Vehicle control method and device, vehicle and storage medium

Abstract

The invention discloses a vehicle control method and device, a vehicle and a storage medium. According to the scheme, the method comprises the steps that after a target fault flag bit which identifies that an electric crawling control mode is mistakenly activated is activated, a target request signal used for switching a motor control mode of a target vehicle is received; if the target request signal is used for indicating that the motor control mode is switched to the electric crawling control mode, the motor control mode is set to be a torque control mode; if it is indicated that the motor control mode is switched to other control modes, the target fault flag bit is cancelled; the torque control priority is maintained according to the electric crawling control mode switching request, and conditional flag bit clearing is triggered according to other mode switching requests. After the target fault flag bit is activated, the activation path of the electric crawling control mode is blocked, the state jump capability of the high-voltage power-off process can be recovered, and the whole vehicle feed risk is eliminated on the premise of ensuring the driving safety.

Description

Technical Field

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

[0002] In traditional fuel-powered vehicles, when the driver is not pressing the accelerator or brake pedals, the engine can output base torque at idle, driving the vehicle to a steady crawl at a low speed (typically 5-10 km / h). This feature significantly improves vehicle handling smoothness in congested traffic or when maneuvering at low speeds. To simulate this driving experience, new energy vehicles have introduced an electric creep control mode, which achieves an equivalent idle creep function by actively adjusting the motor torque.

[0003] In existing technologies, electric creep control requires real-time monitoring of key parameters such as vehicle speed, drive torque, and throttle position. When the system detects that these parameters exceed preset safety thresholds, it triggers a safety fault-tolerance mechanism, activating the electric creep control mode fault flag and forcibly switching the motor control mode to torque control. However, this activation of the fault flag can potentially cause a vehicle power supply failure. Summary of the Invention

[0004] In view of this, the present application is committed to providing a vehicle control method, device, vehicle and storage medium, which can reduce the power supply risk of the entire vehicle under the premise of discovering and handling abnormal situations in the electric creep control mode.

[0005] According to the first aspect of the present application, a vehicle control method is provided, comprising: after a target fault flag of a target vehicle is activated, receiving a target request signal for switching the motor control mode of the target vehicle; the target fault flag is used to identify that the electric creep control mode is erroneously activated; if the target request signal is used to indicate that the motor control mode is switched to the electric creep control mode, the motor control mode is set to the torque control mode; if the target request signal is used to indicate that the motor control mode is switched to the target control mode, the target fault flag is cancelled; the target control mode does not include the electric creep control mode. In this way, the torque control priority is maintained for electric creep control mode switching requests, and conditional flag clearing is triggered for other mode switching requests. After the target fault flag is activated, the activation path of the electric creep control mode is blocked, and the state jump capability of the electrical process under high voltage is restored, thereby eliminating the risk of vehicle power supply while ensuring driving safety.

[0006] Optionally, the method further includes: when the motor control mode of the target vehicle is the electric creep control mode, obtaining target driving parameters of the target vehicle; judging whether the target vehicle is in an unexpected control condition based on the target driving parameters; the unexpected control condition includes an abnormal driving state of the target vehicle in the electric creep control mode that is inconsistent with the operation intention; if the target vehicle is in an unexpected control condition, activating the target fault flag. This allows for timely detection and handling of abnormal conditions in the electric creep control mode, avoiding unexpected displacement or dynamic impact, preventing potential safety risks, and avoiding problems such as vehicle power supply problems caused by the persistence of the fault, thereby improving the safety and reliability of vehicle driving.

[0007] Optionally, the target driving parameter includes the target vehicle's speed; determining whether the target vehicle is in an unexpected control condition based on the target driving parameter includes: calculating the duration that the driving speed exceeds a preset speed threshold corresponding to the electric creep control mode to obtain an overspeed duration of the target vehicle in the electric creep control mode; and determining whether the target vehicle is in an unexpected control condition based on whether the overspeed duration reaches a preset time threshold. This avoids false triggering of faults due to transient vehicle speed fluctuations while ensuring accurate interception of persistent overspeed conditions.

[0008] Optionally, the calculation of the duration of the driving speed exceeding the preset speed threshold corresponding to the electric creep control mode to obtain the overspeed duration of the target vehicle in the electric creep control mode includes: when the driving speed at the switching moment is greater than the preset speed threshold, calculating the overspeed duration from the switching moment; the switching moment is the moment when the motor control mode is most recently switched to the electric creep control mode. The timing is started when and only when the driving speed is greater than the preset speed threshold at the switching moment, and is reset to zero when the speed drops below the threshold or the mode is switched. When the overspeed duration reaches the preset time threshold, it is determined that the target vehicle is in an unexpected control condition and the target fault flag is activated. This effectively distinguishes between a slight overspeed condition and an unexpected braking condition in the electric creep control mode, ensuring that the fault flag is triggered only for a high-speed electric creep control mode cut-in condition with a real risk of unexpected braking, thereby improving the accuracy and reliability of the vehicle control system in identifying unexpected control conditions.

[0009] Optionally, when the driving speed at the switching moment is greater than the preset speed threshold, the overspeed duration is calculated from the switching moment, including: after monitoring that the motor control mode is switched to the electric creep control mode, adjusting the preset trigger to a set state; when the driving speed is greater than the preset speed threshold and the preset trigger is in a set state, determining the overspeed duration based on the time interval between the switching moment and the current moment; when the driving speed is not greater than the preset speed threshold, or when monitoring that the motor control mode is switched to a control mode other than the electric creep control mode, adjusting the preset trigger to a reset state and clearing the overspeed duration. The timing logic of the overspeed duration is controlled by the set and reset states of the preset trigger. The timing is only started when the motor control mode is switched to the electric creep control mode and the driving speed exceeds the threshold, and is reset to zero in time when the speed drops or the electric creep control mode is exited. Combined with the judgment logic of the preset time threshold, it effectively filters out interference from non-risk conditions such as slight overspeeding and timely exit of the electric creep mode, thereby accurately identifying the condition of high-speed entry into the electric creep control mode where there is a real risk of unexpected braking, further improving the vehicle control system's recognition accuracy and reliability of unexpected control conditions.

