Vehicle speed limiting method and vehicle

Abstract

The invention provides a vehicle speed limiting method and a vehicle, and relates to the technical field of vehicle control, and the method comprises the steps: obtaining vehicle information, judging whether the vehicle meets a preset speed limit condition or not according to the vehicle information, and determining the highest speed limit of the vehicle under the condition that the vehicle meets the preset speed limit condition; the torque limit value of the motor in the vehicle is determined by combining the vehicle information and the battery pack output power corresponding to the highest speed limit, so that the running of the motor is controlled according to the torque limit value, the running speed of the vehicle does not exceed the highest speed limit, the purpose of limiting the running speed of the vehicle is achieved, and the vehicle can be more stable in different regions or different road sections. A corresponding torque limit value can be output, the purpose of dynamically limiting the maximum running speed of the vehicle is achieved, the overspeed risk is avoided, the speed limiting requirements of different areas or different road sections are met, and the running safety of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle speed limiting method and a vehicle. Background Art

[0002] Currently, pure electric vehicles can be sold in different regions. However, different regions may have different speed limit policies. For example, Region A may have no maximum speed limit, while Region B may have a maximum speed limit of 120 km / h. Furthermore, different speed limit policies may also apply to different road sections or within different industrial parks.

[0003] In the prior art, the speed of a vehicle is usually limited manually based on the driver's experience. However, this method of manually limiting the speed of a vehicle carries the risk of speeding, thereby affecting the safety of the vehicle and other traffic participants in the surrounding area. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose a speed limiting method and a vehicle to limit the maximum speed of the vehicle to ensure the driving safety of the vehicle and the safety of other traffic participants in the surrounding area.

[0005] Based on the above objectives, the present application provides a vehicle speed limiting method, comprising:

[0006] Obtaining vehicle information, and determining whether the vehicle meets a preset speed limit condition based on the vehicle information;

[0007] In response to the vehicle satisfying the preset speed limit condition, determining a maximum speed limit of the vehicle, and determining a torque limit of a motor in the vehicle based on a battery pack output power corresponding to the maximum speed limit and the vehicle information;

[0008] The operation of the electric machine is controlled based on the torque limit so that the driving speed of the vehicle does not exceed the maximum speed limit.

[0009] Optionally, the vehicle information includes a preset area code of the vehicle, and determining whether the vehicle meets a preset speed limit condition based on the vehicle information includes:

[0010] Determining whether the preset area code is a speed-limited area code;

[0011] In response to the preset area code being a speed limit area code, it is determined that the vehicle meets the preset speed limit condition.

[0012] Optionally, the vehicle information also includes a vehicle location, and before determining whether the preset area code is a speed limit area code, the following steps are further included:

[0013] determining a region where the vehicle is located based on the vehicle position;

[0014] Determine whether the preset region code matches the region where the vehicle is located, and if not, update the preset region code based on the region where the vehicle is located.

[0015] Optionally, the vehicle information includes visual detection data and navigation data, and determining whether the vehicle meets a preset speed limit condition based on the vehicle information includes:

[0016] Determine based on the visual detection data whether there is a speed limit sign on the road ahead of the vehicle, and if so, determine that the vehicle meets the preset speed limit condition; or

[0017] Based on the navigation data, it is determined whether the road section ahead of the vehicle is a speed-limited road section, and if so, it is determined that the vehicle meets the preset speed limit condition.

[0018] Optionally, the vehicle information includes power consumption of a non-drive system, motor information, and battery pack information. Determining the torque limit of the motor in the vehicle based on the battery pack output power corresponding to the maximum speed limit and the vehicle information includes:

[0019] determining a maximum available driving power of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-driving system, and the battery pack information;

[0020] Determining a maximum driving power of the motor based on the maximum driving available power of the battery pack and the motor information;

[0021] A torque limit of the motor is determined based on the maximum driving power of the motor and the motor information.

[0022] Optionally, the battery pack information includes a stable discharge power of the battery pack and a fault limit power of the battery pack. Determining the maximum available driving power of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-driving system, and the battery pack information includes:

[0023] determining a power limit of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the stable discharge power, and the fault power limit;

[0024] The maximum available driving power of the battery pack is determined according to the limited power of the battery pack and the power consumption of the non-driving system.

[0025] Optionally, the motor information includes a motor speed and a motor reserved power, and determining the maximum drive power of the motor based on the maximum drive available power of the battery pack and the motor information includes:

[0026] determining a driving efficiency of the motor based on a maximum driving available power of the battery pack and a rotational speed of the motor;

[0027] The maximum driving power of the motor is determined based on the driving efficiency, the maximum driving available power of the battery pack, and the reserved power of the motor.

[0028] Optionally, the motor information further includes a coolant temperature at a water outlet of the motor. Before determining the maximum drive power of the motor based on the drive efficiency, the maximum available drive power of the battery pack, and the reserved power of the motor, the following is further included:

[0029] determining a correction coefficient corresponding to the driving efficiency based on the coolant temperature at the water outlet;

[0030] The driving efficiency is corrected based on the correction coefficient.

[0031] Optionally, the motor information includes a motor speed and a preset maximum torque value corresponding to the motor capacity. Determining the torque limit of the motor based on the maximum drive power of the motor and the motor information includes:

[0032] Determining a candidate maximum torque value of the motor based on the maximum drive power of the motor and the motor speed;

[0033] The minimum value between the candidate maximum torque values and the preset maximum torque value is taken as the torque limit value of the motor.

