embodiments, in the embodiments of the present application, the control state of the sensorless control mode can be determined by multiple different target parameters of the drive motor, which can improve the flexibility and diversity of determining the control state of the sensorless control mode.

[0152] In a possible implementation manner, refer to Figure 6 , controlling the vehicle based on the control state of the sensorless control mode includes:

[0153] Step 1031: Adjust the operating parameters of the vehicle when the control state of the sensorless control mode is an invalid state.

[0154] Optionally, the operating parameters of the vehicle include the vehicle speed. Specifically, when performing step 1031, the purpose of adjusting the operating parameters of the vehicle can be achieved by specifically reducing the vehicle speed, adjusting the vehicle speed to 0, switching the driving gear of the vehicle to a low-speed driving gear, and any other possible means. The embodiments of the present application do not limit this.

[0155] It should be noted that since the control state of the sensorless control mode is an invalid state, it can be indicated that at least some of the parameters predicted by the controller in the sensorless control mode are inaccurate, that is, the controller currently cannot obtain accurate parameters of the vehicle and the drive motor. In this case, it can be determined that the drive motor cannot be stably and reliably controlled currently, and the safe driving of the vehicle may not be ensured. Therefore, by adjusting the operating parameters of the vehicle, the vehicle is controlled to decelerate or stop. In this way, the driving safety of the vehicle can be improved.

[0156] In addition, when the control state of the sensorless control mode is an invalid state, corresponding prompt information can also be output. The prompt information can be in any possible form such as text, image, sound, light, etc., and the prompt information can be displayed on the central control screen of the vehicle. Moreover, the prompt information can specifically be used to prompt the user to process the vehicle. In this way, effective driving assistance can be provided to the user.

[0157] Step 1032: When the control state of the sensorless control mode is an effective state, control the drive motor based on the predicted value of the target parameter of the drive motor.

[0158] It should be noted that since the control state of the sensorless control mode is an effective state, it can be indicated that all the parameters predicted by the controller in the sensorless control mode are accurate. In this case, it can be determined that the drive motor can be controlled as stably and reliably as possible currently, and the vehicle and the drive motor can be controlled based on the predicted values of the various parameters predicted by the controller in the sensorless control mode. In this way, the drive motor can be accurately controlled based on the sensorless control mode when no position sensor is provided in the vehicle or the position sensor in the vehicle is in an abnormal state, so as to improve the robustness of the vehicle.

[0159] In some vehicles, a corresponding position sensor may be provided in the drive motor of the vehicle. For this reason, the embodiments of the present application also provide a possible implementation manner. See Figure 7 , before determining the predicted value and the actual value of the target parameter of the drive motor, the method further includes:

[0160] Step 104: Obtain the detection signal output by the position sensor.

[0161] Optionally, the detection signal may refer to the electrical signal output by the position sensor. For example, the detection signal may refer to the resolver signal for indicating parameters such as the rotational speed, rotor position, and rotor rotation angle of the drive motor; it may also refer to the fault signal or other level signals output by the position sensor. The embodiments of the present application do not limit this.

[0162] Step 105: When it is determined according to the detection signal that the working state of the position sensor is an abnormal state, control the vehicle to be in the sensorless control mode.

[0163] Optionally, the working state of the position sensor can be determined by determining whether the detection signal decays, whether the detection signal remains 0 continuously, whether the controller can correctly parse and process the detection signal, etc. Also, for example, when it is determined that the detection signal decays, the detection signal remains 0 for a long time, or the controller cannot correctly parse and process the detection signal, it can be determined that the working state of the position sensor is an abnormal state.

[0164] It should be noted that if the working state of the position sensor is an abnormal state, it means that in the current situation, the controller cannot obtain the target parameters of the drive motor based on the position sensor. Therefore, it is necessary to control the vehicle to be in the sensorless control mode and control the drive motor based on the predicted value of the target parameter output by the controller in the sensorless control mode. In this way, the vehicle can control the drive motor even when the position sensor fails or is in an abnormal state, thereby improving the flexibility of controlling the drive motor.

[0165] It should be understood that although each step in the above flowcharts is shown in sequence according to the arrow indication, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowcharts may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or sub-steps or stages of other steps.

[0166] Based on the foregoing embodiments, an embodiment of the present application provides a control device. The device includes each module included therein, as well as each unit included in each module, and can be implemented by a processor; of course, it can also be implemented by specific logic circuits. During implementation, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0167] Figure 8 is a schematic structural diagram of a control device provided by an embodiment of the present application, and can be applied to the above vehicle. Refer to Figure 8 The device includes:

[0168] A parameter determination module 201, configured to determine a predicted value and an actual value of a target parameter of the drive motor when the vehicle is in a sensorless control mode.