[0010] Optionally, the cancellation of the target fault flag includes: canceling the target fault flag after the delay reaches a specified time. When a target request signal for indicating that the motor control mode is switched to a target control mode other than the electric creep control mode is received, the target fault flag is not canceled immediately, but the target fault flag is canceled after the delay reaches a specified time. By setting a delay mechanism, it is possible to avoid the electric creep control mode being mistakenly activated again due to the premature cancellation of the target fault flag. This method can effectively reduce the invalid switching cycle of the motor control mode between the electric creep control mode and other target control modes, thereby avoiding the continuous oscillation of the motor output torque target value and the abnormal fluctuation of the vehicle longitudinal acceleration, thereby reducing the probability of unexpected braking and improving the robustness of the motor control strategy and the smoothness of the vehicle driving process.

[0011] Optionally, the target fault flag is cancelled after the delay reaches the specified time, including: if the electric creep request signal is not received before the delay reaches the specified time, the target fault flag is cancelled after the delay reaches the specified time; if the electric creep request signal is received before the delay reaches the specified time, the delay reset mechanism is triggered, and the target fault flag is cancelled after the delay reaches the specified time again. When the electric creep request signal persists within the delay period, the activation state of the target fault flag is maintained by continuously refreshing the timing cycle, avoiding premature clearing of the fault flag under the condition that the electric creep control mode may be mistakenly activated. When the electric creep request signal stops being input and the delay period is completely over, the flag cancellation operation is performed again to cut off the "misactivation-cancellation flag-misactivation again" cycle chain. This mechanism dynamically links the cancellation logic of the target fault flag with the persistence of the electric creep request signal. This prevents control mode oscillations caused by frequent erroneous requests and allows for orderly clearing of the fault state after the request signal is truly terminated. This reduces the number of false activations of the electric creep control mode in non-adaptive scenarios and effectively suppresses oscillations in the motor output torque target value caused by frequent switching of motor control modes. This in turn prevents abnormal fluctuations in the vehicle's longitudinal acceleration and eliminates the cause of vehicle jitter. As a result, the vehicle can maintain stable power output and operating status during driving, significantly improving driving smoothness and passenger comfort.

[0012] According to a second aspect of the present application, there is provided a vehicle control device, comprising:

[0013] a receiving module, configured to receive a target request signal for switching a motor control mode of a target vehicle after a target fault flag of the target vehicle is activated; the target fault flag is used to indicate that the electric creep control mode is erroneously activated;

[0014] A switching module is used to set the motor control mode to a torque control mode if the target request signal is used to indicate that the motor control mode is switched to an electric creep control mode; and to cancel the target fault flag if the target request signal is used to indicate that the motor control mode is switched to a target control mode; the target control mode does not include an electric creep control mode.

[0015] According to a third aspect of the present application, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is configured to execute the method described in any one of the above embodiments.

[0016] According to a fourth aspect of the present application, a vehicle is provided, comprising a vehicle body, a processor and a memory; the vehicle body comprises a motor for driving wheels; the memory stores computer program instructions; the processor is configured to run the computer program instructions to execute the method described in any one of the above embodiments.

[0017] According to a fifth aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the method described in any one of the above embodiments.

[0018] The present application provides a vehicle control method, device, vehicle and storage medium, which includes: after a target fault flag for indicating that an electric creep control mode is erroneously activated is activated at a target vehicle, a target request signal for switching the motor control mode at the target vehicle is received; if the target request signal is used to indicate that the motor control mode is switched to the electric creep control mode, the motor control mode is set to the torque control mode; if the motor control mode is indicated to be switched to another control mode, the target fault flag is cancelled; the torque control priority is maintained for electric creep control mode switching requests, and conditional flag clearing is triggered for other mode switching requests. After the target fault flag is activated, the activation path of the electric creep control mode is blocked, and the state jump capability of the electrical process under high voltage is restored, thereby eliminating the risk of vehicle power feeding while ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0020] Figure 2 FIG2 is a flow chart of another vehicle control method provided by an embodiment of the present application;

[0021] Figure 3 Shown is a block diagram of a vehicle control device provided by one embodiment of the present application;

[0022] Figure 4 Shown is a structural block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] Application Overview

[0025] With the development of new energy electronic control technologies, the application of electric motors in vehicle control is gradually expanding, and a growing number of new functions are being developed around them. Because electric creep is driven by an electric motor, it offers advantages such as quieter operation and greater fuel efficiency compared to traditional engine-driven creep.

[0026] The electric creep function utilizes the vehicle control unit (VCU) and motor control unit (MCU) as the overall controller for overall regulation, with the motor acting as the actuator to deliver power, enabling the vehicle to achieve motor-driven creep. The VCU is responsible for determining when to activate electric creep. Based on the difference between the current and target vehicle speeds, the PI control algorithm calculates the motor torque request or target speed, which is then sent to the motor control unit.

[0027] The vehicle controller implements a proportional-integral control algorithm based on the speed deviation, dynamically generating a motor torque request or target speed command, which is then transmitted via the bus to the motor control unit for execution. False triggering below a threshold speed can cause unexpected vehicle movement. Abnormal activation above a critical speed can generate a high reverse torque request due to the regulator's cumulative effect on the negative deviation, resulting in sudden braking torque, potentially causing driveline shock or even trajectory deviation.

