Vehicle control method, device, apparatus, and program product

Abstract

The application relates to the technical field of vehicles, in particular to a vehicle control method, device, equipment and program product. The method comprises the following steps: in a vehicle driving process, a first current difference value between a real-time current of a power battery and a motor limit current is acquired, wherein the vehicle comprises a driving motor and the power battery, the motor limit current is a current of a maximum discharging current of the power battery under the limitation of the driving motor; a first limit level corresponding to the first current difference value is determined; and an output torque of the driving motor is adjusted based on a first limit torque under the first limit level, wherein the first limit torque refers to a maximum torque output by the driving motor under the first limit level. The application can dynamically limit the output torque of the driving motor in combination with the driving state of the vehicle, thereby improving the driving stability of the vehicle and the driving experience of a user.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a vehicle control method, device, equipment, and program product. Background Technology

[0002] With the rapid development of the new energy vehicle industry, electric vehicles, as an important branch of new energy vehicles, have received widespread attention for their safety and reliability. As a core component of new energy vehicles, the overcurrent protection system of the power battery is crucial for ensuring safe vehicle operation. Currently, existing overcurrent protection schemes for power batteries typically employ fixed current thresholds. This not only results in overly conservative or aggressive overcurrent protection measures, but also in excessively large protection actions that cause severe sudden changes in vehicle output power, thereby reducing vehicle stability and diminishing the user's driving experience. Summary of the Invention

[0003] Based on the aforementioned defects and shortcomings of the prior art, this application proposes a vehicle control method, device, equipment, and program product that can dynamically limit the output torque of the drive motor in conjunction with the vehicle's driving state, thereby improving the vehicle's driving stability and the user's driving experience.

[0004] According to a first aspect of this application, a vehicle control method is provided, comprising: during vehicle operation, acquiring a first current difference between a real-time current of a power battery and a motor limiting current, wherein the vehicle includes a drive motor and the power battery, and the motor limiting current is the current under the limitation of the maximum discharge current of the power battery by the drive motor; determining a first limiting level corresponding to the first current difference; and adjusting the output torque of the drive motor based on a first limiting torque under the first limiting level, wherein the first limiting torque refers to the maximum torque output by the drive motor under the first limiting level.

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

[0006] According to the vehicle control method provided in the first aspect of this application, adjusting the output torque of the drive motor based on the first limiting torque includes: if the first limiting duration of limiting the torque output of the drive motor based on the first limiting torque reaches a first duration threshold, then recalculating the second current difference between the real-time current and the motor limiting current; determining the second limiting level corresponding to the second current difference; if the second limiting level is lower than the first limiting level, then obtaining the second limiting coefficient corresponding to the second limiting level; calculating the product of the base torque and the second limiting coefficient as the second limiting torque; and adjusting 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 this application, after determining the second restriction level corresponding to the second current difference, the method further includes: if the second restriction level is higher than or equal to the first restriction level, then restricting the output torque of the drive motor to zero and generating fault information.

[0008] According to the vehicle control method provided in the first aspect of this application, 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 this application, determining the first restriction level corresponding to the first current difference includes: determining the first current threshold interval in which the first current difference is located; and taking the interval level corresponding to the first current threshold interval as the first restriction level, wherein the larger the maximum threshold in the first current threshold interval, the higher the first restriction level.

[0010] According to the vehicle control method provided in the first aspect of this application, while adjusting the output torque of the drive motor based on the first limiting torque under the first limiting level, the method 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, wherein the working torque refers to the maximum torque output by the drive motor under normal operating conditions under the limitation of the maximum discharge current of the battery.

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

[0012] According to a third aspect of this application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store a program; the processor is used 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 this application, a computer program product is provided, including computer program instructions; the computer program instructions, when executed by a processor, cause the processor to perform the vehicle control method as described in the first aspect.

