Vehicle motor control method and device, vehicle, medium and product

Abstract

The invention relates to a vehicle motor control method and device, a vehicle, a medium and a product, and relates to the technical field of vehicle motor control, and the vehicle motor control method comprises the steps of obtaining vehicle running information when a target vehicle runs; the vehicle running information comprises at least two vehicle speeds determined in different modes; determining motor control information when the target vehicle runs based on the at least two vehicle speeds; and controlling a target motor of the target vehicle based on the motor control information. According to the invention, the control accuracy of the motor in the vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle motor control, and in particular to a vehicle motor control method, device, vehicle, medium and product. Background Art

[0002] Electric Power Steering (EPS) is a steering-assistance system that uses an electric motor to provide assistive torque, helping the driver steer more easily. The amount of assistive torque provided by the EPS system is strongly dependent on signals such as vehicle speed, steering wheel torque, and steering angle. In the event of erroneous input signals or calculation errors, the entire EPS system may enter an incorrect operating state, threatening the driver's life.

[0003] In the related art, the auxiliary torque is determined based on the vehicle speed, steering wheel torque, steering angle and other signals after obtaining the vehicle speed, steering wheel torque, steering angle and other signals. Since the vehicle speed is information measured by the sensor, if the sensor fails and the measured vehicle speed is less accurate, the determined assist torque will be inaccurate, and there is a risk of directly shutting off the motor assist function, thereby reducing the accuracy of controlling the motor in the vehicle. Summary of the Invention

[0004] One of the purposes of the present invention is to provide a vehicle motor control method, device, vehicle, medium and product, which can improve the accuracy of controlling the motor in the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a vehicle positioning method, the method comprising:

[0006] Acquire vehicle operation information of a target vehicle when it is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways; determine a traveling speed of the target vehicle when it is traveling based on the at least two vehicle speeds; determine motor control information of the target vehicle when it is traveling based on the traveling speed, and control a target motor of the target vehicle based on the motor control information.

[0007] Through the above-mentioned technical means, by determining at least two speeds of the target vehicle in different ways, it is avoided that both of the obtained at least two speeds are inaccurate speed information; then the actual driving speed of the target vehicle is accurately determined based on the at least two speeds; thereby, the motor control information of the target vehicle when it is traveling is determined based on the actual driving speed, and the target motor of the target vehicle is controlled based on the motor control information, thereby avoiding the inaccurate speed determined in the event of a speed sensor failure on the target vehicle, and the inaccurate power assist torque determined based on the inaccurate speed information, that is, improving the accuracy of the motor control in the vehicle.

[0008] In some embodiments, the at least two vehicle speeds include a first vehicle speed and a second vehicle speed; determining the driving speed of the target vehicle based on the at least two vehicle speeds includes: determining the validity of the first vehicle speed and the second vehicle speed; when the first vehicle speed is valid and the second vehicle speed is invalid, using the first vehicle speed as the driving speed; when the first vehicle speed is invalid and the second vehicle speed is valid, using the second vehicle speed as the driving speed; when both the first vehicle speed and the second vehicle speed are invalid, obtaining a preset vehicle speed; and using the preset vehicle speed as the driving speed.

[0009] Through the above-mentioned technical means, by determining the validity of the first vehicle speed and the second vehicle speed, the accurate driving speed is obtained by taking the valid first vehicle speed, the second vehicle speed or the preset speed as the driving speed, so that accurate motor control information can be determined based on the accurate driving speed, so as to achieve accurate control of the target motor based on the accurate motor control information, that is, the accuracy of controlling the motor in the vehicle is improved.

[0010] In some embodiments, after determining the validity of the first vehicle speed and the second vehicle speed, the method further includes: when both the first vehicle speed and the second vehicle speed are valid, determining the difference between the first vehicle speed and the second vehicle speed; when the difference is not within a preset difference range, determining the speed with the largest speed value between the first vehicle speed and the second vehicle speed as the driving speed; when the difference is within a preset difference range, determining the average of the first vehicle speed and the second vehicle speed to obtain the driving speed.