[0028] For safety reasons, the vehicle controller of new energy vehicles has been designed with a strict monitoring strategy for electric creep control mode. When the vehicle is in electric creep control mode, the vehicle controller monitors parameters such as current speed, gear status, accelerator pedal position, brake pedal position, and vehicle fault level in real time to ensure the stability and safety of the creep process.

[0029] Once it detects that any of the above parameters exceeds the preset safety threshold, the vehicle controller will immediately trigger the safety fault tolerance mechanism. Specifically, the vehicle controller will activate the fault flag of the electric creep control mode, forcibly switch the motor control mode from the electric creep control mode to the torque control state, and limit the output torque of the motor. At the same time, the vehicle controller will intercept the motor state request signal until the next driving cycle (power on again) to ensure that the motor control mode is locked in the torque control state, avoid secondary triggering of the erroneous control logic, and prevent dangerous situations such as abnormal acceleration or loss of control of the vehicle.

[0030] However, the inventors discovered that under normal circumstances, the vehicle controller will send a motor state request signal to achieve a state jump in the motor control mode according to different driving requirements, such as switching from torque control mode to other control modes. However, after the fault flag is activated, the motor state request signal sent by the vehicle controller will be intercepted, resulting in the inability to switch from torque control mode to the power-off state. This makes it impossible for the vehicle to meet the high-voltage power-off conditions and, in turn, the vehicle power-off operation cannot be completed. If the vehicle is in this state for a long time, the vehicle's battery will gradually run out of power due to continuous discharge, which may cause the vehicle to be powered off, affecting the normal use of the vehicle and adversely affecting the battery life and performance.

[0031] In order to solve the above problems, the embodiment of the present application receives a target request signal for switching the motor control mode at the target vehicle after the target fault flag for indicating that the electric creep control mode is erroneously activated is activated at the target vehicle; if the target request signal is used to indicate that the motor control mode is switched to the electric creep control mode, the motor control mode is set to the torque control mode; if the motor control mode is indicated to be switched to other control modes, the target fault flag is cancelled; the torque control priority is maintained for the electric creep control mode switching request, and the conditional flag is cleared for other mode switching requests. After the target fault flag is activated, the activation path of the electric creep control mode is blocked, and the state jump capability of the electrical process under high voltage is restored, thereby eliminating the risk of vehicle power feeding while ensuring driving safety.

[0032] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0033] Exemplary Methods

[0034] Figure 1 It is a flowchart of a shift control method provided by an embodiment of the present application. Figure 1 The method is executed by a computing device at the target vehicle (eg, a vehicle control unit, VCU), or a computing device in communication with the target vehicle, but the embodiments of the present application are not limited thereto.

[0035] like Figure 1 As shown, the method includes the following contents:

[0036] Step S110: after a target fault flag of a target vehicle is activated, receiving a target request signal for switching a motor control mode of the target vehicle; the target fault flag is used to indicate that the electric creep control mode is erroneously activated.

[0037] In the embodiment of the present application, the target vehicle includes new energy vehicles such as pure electric and hybrid vehicles; the target vehicle includes a motor for driving wheels.

[0038] In this embodiment, the electric creep control mode specifically refers to maintaining low vehicle speed when the vehicle is not braking and there is no accelerator pedal input. This mode typically uses a proportional-integral closed-loop control algorithm to dynamically adjust the motor output torque or target speed, ensuring that the vehicle speed accurately tracks the preset creep target value.

[0039] In this embodiment of the present application, the target fault flag indicates that the electric creep function has entered an abnormally activated state, triggering a forced switch to the torque control mode and a safety response mechanism. When the vehicle's actual operating parameters conflict with the logic of the electric creep activation conditions, the flag is set and triggers safety response mechanisms, such as shutting off the creep control mode output channel and activating the torque limit module.

[0040] In an embodiment of the present application, when the deviation between the actual vehicle speed and the target creep speed exceeds a preset value, or when signals such as the accelerator pedal, brake pedal, gear position, etc. do not meet the creep activation conditions, the target fault flag can be activated.

[0041] In an embodiment of the present application, the target request signal can be generated by the vehicle controller based on the driver input signal, vehicle state parameters, fault diagnosis results, etc., and is used to switch the motor control mode of the target vehicle.

[0042] Step S120 : If the target request signal is used to instruct to switch the motor control mode to the electric creep control mode, then the motor control mode is set to the torque control mode.

[0043] In an embodiment of the present application, the motor control mode is a method of controlling the motor output torque, speed, etc., which may include torque control mode, speed control mode, power generation mode, energy recovery mode, sleep mode, power-off mode, etc.

[0044] In an embodiment of the present application, the torque control mode refers to a mode for adjusting the vehicle's driving state by controlling the output torque of the motor. Unlike the electric creep control mode, it does not rely on the specific control logic of electric creep, but directly controls the motor torque to meet the vehicle's power requirements under different working conditions.

[0045] Step S130: If the target request signal is used to instruct to switch the motor control mode to the target control mode, cancel the target fault flag; the target control mode does not include the electric creep control mode.

[0046] In the embodiment of the present application, the target control mode includes other control modes besides the electric creep control mode, such as a torque control mode, a speed control mode, a power generation mode, an energy recovery mode, a sleep mode, a power-off mode, etc. When the target request signal indicates switching to one of these modes, the fault state of the electric creep control mode is no longer maintained, and the target fault flag is canceled.

[0047] In the embodiment of the present application, canceling the target fault flag may refer to changing the target fault flag from an active state (e.g., set to 1) to an inactive state (e.g., set to 0). This operation means releasing the fault lock of the electric creep control mode and restoring the normal switching function of the motor control mode.