[0014] In this application, during vehicle operation, a first current difference is obtained between the real-time current of the power battery and the motor limiting current. The vehicle includes a drive motor and a power battery, and the motor limiting current is the current at which the maximum discharge current of the power battery is limited by the drive motor. A first limiting level corresponding to the first current difference is determined. Based on a first limiting torque at the first limiting level, the output torque of the drive motor is adjusted, where the first limiting torque refers to the maximum torque output by the drive motor at the first limiting level. In the above process, the first current difference is obtained based on the motor limiting current at the drive motor. By adding the vehicle's driving state to the torque limiting process of current protection, the first limiting torque is more adapted to the real-time state of the vehicle, avoiding severe sudden changes in the vehicle's power output and improving the vehicle's stability and the user's driving experience during current protection implementation. Simultaneously, multi-level torque limiting based on the current difference further enhances the flexibility and accuracy of the overcurrent protection process, making the first limiting torque more adapted to the actual degree of overcurrent, avoiding the conservative or aggressive phenomena that exist in overcurrent protection based on a fixed current threshold, and further improving the vehicle's stability and the user's driving experience during current protection implementation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is one of the flowcharts illustrating a vehicle control method provided in an embodiment of this application;

[0017] Figure 2 A schematic diagram illustrating the principle of vehicle control-related data transmission provided in an embodiment of this application;

[0018] Figure 3 This is one of the flowcharts illustrating a vehicle control method provided in an embodiment of this application;

[0019] Figure 4 A block diagram of a vehicle control device provided in an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Exemplary methods

[0023] To address the overcurrent protection problem in existing electric vehicles, this application provides a vehicle control method. This method can be implemented as a software algorithm, which can run on any device with data processing capabilities, such as a vehicle controller, a remote server, or a stand-alone computer. The scope of protection of this application is not limited by the type of device on which the software algorithm runs when implementing this method.

[0024] In one embodiment, such as Figure 1 As shown, the process steps for implementing the vehicle control method include:

[0025] Step 101: During vehicle operation, obtain the first current difference between the real-time current of the power battery and the motor limiting current. The vehicle includes a drive motor and a power battery. The motor limiting current is the current when the maximum discharge current of the power battery is limited by the drive motor.

[0026] In this embodiment, the vehicle is an electric vehicle, and the power battery provides power to the vehicle's drive motor to drive the vehicle normally. During the vehicle's operation, the real-time current of the power battery is monitored. To ensure both battery and vehicle safety, the real-time current of the power battery must be less than or equal to the battery's maximum discharge current. To incorporate the vehicle's driving state into the overcurrent protection process, the drive motor's limitation on the power battery is added to the overcurrent protection control process. Specifically, a drive motor limitation is added to the battery's maximum discharge current, resulting in a motor-limited current. This makes the overcurrent protection monitoring process more adaptable to the real-time state of the vehicle during operation. The current difference between the currently calculated real-time current of the power battery and the motor-limited current 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-limited current is as follows:

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

[0028] The larger the first current difference, the more severe the overcurrent in the power battery.

[0029] Step 102: Determine the first restriction level corresponding to the first current difference.

[0030] In this embodiment, multiple restriction levels are pre-set, with different current differences corresponding to different restriction levels; the larger the current difference, the higher the restriction level. Optionally, the first correspondence between the current difference and the restriction level can be pre-set according to the actual situation and specific needs. This first correspondence can be expressed in any way, such as a correspondence table, key-value pairs, or calculation formula. After the first current difference is calculated in real time, the first restriction level is retrieved based on the first correspondence.

[0031] Step 103: Adjust the output torque of the drive motor based on the first limiting torque under the first limiting level, wherein the first limiting torque refers to the maximum torque output by the drive motor under the first limiting level.

[0032] In this embodiment, the limiting torque at each restriction level is less than the maximum torque output by the drive motor under normal vehicle driving conditions. The limiting torque varies across different restriction levels; the higher the restriction level, the smaller the limiting torque, and the smaller the maximum torque the drive motor can output. Simultaneously, during drive motor operation, the real-time output torque of the drive motor is directly 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, gradually mitigating and eventually resolving the power battery overcurrent fault.

[0033] In one embodiment, obtaining a 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; and 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 drive motor on the maximum discharge current of the power battery. A second correspondence between real-time voltage and drive motor efficiency is pre-determined; this second correspondence can be expressed using any method, such as a correspondence table, key-value pairs, or calculation formula. During vehicle operation, the real-time voltage and real-time current of the power battery are simultaneously acquired. Based on the second correspondence, the drive motor efficiency corresponding to the real-time voltage is obtained. The product of the drive motor efficiency and the maximum discharge current of the battery is calculated as the motor limiting current, using the following formula:

[0035] Motor limiting current = drive motor × battery maximum discharge current.

