Vehicle control method, device, equipment and program product

Abstract

The invention relates to the technical field of vehicles, in particular to a vehicle control method, device and equipment and a program product. The method comprises the steps that in the running process of a vehicle, a first current difference value between real-time current of a power battery and motor limiting current is obtained, the vehicle comprises a driving motor and the power battery, and the motor limiting current is current of battery maximum discharging current of the power battery under the limitation of the driving motor; determining a first limit level corresponding to the first current difference value; and the output torque of the driving motor is adjusted based on the first limiting torque under the first limiting grade, and the first limiting torque refers to the maximum torque output by the driving motor under the first limiting grade. The output torque of the driving motor can be dynamically limited in combination with the vehicle driving state, and the driving stability of the vehicle and the driving experience feeling of a user are improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a vehicle control method, device, equipment and program product. Background Art

[0002] With the rapid development of the new energy vehicle industry, electric vehicles, as an important branch of new energy vehicles, have received extensive attention for their safety and reliability. As the core component of new energy vehicles, the overcurrent protection system of power batteries is crucial for ensuring the safe operation of vehicles. Currently, the overcurrent protection schemes for power batteries in the prior art usually adopt fixed current thresholds, which not only have the phenomenon that the overcurrent protection measures are either too conservative or too radical, but also have the problem that the protection measures act too much, resulting in a serious sudden change in the vehicle output power, thereby reducing the driving stability of the vehicle and the driving experience of users. Summary of the Invention

[0003] Based on the above defects and deficiencies of the prior art, the present application provides a vehicle control method, device, equipment and program product, which can dynamically limit the output torque of the drive motor in combination with the vehicle driving state, and improve the driving stability of the vehicle and the driving experience of users.

[0004] According to a first aspect of the present application, there is provided a vehicle control method, including: during the driving process of the vehicle, obtaining a first current difference between the real-time current of the power battery and the motor limit current, where the vehicle includes a drive motor and the power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the limitation of the drive motor; determining a first limit level corresponding to the first current difference; and adjusting the output torque of the drive motor based on a first limit torque at the first limit level, where the first limit torque refers to the maximum torque output by the drive motor at the first limit level.

[0005] According to the vehicle control method provided in the first aspect of the present application, the adjusting the output torque of the drive motor based on the first limit torque at the first limit level includes: calculating a basic torque based on the motor torque constant of the drive motor and the motor limit current; obtaining a first limit coefficient corresponding to the first limit level; calculating the product of the basic torque and the first limit coefficient as the first limit torque; and adjusting the output torque of the drive motor based on the first limit torque.

[0006] According to the vehicle control method provided in the first aspect of the present application, the adjusting the output torque of the drive motor based on the first limiting torque includes: if the first limiting duration for limiting the torque output of the drive motor based on the first limiting torque reaches the first duration threshold, recalculate the second current difference between the real-time current and the motor limiting current; determine the second limiting level corresponding to the second current difference; if the second limiting level is lower than the first limiting level, obtain the second limiting coefficient corresponding to the second limiting level; calculate the product of the base torque and the second limiting coefficient as the second limiting torque; and adjust the output torque of the drive motor again based on the second limiting torque.

[0007] According to the vehicle control method provided in the first aspect of the present application, after determining the second limiting level corresponding to the second current difference, it further includes: if the second limiting level is higher than or equal to the first limiting level, limit the output torque of the drive motor to zero and generate a fault message.

[0008] According to the vehicle control method provided in the first aspect of the present application, the obtaining the first current difference between the real-time current of the power battery and the motor limiting current includes: obtaining the real-time voltage and real-time current of the power battery, and obtaining the maximum discharge current of the battery; obtaining the drive motor efficiency corresponding to the real-time voltage; calculating the product of the drive motor efficiency and the maximum discharge current of the battery as the motor limiting current; and calculating the difference between the real-time current and the motor limiting current as the first current difference.

[0009] According to the vehicle control method provided in the first aspect of the present application, the determining the first limiting level corresponding to the first current difference includes: determining the first current threshold interval where the first current difference is located; and taking the interval level corresponding to the first current threshold interval as the first limiting level, where the larger the maximum threshold in the first current threshold interval, the higher the first limiting level.

[0010] According to the vehicle control method provided in the first aspect of the present application, while adjusting the output torque of the drive motor based on the first limiting torque at the first limiting level, it further includes: obtaining the real-time torque actually output by the drive motor; if the real-time torque is negative, adjusting the output torque of the drive motor based on the working torque, where the working torque refers to the maximum torque output in the normal working state of the drive motor under the limitation of the maximum discharge current of the battery.