[0048] In an embodiment of the present application, a mode switching arbitration mechanism is implemented: when the target request signal points to the electric creep control mode, the system will perform a torque control mode override operation while maintaining the activation state of the target fault flag; if the target request signal points to other control modes such as torque control, speed control, power generation, energy recovery, etc., the flag reset operation will be performed.

[0049] In an embodiment of the present application, after the target fault flag for indicating that the electric creep control mode is erroneously activated is activated at the target vehicle, a target request signal for switching the motor control mode at the target vehicle is received; if the target request signal is used to indicate that the motor control mode is switched to the electric creep control mode, the motor control mode is set to the torque control mode; if the motor control mode is indicated to be switched to other control modes, the target fault flag is cancelled; the torque control priority is maintained for the electric creep control mode switching request, and the conditional flag is cleared for other mode switching requests. After the target fault flag is activated, the activation path of the electric creep control mode is blocked, and the state jump capability of the electrical process under high voltage is restored, thereby eliminating the risk of vehicle power feeding while ensuring driving safety.

[0050] based on Figure 2 The method in this specification also provides some specific implementation plans of the method, which are described below.

[0051] Optionally, the method further includes:

[0052] When the motor control mode of the target vehicle is an electric creep control mode, obtaining target driving parameters of the target vehicle;

[0053] determining, based on the target driving parameter, whether the target vehicle is in an unexpected control operating condition; the unexpected control operating condition includes an abnormal driving state of the target vehicle in an electric creep control mode that is inconsistent with an operation intention;

[0054] If the target vehicle is in an unexpected control condition, the target fault flag is activated.

[0055] In an embodiment of the present application, the target driving parameters include driving parameters related to the electric creep control mode; for example, user control parameters such as the brake pedal, accelerator pedal, gear position, and vehicle operating status parameters such as driving speed, acceleration, motor speed, and motor output torque.

[0056] In an embodiment of the present application, the unexpected control condition includes the target vehicle being in an abnormal driving state that is inconsistent with the operating intention when the target vehicle is in an electric creep control mode; for example, the electric creep is accidentally activated at a speed higher than the set speed, resulting in abnormal deceleration, or the vehicle accelerates abnormally when there is no throttle input.

[0057] In an embodiment of the present application, judging whether the target vehicle is in an unexpected control condition based on the target driving parameters includes: judging whether the target vehicle is in an unexpected control condition based on whether the target driving parameters exceed a preset threshold range, for example, the driving speed exceeds the maximum allowable speed in the electric creep control mode, the brake pedal opening exceeds the maximum allowable opening but still maintains creep force output, the accelerator pedal opening exceeds the maximum allowable opening but still maintains creep force output, etc.

[0058] In this embodiment of the present application, the target vehicle is judged to be in an unexpected control condition based on the target driving parameters. If so, the target fault flag is activated. This allows for timely detection and resolution of abnormalities in the electric creep control mode, avoiding unexpected displacement or dynamic impact, and preventing potential safety risks. It also avoids issues such as vehicle power supply problems caused by persistent faults, thereby improving vehicle driving safety and reliability.

[0059] Optionally, the target driving parameter includes the driving speed of the target vehicle;

[0060] The determining, based on the target driving parameter, whether the target vehicle is in an unexpected control condition includes:

[0061] Calculating the duration of the driving speed exceeding a preset speed threshold to obtain the speeding duration of the target vehicle;

[0062] Whether the target vehicle is in an unexpected control condition is determined based on whether the overspeeding duration reaches a preset time threshold.

[0063] In an embodiment of the present application, the preset speed threshold may be an upper limit of the vehicle's speed in the electric creep control mode, and is used to determine whether the vehicle is experiencing abnormal acceleration or overspeeding.

[0064] In an embodiment of the present application, the preset speed threshold can be set to be significantly higher than the upper limit of the vehicle's speed in the electric creep control mode, thereby effectively preventing the target fault flag from being activated due to slight overspeeding. Specifically, the upper limit of the vehicle's speed in the electric creep control mode is generally set to 10-12 km / h, and generally does not exceed 15 km / h. The preset speed threshold can be set to 2-3 times this upper limit, for example, 20-40 km / h.

[0065] In this embodiment of the present application, the "overspeed duration" refers to the length of time that the vehicle's speed continuously exceeds a preset speed threshold, used to measure the persistence of the vehicle's abnormal driving state. The overspeed duration can be calculated using a timer, which starts when the vehicle speed exceeds the preset threshold and resets when the speed falls below the preset threshold. Furthermore, filtering can be used to suppress transient interference.

[0066] In this embodiment of the present application, the preset time threshold is used to distinguish between brief fluctuations and persistent anomalies, thereby avoiding misjudgment of momentary speeding. The preset time threshold can be a time standard for determining whether the vehicle is in an unexpected control state. When the duration of speeding reaches this threshold, the vehicle is considered to have a safety hazard.

[0067] In an embodiment of the present application, if the overspeed duration reaches a preset time threshold, the target vehicle is determined to be in an unexpected control state, and the target fault flag is activated. If the overspeed duration does not reach the preset time threshold, the target vehicle is determined not to be in an unexpected control state, and the target fault flag does not need to be activated.

[0068] In an embodiment of the present application, the duration that the driving speed exceeds a preset speed threshold is calculated to obtain the overspeeding duration of the target vehicle; based on whether the overspeeding duration reaches a preset time threshold, it is determined whether the target vehicle is in an unexpected control condition; thereby avoiding the false triggering of faults due to transient vehicle speed fluctuations, while ensuring accurate interception of continuous overspeeding conditions.

