Vehicle control method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle control method and device, computer equipment and a storage medium, and the method comprises the steps: obtaining vehicle state parameters when a vehicle runs, and determining whether a driving motor is locked or not according to the vehicle state parameters; under the condition of determining that the driving motor is locked, brake control is executed; after the brake control is executed, torque attenuation control is executed. By adopting the method, the problem of lack of safety protection during stalling of the driving motor in the prior art can be improved.

Description

Technical Field

[0001] This application relates to the field of control technologies, and particularly to a vehicle control method, device, computer device, and storage medium. Background Art

[0002] In the power system of an electric vehicle, as the core power output unit, the operating stability of the drive motor directly affects the performance and safety of the entire vehicle. However, under some working conditions, the drive motor may enter a stall state. If such working conditions are not detected and protected in time, a series of serious problems will occur. For example, the temperature of the motor winding will rise sharply, which may cause carbonization or even breakdown and short circuit of the insulation layer; the permanent magnet will undergo irreversible demagnetization in a high-temperature environment, resulting in a permanent decrease in the motor efficiency; the power semiconductor device will have a thermal breakdown due to long-term overcurrent, and then cause a controller burnout accident; the output torque of the drive motor decreases, resulting in abnormal displacement of the vehicle, etc.

[0003] In the related art, when the drive motor of a vehicle enters a stall state, there is a lack of a safety protection mechanism. Summary of the Invention

[0004] Based on this, a vehicle control method, device, computer device, and storage medium are provided to improve the problem of lack of safety protection when the drive motor stalls in the prior art.

[0005] On the one hand, a vehicle control method is provided, and the method includes:

[0006] Obtain the vehicle state parameters when the vehicle is running, and determine whether the drive motor is stalled according to the vehicle state parameters;

[0007] When it is determined that the drive motor is stalled, perform braking control;

[0008] After performing the braking control, perform torque attenuation control.

[0009] In one embodiment, the obtaining the vehicle state parameters when the vehicle is running and determining whether the drive motor is stalled according to the vehicle state parameters includes:

[0010] Obtain the angular velocity of the drive motor when the vehicle is running, and obtain the angular displacement within a period of time according to the angular velocity;

[0011] Determine whether the drive motor is stalled according to the comparison between the angular displacement and the angular displacement threshold.

[0012] In one embodiment, before performing the braking control, it further includes:

[0013] Time the stall of the drive motor to obtain the duration of the stall;

[0014] When the locked-rotor duration is greater than or equal to the first duration threshold, braking control is executed.

[0015] In one embodiment, the execution of the braking control includes:

[0016] In response to a parking instruction, control the brake caliper to clamp the brake disc and record the clamping control duration;

[0017] When the clamping control duration is greater than or equal to the second duration threshold, determine that the brake caliper is clamped, and execute torque decay control after determining that the brake caliper is clamped.

[0018] In one embodiment, before determining that the brake caliper is clamped when the clamping control duration is greater than or equal to the second duration threshold, further include:

[0019] Obtain the slope where the vehicle is currently located;

[0020] Determine the second duration threshold according to the slope, where the second duration threshold has a positive correlation with the slope.

[0021] In one embodiment, the execution of the torque decay control includes:

[0022] Control the drive motor to perform torque unloading according to the unloading gradient until the output torque of the drive motor is reduced to a preset torque threshold.

[0023] In one embodiment, the control of the drive motor to perform torque unloading according to a preset gradient includes:

[0024] Obtain the slope where the vehicle is currently located;

[0025] Determine the unloading gradient according to the slope; where the unloading gradient has a negative correlation with the slope.

[0026] On the other hand, a vehicle control device is provided, and the device includes:

[0027] A locked-rotor identification module, configured to obtain vehicle state parameters during vehicle driving, and determine whether the drive motor is locked-rotor according to the vehicle state parameters;

[0028] A braking control module, configured to execute braking control when it is determined that the drive motor is locked-rotor;

[0029] A motor control module, configured to execute torque decay control after the execution of the braking control.