[0011] According to a second aspect of the present application, a vehicle control device is provided, including: an acquisition module configured to acquire a first current difference between a real-time current of a power battery and a motor limit current during vehicle driving, wherein the vehicle includes a drive motor and the power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the limitation of the drive motor; a determination module configured to determine a first limit level corresponding to the first current difference; an adjustment module configured to adjust an output torque of the drive motor based on a first limit torque at the first limit level, wherein the first limit torque refers to the maximum torque output by the drive motor at the first limit level.

[0012] According to a third aspect of the present application, an electronic device is provided, including: a memory and a processor; the memory is connected to the processor and configured to store a program; the processor is configured to implement the vehicle control method as described in the first aspect by running the program in the memory.

[0013] According to a fourth aspect of the present application, a computer program product is provided, including computer program instructions; when the computer program instructions are run by a processor, the processor is caused to execute the vehicle control method as described in the first aspect.

[0014] In the present application, during vehicle driving, a first current difference between a real-time current of a power battery and a motor limit current is acquired, wherein the vehicle includes a drive motor and a power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the limitation of the drive motor; a first limit level corresponding to the first current difference is determined; an output torque of the drive motor is adjusted based on a first limit torque at the first limit level, wherein the first limit torque refers to the maximum torque output by the drive motor at the first limit level. In the above process, the first current difference is obtained based on the motor limit current under the limitation of the drive motor, and the driving state of the vehicle is added to the torque limitation process of current protection, so that the first limit torque is more adapted to the real-time state of the vehicle, avoiding a serious sudden change in the power output of the vehicle, and improving the stability of the vehicle and the driving experience of the user when current protection is implemented. At the same time, multi-level torque limitation is realized based on the current difference, further improving the flexibility and accuracy of the overcurrent protection process, making the first limit torque more adapted to the actual degree of overcurrent, avoiding the conservative or radical phenomenon existing in overcurrent protection based on a fixed current threshold, and further improving the stability of the vehicle and the driving experience of the user when current protection is implemented. Description of the Drawings

[0015] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0016] Figure 1 One of the schematic flowcharts of a vehicle control method provided by an embodiment of the present application;

[0017] Figure 2 A schematic diagram of the principle of data transmission related to vehicle control provided by an embodiment of the present application;

[0018] Figure 3 One of the schematic flowcharts of a vehicle control method provided by an embodiment of the present application;

[0019] Figure 4 A block diagram of a vehicle control device provided by an embodiment of the present application;

[0020] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present application. Specific embodiments

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of them. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0022] Exemplary method

[0023] Regarding the overcurrent protection problem of electric vehicles in the prior art, the present application provides a vehicle control method, which can be implemented in the form of a software algorithm. The software algorithm for implementing this method can run on any device with data processing capabilities, such as the vehicle's vehicle control unit, remote server, hardware-independent computer, etc. The protection scope of the present application is not limited by the type of device on which the software algorithm runs when implementing this method.

[0024] In one embodiment, as Figure 1 shown, the flow steps implemented by the vehicle control method include:

[0025] Step 101, during the vehicle driving process, obtain the first current difference between the real-time current of the power battery and the motor limit current. Here, the vehicle includes a drive motor and a power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the limitation of the drive motor.

[0026] In this embodiment, the vehicle is an electric vehicle, and the power battery provides power for the drive motor of the vehicle to drive the vehicle to run normally. During the process of the power battery driving the vehicle as a power source, the real-time current of the power battery is monitored in real time. At the same time, in order to ensure the safety of the battery and the vehicle, the real-time current of the power battery needs to be less than or equal to the maximum discharge current of the battery. In order to add the driving state of the vehicle to the overcurrent protection process, the limitation of the drive motor on the power battery is added to the control process of overcurrent protection, that is, on the basis of the maximum discharge current of the battery, the drive motor limitation is increased to obtain the motor limit current under the drive motor limitation, so that the monitoring process of overcurrent protection is more adapted to the real-time state during the vehicle driving process. The current difference between the real-time current of the power battery and the motor limit current calculated in real time currently is defined as the first current difference. The formula for calculating the first current difference between the real-time current of the power battery and the motor limit current in real time is as follows:

[0027] First current difference = motor limit current - real-time current.

[0028] The larger the first current difference, the more serious the overcurrent degree of the power battery.

[0029] Step 102, determine the first limit level corresponding to the first current difference.

[0030] In this embodiment, multiple limit levels are preset, and different current differences correspond to different limit levels. The larger the current difference, the higher the limit level. Optionally, the first correspondence between the current difference and the limit level can be preset according to the actual situation and specific requirements, and this first correspondence can be expressed in any one of the forms such as a corresponding table, key-value pair, calculation formula, etc. After the first current difference is calculated in real time currently, the first limit level is obtained by querying based on the first correspondence.