[0069] In practice, overspeeding in electric creep control mode can be categorized into two main scenarios. First, the vehicle gradually exceeds the set speed limit while in electric creep control mode. This type of overspeeding is typically minor and has minimal impact on vehicle operation. There's no need to activate the target fault flag; simply adjusting the vehicle speed can restore the vehicle. Second, the vehicle is traveling at a higher speed before entering electric creep control mode. When it suddenly switches to electric creep control mode, the motor's target torque drops sharply, generating a significant, unintended braking force and forcing the vehicle to brake suddenly. This sudden deceleration can disrupt rear traffic flow and increase the risk of rear-end collisions and other accidents. It can also lead to more serious safety issues due to improper driver operation, posing a threat to the safety of the driver and other road users. In these cases, the target fault flag must be activated to prevent this dangerous condition.

[0070] In order to distinguish these two working conditions, the embodiments of this specification also provide some specific implementation plans to improve the vehicle control system's recognition accuracy of unexpected control working conditions. The specific implementation is as follows:

[0071] Optionally, calculating the duration of the driving speed exceeding the preset speed threshold corresponding to the electric creep control mode to obtain the overspeed duration of the target vehicle in the electric creep control mode includes:

[0072] When the driving speed at the switching moment is greater than the preset speed threshold, the overspeed duration is calculated from the switching moment; the switching moment is the moment when the motor control mode is most recently switched to the electric creep control mode.

[0073] In the embodiment of the present application, the switching moment is the moment when the motor control mode is most recently switched to the electric creep control mode.

[0074] In this embodiment of the present application, the overspeed duration is the time from the switching moment to the current moment that the target vehicle's speed continuously exceeds the preset speed threshold. The timer starts when and only when the speed exceeds the preset speed threshold at the switching moment, and resets to zero when the speed falls below the threshold.

[0075] In an embodiment of the present application, when switching to the electric creep control mode multiple times, the overspeed duration is calculated from the switching moment of the most recent switch to the electric creep control mode, and the previous overspeed duration cannot be accumulated, that is, the timing is started when the vehicle speed exceeds the preset threshold, and it is reset to zero when it falls below the preset speed threshold; it also needs to be reset to zero when switching out of the electric creep control mode.

[0076] In an embodiment of the present application, the preset speed threshold can be the upper limit value of the vehicle driving speed in the electric creep control mode, or much higher than the upper limit value of the vehicle driving speed in the electric creep control mode. For example, the preset speed threshold can be set to several times the upper limit value.

[0077] In an embodiment of the present application, when the vehicle speed at the time of switching exceeds the preset speed threshold, the duration of the overspeeding of the target vehicle in the electric creep control mode is calculated. If the vehicle speed drops below the preset speed threshold before the preset time threshold is reached, a slight overspeeding condition is determined. Since the overspeeding condition has been resolved, there is no need to activate the target fault flag. If the target vehicle switches out of the electric creep control mode, there is also no need to activate the target fault flag. Only when it is detected that the vehicle enters the electric creep control mode at a high speed and the overspeeding duration reaches the preset time threshold, it is determined that there is a high probability of unintended braking in this condition, and the target fault flag is activated at this time.

[0078] In this embodiment of the present application, the timer starts only when the vehicle speed exceeds the preset speed threshold at the time of the switch, and is reset to zero when the speed drops below the threshold or when the mode is switched. If the duration of the overspeed exceeds the preset time threshold, the target vehicle is determined to be in an unexpected control condition and the target fault flag is activated. This effectively distinguishes between a slight overspeed condition and an unexpected braking condition in the electric creep control mode, ensuring that the fault flag is triggered only for high-speed electric creep control mode switching conditions that pose a real risk of unexpected braking, thereby improving the vehicle control system's recognition accuracy and reliability of unexpected control conditions.

[0079] Optionally, when the driving speed at the switching moment is greater than the preset speed threshold, calculating the overspeed duration from the switching moment includes:

[0080] After detecting that the motor control mode is switched to the electric creep control mode, adjusting a preset trigger to a set state;

[0081] When the driving speed is greater than the preset speed threshold and the preset trigger is in a set state, determining the overspeed duration according to the time interval between the switching moment and the current moment;

[0082] When the driving speed is not greater than the preset speed threshold, or when it is detected that the motor control mode is switched to a control mode other than the electric creep control mode, the preset trigger is adjusted to a reset state and the overspeed duration is cleared.

[0083] In an embodiment of the present application, the preset trigger is used to record the status mark of the motor control mode switching to the electric creep control mode, which is specifically achieved by recording the rising edge jump signal of the creep flag; the preset trigger uses an RS (Reset-Set) trigger to realize mode switching status storage.

[0084] In the embodiment of the present application, the set state is defined as indicating that the preset trigger is activated and starts the overspeed timing function in the electric creep control mode; the reset state indicates that the preset trigger is reset and terminates the overspeed timing function; generally, logic 1 corresponds to the set state, and logic 0 corresponds to the reset state.

[0085] In the embodiment of the present application, the monitoring that the motor control mode is switched to the electric creep control mode is specifically: detecting a rising edge signal of the creep flag.

[0086] In the embodiment of the present application, monitoring that the motor control mode is switched to a control mode other than the electric creep control mode may refer to detecting a falling edge signal of a creep flag.