[0169] Optionally, the target parameter includes the rotational speed or rotor position of the drive motor.

[0170] A state determination module 202, configured to determine a control state of the sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor.

[0171] Optionally, the control state of the sensorless control mode includes a valid state or an invalid state.

[0172] A control module 203, configured to control the vehicle based on the control state of the sensorless control mode.

[0173] The description of the above device embodiment is similar to the description of the above method embodiment, and has beneficial effects similar to those of the method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0174] It should be noted that in the embodiment of the present application Figure 8 The division of the modules of the control device shown is schematic, and is only a logical function division. In actual implementation, there may be other division methods. In addition, each functional unit in various embodiments of the present application can be integrated in one processing unit, can exist separately physically, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware, or in the form of software functional units, or in the form of a combination of software and hardware.

[0175] It should be noted that in the embodiments of the present application, if the above-mentioned method is implemented in the form of software function modules and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present application, in essence or the part that contributes to the related technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing an electronic device to execute all or part of the methods described in the various embodiments of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), magnetic disks, or optical discs that can store program codes. In this way, the embodiments of the present application are not limited to any specific combination of hardware and software.

[0176] The embodiments of the present application provide a vehicle, which may further include a processor and a memory connected through a system bus. Among them, the processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the vehicle is used to store data. The computer program, when executed by the processor, implements the above method.

[0177] Optionally, the vehicle may further include multiple driven wheels driven separately in the above embodiments, motors for driving each driven wheel separately, and any other possible devices or components for enabling the vehicle to perform its corresponding functions. The embodiments of the present application do not make any limitations in this regard.

[0178] Optionally, the vehicle may further include a network interface, which is used to communicate with an external terminal through a network connection.

[0179] The embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps in the method provided in the above embodiments are implemented.

[0180] The embodiments of the present application provide a computer program product containing instructions, which, when running on a computer, causes the computer to execute the steps in the method provided in the above method embodiments.

[0181] Those skilled in the art can understand that the structure of the vehicle provided in the embodiments of the present application is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the vehicle to which the solution of the present application is applied. The specific vehicle may include more or fewer components than those mentioned in the above embodiments, or combine some components, or have different component arrangements.

[0182] In one embodiment, the vehicle control device provided by the present application can be implemented in the form of a computer program, and the computer program can run on the above vehicle. Each program module constituting the device can be stored in the memory of the vehicle. The computer program composed of each program module enables the processor to execute the steps in the methods of the various embodiments of the present application described in this specification.

[0183] It should be noted here that the descriptions of the above storage medium and device embodiments are similar to those of the above method embodiments and have beneficial effects similar to those of the method embodiments. For the technical details not disclosed in the storage medium, storage medium and device embodiments of the present application, please refer to the descriptions of the method embodiments of the present application for understanding.

[0184] It should be understood that the phrase "in one embodiment" or "in an embodiment" or "in some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment", "in an embodiment" or "in some embodiments" that appear throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments. The above descriptions of the various embodiments tend to emphasize the differences between the various embodiments, and the same or similar parts can be referred to each other. For the sake of brevity, they will not be repeated herein.

[0185] The term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, object A and / or object B can represent: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0186] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the element.

[0187] In several embodiments provided by this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0188] The modules described above as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules; they can be located in one place or distributed to multiple network units; some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] In addition, each functional module in the embodiments of this application can be all integrated in a processing unit, or each module can be separately used as a unit, or two or more modules can be integrated in a unit; the above integrated modules can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0190] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM), magnetic disks, or optical disks and other various media that can store program codes.

[0191] Alternatively, if the above integrated unit of this application is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiments of this application essentially or the part that contributes to the related technology can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable an electronic device to execute all or part of the methods described in the various embodiments of this application. And the foregoing storage medium includes: removable storage devices, ROM, magnetic disks, or optical disks and other various media that can store program codes.

[0192] The methods disclosed in several method embodiments provided by this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0193] The features disclosed in several product embodiments provided by this application can be combined arbitrarily without conflict to obtain new product embodiments.

[0194] The features disclosed in several method or device embodiments provided by this application can be combined arbitrarily without conflict to obtain new method embodiments or device embodiments.