[0034] As can be seen from the above description, the speed limiting method provided in the present application obtains vehicle information and determines whether the vehicle meets the preset speed limit conditions based on the vehicle information to determine whether the vehicle needs to be speed limited. Then, when the vehicle meets the preset speed limit conditions, the maximum speed limit of the vehicle is determined. The torque limit of the motor in the vehicle is determined by combining the vehicle information and the battery pack output power corresponding to the maximum speed limit. The operation of the motor is controlled according to the torque limit so that the vehicle's driving speed does not exceed the maximum speed limit, thereby achieving the purpose of limiting the vehicle's driving speed. Based on this method, when the vehicle needs to be speed limited, the speed limit can be achieved by controlling the motor torque. The vehicle can output the corresponding torque limit in different areas or different road sections, thereby achieving the purpose of dynamically limiting the vehicle's maximum driving speed, avoiding the risk of speeding, and ensuring the safety of the vehicle and other traffic participants in the surrounding area. In addition, the method can dynamically determine the torque limit based on the maximum speed limit to meet the speed limit requirements of different areas or different road sections, further improving vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 This is a flow chart of a vehicle speed limiting method provided in an embodiment of the present application;

[0037] Figure 2 This is a schematic diagram of a process for determining a limited battery pack output power according to an embodiment of the present application;

[0038] Figure 3 1 is a schematic diagram of a process for determining the maximum available driving power of a battery pack provided in an embodiment of the present application;

[0039] Figure 4 1 is a schematic diagram of a process for determining the maximum driving power of a motor provided in an embodiment of the present application;

[0040] Figure 5 1 is a schematic diagram of a torque limit determination process provided in an embodiment of the present application;

[0041] Figure 6 1 is a schematic structural diagram of a vehicle speed limiting device provided in an embodiment of the present application;

[0042] Figure 7 This is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0044] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0045] In existing technologies, different speed limit strategies may exist in different regions. Relying on the driver's experience to manually control the speed of the vehicle during driving is unstable and may lead to the risk of speeding, thereby affecting the safety of the vehicle and other traffic participants in the surrounding area.

[0046] To address this issue, related technologies typically pre-set a maximum vehicle speed and then limit the vehicle speed accordingly. For example, a maximum speed allowed on a road is pre-set, and the vehicle's motor output power is controlled to be less than or equal to the motor output power corresponding to the maximum speed.

[0047] However, the above method cannot achieve dynamic speed limit for vehicles, that is, it cannot perform corresponding speed limits in different regions or different road sections, resulting in difficulty for vehicles to accurately meet the speed limit requirements in different regions or different road sections.

[0048] Therefore, in order to solve this problem, an embodiment of the present application proposes a vehicle speed limiting method, which can first determine whether the vehicle meets the preset speed limit conditions. If it does, it determines the maximum speed limit and outputs the corresponding torque limit value to achieve dynamic speed limitation, so that the vehicle driving can meet the speed limit requirements of different regions or different road sections, and solve the safety risks of manual speed control.

[0049] Figure 1 This is a flow chart of a vehicle speed limiting method provided by an embodiment of the present application. The vehicle speed limiting method provided by an embodiment of the present application can be applied to the case where an electric vehicle needs to limit its speed, calculate the torque limit in real time, and control the speed of the electric vehicle by the torque limit during the driving process of the electric vehicle. Figure 1 As shown, the vehicle speed limiting method provided in the embodiment of the present application includes the following steps:

[0050] S110: Obtain vehicle information, and determine whether the vehicle meets a preset speed limit condition based on the vehicle information.

[0051] The vehicle information may include a preset region code for the vehicle, and the preset speed limit condition may be a region code that is a speed limit region code, so as to implement corresponding maximum speed limits for different regions. For example, the vehicle speed limit may be implemented according to the corresponding maximum speed in different parks or different countries.

[0052] In a specific embodiment, the vehicle information includes a preset area code of the vehicle, and determining whether the vehicle meets the preset speed limit condition based on the vehicle information includes:

[0053] Determining whether the preset area code is a speed limit area code; and in response to the preset area code being the speed limit area code, determining that the vehicle meets the preset speed limit condition.

[0054] The preset region code may be a region code written during the vehicle production, delivery, or sales phase to indicate the region where the vehicle is sold. The speed limit region code may be a region code corresponding to a region requiring a speed limit.

[0055] For example, considering that the speed limit requirements between different countries are usually different, and the speed limit requirements between different provinces in the same country are the same, the preset area code can specifically be the code corresponding to the country where the vehicle is sold, and the speed limit area code can specifically be the code corresponding to the country where the vehicle needs to be speed limited, so as to achieve corresponding maximum speed limits in different countries.

[0056] Alternatively, for unmanned vehicles performing specific transportation tasks within a park, or unmanned vehicles performing specific testing tasks within a test area, taking into account the different speed limit requirements between different parks or test areas, and the different speed limit requirements between different local areas in the same park or test area, the preset area code can specifically be the code corresponding to the local area where the vehicle is located after being sold, and the speed limit area code can specifically be the code corresponding to the local area where the vehicle needs to limit its speed.

[0057] Specifically, all speed limit area codes can be pre-stored. After reading the preset area code of the vehicle, the preset area code can be compared with the pre-stored speed limit area codes. If there is a speed limit area code that is consistent with the preset area code, it means that the preset area code is the speed limit area code.

[0058] Alternatively, all non-speed limit area codes may be pre-stored. After the preset area code of the vehicle is read, the preset area code may be compared with the pre-stored non-speed limit area codes. If the preset area code is inconsistent with all non-speed limit area codes, it may be determined that the preset area code is a speed limit area code.

[0059] Furthermore, if it is determined that the preset area code is a speed limit area code, it means that the vehicle is currently in an area requiring a speed limit, that is, there is a speed limit requirement in the area, and the vehicle meets the preset speed limit condition.