[0036] After obtaining the motor limiting current, the difference between the real-time current and the motor limiting current is calculated in real time, thus obtaining the first current difference value in real time.

[0037] In this embodiment, the real-time voltage characterizes the actual working state of the power battery. The efficiency of the drive motor is determined based on the real-time voltage. The motor limiting current is then dynamically adjusted based on the power battery, making the overcurrent protection process by limiting the drive torque more adaptable to the real-time state of the power battery and the drive motor, thus improving the accuracy and adaptability of the current protection process.

[0038] In one embodiment, determining the first restriction level corresponding to the first current difference includes: determining the first current threshold interval in which the first current difference is located; and using the interval level corresponding to the first current threshold interval as the first restriction level, wherein the larger the maximum threshold in the first current threshold interval, the higher the first restriction 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 respectively. (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 the actual situation and requirements. 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 adopted. 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, based on the limitation of the first limiting torque, the output torque of the drive motor is gradually restored step by step based on the second limiting torque, avoiding the sudden change of vehicle power during torque recovery and further improving the stability of the vehicle.

[0046] In this embodiment, after adjusting the output torque of the drive motor again based on the second limiting torque, if the second limiting duration for restricting the drive motor torque output based on the second limiting torque reaches the second duration threshold, then the third current difference between the real-time current and the motor limiting current is recalculated; the third limiting level corresponding to the third current difference is determined; if the third limiting level is lower than the second limiting level, then the third limiting coefficient corresponding to the third limiting level is obtained; the product of the base torque and the third limiting coefficient is calculated as the third limiting torque; based on the third limiting torque, the output torque of the drive motor is adjusted again. This process forms a stepped recovery of the drive motor's output torque across more levels until it is adjusted to the drive limit under the last limiting level, at which point the vehicle resumes normal operation with normal torque.

[0047] In fact, for multiple consecutive pre-set limit levels, the current difference between any two limit levels can be recalculated after a certain limit duration, and the limit torque can be flexibly adjusted across levels to form a stepped torque recovery process, thereby improving vehicle stability.

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

[0049] In one embodiment, after determining the second restriction level corresponding to the second current difference, the method further includes: if the second restriction level is higher than or equal to the first restriction level, then restricting the output torque of the drive motor to zero and generating fault information.

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

[0051] In one embodiment, after determining the second restriction level corresponding to the second current difference, the method further includes: if the second restriction level is a safety level, then continue to maintain the drive motor torque output based on the first restriction torque until the duration of maintenance reaches a safety duration threshold, and then adjust the output torque of the drive motor based on the working torque, wherein the working torque refers to the maximum torque output by the drive motor under normal operating conditions under the limitation of the battery's maximum discharge current.

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

[0053] In this embodiment, the safety duration threshold is set according to the actual situation and needs, 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, the method 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, wherein the working torque refers to the maximum torque output by the drive motor under normal operating conditions under the limitation of the maximum discharge current of the battery.

[0055] In this embodiment, during the torque limiting process of the drive motor, the real-time torque output of 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 exited immediately, so that the drive motor can be limited to normal operation by the maximum discharge current of the battery.

[0056] In one specific embodiment, the vehicle control method is implemented using the vehicle controller as the executing entity, such as... Figure 2 As shown, the vehicle controller acquires the maximum battery discharge current, real-time current of the power battery, real-time voltage of the power battery, and real-time torque output of the drive motor in real time through messages transmitted via the Controller Area Network (CAN) bus. A mapping table (e.g., a MAP table) between the drive motor efficiency and the real-time voltage of the power battery is pre-written into the vehicle controller. By implementing the vehicle control method provided in this application, the vehicle controller controls the operation of the drive motor system based on torque limiting to resolve overcurrent faults in the power battery.