[0195] As mentioned above, it is only the implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by this application, and all of them should be covered by the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

[0196] The above are only the preferred embodiments of this application and are not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. A control method, characterized in that: Applied to a vehicle, the vehicle includes a drive motor; the method includes: When the vehicle is in a position sensorless control mode, determining a predicted value and an actual value of a target parameter of the drive motor, the target parameter including a rotation speed or a rotor position of the drive motor; Determining a control state of the position sensorless control mode based on a predicted value and an actual value of a target parameter of the drive motor, wherein the control state of the position sensorless control mode includes a valid state or an invalid state; The vehicle is controlled based on a control state of the position sensorless control mode.

2. The control method according to claim 1, characterized in that: The step of determining the control state of the position sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor includes: determining a difference between a predicted value and an actual value of a target parameter of the drive motor; Based on the difference, a control state of the position sensorless control mode is determined.

3. The control method according to claim 2, characterized in that: The determining the control state of the position sensorless control mode based on the difference includes: When the difference is greater than a first preset threshold, determining that the control state of the position sensorless control mode is the invalid state; When the difference is less than or equal to the first preset threshold, it is determined that the control state of the position sensorless control mode is the valid state.

4. The control method according to claim 1, characterized in that: The step of determining the control state of the position sensorless control mode based on the predicted value and the actual value of the target parameter of the drive motor includes: determining a difference between a predicted value and an actual value of a target parameter of the drive motor; Based on the difference and the real-time speed of the vehicle, a control state of the position sensorless control mode is determined.

5. The control method according to claim 4, characterized in that: The determining the control state of the position sensorless control mode based on the difference and the real-time speed of the vehicle includes: When the real-time speed of the vehicle is greater than a speed threshold and the difference is greater than a second preset threshold, determining that the control state of the position sensorless control mode is the invalid state; When the real-time speed of the vehicle is greater than the speed threshold and the difference is less than or equal to the second preset threshold, determining that the control state of the position sensorless control mode is the valid state; When the real-time vehicle speed of the vehicle is less than or equal to the speed threshold and the difference is greater than a third preset threshold, determining that the control state of the position sensorless control mode is the invalid state; When the real-time vehicle speed of the vehicle is less than or equal to the speed threshold, and the difference is less than or equal to the third preset threshold, determining that the control state of the position sensorless control mode is the valid state; Wherein, the third preset threshold is greater than the second preset threshold.

6. The control method according to any one of claims 1 to 5, characterized in that: The target parameter includes the rotation speed of the drive motor, and a wheel speed sensor is provided on the drive wheel of the vehicle; the method further includes: Acquiring wheel speed information of the driving wheels of the vehicle through the wheel speed sensor; An actual value of the rotation speed of the drive motor is determined based on wheel speed information of the drive wheels of the vehicle, a gear ratio of the vehicle, and a rolling radius of the drive wheels.

7. The control method according to any one of claims 1 to 5, characterized in that: The target parameter includes the rotor position of the drive motor, and a wheel speed sensor is provided on the drive wheel of the vehicle; the method further includes: Acquiring wheel speed information of the driving wheels of the vehicle through the wheel speed sensor; Determining an actual value of the rotation speed of the drive motor based on wheel speed information of the drive wheel of the vehicle, a gear ratio of the vehicle, and a rolling radius of the drive wheel; Based on the actual value of the rotation speed of the drive motor and the initial value of the rotor position of the drive motor, an actual value of the rotor position of the drive motor is determined.

8. The control method according to any one of claims 1 to 5, characterized in that: The controlling the vehicle based on the control state of the position sensorless control mode comprises: When the control state of the position sensorless control mode is the invalid state, the operating parameters of the vehicle are adjusted, and the operating parameters of the vehicle include the vehicle speed.

9. The control method according to any one of claims 1 to 5, characterized in that: The vehicle further includes a position sensor; before determining the predicted value and the actual value of the target parameter of the drive motor, the method further includes: Acquiring a detection signal output by the position sensor; When it is determined according to the detection signal that the working state of the position sensor is an abnormal state, the vehicle is controlled to be in the position sensorless control mode.

10. A control device, characterized in that: Applied to a vehicle, the vehicle includes a drive motor; the device includes: a parameter determination module, for determining a predicted value and an actual value of a target parameter of the drive motor when the vehicle is in a position sensorless control mode, the target parameter including a rotation speed or a rotor position of the drive motor; a state determination module, configured to determine a control state of the position sensorless control mode based on a predicted value and an actual value of a target parameter of the drive motor, wherein the control state of the position sensorless control mode includes a valid state or an invalid state; A control module is used to control the vehicle based on the control state of the position sensorless control mode.

11. A vehicle, characterized in that: The vehicle comprises a memory and a processor, wherein the memory stores a computer program executable on the processor, and the processor implements the steps of the method according to any one of claims 1 to 9 when executing the program.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

Images