[0060] Through the above-mentioned implementation, whether the vehicle needs to be speed-limited can be determined by the vehicle's preset area code, and areas with speed limits and areas without speed limits can be quickly distinguished, so that the vehicle has different torque limit outputs in different areas, and thus speed limits in different areas can be achieved. There is no need to design independent software for different areas to limit the vehicle's maximum speed.

[0061] In the embodiment of the present application, it is considered that after the vehicle is sold, the user may travel from one area to another, resulting in the actual location of the vehicle not being consistent with the preset area code, or the sales location is changed from the desired area to another area, resulting in the actual location of the vehicle not being consistent with the preset area code. Therefore, in order to ensure the accuracy of speed limit control, the preset area code can also be verified before determining whether the preset area code is a speed limit area code to ensure that the preset area code is consistent with the real-time location of the vehicle.

[0062] In one example, the vehicle information also includes the vehicle location. Before determining whether the preset area code is a speed limit area code, the following is also included:

[0063] The region where the vehicle is located is determined based on the vehicle position; and whether the preset region code matches the region where the vehicle is located is determined. If not, the preset region code is updated based on the region where the vehicle is located.

[0064] Specifically, the vehicle's location can be obtained simultaneously with the preset area code. For example, the vehicle's location can be determined using a vehicle-mounted global positioning system, Beidou satellite navigation system, or inertial measurement unit, or extracted from the vehicle's navigation data. Alternatively, the vehicle's location can be determined by sending V2X signals to roadside equipment through an onboard communication terminal and receiving feedback from the roadside equipment.

[0065] Furthermore, the vehicle's location can be determined based on the vehicle's position. For example, the vehicle's location can be sent to the cloud, which then receives feedback about the vehicle's location. Alternatively, regional maps of different regions can be pre-stored, and the vehicle's location can be combined with the region and determined.

[0066] Furthermore, it is possible to determine whether the preset region code matches the region where the vehicle is located. For example, it is possible to determine whether the preset region code matches the region where the vehicle is located based on a pre-stored correspondence between regions and codes. If so, it is determined that the preset region code matches the region where the vehicle is located.

[0067] Specifically, when the preset area code matches the area where the vehicle is located, it can be determined that the preset area code verification has passed, and then whether the vehicle meets the preset speed limit condition can be further determined based on the preset area code.

[0068] Moreover, when the preset area code does not match the area where the vehicle is located, it can be determined that the preset area code verification has failed. At this time, the code corresponding to the area where the vehicle is located can be queried, and the preset area code can be updated based on the code obtained from the query. Subsequently, it can be continued to be based on the updated preset area code to determine whether the vehicle meets the preset speed limit conditions.

[0069] Through the above example, before using the preset area code to determine whether the vehicle needs speed limit, the preset area code can be verified first, thereby avoiding the vehicle from changing areas and ensuring the accuracy of speed limit control.

[0070] In the embodiments of the present application, in addition to implementing speed limit control in different regions, speed limit control can also be implemented in different road sections. For example, vehicle information can include visual detection data and navigation data, and the preset speed limit condition can be that the vehicle's forward road section requires a speed limit.

[0071] In another specific embodiment, the vehicle information includes visual detection data and navigation data, and determining whether the vehicle meets the preset speed limit condition based on the vehicle information includes:

[0072] Based on the visual detection data, it is determined whether there is a speed limit sign on the road ahead of the vehicle. If so, it is determined that the vehicle meets the preset speed limit conditions; or, based on the navigation data, it is determined whether the road ahead of the vehicle is a speed limit section. If so, it is determined that the vehicle meets the preset speed limit conditions.

[0073] The visual detection data may be data obtained by a vehicle-mounted camera detecting the road ahead of the vehicle, such as an image of the road ahead. Specifically, the visual detection data may be used to identify whether there is a speed limit sign on the road ahead.

[0074] For example, visual inspection data can be fed into a pre-trained sign detection model to obtain the model's output regarding the presence and type of sign. If the model output indicates the presence of a sign, further analysis can be performed to determine whether the sign type output by the model is a speed limit type. If so, the presence of a speed limit sign on the road ahead can be determined.

[0075] Furthermore, when it is determined that there is a speed limit sign on the road ahead, it can be determined that the road ahead requires a speed limit and the vehicle meets the preset speed limit conditions.

[0076] Considering that bad weather such as rainy days and snowy days will affect the detection accuracy of the vehicle-mounted camera, or low-light conditions such as night and cloudy days will also affect the detection accuracy of the vehicle-mounted camera, in order to avoid missing the speed limit sign and causing the speed limit to not be exceeded on the road section where the speed limit is required, the navigation data can also be used to determine whether the road section ahead of the vehicle requires a speed limit.

[0077] Specifically, the vehicle's onboard communication terminal can request navigation data from the cloud in real time, or obtain navigation data from a user terminal connected to the vehicle-to-machine interaction system. Furthermore, the vehicle's forward road segment can be located using the navigation data, and the attributes of the forward road segment in the navigation data can be used to determine whether the forward road segment is a speed-limited segment. If the forward road segment is a speed-limited segment, it can be determined that the forward road segment requires a speed limit and that the vehicle meets the preset speed limit conditions.

[0078] In an embodiment of the present application, visual detection data and navigation data can be combined simultaneously to determine the preset speed limit conditions, and any one of the data can be selected to determine the preset speed limit conditions. In order to ensure the accuracy of the judgment of the preset speed limit conditions and at the same time, to ensure the efficiency of the judgment of the preset speed limit conditions, it is also possible to combine information such as the vehicle's environment or vehicle status to select one of the data to determine the preset speed limit conditions.