[0087] In an embodiment of the present application, after detecting that the motor control mode switches to the electric creep control mode, the preset trigger is set; when the driving speed is greater than the preset speed threshold and the preset trigger is in the set state, the overspeed duration is continuously recorded; when the driving speed is not greater than the preset speed threshold, or when detecting that the motor control mode switches to a control mode other than the electric creep control mode, the preset trigger is reset and the overspeed duration is cleared. The timing logic of the overspeed duration is controlled by the set state and reset state of the preset trigger, and the timing is only started when the motor control mode switches to the electric creep control mode and the driving speed exceeds the threshold, and is reset and cleared in time when the speed drops or the electric creep control mode is exited; combined with the judgment logic of the preset time threshold, the interference of non-risk conditions such as slight overspeeding conditions and timely exit of the electric creep mode is effectively filtered out, thereby accurately identifying the condition of high-speed entry into the electric creep control mode where there is a real risk of unexpected braking, further improving the accuracy and reliability of the vehicle control system in identifying unexpected control conditions.

[0088] Optionally, canceling the target fault flag includes:

[0089] After the delay reaches the specified time, the target fault flag is cancelled.

[0090] In the embodiment of the present application, the specified time is set according to actual conditions to avoid high-frequency triggering due to too short a delay or control lag caused by too long a delay. For example, the specified time is 200ms, 300ms, etc., without specific limitation.

[0091] If the target request signal is used to indicate that the motor control mode is switched to a target control mode other than the electric creep control mode, the target fault flag is immediately cancelled, which may cause the vehicle to shake. This is because in actual application scenarios, the electric creep control mode should not be activated when the vehicle is traveling at a high speed. The activation of the target fault flag indicates that there is a potential abnormality, which may cause the electric creep control mode to be mistakenly activated again. If the target fault flag is cancelled and the target request signal for switching the motor control mode to the electric creep control mode is received again, and the mode switching operation is performed according to the target request signal, it will inevitably cause unexpected braking again, which will lead to the secondary activation of the target fault flag.

[0092] If this process forms a cycle, the target value of the motor output torque will continue to oscillate with the switching of the motor control mode, causing abnormal fluctuations in the longitudinal acceleration of the vehicle, and ultimately causing vehicle shaking. Specifically, when the motor control mode is switched to the electric creep control mode, the motor output torque suddenly drops, and the longitudinal acceleration of the vehicle suddenly decreases, the vehicle speed drops rapidly, and a strong sense of deceleration is generated; when the electric creep control mode is switched out, the motor output torque is restored, the longitudinal acceleration of the vehicle increases rapidly again, and the vehicle speed rises again. This frequent and rapid change in longitudinal acceleration will eventually cause obvious vehicle shaking, seriously affecting the vehicle's driving stability and passenger comfort, and may even pose a threat to the vehicle's driving safety. This is also the reason why, in the prior art, the vehicle controller will activate the fault flag of the electric creep control mode, and force the motor control mode to switch from the electric creep control mode to the torque control state, while intercepting the motor state request signal until the next driving cycle (power on again).

[0093] In an embodiment of the present application, when a target request signal is received for indicating that the motor control mode is switched to a target control mode other than the electric creep control mode, the target fault flag is not cancelled immediately, but is cancelled after a delay of a specified time. By setting a delay mechanism, it is possible to avoid the electric creep control mode being mistakenly activated again due to premature cancellation of the target fault flag. This method can effectively reduce the invalid switching cycle of the motor control mode between the electric creep control mode and other target control modes, thereby avoiding the continuous oscillation of the motor output torque target value and the abnormal fluctuation of the vehicle longitudinal acceleration, thereby reducing the probability of unexpected braking and improving the robustness of the motor control strategy and the smoothness of the vehicle driving process.

[0094] Optionally, canceling the target fault flag after the delay reaches a specified time includes:

[0095] If the electric creep request signal is not received before the delay reaches the specified time, the target fault flag is cancelled after the delay reaches the specified time:

[0096] If the electric creep request signal is received before the delay reaches the specified time, the delay reset mechanism is triggered, and the target fault flag is cancelled after the delay reaches the specified time.

[0097] In the embodiment of the present application, the electric creep request signal is used to instruct to switch the motor control mode to the electric creep control mode, and is a type of target request signal.

[0098] In an embodiment of the present application, the delay reset mechanism means that when an electrical creep request signal is detected within a preset delay period, the system automatically clears the current remaining delay time, and takes the moment when the electrical creep request signal is detected as the starting point to restart the delay timing program consistent with the initial set duration.

[0099] In actual application scenarios, the electric creep control mode should not be activated when the vehicle is traveling at a high speed. If the electric creep control mode is mistakenly activated multiple times, although the above embodiment reduces the number of times the electric creep control mode is entered, there is still a risk of a cycle of control mode switching.

[0100] In an embodiment of the present application, if an electrical creep request signal is received before the delay reaches the specified time, the delay reset mechanism is triggered, and the target fault flag is canceled after the delay reaches the specified time. When the electrical creep request signal persists within the delay period, the activation state of the target fault flag is maintained by continuously refreshing the timing cycle, avoiding premature clearing of the fault flag under conditions where the electrical creep control mode may be mistakenly activated. When the electrical creep request signal stops being input and the delay period is fully completed, the flag cancellation operation is executed again, breaking the "misactivation-cancellation-re-misactivation" cycle.

[0101] This mechanism dynamically links the cancellation logic of the target fault flag with the persistence of the electric creep request signal. This prevents control mode oscillations caused by frequent erroneous requests and allows for orderly clearing of the fault state after the request signal is truly terminated. This reduces the number of false activations of the electric creep control mode in non-adaptive scenarios and effectively suppresses oscillations in the motor output torque target value caused by frequent switching of motor control modes. This in turn prevents abnormal fluctuations in the vehicle's longitudinal acceleration and eliminates the cause of vehicle jitter. As a result, the vehicle can maintain stable power output and operating status during driving, significantly improving driving smoothness and passenger comfort.