[0030] In another aspect, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method is implemented.

[0031] A computer-readable storage medium is also provided, on which a computer program is stored. When the computer program is executed by a processor, the method is implemented.

[0032] In the above vehicle control method, device, computer device, and storage medium, when the vehicle is running, vehicle state parameters are obtained for locked-rotor identification. When it is identified that the drive motor is locked, braking control is executed, and torque decay control is executed afterwards. The braking control enables the vehicle to brake to a stop, eliminating the risk of vehicle rolling back. The torque decay control can reduce the output of the drive motor, avoiding damage to the drive motor. The two are executed in sequence, thereby achieving vehicle protection and drive motor protection. Description of the Drawings

[0033] Figure 1 It is a schematic flowchart of the vehicle control method in an embodiment;

[0034] Figure 2 It is a schematic flowchart of the step of identifying the locked-rotor of the drive motor in an embodiment;

[0035] Figure 3 It is a schematic flowchart of the vehicle control method in another embodiment;

[0036] Figure 4 It is a structural block diagram of the vehicle control device in an embodiment;

[0037] Figure 5 It is an internal structure diagram of the computer device in an embodiment. Detailed Embodiments

[0038] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] Under some working conditions of an electric vehicle, the drive motor may enter a locked-rotor state. For example, when the vehicle is creeping on a flat road and encounters a large obstacle, since the creeping torque is not enough to enable the vehicle to cross the obstacle, or when the vehicle creeps from a flat road to a large slope, or when creeping and starting on a large slope or encountering a large obstacle (such as a speed bump) on a slope, since the torque is not enough to enable the vehicle to continue climbing, the vehicle stops in place, causing the drive motor to be locked, and even a phenomenon of rolling back may occur, presenting a relatively high safety risk.

[0040] The present application provides a vehicle control method. By identifying whether the drive motor of the vehicle is blocked, braking control and torque attenuation control are performed when a blockage occurs, thereby realizing the safety protection of the vehicle.

[0041] In one embodiment, the vehicle control method is as Figure 1 shown and includes the following steps;

[0042] Step 110: Obtain the vehicle state parameters during vehicle driving, and determine whether the drive motor is blocked according to the vehicle state parameters.

[0043] In this embodiment, the blockage identification during vehicle driving is described for the vehicle creeping condition. In the creeping condition, the vehicle moves forward slowly at a low speed, and the torque of the drive motor is small, making it easy to be blocked by obstacles. The Vehicle Control Unit (VCU) identifies the creeping condition through internal creeping determination conditions, and executes the vehicle control method provided by the present application when it is identified that the vehicle enters the creeping condition.

[0044] In some possible implementation manners, it is possible to identify whether the drive motor is blocked according to the vehicle speed under the creeping condition. Exemplarily:

[0045] When the vehicle creeping function is activated and an obstacle is encountered under the flat road condition, if the VCU detects that the vehicle speed V = 0 km / h and lasts for a certain period of time, it can be considered that the drive motor is blocked; in scenarios such as creeping from a flat road to a large slope, or creeping start on a large slope or encountering a large obstacle (such as a speed bump) on a slope, if the VCU detects that the vehicle speed V = 0 km / h or the vehicle speed V switches from a positive value to a negative value and lasts for a certain period of time, it can be considered that the drive motor is blocked.

[0046] In another possible implementation manner, blockage identification is realized based on current detection. When blocked, the back electromotive force of the motor disappears and the current rises sharply. A current threshold (such as 2 - 3 times the rated current) is set, and triggering protection occurs when the threshold is continuously exceeded.