[0079] For example, the vehicle's environmental conditions can be determined first, including weather type and light intensity. If the weather type is equal to a preset type, or the light intensity is lower than a preset intensity, the camera's detection accuracy is low, potentially leading to missed speed limit signs. Navigation data can be used to determine whether the road ahead is a speed limit section. If the weather type is not equal to the preset type, and the light intensity is not lower than a preset intensity, visual detection data can be used to determine whether a speed limit sign is present on the road ahead.

[0080] Alternatively, the vehicle's speed can be determined first. If it exceeds a preset speed, it indicates that the vehicle may be traveling too fast, potentially causing the camera to miss detection. To avoid failing to implement a speed limit when necessary, the navigation data can be used to determine whether the road ahead is a speed-limited section. If the speed is less than or equal to the preset speed, the visual detection data can be used to determine whether there is a speed limit sign on the road ahead.

[0081] Through the above implementation, speed limit control can be achieved in different road sections, and sections with speed limits and sections without speed limits can be quickly distinguished, so that the vehicle has different torque limit outputs in different sections. There is no need to design independent software for different sections to limit the vehicle's maximum driving speed.

[0082] S120 . In response to the vehicle satisfying a preset speed limit condition, determining a maximum speed limit of the vehicle, and determining a torque limit of a motor in the vehicle based on the battery pack output power corresponding to the maximum speed limit and vehicle information.

[0083] Specifically, if it is determined that the vehicle meets the preset speed limit condition, the maximum speed limit of the vehicle can be further determined, wherein the maximum speed limit is the maximum speed at which the vehicle is restricted from traveling.

[0084] For example, the maximum speed limit may be determined based on preset speed limit conditions satisfied by the vehicle. For example, the maximum speed limit may be determined based on a preset speed limit value corresponding to a preset area code, or based on a speed limit value indicated on a speed limit sign for the road ahead, or based on a speed limit value corresponding to the road ahead in navigation data.

[0085] After obtaining the vehicle's maximum speed limit, the battery pack output power corresponding to the maximum speed limit can be determined. The battery pack output power corresponding to the maximum speed limit can be the battery pack output power when the vehicle reaches the maximum speed limit. The battery pack output power at different speeds can be obtained through pre-calibration and stored.

[0086] In an embodiment of the present application, the battery pack output power corresponding to the maximum speed limit can be converted into motor power in combination with vehicle information, and then the torque limit of the motor can be calculated from the motor power, so as to achieve vehicle speed limit through motor torque control.

[0087] It should be noted that if the vehicle does not meet the preset speed limit conditions, that is, if the vehicle does not require speed limit, the vehicle motor torque may not be controlled. In this embodiment of the present application, to avoid the driver driving too fast due to not limiting the motor torque when the vehicle does not meet the preset speed limit conditions, thereby exceeding the battery pack's capacity and affecting the battery pack's lifespan, the maximum output power of the battery pack, which is pre-calibrated based on the battery pack's capacity, can be output. Based on this power, the motor torque limit is calculated, and the motor operation is then controlled to avoid damage to the battery pack caused by excessive torque requests.

[0088] Figure 2 is a schematic diagram of a process for determining the output power of a battery pack after limitation provided by an embodiment of the present application, such as Figure 2 As shown, taking the preset area code as an example, first, it can be determined whether the preset area code is equal to the area code for no speed limit, and then the judgment result, the calibrated maximum output power of the battery pack, and the battery pack output power calibrated according to the maximum speed limit are input into the judgment box. If the preset area code is a speed limit area code, the battery pack output power calibrated according to the maximum speed limit can be output to obtain the battery pack output power after being restricted by the preset area code. If the preset area code is a non-speed limit area code, the calibrated maximum power of the battery pack can be output as the battery pack output power after being restricted by the preset area code.

[0089] In an embodiment of the present application, based on the battery pack output power corresponding to the maximum speed limit and the torque limit of the vehicle information, it can be specifically determined first the maximum power that can be used for driving in the battery pack output power, and then converted into motor power, and then the torque limit of the motor is calculated.

[0090] In a specific embodiment, the vehicle information includes non-drive system power consumption, motor information, and battery pack information. Determining the torque limit of the motor in the vehicle based on the battery pack output power corresponding to the maximum speed limit and the vehicle information includes the following steps:

[0091] Step 11: Determine the maximum available driving power of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-driving system, and the battery pack information;

[0092] Step 12: Determine the maximum driving power of the motor based on the maximum driving available power of the battery pack and the motor information;

[0093] Step 13: Determine the torque limit of the motor based on the maximum drive power of the motor and the motor information.

[0094] The battery pack information may be information related to the operation or failure of the battery pack, such as the stable discharge power and fault limit power of the battery pack.

[0095] The power consumption of the non-drive system may be the power consumption of other systems in the vehicle except the drive system, including the power consumption of the DC-to-DC converter (DCDC) and the power consumption of the air conditioning system. The power consumption of the air conditioning system includes the power consumption of the compressor and the power consumption of the PTC (Positive Temperature Coefficient Thermistor).

[0096] In the above step 11, the maximum power available for driving can be determined from the battery pack output power according to the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-driving system and the battery pack information, as the maximum available driving power.

[0097] For example, it is possible to determine whether a battery pack failure occurs based on the battery pack failure status in the battery pack information. If not, the maximum available driving power can be obtained by directly subtracting the power consumption of the non-driving system from the battery pack output power corresponding to the maximum speed limit.