[0057] In this embodiment, a0, a1, a2, and a3 are used as boundary thresholds, where a0 < a1 < a2 < a3, and 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 process of the vehicle controller specifically implementing the vehicle control method 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 fault information;

[0068] Step 310: Continue to maintain the torque output of the drive motor based on T1 until the duration of maintenance reaches the safe duration threshold t0, then proceed to step 311;

[0069] Step 311: Based on the working torque, adjust the output torque of the drive motor, execute step 301, and establish continuous monitoring during vehicle power-on.

[0070] Step 312: Calculate T2 = T_limit × d2. While executing step 320, if the limitation time for limiting the torque output of the drive motor based on T2 reaches t2, then execute step 313.

[0071] Step 313, recalculate ΔI;

[0072] Step 314: If the recalculated ΔI is less than a0, proceed to step 315; if the current difference ΔI belongs to (a0, a1), proceed to step 306; if the current difference ΔI belongs to (a1, a2) or is greater than a2, proceed to step 309.

[0073] Step 315: Continue to maintain the torque output of the drive motor based on T2 until the duration of maintenance reaches the safe duration threshold t0, then execute step 311;

[0074] Step 316: Calculate T3 = T_limit × d3. While executing step 320, if the limitation time for limiting the torque output of the drive motor based on T3 reaches t3, then execute step 317.

[0075] Step 317, recalculate ΔI;

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

[0077] Step 319: Continue to maintain the torque output of the drive motor based on T3 until the duration of maintenance reaches the safe duration threshold t0, then execute step 311;

[0078] Step 320: Monitor the real-time torque T_motor of the actual output of the drive motor.

[0079] Step 321: Determine if the real-time torque is negative. If yes, proceed to step 311; otherwise, proceed to step 320.

[0080] In this application, during vehicle operation, a first current difference is obtained between the real-time current of the power battery and the motor limiting current. The vehicle includes a drive motor and a power battery, and the motor limiting current is the current at which the maximum discharge current of the power battery is limited by the drive motor. A first limiting level corresponding to the first current difference is determined. Based on a first limiting torque at the first limiting level, the output torque of the drive motor is adjusted, where the first limiting torque refers to the maximum torque output by the drive motor at the first limiting level. In the above process, the first current difference is obtained based on the motor limiting current at the drive motor. By adding the vehicle's driving state to the torque limiting process of current protection, the first limiting torque is more adapted to the real-time state of the vehicle, avoiding severe sudden changes in the vehicle's power output and improving the vehicle's stability and the user's driving experience during current protection implementation. Simultaneously, multi-level torque limiting based on the current difference further enhances the flexibility and accuracy of the overcurrent protection process, making the first limiting torque more adapted to the actual degree of overcurrent, avoiding the conservative or aggressive phenomena that exist in overcurrent protection based on a fixed current threshold, and further improving the vehicle's stability and the user's driving experience during current protection implementation.

[0081] Furthermore, by monitoring the power battery voltage in real time and determining the drive motor efficiency by referring to a table, the motor limiting current can be dynamically adjusted according to the actual operating state of the power battery, thereby improving the accuracy and adaptability of battery overcurrent protection. A multi-level torque limiting strategy is adopted, which limits the drive motor torque sequentially according to different limiting coefficients based on the current difference between the real-time power battery current and the motor limiting current, effectively avoiding sudden torque output changes and improving vehicle smoothness and safety. During torque limiting, this invention achieves smooth transition and recovery of drive motor torque by setting a duration threshold, alleviating the problem of sudden power changes and improving ride comfort. If the drive motor torque becomes negative during torque limiting (vehicle braking situation), the torque limiting mode can be exited in time, ensuring that the vehicle's braking performance is not affected and improving vehicle safety. The vehicle control method provided in this application not only effectively prevents battery overcurrent but also maximizes the performance of the power battery and drive motor while ensuring safety, improving the overall power performance and economy of the vehicle.

[0082] Exemplary device

[0083] Accordingly, embodiments of this application also provide a vehicle control device, such as... Figure 4 As shown, the device may include:

[0084] The acquisition module 401 is used to acquire the first current difference between the real-time current of the power battery and the motor limiting current during vehicle operation. The vehicle includes a drive motor and a power battery, and the motor limiting current is the current under the limit of the maximum discharge current of the power battery by the drive motor.