[0031] Step 103, adjust the output torque of the drive motor based on the first limit torque at the first limit level, where the first limit torque refers to the maximum torque output by the drive motor at the first limit level.

[0032] In this embodiment, the limiting torques at each limiting level are respectively smaller than the maximum torque output by the drive motor under normal vehicle driving conditions. The limiting torques at different limiting levels are different. The higher the limiting level, the smaller the limiting torque, and the smaller the maximum torque that the drive motor can output. At the same time, during the operation of the drive motor, the real-time output torque of the drive motor is proportional to the real-time current output by the power battery. As the real-time output torque of the drive motor gradually decreases based on the limiting torque, the real-time current output by the power battery will also decrease accordingly, and the overcurrent fault of the power battery will gradually be alleviated until it is resolved.

[0033] In one embodiment, obtaining the first current difference between the real-time current of the power battery and the motor limiting current includes: obtaining the real-time voltage and real-time current of the power battery, and obtaining the maximum discharge current of the battery; obtaining the drive motor efficiency corresponding to the real-time voltage; calculating the product of the drive motor and the maximum discharge current of the battery as the motor limiting current; calculating the difference between the real-time current and the motor limiting current as the first current difference.

[0034] In this embodiment, the drive motor efficiency is used to characterize the limitation of the maximum discharge current of the power battery by the drive motor. The second corresponding relationship between the real-time voltage and the drive motor efficiency is measured in advance, and the second corresponding relationship can be expressed in any one of the forms such as a corresponding table, key-value pair, calculation formula, etc. During the vehicle driving process, the real-time voltage and real-time current of the power battery are synchronously obtained, and based on the second corresponding relationship, the drive motor efficiency corresponding to the real-time voltage is obtained. Calculate the product of the drive motor efficiency and the maximum discharge current of the battery as the motor limiting current. The calculation formula is as follows:

[0035] Motor limiting current = Drive motor × Maximum discharge current of the battery.

[0036] After obtaining the motor limiting current, calculate the difference between the real-time current and the motor limiting current in real time, and then the first current difference is obtained in real time.

[0037] In this embodiment, the real-time voltage characterizes the actual working state of the power battery, and based on the real-time voltage, the drive motor efficiency is determined. Then, the motor limiting current is dynamically adjusted on the basis of the power battery, so that the overcurrent protection process of limiting the drive torque is more adapted to the real-time state of the power battery and the real-time state of the drive motor, improving the accuracy and adaptability of the current protection process.

[0038] In one embodiment, determining the first limiting level corresponding to the first current difference includes: determining the first current threshold interval where the first current difference is located; taking the interval level corresponding to the first current threshold interval as the first limiting level, where the larger the maximum threshold in the first current threshold interval, the higher the first limiting level.

[0039] In this embodiment, multiple current threshold intervals are preset in advance. Each current threshold interval is adjacent to the others, and each current threshold interval corresponds to an interval level respectively. Exemplarily, taking a0, a1, a2, and a3 as boundary thresholds, where a0 < a1 < a2 < a3, three current threshold intervals are divided, namely (a0, a1], (a1, a2], and (a2, a3]. Each current threshold interval corresponds to an interval level. (a0, a1] corresponds to level one, (a1, a2] corresponds to level two, and (a2, a3] corresponds to level three. The larger the maximum threshold in the first current threshold interval where the first current difference is located, the higher the first limit level. For example, when the first current threshold interval where the first current difference is located is (a2, a3], the interval level is level three, which is higher than level two corresponding to (a1, a2]. The higher the interval level corresponding to the current threshold interval, the smaller the limit torque corresponding to this interval level, the greater the limitation on the output torque of the drive motor, and the greater the power mutation of the vehicle. Through the setting of the limit level, on the premise of ensuring the safety of the vehicle and the power battery, the smaller the overcurrent degree, the smaller the limitation on the output torque of the drive motor, and the smaller the power mutation of the vehicle. That is, the output torque of the drive motor is flexibly limited according to the overcurrent degree, redundant torque limitation is avoided as much as possible, the degree of power mutation of the vehicle is reduced, and the stability of the vehicle is improved.

[0040] In this embodiment, the boundary thresholds of each current threshold interval are set according to actual situations and requirements, and the protection scope of this application is not limited by the specific values of the boundary thresholds.

[0041] In one embodiment, adjusting the output torque of the drive motor based on the first limit torque under the first limit level includes: calculating the base torque based on the motor torque constant and the motor limit current of the drive motor; obtaining the first limit coefficient corresponding to the first limit level; calculating the product of the base torque and the first limit coefficient as the first limit torque; and adjusting the output torque of the drive motor based on the first limit torque.