[0098] To ensure the stability of battery pack discharge during speed limiting, with respect to step 11 above, in one example, the battery pack information includes the stable discharge power of the battery pack and the fault limit power of the battery pack. Based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-drive system, and the battery pack information, the maximum available driving power of the battery pack is determined, including the following steps:

[0099] Step 111: Determine the battery pack power limit based on the battery pack output power, stable discharge power, and fault power limit corresponding to the maximum speed limit.

[0100] Step 112: Determine the maximum available driving power of the battery pack based on the limited power of the battery pack and the power consumption of the non-driving system.

[0101] Among them, the stable discharge power can be the power that the battery pack can discharge stably within a set time, such as the battery pack 5s discharge power, the battery pack 10s discharge power, the battery pack 30s discharge power and the battery pack continuous discharge power.

[0102] The fault limit power can be the discharge power after being limited by the fault state, and can be determined based on whether the vehicle is faulty. For example, if the fault is caused by battery pack overheating or motor overheating, the fault limit power can be a set value that far exceeds the battery pack output power at the maximum speed limit. If the fault is not caused by battery pack overheating or motor overheating, the fault limit power can be the power that can quickly cool the battery pack or motor in the event of a fault, and is usually a smaller value. To further ensure the safety of the motor and battery pack in the event of a fault, corresponding power levels that can quickly cool the battery pack or motor can be set for each fault.

[0103] Specifically, in step 111, the minimum value among the battery pack output power, stable discharge power and fault limit power corresponding to the maximum speed limit can be taken as the battery pack limit power to ensure that the battery pack limit power does not exceed the battery pack output power, stable discharge power and fault limit power corresponding to the maximum speed limit, thereby preventing the battery pack output from causing the vehicle to exceed the maximum speed limit, preventing unstable operation of the battery pack, and preventing excessive battery pack power in the event of a fault.

[0104] Furthermore, in step 112, the limited power of the battery pack can be subtracted from the power consumption of the non-drive system, that is, the power consumption of the non-drive system is eliminated from the limited power to obtain the maximum power that the battery pack can use for driving, that is, the maximum driving available power of the battery pack.

[0105] like Figure 3 As shown, Figure 3 This is a schematic diagram of the process of determining the maximum available driving power of a battery pack provided in an embodiment of the present application. First, the output power of the battery pack corresponding to the stable discharge power, fault limit power and maximum speed limit can be deducted from the power consumption of the DCDC, the power consumption of the compressor and the power consumption of the PTC after passing through the minimum value module to obtain the maximum available driving power of the battery pack.

[0106] Through the above steps 111 and 112, the stable discharge power and fault limit power of the battery pack can be additionally considered to determine the limit power of the battery pack, and then the power that can be used for driving can be determined. During the speed limiting process, the safety risks caused by excessive battery pack power in the event of a fault can be avoided, and the discharge stability of the battery pack can also be guaranteed.

[0107] After obtaining the maximum available driving power of the battery pack, the maximum available driving power of the battery pack can be converted into the driving power of the motor in combination with the motor information in step 12 to obtain the maximum driving power of the motor. The motor information can be information related to the operation or capability of the motor, such as the motor speed, the motor reserved power, the coolant temperature at the motor outlet, and the preset maximum torque value corresponding to the motor capability.

[0108] For example, the maximum available driving power of the battery pack can be converted into the driving power of the motor according to the motor driving efficiency preset in the motor information to obtain the maximum driving power of the motor; the preset motor driving efficiency can be a pre-calibrated efficiency value.

[0109] In the embodiment of the present application, taking into account that the driving efficiency of the motor is affected by the motor speed and the maximum driving available power during actual driving, in order to improve the accuracy of the maximum driving power of the motor, the motor efficiency can also be determined in real time based on the motor speed and the maximum driving available power, and then the maximum driving power of the motor can be calculated.

[0110] Regarding step 12 above, in one example, the motor information includes the motor speed and the motor reserved power. Determining the maximum drive power of the motor based on the maximum drive available power of the battery pack and the motor information includes the following steps:

[0111] Step 121: Determine the driving efficiency of the motor based on the maximum driving available power of the battery pack and the motor speed;

[0112] Step 122 : Determine the maximum driving power of the motor based on the driving efficiency, the maximum driving available power of the battery pack, and the reserved power of the motor.

[0113] The motor speed may be the currently acquired motor speed; and the motor reserved power may be the reserved power set to prevent over-discharge of the battery pack.

[0114] Specifically, in step 121, the motor's drive efficiency can be obtained by looking up the maximum available drive power of the battery pack and the motor speed. Alternatively, the maximum available drive power and motor speed can be used as inputs and substituted into a pre-fitted efficiency derivation model to calculate the motor's drive efficiency.

[0115] The relationship between maximum available drive power and drive efficiency follows this pattern: when the maximum available drive power is low, drive efficiency increases as the maximum available drive power increases. After reaching a certain value, drive efficiency decreases as the maximum available drive power increases. The relationship between motor speed and drive efficiency follows this pattern: when the motor speed is low, drive efficiency increases as the speed increases. After reaching a certain value, drive efficiency decreases as the speed increases.

[0116] After obtaining the driving efficiency of the motor, further, in step 122, the driving efficiency can be multiplied by the maximum driving available power of the battery pack to convert the maximum power of the battery pack used for driving into the driving power of the motor, and then the motor reserved power is eliminated from the multiplication result to obtain the maximum driving power of the motor.

[0117] The motor reserved power can be a set value or determined in real time based on the multiplication of the motor speed, drive efficiency, and the maximum available drive power of the battery pack. For example, the motor reserved power can be queried in a calibration table based on the motor speed and the multiplication result. For example, the higher the motor speed, the greater the motor reserved power, and the greater the multiplication result between the drive efficiency and the maximum available drive power of the battery pack, the greater the motor reserved power.