[0011] Through the above-mentioned technical means, by determining the validity of the first vehicle speed and the second vehicle speed, the driving speed is determined based on the valid first vehicle speed and the second vehicle speed, that is, the accurate driving speed is obtained, so that accurate motor control information can be determined based on the accurate driving speed, so as to achieve accurate control of the target motor based on the accurate motor control information, that is, the accuracy of controlling the motor in the vehicle is improved.

[0012] In some embodiments, determining the validity of the first vehicle speed and the second vehicle speed includes: when the first vehicle speed is within a first vehicle speed range, determining that the first vehicle speed is valid; when the first vehicle speed is not within the first vehicle speed range, determining that the first vehicle speed is invalid; when the second vehicle speed is within a second vehicle speed range, determining that the second vehicle speed is valid; when the second vehicle speed is not within the second vehicle speed range, determining that the second vehicle speed is invalid.

[0013] Through the above-mentioned technical means, by setting the first vehicle speed range and the second vehicle speed range, the first vehicle speed range is used to judge the validity of the first vehicle speed, and the second vehicle speed range is used to judge the validity of the second vehicle speed, so that the accurate driving speed can be determined when the first vehicle speed and the second vehicle speed are in different validity, and accurate motor control information can be determined based on the accurate driving speed, so that accurate control of the target motor can be achieved based on the accurate motor control information, that is, the accuracy of controlling the motor in the vehicle is improved.

[0014] In some embodiments, the first vehicle speed is the speed collected by the sensor on the target vehicle; the second vehicle speed is the speed determined by the cloud based on the driving information of the side vehicle; the side vehicle is a vehicle traveling on the side of the target vehicle.

[0015] Through the above-mentioned technical means, by determining the first vehicle speed and the second vehicle speed in different ways, it is avoided that the first vehicle speed and the second vehicle speed are both inaccurate vehicle speed information; then the actual driving speed of the target vehicle is accurately determined based on the first vehicle speed and the second vehicle speed; thereby, the motor control information of the target vehicle when it is driving is determined based on the actual driving speed, and the target motor of the target vehicle is controlled based on the motor control information, thereby avoiding the inaccurate vehicle speed determined in the event of a speed sensor failure on the target vehicle, and determining the inaccurate power assist torque based on the inaccurate vehicle speed information, that is, improving the accuracy of the motor control in the vehicle.

[0016] In some embodiments, determining the motor control information of the target vehicle when it is traveling based on the driving speed includes: obtaining the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information of the target vehicle from the vehicle operation information; determining the target torque based on the driving speed, the ignition information, the steering wheel torque information and the steering wheel angle information; and determining the motor control information based on the target torque, the motor position information and the motor current information.

[0017] Through the above-mentioned technical means, the auxiliary torque provided by the EPS system can be accurately determined based on the accurate driving speed and the ignition information, steering wheel torque information and steering wheel angle information of the target vehicle, and thus the motor control information of the target motor can be accurately determined based on the accurate auxiliary torque, motor position information and motor current information.

[0018] In some embodiments, controlling the target motor of the target vehicle based on the motor control information includes: controlling a motor drive circuit according to the motor control information, and controlling the target motor using the motor control circuit; or controlling a phase breaker according to the motor control information, and controlling the target motor using the phase breaker.

[0019] Through the above technical means, a phase breaker is set to protect the target motor. When the target motor has a phase loss problem, the phase breaker can be used to cut off the power supply of the target motor to avoid damage to the target motor due to phase loss. When the target motor does not have a phase loss or other fault, the motor control information and the motor drive circuit can be used to control the target motor normally.

[0020] In a second aspect, an embodiment of the present application provides a vehicle motor control device, characterized in that the vehicle motor control device includes an acquisition unit, a determination unit and a control unit, wherein: the acquisition unit is used to acquire vehicle operation information of a target vehicle when it is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways; the determination unit is used to determine the driving speed of the target vehicle when it is traveling based on the at least two vehicle speeds; the motor control information of the target vehicle when it is traveling is determined based on the driving speed; and the control unit is used to control the target motor of the target vehicle based on the motor control information.