[0047] In yet another embodiment, the angular velocity of the drive motor is used as the vehicle state parameter to identify whether the drive motor is blocked. Exemplarily as Figure 2 shown, the following steps are adopted:

[0048] S1: Obtain the angular velocity of the drive motor during vehicle driving, and obtain the angular displacement within a period of time according to the angular velocity;

[0049] S2: Determine whether the drive motor is blocked according to the comparison between the angular displacement and the angular displacement threshold.

[0050] In an electric vehicle, a resolver can be used to output the absolute position signal of the rotor through electromagnetic induction and convert it into a digital signal by a decoding chip to obtain the angular velocity ω of the drive motor. In addition, a sensor + sensorless method can be used simultaneously to ensure switching to a backup solution in case of a fault. The sensorless method can be, for example, the back electromotive force method, etc.

[0051] The angular velocity ω is a function of time t, that is, ω = ω(t). The integral of the angular velocity with respect to time ∫ω(t)dt is expressed as the angular displacement θ.

[0052] During normal operation, the rotating shaft of the drive motor rotates according to a certain law and speed, corresponding to a certain change in angular displacement. If the drive motor is blocked, the rotating shaft cannot rotate normally, and the angular displacement will stop changing or change very little, forming an obvious difference from the angular displacement change during normal operation. By setting an angular displacement threshold, when the detected angular displacement is less than the angular displacement threshold, it is determined that the drive motor is blocked.

[0053] Exemplarily, the cycle time is set to 10 ms. Integrating the angular velocity ω within 10 ms to obtain the angular displacement θ. Compared with judging that the drive motor is blocked by vehicle speed conditions, the calculation speed of this method is faster than that of vehicle speed, and can reach a cycle of 10 ms, which is faster and more accurate in identifying blockage. And compared with relying only on instantaneous speed, the cumulative characteristic of angular displacement can effectively avoid misjudgment caused by short-term fluctuations. In the actual implementation process, the cycle time is set according to actual needs and can be less than 10 ms to obtain a faster identification speed.

[0054] Exemplarily, configure the angular displacement threshold as a value greater than zero. Taking the direction of the drive motor rotation when the vehicle is moving forward as the positive direction, if the vehicle slips backward, the drive motor rotates in the reverse direction, and the angular displacement θ is negative. At this time, the angular displacement θ is less than the angular displacement threshold, and it can also be considered that the drive motor of the vehicle is in a blocked state. The angular displacement threshold can be flexibly adjusted according to different vehicle models, motor characteristics or working conditions to enhance the universality of the technology. For example, for high-torque motors or heavy-duty vehicles, the threshold can be appropriately increased to avoid false triggering. The above process directly reuses existing hardware resources without the need to add additional complex sensors, reducing the implementation cost.

[0055] Step 120, in the case of determining that the drive motor is blocked, perform braking control.

[0056] The braking control methods of different vehicles may be different. For example, on traditional vehicles, parking braking can be achieved by relying on a cable handbrake; currently, more electric vehicles use an electronic handbrake for parking braking and an electronic footbrake for driving braking; according to different execution units, it can be drum braking or caliper braking, etc.

[0057] In the exemplary implementation of this application, the braking control process is described by the method of caliper clamping in the automatic parking function.

[0058] The motor controller sends the stall state flag bit to the VCU through a CAN (Controller Area Network) signal. After the VCU performs stall identification, it sends a parking instruction to the ESC (Electronic Stability Control), and the ESC responds to brake the vehicle.

[0059] The ESC can adjust the brake fluid pressure through the solenoid valve in the hydraulic control unit to independently control the braking force of each brake caliper. In this embodiment, the same brake fluid pressure is applied to each brake caliper to effectively brake the vehicle.

[0060] After receiving the parking instruction, the ESC adjusts the brake fluid pressure according to the set target braking force. The brake fluid is pumped into the brake caliper to quickly increase the pressure, clamp the brake pads and the brake disc, and generate the target braking force.