[0118] In addition to subtracting the motor reserve power from the battery pack's maximum drive power after converting it to the motor's drive power, other methods can be used to prevent battery pack over-discharge. For example, before converting the battery pack's maximum drive power to the motor's drive power, the reserve power can be subtracted from the battery pack's maximum available drive power. This power can then be combined with the drive efficiency to determine the maximum motor drive power.

[0119] Through the above steps 121 and 122, the driving efficiency of the motor can be determined in real time based on the maximum driving available power and the motor speed, thereby improving the accuracy of the maximum driving power of the motor. Moreover, in the process of determining the maximum driving power of the motor, the motor reserved power is additionally considered, which can prevent the battery pack from being over-discharged and protect the safety of the battery pack when the battery pack power is too low.

[0120] In the embodiment of the present application, considering that in addition to the maximum driving available power and the motor speed affecting the driving efficiency, the driving efficiency can also be affected by the outlet coolant temperature of the motor, in order to further improve the accuracy of the driving efficiency, the driving efficiency can also be corrected based on the outlet coolant temperature before determining the maximum driving power of the motor based on the driving efficiency.

[0121] In some optional embodiments, the motor information further includes a coolant temperature at a water outlet of the motor. Before determining the maximum drive power of the motor based on the drive efficiency, the maximum available drive power of the battery pack, and the reserved power of the motor, the following steps are further included:

[0122] Step 1220: Determine a correction coefficient corresponding to the driving efficiency based on the coolant temperature at the water outlet;

[0123] Step 1221: Correct the driving efficiency based on the correction coefficient.

[0124] The correction coefficient may range from 0 to 1. Specifically, in step 1220, the correction coefficient may be obtained by looking up the table based on the outlet coolant temperature, or the correction coefficient may be determined based on the outlet coolant temperature in combination with a pre-calibrated correction coefficient curve, or the outlet coolant temperature may be used as input and substituted into a pre-fitted correction coefficient derivation model to calculate the correction coefficient.

[0125] Among them, the rule between the outlet coolant temperature and the correction coefficient is: when the outlet coolant temperature is small, the correction coefficient increases with the increase of the outlet coolant temperature; after the outlet coolant temperature reaches a certain value, the correction coefficient decreases with the increase of the outlet coolant temperature.

[0126] Specifically, in step 1221 , the correction coefficient may be multiplied by the driving efficiency, and the driving efficiency may be updated using the multiplication result.

[0127] Through the above steps 1220 and 1221, the driving efficiency can be further adjusted in combination with the coolant temperature at the water outlet of the motor, thereby further improving the accuracy of the motor driving efficiency.

[0128] Figure 4 FIG. 1 is a schematic diagram of a process for determining the maximum driving power of a motor provided in an embodiment of the present application. Figure 4 As shown, first, the drive efficiency can be determined based on the maximum available drive power of the battery pack and the motor speed (such as from pre-calibrated results). Then, a correction factor can be determined based on the coolant temperature at the motor outlet. The correction factor is multiplied by the drive efficiency to obtain a new drive efficiency. Furthermore, the drive efficiency is multiplied by the maximum available drive power of the battery pack to obtain the maximum drive power of the motor. The motor reserved power is determined by the motor speed and the maximum drive power of the motor (such as from pre-calibrated results). The motor reserved power is subtracted from the maximum drive power of the motor to obtain a new maximum drive power of the motor.

[0129] In the embodiment of the present application, after the maximum drive power of the motor is calculated, the torque limit of the motor can be calculated based on the maximum drive power of the motor and the motor information in step 13. For example, the maximum drive power of the motor can be divided by the motor speed and multiplied by a set value (such as 9550) to calculate the torque limit of the motor.

[0130] In the embodiment of the present application, in order to prevent the torque limit of the motor from exceeding the motor capacity, the torque limit can be further determined in combination with the maximum torque value related to the positive external characteristics of the motor sent by the motor controller.

[0131] Regarding step 13 above, in one example, the motor information includes the motor speed and a preset maximum torque value corresponding to the motor capacity. Determining the torque limit of the motor based on the maximum drive power of the motor and the motor information includes the following steps:

[0132] Step 131: Determine a candidate maximum torque value of the motor based on the maximum drive power and the motor speed of the motor;

[0133] Step 132 : Select the minimum value between the candidate maximum torque value and the preset maximum torque value as the torque limit value of the motor.

[0134] The preset maximum torque value corresponding to the motor capability may be a maximum torque value related to the positive external characteristics of the motor and sent by the motor controller.

[0135] Specifically, in step 131, the maximum candidate torque value is determined based on the maximum motor driving power and the motor speed, which can satisfy the formula: Where T1 is the maximum candidate torque, N is the motor speed, and P is the maximum drive power of the motor.

[0136] Furthermore, in step 132 , a minimum value may be selected from the candidate maximum torque value and the preset maximum torque value as the torque limit value of the motor. Figure 5 : is a schematic diagram of a torque limit determination process provided by an embodiment of the present application, such as Figure 5 As shown, the candidate maximum torque value and the preset maximum torque value can be input into the minimum value module, and the smaller one between the two is taken as the torque limit.

[0137] Through the above steps 131 and 132, the torque limit can be determined in combination with the preset maximum torque value corresponding to the motor capacity to prevent the torque limit from exceeding the motor capacity range, thereby achieving motor protection and avoiding damage to the motor.

[0138] In the embodiment of the present application, through the above steps 11 to 13, the maximum power that can be used for driving in the battery pack output power can be determined first, and then converted into motor power, and then the torque limit is calculated. Compared with directly querying the battery pack output power corresponding to the maximum speed limit, the torque limit is obtained, which can further ensure the accuracy of the torque limit, and can also make the torque limit more in line with the current state of the vehicle, thereby improving the accuracy of speed limit control.