[0021] In a third aspect, an embodiment of the present application provides a vehicle, which includes the vehicle motor control device described in the second aspect.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in the first aspect when the computer program is executed by a processor.

[0023] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements the method described in the first aspect.

[0024] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A flow chart of a vehicle motor control processing method provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of an exemplary target torque determination process provided in an embodiment of the present application;

[0027] Figure 3A schematic diagram of an exemplary method for determining assist torque provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of an exemplary vehicle motor control device provided in an embodiment of the present application;

[0029] Figure 5 A schematic diagram of a vehicle motor control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0031] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0032] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0033] In the following description, the terms "first\second\third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first\second\third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0034] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0036] The relevant data collection and processing in the embodiments of this application should be strictly in accordance with the requirements of relevant national laws and regulations when applied in examples, and the informed consent or separate consent of the personal information subject should be obtained. Subsequent data use and processing should be carried out within the scope of authorization of laws and regulations and the personal information subject.

[0037] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] In one embodiment of the present application, a vehicle motor control method is provided. The vehicle motor control method is applied to a vehicle motor control device. Figure 1 A vehicle motor control flow chart provided in an embodiment of the present application is as follows: Figure 1 As shown, vehicle motor control may include:

[0039] S101. Acquire vehicle operation information of a target vehicle while it is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways.

[0040] A vehicle motor control method provided in an embodiment of the present application is applicable to a scenario in which a target motor is controlled while a target vehicle is traveling.

[0041] In the embodiments of the present application, the vehicle motor control device can be implemented in various forms. For example, the vehicle motor control device described in the present application can include a controller, a cloud service, etc., or other forms, which are not limited in the specific embodiments of the present application.

[0042] In an embodiment of the present application, the vehicle operation information may include at least two vehicle speeds of the target vehicle determined in different ways, ignition information of the target vehicle, steering wheel torque information of the target vehicle, steering wheel angle information of the target vehicle, motor position information of the target vehicle, and motor current information of the target vehicle.

[0043] It should be noted that ignition information includes the current ignition status of the target vehicle, thereby determining whether the target vehicle has been started. Ignition information can be represented by the vehicle's ignition switch status. Steering wheel torque information includes the current steering wheel torque of the target vehicle. Steering wheel angle information includes the current steering wheel angle of the target vehicle. Motor position information includes the current motor position of the target vehicle. Motor current information includes the current motor current of the target vehicle. At least two vehicle speeds are the current speeds of the target vehicle determined using different methods.

[0044] In the embodiment of the present application, the vehicle operation information can be obtained from the target vehicle, from other devices, or through other methods. The specific method of obtaining the vehicle operation information can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0045] Specifically, the at least two vehicle speeds may be vehicle speed information obtained from other devices, or may be vehicle speed information obtained from a target vehicle (i.e., at least two vehicle speeds determined by the target vehicle in different ways), or may be vehicle speed information obtained by other means. The specific method of obtaining at least two vehicle speed information may be determined based on actual conditions, and the embodiments of the present application do not limit this.

[0046] For example, at least two vehicle speeds can be detected using sensors on the target vehicle; at least two vehicle speeds can also be detected using equipment on other non-target vehicles; at least two vehicle speeds can also be detected by other means. The specific means can be determined based on actual conditions, and the embodiments of the present application do not limit this.

[0047] Specifically, the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information of the target vehicle can be obtained from the target vehicle; the target vehicle can also detect and store the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information in real time, and then obtain the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information of the target vehicle from the storage area; the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information of the target vehicle can also be obtained in other ways; the specific way of obtaining the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information of the target vehicle can be determined according to actual conditions, and the embodiments of the present application are not limited to this.

[0048] In the embodiment of the present application, the target vehicle may be a bus, taxi, car, truck, excavator or other vehicle. The specific target vehicle may be determined based on actual conditions, and the embodiment of the present application does not limit this.

[0049] S102: Determine a driving speed of the target vehicle based on at least two vehicle speeds.