[0085] Determining module 402 is used to determine the first restriction level corresponding to the first current difference;

[0086] The adjustment module 403 is used to adjust the output torque of the drive motor based on the first limiting torque under the first limiting level, wherein the first limiting torque refers to the maximum torque output by the drive motor under the first limiting level.

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

[0088] In one embodiment, the adjustment module 403 is configured to: recalculate the second current difference between the real-time current and the motor limiting current if the first limiting duration based on the first limiting torque for limiting the torque output of the drive motor reaches a first duration threshold; 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.

[0089] In one embodiment, after determining the second restriction level corresponding to the second current difference, the adjustment module 403 further includes: if the second restriction level is higher than or equal to the first restriction level, then restricting the output torque of the drive motor to zero and generating fault information.

[0090] In one embodiment, the acquisition module 401 is used to acquire a first current difference between the real-time current of the power battery and the motor limiting current, including: acquiring the real-time voltage and real-time current of the power battery, and acquiring the maximum discharge current of the battery; acquiring 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.

[0091] In one embodiment, the determining module 402 is used to determine the first current threshold interval in which the first current difference is located; and to use the interval level corresponding to the first current threshold interval as the first restriction level, wherein the larger the maximum threshold in the first current threshold interval, the higher the first restriction level.

[0092] In one embodiment, the adjustment module 403 is used to adjust the output torque of the drive motor based on the first limiting torque under the first limiting level, and also 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, wherein the working torque refers to the maximum torque output by the drive motor under normal operating conditions under the limitation of the maximum discharge current of the battery.

[0093] The vehicle control device provided in this embodiment belongs to the same concept as the vehicle control method provided in the above embodiments of this application. It can execute the vehicle control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in this embodiment can be found in the specific processing content of the vehicle control method provided in the above embodiments of this application, and will not be repeated here.

[0094] Exemplary electronic devices

[0095] This application also provides an electronic device, such as... Figure 5 As 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 to store programs.

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

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

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

[0100] Bus 505 may include a pathway for transmitting information between various components of a computer system.

[0101] Processor 501 can 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 used to control the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0102] Processor 501 may include a main processor, as well as a baseband chip, modem, etc.

[0103] The memory 500 stores a program that executes the technical solution of this invention, and may also store an operating system and other key business functions. Specifically, the program may include program code, which includes computer operation instructions. More specifically, the memory 500 may include read-only memory (ROM), other types of static storage devices capable of storing static information and instructions, random access memory (RAM), other types of dynamic storage devices capable of storing information and instructions, disk storage, flash memory, etc.

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

[0105] Output device 504 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0106] The communication interface 502 may include a device that uses any transceiver to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

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

[0108] Exemplary computer program products and storage media

[0109] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle control method described in the embodiments of this application.

[0110] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0111] Furthermore, embodiments of this application may also be storage media storing a computer program, which is executed by a processor of the steps in the vehicle control method described in the embodiments of this application.

[0112] For the foregoing method embodiments, in order to simplify the description, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0113] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

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

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

[0116] It should be understood that the disclosed terminals, devices, and methods can be implemented in other ways, given the several embodiments provided in this application. For example, the terminal embodiments described above are merely illustrative. For instance, the division of modules or sub-modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or modules, and may be electrical, mechanical, or other forms.

[0117] The modules or submodules described as separate components may or may not be physically separate. The components that constitute a module or submodule may or may not be physical modules or submodules; that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules can be selected to achieve the purpose of this embodiment's solution, depending on actual needs.

[0118] Furthermore, the functional modules or sub-modules in the various embodiments of this application can be integrated into one processing module, or each module or sub-module can exist physically separately, or two or more modules or sub-modules can be integrated into one module. The integrated modules or sub-modules described above can be implemented in hardware or in the form of software functional modules or sub-modules.

[0119] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software 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 beyond the scope of this application.

[0120] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software unit executed by a processor, or a combination of both. The software unit can be located in random access memory (RAM), main 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 known in the art.