[0061] In this embodiment, all the brake calipers of the vehicle are regarded as the controlled objects, and the caliper clamping control is performed on all the brake calipers simultaneously; in some feasible implementation manners, the brake calipers are controlled in pairs according to the axles to which they belong, and based on the slope of the vehicle, the braking force configuration is performed to determine how to perform the caliper clamping control on the brake calipers of the front and rear axles. Exemplarily, when the vehicle is in the uphill working condition, the rear wheels bear more loads compared to the flat road condition, and the brake calipers of the rear axle are allocated more braking force compared to the flat road condition; when the vehicle is in the downhill working condition, the front axle is allocated more braking force compared to the flat road condition.

[0062] Step 130, after performing the braking control, perform the torque decay control.

[0063] While ensuring that the vehicle is effectively braked, gradually reduce the torque of the drive motor, such as reducing the current and voltage, so that the output torque is reduced to prevent the drive motor from overheating and burning out.

[0064] In the above process, the vehicle state parameters are used to quickly and accurately identify whether the drive motor is stalled. In the case of stalling, the braking control and the torque decay control are sequentially performed. Braking can ensure that the vehicle maintains a stable state, avoid abnormal displacements such as the vehicle rolling backward, especially avoid secondary accidents on slopes or in complex road conditions. When the vehicle is effectively braked, the torque is decayed to reduce the wasted electric energy during the stalling stage and avoid the high temperature of the motor / circuit caused by the large stalling current. Through the dual control strategy, the vehicle safety is effectively improved.

[0065] Moreover, for the vehicle control method provided in this application, the output torque of the drive motor is unloaded after braking is ensured first, so that the force on the transmission system is gently released, mechanical impact is reduced, and the driving comfort of the vehicle is improved.

[0066] In one embodiment, before performing braking control, it further includes timing the stall of the drive motor to obtain the duration of the stall; when the duration of the stall is greater than or equal to the first duration threshold, braking control is performed.

[0067] In the actual implementation process, when the motor controller detects that the angular displacement is less than the angular displacement threshold, it sets the stall status flag bit to be valid, sends the stall status flag bit to the VCU through the CAN signal, the VCU performs stall identification, and when the valid stall status flag bit lasts for the first duration threshold T1, the VCU sends a parking instruction to the ESC. During this period, if it is detected that the angular displacement changes and is greater than or equal to the angular displacement threshold, the motor controller sets the stall status flag bit to be invalid.

[0068] In this embodiment, a delay control strategy is adopted to avoid misjudgment in the case of low speed.

[0069] In some embodiments, the first duration threshold T1 can be obtained according to the actual calibration result; in one possible embodiment, a mapping relationship between the first duration threshold T1 and the slope is established in advance. During the actual implementation process, the slope where the vehicle is currently located is obtained, and according to the slope where the vehicle is located, the first duration threshold T1 is determined. For example, the first duration threshold T1 is negatively correlated with the slope, that is, the smaller the slope (such as a flat road condition), the longer the first duration threshold T1, enhancing the anti-interference ability and avoiding misjudgment; the larger the slope (such as a slope road condition), the smaller the first duration threshold T1, and the braking control can be quickly responded to, improving the safety on the slope.

[0070] In one embodiment, the duration of the braking control is timed, and torque decay is performed when the duration of the braking control meets the duration threshold to ensure the effectiveness of braking. Exemplarily: performing braking control includes, in response to a parking instruction, controlling the brake caliper to clamp the brake disc and recording the clamping control duration; when the clamping control duration is greater than or equal to the second duration threshold T2, it is determined that the brake caliper is clamped, and torque decay control is performed after determining that the brake caliper is clamped.

[0071] The ESC can adjust the brake fluid pressure through the solenoid valve in the hydraulic control unit, independently control the braking force of each brake caliper, record the clamping control duration from the moment the parking instruction is received, set a certain duration of delay waiting, wait for the brake fluid pressure to increase and the brake caliper to engage with the brake disc, and perform torque decay after ensuring that the brake caliper completely clamps the brake disc.