[0050] In an embodiment of the present application, after the vehicle motor control device obtains the vehicle operation information of the target vehicle when it is traveling, it can determine the driving speed of the target vehicle when it is traveling based on at least two vehicle speeds in the vehicle operation information.

[0051] It should be noted that the driving data is the actual speed of the target vehicle. The number of driving speeds is one.

[0052] In an embodiment of the present application, the at least two vehicle speeds include a first vehicle speed and a second vehicle speed; the process of the vehicle motor control device determining the driving speed of the target vehicle according to the at least two vehicle speeds includes: determining the validity of the first vehicle speed and the second vehicle speed; when the first vehicle speed is valid and the second vehicle speed is invalid, using the first vehicle speed as the driving speed; when the first vehicle speed is invalid and the second vehicle speed is valid, using the second vehicle speed as the driving speed; when both the first vehicle speed and the second vehicle speed are invalid, obtaining a preset vehicle speed; and using the preset vehicle speed as the driving speed.

[0053] It should be noted that the first vehicle speed can be obtained by the integrated brake control unit (IBCU) on the target vehicle based on the wheel speed sensor; the second vehicle speed can be obtained based on the vehicle information collected by the vehicle network cloud data sharing center (that is, the speed determined by the cloud-based driving information of the target vehicle transmitted by other vehicles). The first vehicle speed can also be obtained based on the vehicle information collected by the vehicle network cloud data sharing center (that is, the speed determined by the cloud-based driving information of the target vehicle transmitted by other vehicles); the second vehicle speed can also be obtained by the IBCU on the target vehicle based on the wheel speed sensor. It should also be noted that the EPS system can receive the first vehicle speed and the second vehicle speed through the controller area network (CAN) bus, thereby determining the target torque based on the first vehicle speed and the second vehicle speed.

[0054] In an embodiment of the present application, the vehicle motor control device includes a vehicle speed information 1 processing module and a vehicle speed information 2 processing module. The first vehicle speed can be measured using a wheel speed sensor, and the second vehicle speed can be obtained based on vehicle information collected by the Internet of Vehicles cloud data sharing center. The vehicle motor control device uses the vehicle speed information 1 processing module to obtain the first vehicle speed and uses the vehicle speed information 2 processing module to obtain the second vehicle speed.

[0055] In an embodiment of the present application, the validity range of the vehicle speed can be obtained, and the validity of the first vehicle speed and the second vehicle speed can be detected based on the validity range of the vehicle speed; the first historical vehicle speed information of the first vehicle speed and the second historical vehicle speed information of the second vehicle speed can also be obtained, and the validity of the first vehicle speed can be detected using the first historical vehicle speed information, and the validity of the second vehicle speed can be detected using the second historical vehicle speed information; the validity of the first vehicle speed and the second vehicle speed can also be detected by other methods. The specific method of determining the validity of the first vehicle speed and the second vehicle speed can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0056] For example, a first average vehicle speed can be determined based on the first historical vehicle speed information. If a first speed difference between the first average vehicle speed and the first vehicle speed is within a first preset range, the first vehicle speed is determined to be valid; otherwise, the first vehicle speed is determined to be invalid. A second average vehicle speed can be determined based on the second historical vehicle speed information. If a second speed difference between the second average vehicle speed and the second vehicle speed is within a second preset range, the second vehicle speed is determined to be valid; otherwise, the second vehicle speed is determined to be invalid. The specific method of performing validity detection on the first vehicle speed based on the first historical vehicle speed information and the method of performing validity detection on the second vehicle speed based on the second historical vehicle speed information can be determined based on actual circumstances and are not limited in this embodiment of the present application.

[0057] In an embodiment of the present application, the preset vehicle speed can be the vehicle speed configured in the vehicle motor control device, or the vehicle speed transmitted to the vehicle motor control device by other equipment, or the vehicle speed obtained by the vehicle motor control device through other means. The specific method in which the vehicle motor control device obtains the preset vehicle speed can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0058] It should be noted that the preset vehicle speed can be 80 km / h, or other speed values. The specific preset vehicle speed value can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0059] It can be understood that by determining the validity of the first vehicle speed and the second vehicle speed, the accurate driving speed is obtained by taking the valid first vehicle speed, second vehicle speed or preset speed as the driving speed, so that accurate motor control information can be determined based on the accurate driving speed, so as to achieve accurate control of the target motor based on the accurate motor control information, that is, the accuracy of controlling the motor in the vehicle is improved.