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

[0122] The above description of the disclosed embodiments enables those skilled in the art to make or use this 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 this application. Therefore, this application is not to 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, include: During vehicle operation, a first current difference between the real-time current of the power battery and the motor limiting current is obtained, wherein the vehicle includes a drive motor and the power battery, and the motor limiting current is the current under the limit of the maximum discharge current of the power battery by the drive motor. Determine the first restriction level corresponding to the first current difference; Based on the first limiting torque under the first limiting level, the output torque of the drive motor is adjusted, wherein the first limiting torque refers to the maximum torque output by the drive motor under the first limiting level; The step of adjusting the output torque of the drive motor based on the first limiting torque under the first limiting level includes: calculating a base torque based on the motor torque constant of the drive motor and the motor limiting current; obtaining a first limiting coefficient corresponding to the first limiting level; calculating the product of the base torque and the first limiting coefficient as the first limiting torque; if the first limiting duration for restricting the torque output of the drive motor based on the first limiting torque reaches a first duration threshold, then recalculating a second current difference between the real-time current and the motor limiting current; determining a second limiting level corresponding to the second current difference; if the second limiting level is lower than the first limiting level, then obtaining a second limiting coefficient corresponding to the second limiting level; calculating the product of the base torque and the second limiting coefficient as the second limiting torque; and adjusting the output torque of the drive motor again based on the second limiting torque.

2. The vehicle control method according to claim 1, characterized in that, After determining the second restriction level corresponding to the second current difference, the method further includes: If the second restriction level is higher than or equal to the first restriction level, the output torque of the drive motor is restricted to zero, and a fault message is generated.

3. The vehicle control method according to claim 1, characterized in that, The acquisition of the first current difference between the real-time current of the power battery and the motor limiting current includes: The real-time voltage and real-time current of the power battery are obtained, as well as the maximum discharge current of the battery. Obtain the drive motor efficiency corresponding to the real-time voltage; The product of the drive motor efficiency and the battery maximum discharge current is calculated and used as the motor limiting current. The difference between the real-time current and the motor limiting current is calculated and used as the first current difference value.

4. The vehicle control method according to claim 1, characterized in that, Determining the first restriction level corresponding to the first current difference includes: Determine the first current threshold interval in which the first current difference lies; The interval level corresponding to the first current threshold interval is used as the first restriction level, wherein the larger the maximum threshold in the first current threshold interval, the higher the first restriction level.

5. The vehicle control method according to claim 1, characterized in that, The adjustment of the output torque of the drive motor based on the first limiting torque under the first limiting level also includes: Obtain the real-time torque actually output by the drive motor; If the real-time torque is negative, the output torque of the drive motor is adjusted based on the working torque, wherein the working torque refers to the maximum torque output by the drive motor under normal operating conditions, limited by the maximum discharge current of the battery.

6. A vehicle control device, characterized in that, include: The acquisition module is used to acquire a first current difference between the real-time current of the power battery and the motor limiting current during vehicle operation, wherein the vehicle includes a drive motor and the power battery, and the motor limiting current is the current under the limit of the maximum discharge current of the power battery by the drive motor. The determining module is used to determine the first restriction level corresponding to the first current difference; An adjustment module is used to adjust the output torque of the drive motor based on a first limiting torque under the first limiting level, wherein the first limiting torque refers to the maximum torque output by the drive motor under the first limiting level; The step of adjusting the output torque of the drive motor based on the first limiting torque under the first limiting level includes: calculating a base torque based on the motor torque constant of the drive motor and the motor limiting current; obtaining a first limiting coefficient corresponding to the first limiting level; calculating the product of the base torque and the first limiting coefficient as the first limiting torque; if the first limiting duration for restricting the torque output of the drive motor based on the first limiting torque reaches a first duration threshold, then recalculating a second current difference between the real-time current and the motor limiting current; determining a second limiting level corresponding to the second current difference; if the second limiting level is lower than the first limiting level, then obtaining a second limiting coefficient corresponding to the second limiting level; calculating the product of the base torque and the second limiting coefficient as the second limiting torque; and adjusting the output torque of the drive motor again based on the second limiting torque.

7. An electronic device, characterized in that, include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the vehicle control method as described in any one of claims 1-5 by running a program in the memory.

8. A computer program product, characterized in that, Includes computer program instructions; When the computer program instructions are executed by the processor, the processor causes the processor to perform the vehicle control method as described in any one of claims 1-5.

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