[0139] S130: Control the operation of the motor based on the torque limit so that the vehicle's running speed does not exceed the maximum speed limit.

[0140] Specifically, after obtaining the torque limit, the torque limit can be output to the motor controller so that the motor controller controls the operation of the motor according to the torque limit, for example, so that the motor controller no longer responds to torque requests that exceed the torque limit, thereby achieving the purpose of controlling the vehicle's driving speed not to exceed the maximum speed limit.

[0141] The speed limiting method provided in the embodiment of the present application obtains vehicle information and determines whether the vehicle meets the preset speed limit conditions based on the vehicle information to determine whether the vehicle needs to be speed limited. Then, when the vehicle meets the preset speed limit conditions, the maximum speed limit of the vehicle is determined, and the torque limit of the motor in the vehicle is determined by combining the vehicle information and the battery pack output power corresponding to the maximum speed limit. The operation of the motor is controlled according to the torque limit so that the vehicle's driving speed does not exceed the maximum speed limit, thereby achieving the purpose of limiting the vehicle's driving speed. Based on this method, when the vehicle needs to be speed limited, the speed limit can be achieved by controlling the motor torque, so that the vehicle can output the corresponding torque limit in different areas or different sections of road, thereby achieving the purpose of dynamically limiting the vehicle's maximum driving speed, avoiding the risk of speeding, and ensuring the safety of the vehicle and other traffic participants in the surrounding area. In addition, the method can dynamically determine the torque limit according to the maximum speed limit to meet the speed limit requirements of different areas or different sections of road, further improving the safety of vehicle driving.

[0142] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0143] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0144] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle speed limiting device. Figure 6 This is a schematic diagram of the structure of a vehicle speed limiting device provided in an embodiment of the present application, with reference to Figure 6 The vehicle speed limiting device includes a speed limit determination module 610, a torque determination module 620 and a control module 630, wherein:

[0145] The speed limit determination module 610 is configured to obtain vehicle information and determine whether the vehicle meets a preset speed limit condition based on the vehicle information;

[0146] a torque determination module 620 for determining a maximum speed limit for the vehicle in response to the vehicle satisfying the preset speed limit condition, and determining a torque limit for a motor in the vehicle based on the battery pack output power corresponding to the maximum speed limit and the vehicle information;

[0147] The control module 630 is configured to control the operation of the motor based on the torque limit so that the vehicle's running speed does not exceed the maximum speed limit.

[0148] The speed limiter provided in an embodiment of the present application obtains vehicle information and determines whether the vehicle meets a preset speed limit condition based on the vehicle information to determine whether the vehicle needs to be speed limited. Furthermore, if the vehicle meets the preset speed limit condition, the device determines the vehicle's maximum speed limit. The device combines the vehicle information with the battery pack output power corresponding to the maximum speed limit to determine the torque limit of the motor in the vehicle. The device controls the operation of the motor according to the torque limit so that the vehicle's travel speed does not exceed the maximum speed limit, thereby achieving the purpose of limiting the vehicle's travel speed. Based on this method, when the vehicle needs to be speed limited, the speed limit can be achieved by controlling the motor torque. This allows the vehicle to output a corresponding torque limit in different regions or on different road sections, thereby achieving the purpose of dynamically limiting the vehicle's maximum travel speed, avoiding the risk of speeding and ensuring the safety of the vehicle and other surrounding traffic participants. Furthermore, this method can dynamically determine the torque limit based on the maximum speed limit to meet the speed limit requirements in different regions or on different road sections, further improving vehicle travel safety.

[0149] In some optional embodiments, the vehicle information includes a preset area code for the vehicle, and the speed limit judgment module 610 is further used to determine whether the preset area code is a speed limit area code; in response to the preset area code being a speed limit area code, it is determined that the vehicle meets the preset speed limit condition.

[0150] In some optional embodiments, the vehicle information also includes the vehicle location, and the speed limit determination module 610 is further used to determine the region where the vehicle is located based on the vehicle location before determining whether the preset region code is a speed limit region code; determine whether the preset region code is consistent with the region where the vehicle is located, and if not, update the preset region code based on the region where the vehicle is located.

[0151] In some optional embodiments, the vehicle information includes visual detection data and navigation data, and the speed limit judgment module 610 is further used to determine whether there is a speed limit sign on the road ahead of the vehicle based on the visual detection data, and if so, determine that the vehicle meets the preset speed limit condition; or, determine whether the road ahead of the vehicle is a speed limit section based on the navigation data, and if so, determine that the vehicle meets the preset speed limit condition.

[0152] In some optional implementations, the vehicle information includes power consumption of non-drive systems, motor information, and battery pack information. The torque determination module 620 includes a battery pack drive power determination unit, a motor drive power determination unit, and a torque limit determination unit, wherein:

[0153] a battery pack driving power determination unit, configured to determine the maximum available driving power of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-driving system, and the battery pack information;

[0154] a motor driving power determining unit, configured to determine a maximum driving power of the motor based on the maximum driving available power of the battery pack and the motor information;

[0155] The torque limit determination unit is configured to determine the torque limit of the motor based on the maximum driving power of the motor and the motor information.

[0156] In some optional embodiments, the battery pack information includes the stable discharge power of the battery pack and the fault limit power of the battery pack. The battery pack driving power determination unit is specifically used to: determine the limited power of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the stable discharge power and the fault limit power; determine the maximum driving available power of the battery pack based on the limited power of the battery pack and the power consumption of the non-driving system.