[0060] In an embodiment of the present application, the first vehicle speed is the vehicle speed collected by the sensor on the target vehicle; the second vehicle speed is the vehicle speed determined by the cloud based on the driving information of the side vehicle; the side vehicle is a vehicle driving on the side of the target vehicle.

[0061] It can be understood that by determining the first vehicle speed and the second vehicle speed in different ways, it is avoided that both the first vehicle speed and the second vehicle speed are inaccurate vehicle speed information; then the actual driving speed of the target vehicle is accurately determined based on the first vehicle speed and the second vehicle speed; thereby, the motor control information of the target vehicle when it is traveling is determined based on the actual driving speed, and the target motor of the target vehicle is controlled based on the motor control information, thereby avoiding the inaccurate speed determined in the event of a speed sensor failure on the target vehicle, and determining the inaccurate power assist torque based on the inaccurate vehicle speed information, thereby improving the accuracy of controlling the motor in the vehicle.

[0062] In an embodiment of the present application, after the vehicle motor control device determines the validity of the first vehicle speed and the second vehicle speed, if both the first vehicle speed and the second vehicle speed are valid, the difference between the first vehicle speed and the second vehicle speed is determined; if the difference is not within a preset difference range, the speed with the largest speed value between the first vehicle speed and the second vehicle speed is determined as the driving speed; if the difference is within a preset difference range, the average of the first vehicle speed and the second vehicle speed is determined to obtain the driving speed.

[0063] It should be noted that the difference can be a non-negative number, and the difference can also include a negative number. The specific difference can be determined according to actual conditions, and the embodiments of the present application do not limit this.

[0064] In the embodiment of the present application, when the difference is a non-negative number, the value within the preset difference range is also a non-negative number; when the difference includes a negative number, the value within the preset difference range also includes a negative number.

[0065] In the embodiment of the present application, if the difference is within a preset difference range, the first vehicle speed coefficient and the second vehicle speed coefficient may be obtained, and the driving speed may be determined based on the first vehicle speed coefficient, the first vehicle speed, the second vehicle speed coefficient, and the second vehicle speed. The driving speed may also be determined based on the first vehicle speed and the second vehicle speed using other methods; the specific implementation method may be determined based on actual conditions and is not limited in the embodiment of the present application.

[0066] It should be noted that the sum of the first vehicle speed coefficient and the second vehicle speed coefficient is 1.

[0067] It should be noted that the process of determining the driving speed based on the first vehicle speed coefficient, the first vehicle speed, the second vehicle speed coefficient and the second vehicle speed includes determining the first product of the first vehicle speed coefficient and the first vehicle speed, determining the second product of the second vehicle speed coefficient and the second vehicle speed, and taking the sum of the first product and the second product as the preset vehicle speed.

[0068] It can be understood that by determining the validity of the first vehicle speed and the second vehicle speed, the driving speed is determined with the valid first vehicle speed and the second vehicle speed, that is, the accurate driving speed is obtained, so that accurate motor control information can be determined based on the accurate driving speed, so as to achieve accurate control of the target motor based on the accurate motor control information, that is, the accuracy of controlling the motor in the vehicle is improved.

[0069] In an embodiment of the present application, the process of the vehicle motor control device determining the validity of the first vehicle speed and the second vehicle speed includes: when the first vehicle speed is within the first vehicle speed range, determining that the first vehicle speed is valid; when the first vehicle speed is not within the first vehicle speed range, determining that the first vehicle speed is invalid; when the second vehicle speed is within the second vehicle speed range, determining that the second vehicle speed is valid; when the second vehicle speed is not within the second vehicle speed range, determining that the second vehicle speed is invalid.