[0042] In this embodiment, when calculating the limit torque of the drive motor, a fixed limit value is not directly used. Instead, the base torque is first calculated in real time through the motor torque constant and the motor limit current, based on the motor limit current under the drive motor limit and in combination with the motor torque constant. That is, the product of the motor torque constant and the motor limit current is used as the base torque. Then, on the basis of the base torque, the limit level is added to the calculation process of the limit torque, that is, the product of the base torque and the first limit coefficient is calculated as the first limit torque. When the limit level changes, the limit coefficient also changes, and the dynamic adjustment of the limit torque improves the adaptability of overcurrent protection and the overcurrent program, thereby improving the stability of the vehicle.

[0043] In this embodiment, the limiting coefficient is a value between 0 and 1. The smaller the limiting coefficient, the greater the degree of limitation on the drive motor. Exemplarily, taking a0, a1, a2, and a3 as boundary thresholds, where a0 < a1 < a2 < a3, three current threshold intervals are divided, namely (a0, a1], (a1, a2], and (a2, a3]. The limiting coefficients corresponding to (a0, a1], (a1, a2], and (a2, a3] are d1, d2, and d3 respectively, where 1 > d1 > d2 > d3 > 0.

[0044] In one embodiment, adjusting the output torque of the drive motor based on the first limiting torque includes: if the first limiting duration for limiting the torque output of the drive motor based on the first limiting torque reaches the first duration threshold, recalculate the second current difference between the real-time current and the motor limiting current; determine the second limiting level corresponding to the second current difference; if the second limiting level is lower than the first limiting level, obtain the second limiting coefficient corresponding to the second limiting level; calculate the product of the base torque and the second limiting coefficient as the second limiting torque; and adjust the output torque of the drive motor again based on the second limiting torque.

[0045] In this embodiment, after obtaining the first limiting torque, the torque output of the drive motor is reduced based on the first limiting torque. In order to further improve the overcurrent protection effect, when the first limiting duration for limiting the torque output of the drive motor based on the first limiting torque reaches the first duration threshold, the second current difference between the real-time current and the motor limiting current can be recalculated to form a periodic monitoring of the overcurrent phenomenon, improving the overcurrent protection effect and vehicle safety. And if it is determined that the second limiting level is lower than the first limiting level, it indicates that the process of limiting the torque of the drive motor based on the first limiting torque is effective. Since the second limiting level is lower than the first limiting level, the second level coefficient is greater than the first limiting coefficient, and the second limiting torque is greater than the first limiting torque. Then, on the basis of limiting based on the first limiting torque, the output torque of the drive motor is gradually restored step by step based on the second limiting torque, avoiding sudden changes in vehicle power during torque recovery and further improving vehicle stability.

[0046] In this embodiment, after readjusting the output torque of the drive motor based on the second limiting torque, if the second limiting duration for limiting the torque output of the drive motor based on the second limiting torque reaches the second duration threshold, recalculate the third current difference between the real-time current and the motor limiting current; determine the third limiting level corresponding to the third current difference; if the third-level limit is lower than the second limiting level, obtain the third limiting coefficient corresponding to the third limiting level; calculate the product of the base torque and the third limiting coefficient as the third limiting torque; and readjust the output torque of the drive motor based on the third limiting torque. A more hierarchical stepped recovery of the output torque of the drive motor is formed until, after adjusting to the drive limit under the last limiting level, the vehicle resumes normal driving with normal torque.

[0047] In fact, for multiple consecutive preset limiting levels, the current difference recalculated after a certain limiting duration can be used to flexibly adjust the limiting torque across levels between any two limiting levels, forming a stepped torque recovery process, thereby enhancing the stability of the vehicle.

[0048] In this embodiment, the duration thresholds corresponding to each limiting level such as the first duration threshold and the second duration threshold are set according to the actual situation and requirements, and the protection scope of this application is not limited by the specific values of the duration thresholds.

[0049] In one embodiment, after determining the second limiting level corresponding to the second current difference, it further includes: if the second limiting level is higher than or equal to the first limiting level, limit the output torque of the drive motor to zero and generate a fault message.

[0050] In this embodiment, if the second limiting level is higher than the first limiting level, it indicates that the process of limiting the torque of the drive motor based on the first limiting torque has no obvious effect, and the overcurrent fault of the power battery has not been alleviated or has even become more serious. Then, directly limit the output torque of the drive motor to zero to avoid damage to the power battery or other components of the vehicle. At the same time, a fault message is generated, which can prompt the user to troubleshoot the fault in any one or several ways such as text, voice, and image.