[0072] In some embodiments, the second duration threshold T2 can be obtained according to the actual calibration result. In a possible embodiment, a mapping relationship between the second duration threshold T2 and the slope is established in advance. During the actual implementation process, the slope at which the vehicle is currently located is obtained, and according to the slope at which the vehicle is currently located, the second duration threshold T2 is determined. Exemplarily, the second duration threshold T2 is configured to have a positive correlation with the slope. The smaller the slope (for example, flat road condition), the smaller the risk of abnormal displacement of the vehicle, and the smaller the configured second duration threshold T2, so that the subsequent torque decay control is advanced and the heating of the drive motor is reduced. The larger the slope (for example, uphill road condition), the higher the risk of abnormal displacement of the vehicle. For example, the vehicle may slip backward. At this time, the configured second duration threshold T2 is larger, increasing the engagement duration between the brake caliper and the brake disc, waiting for the effective engagement of the two to ensure that the vehicle is effectively braked.

[0073] In one embodiment, performing torque decay control includes controlling the drive motor to unload torque according to the unloading gradient until the output torque of the drive motor is reduced to a preset torque threshold.

[0074] The unloading gradient refers to the rate at which the torque decreases over time. It can be a linear gradient, where the torque decreases linearly over time (for example, decreasing by 10% of the rated torque per second), or it can be a non-linear gradient, decreasing according to complex laws such as exponential or S-shaped curves, which is suitable for scenarios that require a smoother stop. In this embodiment, the unloading gradient is used to control the torque decay of the drive motor to ensure mechanical smoothness.

[0075] The preset torque threshold is calibrated according to the actual situation. Generally, based on safety principles, when the drive motor operates at the preset torque threshold, situations such as motor heating can be accepted. For example, the preset torque threshold can be configured to be 0, so that the torque of the drive motor is completely eliminated.

[0076] In some embodiments, the unloading gradient can be obtained according to the actual calibration result. In some feasible embodiments, a mapping relationship between the unloading gradient and the slope is established in advance. During the actual implementation process, the slope at which the vehicle is currently located is obtained; according to the slope, the unloading gradient is determined. Exemplarily, the unloading gradient is configured to have a negative correlation with the slope, that is, the larger the slope at which the vehicle is located, the smaller the unloading gradient, and the drive motor unloads torque at a smaller rate, avoiding the situation of vehicle slip backward and vehicle jitter caused by a steep drop in torque; the smaller the slope at which the vehicle is located, the larger the unloading gradient, and the drive motor unloads torque at a faster rate.

[0077] In the above process, the slope at which the vehicle is located can be obtained by sensing through an inclination sensor, a gyroscope sensor, etc. provided on the vehicle. It can be understood that when the vehicle is in a downhill road condition, the absolute value of the slope is used as the control input to determine the above first duration threshold T1, second duration threshold T2, and unloading gradient.

[0078] As shown in Figure 3 the following, the processes of locked-rotor identification, caliper clamping control, and torque unloading control in one embodiment are described. First, locked-rotor identification is performed. By integrating the angular velocity ω, the angular displacement θ is obtained, and it is determined whether the angular displacement θ is less than the angular displacement threshold, and the duration is judged. When the angular displacement is less than the angular displacement threshold and the locked-rotor duration is greater than or equal to T1, caliper clamping control is performed. When the clamping control duration is greater than or equal to T2, torque decay control is performed until the output torque of the drive motor is less than or equal to the preset torque threshold.

[0079] It should be understood that although Figure 1 - Figure 2 the steps in the flowchart of Figure 1 - Figure 2 are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise clearly stated in this article, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 - Figure 2 at least a part of the steps in

[0080] can include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same moment, but can be executed at different moments. 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.