[0102] Optionally, after activating the target fault flag bit, the method further includes:

[0103] Switch the motor control mode from electric creep control mode to torque control mode.

[0104] In this embodiment of the present application, if the target vehicle's motor control mode is in electric creep control mode and the target vehicle is in an unexpected control condition, the target fault flag is activated, and the motor control mode is switched from electric creep control mode to torque control mode. This switching can limit the motor's output torque, preventing dangerous situations such as abnormal acceleration, braking, or loss of control, thereby ensuring driving safety.

[0105] Optionally, after receiving the target request signal for switching the motor control mode of the target vehicle, the method further includes:

[0106] If the target request signal is used to instruct to switch the motor control mode to the target control mode, the motor control mode is switched to the target control mode.

[0107] Optionally, the target control mode includes a torque control mode, a speed control mode, a sleep mode, a power-off mode, and a regenerative braking mode.

[0108] In the embodiment of the present application, the torque control mode is a control method that meets the power requirements of the vehicle under different working conditions by directly controlling the output torque of the motor. It is suitable for working conditions that require large torque, such as vehicle acceleration and climbing.

[0109] In the embodiment of the present application, the speed control mode is a mode for controlling the vehicle's driving speed by adjusting the speed of the motor, and is commonly used in vehicle cruising or working conditions requiring a stable speed.

[0110] In an embodiment of the present application, the sleep mode refers to switching the motor control unit and related systems to a low-power sleep state when the vehicle is parked or in standby state for a long time.

[0111] In the embodiment of the present application, the power-off mode is to disconnect the high-voltage connection between the motor control unit and the power battery, so that the motor system is in a power-off state.

[0112] In an embodiment of the present application, the target request signal is used to indicate that when the motor control mode is switched to any one of the torque control mode, speed control mode, sleep mode, power-off mode, and regenerative braking mode, the target fault flag is canceled to avoid erroneous locking of the motor control mode after the target fault flag is activated.

[0113] Based on Figure 1 With the same idea as the solution shown in , this application also provides another vehicle control method. Figure 2FIG. 1 is a flow chart of another vehicle control method provided by an embodiment of the present application. Figure 2 As shown, the function activation module and the monitoring module receive key input signals through independent input interfaces respectively;

[0114] The function activation module determines whether to activate the electric creep control mode by receiving key information such as vehicle speed, brake master cylinder pressure, accelerator pedal position, and gear lever position;

[0115] The monitoring module only receives the driving speed signal through an independent input interface; when the motor control mode is the electric creep control mode, the duration of the driving speed exceeding the preset speed threshold corresponding to the electric creep control mode is calculated to obtain the overspeed duration of the target vehicle in the electric creep control mode; based on whether the overspeed duration reaches the preset time threshold, the target fault flag is activated.

[0116] If the monitoring module receives a target request signal for instructing to switch the motor control mode to another control mode, the target fault flag is cancelled;

[0117] The arbitration module sets the motor control mode to torque control mode after the target fault flag is activated.

[0118] Exemplary devices

[0119] The device embodiments of this application can be used to execute the method embodiments of this application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

[0120] Figure 3 The figure shows a block diagram of a vehicle control device provided by one embodiment of the present application. Figure 3 As shown, the device 300 includes:

[0121] A receiving module 310 is configured to receive a target request signal for switching a motor control mode of a target vehicle after a target fault flag of the target vehicle is activated; the target fault flag is configured to indicate that the electric creep control mode is erroneously activated;

[0122] a switching module 320 configured to set the motor control mode to the torque control mode if the target request signal is used to instruct the motor control mode to be switched to the electric creep control mode;

[0123] The reset module 330 is configured to cancel the target fault flag if the target request signal is used to instruct the motor control mode to be switched to the target control mode; the target control mode does not include the electric creep control mode.

[0124] Optionally, the apparatus 300 further includes:

[0125] an acquisition module, configured to acquire target driving parameters of the target vehicle when the motor control mode of the target vehicle is the electric creep control mode;

[0126] a judgment module, configured to judge whether the target vehicle is in an unexpected control condition based on the target driving parameter; the unexpected control condition includes an abnormal driving state of the target vehicle in an electric creep control mode that is inconsistent with an operation intention;

[0127] An activation module is configured to activate the target fault flag if the target vehicle is in an unexpected control condition.

[0128] Optionally, the target driving parameter includes the driving speed of the target vehicle;

[0129] The judgment module is used to:

[0130] Calculating a duration during which the driving speed exceeds a preset speed threshold corresponding to the electric creep control mode to obtain an overspeed duration of the target vehicle in the electric creep control mode;

[0131] Whether the target vehicle is in an unexpected control condition is determined based on whether the overspeeding duration reaches a preset time threshold.

[0132] Optionally, the judgment module is used to calculate the overspeed duration from the switching moment when the driving speed at the switching moment is greater than the preset speed threshold; the switching moment is the moment when the motor control mode is last switched to the electric creep control mode.

[0133] Optionally, the judgment module is used to adjust the preset trigger to a set state after monitoring that the motor control mode is switched to the electric creep control mode; when the driving speed is greater than the preset speed threshold and the preset trigger is in the set state, the overspeed duration is determined according to the time interval between the switching moment and the current moment; when the driving speed is not greater than the preset speed threshold, or when monitoring that the motor control mode is switched to a control mode other than the electric creep control mode, the preset trigger is adjusted to a reset state and the overspeed duration is cleared.

[0134] Optionally, the reset module 330 is configured to cancel the target fault flag after the delay reaches a specified time.

[0135] Optionally, if the electrical creep request signal is not received before the delay reaches the specified time, the target fault flag is cancelled after the delay reaches the specified time; if the electrical creep request signal is received before the delay reaches the specified time, the delay reset mechanism is triggered, and the target fault flag is cancelled after the re-delay reaches the specified time.