[0051] In one embodiment, after determining the second limiting level corresponding to the second current difference, it further includes: if the second limiting level is the safety level, continue to maintain the torque output of the drive motor limited based on the first limiting torque until the continuous maintenance duration reaches the safety duration threshold, and then adjust the output torque of the drive motor based on the working torque, where the working torque refers to the maximum torque output in the normal working state of the drive motor under the limitation of the maximum discharge current of the battery.

[0052] In this embodiment, if the first limiting duration for limiting the torque output of the drive motor based on the first limiting torque reaches the first duration threshold, and if the second limiting level is the safety level, it indicates that the first limiting torque has quickly alleviated the overcurrent fault to a safe state. Then, it can continue to maintain at the first limiting torque until the continuous maintenance duration reaches the safety duration threshold, at which point the normal operation of the drive motor is restored and the normal driving of the vehicle is resumed.

[0053] In this embodiment, the safety duration threshold is set according to actual situations and requirements, and the protection scope of this application is not limited by the specific value of the safety duration threshold.

[0054] In one embodiment, while adjusting the output torque of the drive motor based on the first limiting torque under the first limiting level, it further includes: obtaining the real-time torque actually output by the drive motor; if the real-time torque is negative, then adjusting the output torque of the drive motor based on the working torque, where the working torque refers to the maximum torque output under the normal working state of the drive motor with the maximum discharge current of the battery limited.

[0055] In this embodiment, during the process of limiting the torque of the drive motor, the real-time torque actually output by the drive motor is monitored in real time. If the real-time torque is negative, it indicates that the vehicle has braked, and the torque limiting mode can be immediately exited to limit the normal operation of the drive motor with the maximum discharge current of the battery.

[0056] In a specific embodiment, taking the vehicle's vehicle control unit as the execution entity as an example to implement the vehicle control method, as Figure 2 shown, the vehicle control unit obtains the maximum discharge current of the battery, the real-time current of the power battery, the real-time voltage of the power battery, and the real-time torque actually output by the drive motor in real time through the messages transmitted by the Controller Area Network (CAN) bus. In the vehicle control unit, a corresponding relationship table (such as a MAP table) between the drive motor efficiency and the real-time voltage of the power battery is pre-written. By implementing the vehicle control method provided in this application, the vehicle control unit controls the operation of the drive motor system based on the limiting torque to solve the overcurrent fault of the power battery.

[0057] In this embodiment, a0, a1, a2, and a3 are used as boundary thresholds, where a0 < a1 < a2 < a3. Three current threshold intervals are divided, namely (a0, a1], (a1, a2], and (a2, a3]. The corresponding limiting coefficients for (a0, a1], (a1, a2], and (a2, a3] are d1, d2, and d3 respectively, where 1 > d1 > d2 > d3 > 0. The corresponding limiting torques for (a0, a1], (a1, a2], and (a2, a3] are T1, T2, and T3 respectively. The corresponding limiting levels for (a0, a1], (a1, a2], and (a2, a3] are the first level, the second level, and the third level respectively.

[0058] As Figure 3 shown, the specific process of the vehicle control method implemented by the vehicle controller is as follows:

[0059] Step 301, obtain the real-time voltage and real-time current I_current of the power battery;

[0060] Step 302, based on the correspondence table between the drive motor efficiency and the real-time voltage, determine the drive motor efficiency η corresponding to the real-time voltage;

[0061] Step 303, calculate the product of the drive motor efficiency η and the maximum discharge current I_max of the battery as the motor limiting current I_nom, that is, I_nom = η × I_max; and calculate the product of the motor torque constant K_t and the motor limiting current I_nom as the base torque T_limit, that is, T_limit = K_t × I_nom;

[0062] Step 304, calculate the current difference ΔI between the motor limiting current I_nom and the real-time current I_current, that is, ΔI = I_current - I_nom;

[0063] Step 305, compare the current difference ΔI with each current threshold interval. If the current difference ΔI belongs to (a0, a1], execute Step 306; if the current difference ΔI belongs to (a1, a2], execute Step 312; if the current difference ΔI belongs to (a2, a3], execute Step 306;

[0064] Step 306, calculate T1 = T_limit × d1. While executing Step 320, if the limiting duration for limiting the drive motor torque output based on T1 reaches t1, then execute Step 307;

[0065] Step 307, recalculate ΔI;

[0066] Step 308, determine whether the recalculated ΔI belongs to (a0, a1] or is greater than a1. If so, execute Step 309; if not, execute Step 310;

[0067] Step 309, limit the output torque of the drive motor to zero and generate a fault message;