[0080] In one embodiment, as shown in Figure 4 the following, a vehicle control device is provided, including: a locked-rotor identification module 210, a braking control module 220, and a motor control module 230, where:

[0081] The locked-rotor identification module 210 is configured to obtain vehicle state parameters during vehicle driving and determine whether the drive motor is locked-rotor according to the vehicle state parameters;

[0082] The braking control module 220 is configured to perform braking control when it is determined that the drive motor is locked-rotor;

[0083] The motor control module 230 is configured to perform torque decay control after performing braking control.

[0084] The above vehicle control device, during vehicle driving, obtains vehicle state parameters, performs locked-rotor identification. When it is identified that the drive motor is locked-rotor, braking control is performed, and torque decay control is performed thereafter. The braking control enables the vehicle to brake to a stop and eliminates the risk of vehicle coasting. The torque decay control can reduce the output of the drive motor and avoid damage to the drive motor. The two are executed in sequence, thereby realizing vehicle protection and drive motor protection.

[0085] In one embodiment, the stall identification module 210 is configured to obtain the angular velocity of the drive motor when the vehicle is running, and obtain the angular displacement within a period of time according to the angular velocity; determine whether the drive motor is stalled according to the comparison between the angular displacement and the angular displacement threshold.

[0086] In one embodiment, the stall identification module 210 is further configured to time the stall of the drive motor to obtain the stall duration; the brake control module 220 performs brake control when the stall duration is greater than or equal to the first duration threshold.

[0087] In one embodiment, the brake control module 220 is further configured to respond to a parking instruction, control the brake caliper to clamp the brake disc, and record the clamping control duration; when the clamping control duration is greater than or equal to the second duration threshold, determine that the brake caliper is clamped, so that the motor control module 230 performs torque decay control after determining that the brake caliper is clamped.

[0088] In one embodiment, the motor control module 230 controls the drive motor to unload torque according to the unloading gradient until the output torque of the drive motor is reduced to a preset torque threshold.

[0089] The vehicle control device further includes a slope acquisition module for acquiring the slope where the vehicle is currently located. In some embodiments, the unloading gradient is determined according to the slope; wherein, the unloading gradient and the slope are negatively correlated; the second duration threshold is determined according to the slope, wherein the second duration threshold and the slope are positively correlated.

[0090] For the specific limitations of the vehicle control device, reference may be made to the limitations of the vehicle control method in the foregoing text, which will not be elaborated here. Each module in the above vehicle control device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0091] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as Figure 5As shown in the figure. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a vehicle control method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the outer shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0092] Those skilled in the art can understand that Figure 5 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0093] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0094] Obtain the vehicle state parameters when the vehicle is driving, and determine whether the drive motor is blocked according to the vehicle state parameters;

[0095] In the case of determining that the drive motor is blocked, perform braking control;

[0096] After performing the braking control, perform torque decay control.

[0097] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0098] Obtain the angular velocity of the drive motor when the vehicle is driving, and obtain the angular displacement within a period of time according to the angular velocity;

[0099] Determine whether the drive motor is blocked according to the comparison between the angular displacement and the angular displacement threshold.

[0100] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0101] Time the blocking of the drive motor to obtain the duration of the blocking;

[0102] When the locked-rotor duration is greater than or equal to the first duration threshold, braking control is executed.

[0103] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0104] In response to the parking instruction, control the brake caliper to clamp the brake disc and record the clamping control duration;

[0105] When the clamping control duration is greater than or equal to the second duration threshold, determine that the brake caliper is clamped, and execute torque decay control after determining that the brake caliper is clamped.

[0106] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0107] Control the drive motor to unload torque according to the unloading gradient until the output torque of the drive motor is reduced to the preset torque threshold.

[0108] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0109] Obtain the slope where the vehicle is currently located;

[0110] Determine the unloading gradient according to the slope; wherein, the unloading gradient has a negative correlation with the slope.