[0136] Optionally, the switching module 320 is further configured to:

[0137] Switch the motor control mode from electric creep control mode to torque control mode.

[0138] Optionally, the reset module 330 is further configured to:

[0139] In response to the target request signal, the motor control mode is switched to the target control mode.

[0140] Optionally, the target control mode includes a torque control mode, a speed control mode, a sleep mode, a power-off mode, and a regenerative braking mode.

[0141] Exemplary electronic devices

[0142] Below, reference Figure 4 To describe the electronic device according to the embodiment of the present application. Figure 4 The figure shows a block diagram of an electronic device according to an embodiment of the present application.

[0143] like Figure 4 As shown, electronic device 400 includes one or more processors 410 and memory 420 .

[0144] The processor 410 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 400 to perform desired functions.

[0145] The memory 420 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 410 may execute the program instructions to implement the vehicle control method of each embodiment of the present application described above and / or other desired functions. Various contents such as category correspondences may also be stored in the computer-readable storage medium.

[0146] In one example, the electronic device 400 may further include an input device 430 and an output device 440 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0147] In addition, the input device 430 may also include, for example, a keyboard, a mouse, etc. The output device 440 may output various information to the outside. The output device 440 may include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0148] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 400 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, the electronic device 400 may further include any other appropriate components according to specific application scenarios.

[0149] Example Vehicle

[0150] In addition to the above-mentioned method and device, an embodiment of the present application may also be a vehicle, comprising a vehicle body and the electronic device; the vehicle body comprises a motor for driving wheels.

[0151] Exemplary computer program products and computer-readable storage media

[0152] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle control method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0153] The computer program product may be written in any combination of one or more programming languages to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may 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.

[0154] In addition, an embodiment of the present application may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the vehicle control method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0155] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0156] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0157] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0158] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0159] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0160] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only used to more clearly illustrate the technical solutions and cannot be used to limit the scope of protection of the present application.

[0161] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A vehicle control method, characterized in that: include: After a target fault flag of a target vehicle is activated, receiving a target request signal for switching a motor control mode of the target vehicle; The target fault flag is used to indicate that the electric creep control mode is erroneously activated; If the target request signal is used to instruct to switch the motor control mode to the electric creep control mode, setting the motor control mode to the torque control mode; If the target request signal is used to instruct to switch the motor control mode to the target control mode, the target fault flag is cancelled; the target control mode does not include the electric creep control mode.

2. The method according to claim 1, characterized in that The method further comprises: When the motor control mode of the target vehicle is an electric creep control mode, obtaining target driving parameters of the target vehicle; determining, based on the target driving parameter, whether the target vehicle is in an unexpected control operating condition; the unexpected control operating condition includes an abnormal driving state of the target vehicle in an electric creep control mode that is inconsistent with an operation intention; If the target vehicle is in an unexpected control condition, the target fault flag is activated.

3. The method according to claim 2, characterized in that The target driving parameter includes the driving speed of the target vehicle; The determining, based on the target driving parameter, whether the target vehicle is in an unexpected control condition includes: Calculating a duration during which the driving speed exceeds a preset speed threshold corresponding to the electric creep control mode to obtain an overspeed duration of the target vehicle in the electric creep control mode; Whether the target vehicle is in an unexpected control condition is determined based on whether the overspeeding duration reaches a preset time threshold.

4. The method according to claim 3, characterized in that The calculating the duration of the driving speed exceeding the preset speed threshold corresponding to the electric creep control mode to obtain the overspeed duration of the target vehicle in the electric creep control mode includes: When the driving speed at the switching moment is greater than the preset speed threshold, the overspeed duration is calculated from the switching moment; the switching moment is the moment when the motor control mode is most recently switched to the electric creep control mode.

5. The method according to claim 4, characterized in that When the driving speed at the switching moment is greater than the preset speed threshold, calculating the overspeed duration from the switching moment includes: After detecting that the motor control mode is switched to the electric creep control mode, adjusting a preset trigger to a set state; When the driving speed is greater than the preset speed threshold and the preset trigger is in a set state, determining the overspeed duration according to the time interval between the switching moment and the current moment; When the driving speed is not greater than the preset speed threshold, or when it is detected that the motor control mode is switched to a control mode other than the electric creep control mode, the preset trigger is adjusted to a reset state and the overspeed duration is cleared.

6. The method according to claim 1, wherein The canceling of the target fault flag bit includes: After the delay reaches the specified time, the target fault flag is cancelled.

7. The method according to claim 5, characterized in that After the delay reaches the specified time, canceling the target fault flag includes: If the electric creep request signal is not received before the delay reaches the specified time, the target fault flag is cancelled after the delay reaches the specified time: If the electric creep request signal is received before the delay reaches the specified time, the delay reset mechanism is triggered, and the target fault flag is cancelled after the delay reaches the specified time.

8. A vehicle control device, characterized in that: include: a receiving module, configured to receive a target request signal for switching a motor control mode of the target vehicle after a target fault flag of the target vehicle is activated; The target fault flag is used to indicate that the electric creep control mode is erroneously activated; A switching module is used to set the motor control mode to a torque control mode if the target request signal is used to indicate that the motor control mode is switched to an electric creep control mode; and to cancel the target fault flag if the target request signal is used to indicate that the motor control mode is switched to a target control mode; the target control mode does not include an electric creep control mode.

9. A vehicle, characterized in that: including a vehicle body, a processor, and a memory; The vehicle body includes a motor for driving wheels; The memory stores computer program instructions; The processor is configured to execute the computer program instructions to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

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