[0068] Step 310, continue to maintain the torque output of the drive motor limited by T1 until the continuous maintenance duration reaches the safety duration threshold t0, and execute Step 311;

[0069] Step 311, adjust the output torque of the drive motor based on the working torque, execute Step 301, and form continuous monitoring during vehicle power-on;

[0070] Step 312, calculate T2 = T_limit × d2, while executing Step 320, if the limit duration of the torque output of the drive motor limited by T2 reaches t2, then execute Step 313;

[0071] Step 313, recalculate ΔI;

[0072] Step 314, if the recalculated ΔI is less than a0, execute Step 315; if the current difference ΔI belongs to (a0, a1], execute Step 306; if the current difference ΔI belongs to (a1, a2] or is greater than a2, execute Step 309;

[0073] Step 315, continue to maintain the torque output of the drive motor limited by T2 until the continuous maintenance duration reaches the safety duration threshold t0, and execute Step 311;

[0074] Step 316, calculate T3 = T_limit × d3, while executing Step 320, if the limit duration of the torque output of the drive motor limited by T3 reaches t3, then execute Step 317;

[0075] Step 317, recalculate ΔI;

[0076] Step 318, if the recalculated ΔI is less than a0, execute Step 319; if the current difference ΔI belongs to (a0, a1], execute Step 306; if the current difference ΔI belongs to (a1, a2], execute Step 312; if the current difference ΔI belongs to (a2, a3] or is greater than a3, execute Step 309;

[0077] Step 319, continue to maintain the torque output of the drive motor limited by T3 until the continuous maintenance duration reaches the safety duration threshold t0, and execute Step 311;

[0078] Step 320, monitor the real-time torque T_motor actually output by the drive motor in real time;

[0079] Step 321, determine whether the real-time torque is negative. If so, execute Step 311; if not, execute Step 320.

[0080] In this application, during the vehicle driving process, a first current difference between the real-time current of the power battery and the motor limit current is obtained. Here, the vehicle includes a drive motor and a power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the drive motor limit; a first limit level corresponding to the first current difference is determined; based on the first limit torque at the first limit level, the output torque of the drive motor is adjusted, where the first limit torque refers to the maximum torque output by the drive motor at the first limit level. In the above process, the first current difference is obtained based on the motor limit current under the drive motor limit, and the driving state of the vehicle is added to the torque limit process of current protection, making the first limit torque more adaptable to the real-time state of the vehicle, avoiding a serious sudden change in the power output of the vehicle, and improving the stability of the vehicle and the driving experience of the user when current protection is implemented. At the same time, multi-level torque limit is realized based on the current difference, further improving the flexibility and accuracy of the overcurrent protection process, making the first limit torque more adaptable to the actual degree of overcurrent, avoiding the conservative or radical phenomena existing in overcurrent protection based on a fixed current threshold, and further improving the stability of the vehicle and the driving experience of the user when current protection is implemented.

[0081] Furthermore, by real-time monitoring the voltage of the power battery and looking up a table to determine the drive motor efficiency, the motor limit current can be dynamically adjusted according to the actual working state of the power battery, thereby improving the accuracy and adaptability of battery overcurrent protection. By adopting a multi-level torque limit strategy, according to the current difference between the real-time current of the power battery and the motor limit current, the torque of the drive motor is restricted in sequence according to different limit coefficients, effectively avoiding sudden changes in torque output and improving the smoothness and safety of vehicle driving. During the torque limit process, the present invention realizes the smooth transition and recovery of the drive motor torque by setting a duration threshold, alleviates the problem of sudden power changes, and improves the riding comfort. During the torque limit process, if it is monitored that the drive motor torque becomes negative (vehicle braking situation), the torque limit mode can be exited in time to ensure that the braking performance of the vehicle is not affected and improve the safety performance of the vehicle. The vehicle control method provided in this application can not only effectively prevent battery overcurrent, but also maximize the performance of the power battery and the drive motor on the premise of ensuring safety, improving the overall power performance and economy of the vehicle.

[0082] Exemplary device

[0083] Correspondingly, the embodiment of this application also provides a vehicle control device, as Figure 4 shown, this device may include:

[0084] An acquisition module 401, configured to acquire a first current difference between a real-time current of a power battery and a motor limit current during vehicle driving, where the vehicle includes a drive motor and a power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the limitation of the drive motor;

[0085] A determination module 402, configured to determine a first limit level corresponding to the first current difference;

[0086] An adjustment module 403, configured to adjust an output torque of the drive motor based on a first limit torque at the first limit level, where the first limit torque refers to the maximum torque output by the drive motor at the first limit level.