[0111] In one embodiment, when the processor executes the computer program, the following steps are further implemented:

[0112] Obtain the slope where the vehicle is currently located;

[0113] Determine the second duration threshold according to the slope, wherein the second duration threshold has a positive correlation with the slope.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0115] Obtain the vehicle state parameters when the vehicle is running, and determine whether the drive motor is locked-rotor according to the vehicle state parameters;

[0116] When it is determined that the drive motor is locked-rotor, execute braking control;

[0117] After executing the braking control, execute torque decay control.

[0118] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented:

[0119] Obtain the angular velocity of the drive motor when the vehicle is running, and obtain the angular displacement within the period time according to the angular velocity;

[0120] Determine whether the drive motor is jammed according to the comparison between the angular displacement and the angular displacement threshold value.

[0121] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0122] Time the jamming of the drive motor to obtain the jamming duration;

[0123] Execute braking control when the jamming duration is greater than or equal to the first duration threshold.

[0124] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0125] In response to a parking instruction, control the brake caliper to clamp the brake disc and record the clamping control duration;

[0126] When the clamping control duration is greater than or equal to the second duration threshold, determine that the brake caliper is clamped, and execute torque decay control after determining that the brake caliper is clamped.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] Control the drive motor to unload torque according to the unloading gradient until the output torque of the drive motor is reduced to a preset torque threshold.

[0129] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0130] Obtain the slope where the vehicle is currently located;

[0131] Determine the unloading gradient according to the slope; wherein, the unloading gradient has a negative correlation with the slope.

[0132] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0133] Obtain the slope where the vehicle is currently located;

[0134] Determine the second duration threshold according to the slope, wherein the second duration threshold has a positive correlation with the slope.

[0135] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0136] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0137] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A vehicle control method, characterized in that, Including: Obtain vehicle state parameters during vehicle driving, and determine whether the drive motor is stalled according to the vehicle state parameters; Execute braking control when it is determined that the drive motor is stalled; After the braking control is executed, execute torque attenuation control.

2. The vehicle control method according to claim 1, characterized in that, The obtaining vehicle state parameters during vehicle driving and determining whether the drive motor is stalled according to the vehicle state parameters includes: Obtain the angular velocity of the drive motor during vehicle driving, and obtain the angular displacement within a period of time according to the angular velocity; Determine whether the drive motor is stalled according to the comparison between the angular displacement and the angular displacement threshold.

3. The vehicle control method according to claim 1, wherein Before the braking control is executed, it further includes: Time the stall of the drive motor to obtain the stall duration; Execute braking control when the stall duration is greater than or equal to the first duration threshold.

4. The vehicle control method according to claim 1, characterized in that, The executing braking control includes: In response to a parking instruction, control the brake caliper to clamp the brake disc and record the clamping control duration; When the clamping control duration is greater than or equal to the second duration threshold, determine that the brake caliper is clamped, and execute torque attenuation control after determining that the brake caliper is clamped.

5. The vehicle control method according to claim 4, wherein, Before determining that the brake caliper is clamped when the clamping control duration is greater than or equal to the second duration threshold, it further includes: Obtain the slope where the vehicle is currently located; Determine the second duration threshold according to the slope, where the second duration threshold has a positive correlation with the slope.

6. The vehicle control method according to claim 1, wherein The executing torque attenuation control includes: Control the drive motor to unload torque according to the unloading gradient until the output torque of the drive motor is reduced to a preset torque threshold.

7. The vehicle control method according to claim 6, wherein The controlling the drive motor to unload torque according to a preset gradient includes: Obtain the slope where the vehicle is currently located; Determine the unloading gradient according to the slope; where the unloading gradient has a negative correlation with the slope.

8. A vehicle control device, characterized in that, The device includes: A stall identification module for obtaining vehicle state parameters during vehicle driving and determining whether the drive motor is stalled according to the vehicle state parameters; A braking control module for executing braking control when it is determined that the drive motor is stalled; A motor control module for executing torque attenuation control after the braking control is executed.

9. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The computer program implements the method according to any one of claims 1 to 7 when executed by the processor.

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