[0157] In some optional embodiments, the motor information includes motor speed and motor reserved power, and the motor drive power determination unit is specifically used to: determine the driving efficiency of the motor based on the maximum driving available power of the battery pack and the motor speed; determine the maximum driving power of the motor based on the driving efficiency, the maximum driving available power of the battery pack and the motor reserved power.

[0158] In some optional embodiments, the motor information also includes the coolant temperature at the water outlet of the motor. The motor drive power determination unit is further used to determine the correction coefficient corresponding to the drive efficiency based on the coolant temperature at the water outlet before determining the maximum drive power of the motor based on the drive efficiency, the maximum available drive power of the battery pack, and the reserved power of the motor; and correct the drive efficiency based on the correction coefficient.

[0159] In some optional embodiments, the motor information includes the motor speed and a preset maximum torque value corresponding to the motor capacity. The torque limit determination unit is specifically used to determine the candidate maximum torque value of the motor based on the maximum driving power of the motor and the motor speed; and take the minimum value between the candidate maximum torque value and the preset maximum torque value as the torque limit value of the motor.

[0160] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0161] The device of the above embodiment is used to implement the corresponding vehicle speed limiting method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0162] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle speed limiting method described in any of the above-mentioned embodiments is implemented.

[0163] Figure 7 is a structural diagram of an electronic device provided in an embodiment of the present application, Figure 7 The following figure shows a specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other within the device via the bus 1050.

[0164] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0165] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0166] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0167] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0168] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0169] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0170] The electronic device of the above embodiment is used to implement the corresponding vehicle speed limiting method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0171] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle speed limiting method described in any of the above embodiments.

[0172] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0173] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the vehicle speed limiting method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0174] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, which includes: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, so that the vehicle executes the speed limiting method described in any of the above embodiments.

[0175] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0176] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0177] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0178] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A vehicle speed limiting method, characterized in that: include: Obtaining vehicle information, and determining whether the vehicle meets a preset speed limit condition based on the vehicle information; In response to the vehicle satisfying the preset speed limit condition, determining a maximum speed limit of the vehicle, and determining a torque limit of a motor in the vehicle based on a battery pack output power corresponding to the maximum speed limit and the vehicle information; The operation of the electric machine is controlled based on the torque limit so that the driving speed of the vehicle does not exceed the maximum speed limit.

2. The method according to claim 1, characterized in that The vehicle information includes a preset area code of the vehicle, and determining whether the vehicle meets a preset speed limit condition based on the vehicle information includes: Determining whether the preset area code is a speed-limited area code; In response to the preset area code being a speed limit area code, it is determined that the vehicle meets the preset speed limit condition.

3. The method according to claim 2, characterized in that The vehicle information also includes the vehicle location. Before determining whether the preset area code is a speed limit area code, the method further includes: determining a region where the vehicle is located based on the vehicle position; Determine whether the preset region code matches the region where the vehicle is located, and if not, update the preset region code based on the region where the vehicle is located.

4. The method according to claim 1, wherein The vehicle information includes visual detection data and navigation data, and determining whether the vehicle meets the preset speed limit condition based on the vehicle information includes: Determine based on the visual detection data whether there is a speed limit sign on the road ahead of the vehicle, and if so, determine that the vehicle meets the preset speed limit condition; or Based on the navigation data, it is determined whether the road section ahead of the vehicle is a speed-limited road section, and if so, it is determined that the vehicle meets the preset speed limit condition.

5. The method according to claim 1, wherein The vehicle information includes power consumption of a non-drive system, motor information, and battery pack information. Determining a torque limit of a motor in the vehicle based on the battery pack output power corresponding to the maximum speed limit and the vehicle information includes: determining a maximum available driving power of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-driving system, and the battery pack information; Determining a maximum driving power of the motor based on the maximum driving available power of the battery pack and the motor information; A torque limit of the motor is determined based on the maximum driving power of the motor and the motor information.

6. The method according to claim 5, characterized in that The battery pack information includes the stable discharge power of the battery pack and the fault limit power of the battery pack. Based on the battery pack output power corresponding to the maximum speed limit, the power consumption of the non-drive system, and the battery pack information, determining the maximum available drive power of the battery pack includes: determining a power limit of the battery pack based on the battery pack output power corresponding to the maximum speed limit, the stable discharge power, and the fault power limit; The maximum available driving power of the battery pack is determined according to the limited power of the battery pack and the power consumption of the non-driving system.

7. The method according to claim 5, characterized in that The motor information includes the motor speed and the motor reserved power. Determining the maximum drive power of the motor based on the maximum drive available power of the battery pack and the motor information includes: determining a driving efficiency of the motor based on a maximum driving available power of the battery pack and a rotational speed of the motor; The maximum driving power of the motor is determined based on the driving efficiency, the maximum driving available power of the battery pack, and the reserved power of the motor.

8. The method according to claim 7, characterized in that The motor information also includes a coolant temperature at a water outlet of the motor. Before determining the maximum drive power of the motor based on the drive efficiency, the maximum available drive power of the battery pack, and the motor reserved power, the following is further included: determining a correction coefficient corresponding to the driving efficiency based on the coolant temperature at the water outlet; The driving efficiency is corrected based on the correction coefficient.

9. The method according to claim 5, characterized in that The motor information includes a motor speed and a preset maximum torque value corresponding to the motor capacity. Determining a torque limit of the motor based on the maximum drive power of the motor and the motor information includes: determining a candidate maximum torque value of the motor based on the maximum drive power of the motor and the motor speed; The minimum value between the candidate maximum torque value and the preset maximum torque value is taken as the torque limit value of the motor.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 9.

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