[0087] In one embodiment, the adjustment module 403 is configured to calculate a base torque based on a motor torque constant and a motor limit current of the drive motor; acquire a first limit coefficient corresponding to the first limit level; calculate a product of the base torque and the first limit coefficient as the first limit torque; and adjust the output torque of the drive motor based on the first limit torque.

[0088] In one embodiment, the adjustment module 403 is configured to, if a first limit duration for limiting the torque output of the drive motor based on the first limit torque reaches a first duration threshold, recalculate a second current difference between the real-time current and the motor limit current; determine a second limit level corresponding to the second current difference; if the second limit level is lower than the first limit level, acquire a second limit coefficient corresponding to the second limit level; calculate a product of the base torque and the second limit coefficient as the second limit torque; and readjust the output torque of the drive motor based on the second limit torque.

[0089] In one embodiment, after the adjustment module 403 determines the second limit level corresponding to the second current difference, it further includes: if the second limit level is higher than or equal to the first limit level, limit the output torque of the drive motor to zero and generate a fault message.

[0090] In one embodiment, the acquisition module 401 is configured to acquire a first current difference between a real-time current of a power battery and a motor limit current, including: acquiring a real-time voltage and a real-time current of the power battery, and acquiring the maximum discharge current of the battery; acquiring a drive motor efficiency corresponding to the real-time voltage; calculating a product of the drive motor efficiency and the maximum discharge current of the battery as the motor limit current; and calculating a difference between the real-time current and the motor limit current as the first current difference.

[0091] In one embodiment, the determination module 402 is configured to determine a first current threshold interval where the first current difference is located; and use an interval level corresponding to the first current threshold interval as the first limit level, where the larger the maximum threshold in the first current threshold interval, the higher the first limit level.

[0092] In one embodiment, the adjustment module 403 is configured to adjust the output torque of the drive motor based on the first limiting torque at the first limiting level. The adjustment module 403 further includes: obtaining the real-time torque actually output by the drive motor; if the real-time torque is negative, adjusting the output torque of the drive motor based on the working torque, where the working torque refers to the maximum torque output under the normal working state of the drive motor with the maximum discharge current of the battery being limited.

[0093] The vehicle control device provided in this embodiment belongs to the same inventive concept as the vehicle control method provided in the above embodiments of the present application. It can execute the vehicle control method provided in any of the above embodiments of the present application and has the corresponding functional modules and beneficial effects of the execution method. For the technical details not described in detail in this embodiment, reference may be made to the specific processing content of the vehicle control method provided in the above embodiments of the present application, which will not be elaborated here.

[0094] Exemplary electronic device

[0095] An embodiment of the present application further provides an electronic device, as Figure 5 shown. The electronic device includes: a memory 500 and a processor 501.

[0096] The memory 500 is connected to the processor 501 and is used for storing programs.

[0097] The processor 501 is configured to implement the vehicle control method in the above embodiments by running the programs stored in the memory 500.

[0098] Specifically, the above electronic device may further include: a communication interface 502, an input device 503, an output device 504, and a bus 505.

[0099] The processor 501, the memory 500, the communication interface 502, the input device 503, and the output device 504 are interconnected through the bus. Among them:

[0100] The bus 505 may include a path for transmitting information between various components of the computer system.

[0101] The processor 501 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0102] The processor 501 may include a main processor, and may also include a baseband chip, a modem, etc.

[0103] The memory 500 stores a program for implementing the technical solution of the present invention, and may also store an operating system and other critical services. Specifically, the program may include program code, and the program code includes computer operation instructions. More specifically, the memory 500 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk memory, a flash memory, etc.

[0104] The input device 503 may include devices for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor, etc.

[0105] The output device 504 may include devices for allowing information to be output to a user, such as a display screen, a printer, a speaker, etc.

[0106] The communication interface 502 may include devices of any transceiver type for communicating with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0107] The processor 501 executes the program stored in the memory 500 and calls other devices, and can be used to implement each step of the vehicle control method provided in the above embodiments of the present application.

[0108] Exemplary computer program product and storage medium

[0109] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps in the vehicle control method described in the embodiments of the present application.

[0110] The computer program product can be written in any combination of one or more programming languages for executing the program code of the operations in the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0111] In addition, an embodiment of the present application can also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to perform the steps in the vehicle control method described in the embodiments of the present application.

[0112] For the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0113] It should be noted that the embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0114] The steps in the methods of the embodiments of the present application can be adjusted, combined, and deleted according to actual needs. The technical features recorded in each embodiment can be replaced or combined.

[0115] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be combined, divided, and deleted according to actual needs.

[0116] In several embodiments provided by the present application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or sub-modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple sub-modules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be indirect couplings or communication connections through some interfaces, devices, or modules, and can be in electrical, mechanical, or other forms.

[0117] The modules or sub-modules described as separate components may or may not be physically separated. The components as modules or sub-modules may or may not be physical modules or sub-modules, that is, they can be located in one place, or can be distributed to multiple network modules or sub-modules. Some or all of the modules or sub-modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0118] In addition, each functional module or sub-module in various embodiments of the present application can be integrated in a processing module, or each module or sub-module can exist physically alone, or two or more modules or sub-modules can be integrated in one module. The above-mentioned integrated modules or sub-modules can be implemented in the form of hardware or in the form of software functional modules or sub-modules.

[0119] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0120] The steps of the methods or algorithms described in combination with the embodiments disclosed in this article can be directly implemented by hardware, software units executed by a processor, or a combination of the two. The software units can be placed in a random access memory (RAM), memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0121] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0122] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that, Including: During the driving process of the vehicle, obtain a first current difference between the real-time current of the power battery and the motor limit current, where the vehicle includes a drive motor and the power battery, and the motor limit current is the current of the maximum discharge current of the power battery under the limitation of the drive motor; Determine a first limit level corresponding to the first current difference; Based on a first limit torque at the first limit level, adjust the output torque of the drive motor, where the first limit torque refers to the maximum torque output by the drive motor at the first limit level.

2. The vehicle control method according to claim 1, wherein, The adjusting the output torque of the drive motor based on the first limit torque at the first limit level includes: Calculate a basic torque based on the motor torque constant of the drive motor and the motor limit current; Obtain a first limit coefficient corresponding to the first limit level; Calculate the product of the basic torque and the first limit coefficient as the first limit torque; Based on the first limit torque, adjust the output torque of the drive motor.

3. The vehicle control method according to claim 2, wherein The adjusting the output torque of the drive motor based on the first limit torque includes: If a first limit duration for limiting the torque output of the drive motor based on the first limit torque reaches a first duration threshold, recalculate a second current difference between the real-time current and the motor limit current; Determine a second limit level corresponding to the second current difference; If the second limit level is lower than the first limit level, obtain a second limit coefficient corresponding to the second limit level; Calculate the product of the basic torque and the second limit coefficient as the second limit torque; Based on the second limit torque, adjust the output torque of the drive motor again.

4. The vehicle control method according to claim 3, wherein, After determining the second limit level corresponding to the second current difference, it further includes: If the second limit level is higher than or equal to the first limit level, limit the output torque of the drive motor to zero and generate a fault message.

5. The vehicle control method according to claim 1, characterized in that The obtaining the first current difference between the real-time current of the power battery and the motor limit current includes: Obtain the real-time voltage and real-time current of the power battery, and obtain the maximum discharge current of the battery; Obtain the drive motor efficiency corresponding to the real-time voltage; Calculate the product of the drive motor efficiency and the maximum discharge current of the battery as the motor limit current; Calculate the difference between the real-time current and the motor limit current as the first current difference.

6. The vehicle control method according to claim 1, wherein, The determining the first limit level corresponding to the first current difference includes: Determine a first current threshold interval where the first current difference is located; Take the interval level corresponding to the first current threshold interval as the first limit level, where the larger the maximum threshold in the first current threshold interval, the higher the first limit level.

7. The vehicle control method according to claim 1, wherein While adjusting the output torque of the drive motor based on the first limit torque at the first limit level, it further includes: Obtain the real-time torque actually output by the drive motor; If the real-time torque is negative, adjust the output torque of the drive motor based on the working torque, where the working torque refers to the maximum torque output in the normal working state of the drive motor under the battery maximum discharge current limit.

8. A vehicle control device, characterized in that, Comprising: An acquisition module, configured to acquire a first current difference between the real-time current of the power battery and the motor limit current during vehicle driving, where the vehicle includes a drive motor and the power battery, and the motor limit current is the current of the battery maximum discharge current of the power battery under the drive motor limit; A determination module, configured to determine a first limit level corresponding to the first current difference; An adjustment module, configured to adjust the output torque of the drive motor based on a first limit torque at the first limit level, where the first limit torque refers to the maximum torque output by the drive motor at the first limit level.

9. An electronic device, characterized in that, Comprising: A memory and a processor; The memory is connected to the processor and is configured to store programs; The processor is configured to implement the vehicle control method according to any one of claims 1-7 by running the programs in the memory.

10. A computer program product, characterized in that, Including computer program instructions; When the computer program instructions are run by the processor, the processor is caused to execute the vehicle control method according to any one of claims 1-7.

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