[0070] In an embodiment of the present application, the first vehicle speed range can be information configured in the vehicle motor control device, or information transmitted to the vehicle motor control device by other equipment, or information obtained by the vehicle motor control device through other means. The specific way in which the vehicle motor control device obtains the first vehicle speed information can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0071] In an embodiment of the present application, the second vehicle speed range can be information configured in the vehicle motor control device, or information transmitted to the vehicle motor control device by other equipment, or information obtained by the vehicle motor control device through other means. The specific way in which the vehicle motor control device obtains the second vehicle speed information can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0072] In the embodiment of the present application, the first vehicle speed range may be the same as the second vehicle speed range, or the first vehicle speed range may be different from the second vehicle speed range. The specific range may be determined based on actual conditions, and the embodiment of the present application does not limit this.

[0073] It can be understood that by setting the first vehicle speed range and the second vehicle speed range, the first vehicle speed range is used to judge the validity of the first vehicle speed, and the second vehicle speed range is used to judge the validity of the second vehicle speed, so that the accurate driving speed can be determined when the first vehicle speed and the second vehicle speed are in different validity. Accurate motor control information can be determined based on the accurate driving speed, and accurate control of the target motor can be achieved based on the accurate motor control information, which improves the accuracy of controlling the motor in the vehicle.

[0074] For example, Figure 2As shown in the figure: when the vehicle operation information of the target vehicle is obtained, the first vehicle speed and the second vehicle speed are obtained from the vehicle operation information (vehicle speed information 1 and vehicle speed information 2 are obtained), and then the microcontroller is used to obtain the first vehicle speed and the second vehicle speed. The control unit (MCU) processes the vehicle speed information 1 and the vehicle speed information 2 (i.e., determines the validity of the first vehicle speed and the second vehicle speed, and specifically determines the validity of the first vehicle speed and the second vehicle speed according to the relationship between the first vehicle speed and the first vehicle speed range and the second vehicle speed and the second vehicle speed range). When the vehicle speed information 1 is valid (i.e., the first vehicle speed is valid) and the vehicle speed information 2 is invalid (i.e., the second vehicle speed is invalid), the vehicle speed information 1 is used to participate in the torque calculation (i.e., the first vehicle speed is used as the driving speed, and the target torque is determined according to the driving speed); when the vehicle speed information 1 is invalid (i.e., the first vehicle speed is invalid) and the vehicle speed information 2 is valid (i.e., the second vehicle speed is valid), the vehicle speed information 2 is used to participate in the torque calculation (i.e., the second vehicle speed is used as the driving speed, and the target torque is determined according to the driving speed); when the vehicle speed information 1 is invalid (i.e., the first vehicle speed is invalid) and the vehicle speed information 2 is invalid (i.e., the second vehicle speed is invalid), the vehicle speed information 2 is used to participate in the torque calculation (i.e., the second vehicle speed is used as the driving speed, and the target torque is determined according to the driving speed); In the case of the preset vehicle speed, the preset vehicle speed is taken to participate in the torque calculation (that is, the preset vehicle speed is taken, the preset vehicle speed is used as the driving speed, and the target torque is determined according to the driving speed); when the vehicle speed information 1 is valid (that is, the first vehicle speed is valid) and the vehicle speed information 2 is valid (that is, the second vehicle speed is valid), the vehicle speed information 1 and the vehicle speed information 2 are compared and verified (that is, the difference between the first vehicle speed and the second vehicle speed is determined); when the verification is passed (that is, the difference is within the preset difference range), the average value of the two vehicle speeds is taken to participate in the torque calculation (that is, the average of the first vehicle speed and the second vehicle speed is determined to obtain the driving speed, and the target torque is determined according to the driving speed); when the verification fails (that is, the difference is not within the preset difference range), the larger value of the two is taken to participate in the torque calculation (the speed with the largest speed value between the first vehicle speed and the second vehicle speed is determined as the driving speed, and the target torque is determined according to the driving speed). After the target torque is determined, the motor control information can be determined according to the target torque, the motor position information in the vehicle operation information, and the motor current information in the vehicle operation information, so as to control the target motor of the target vehicle based on the motor control information.

[0075] It can be understood that by evaluating the effectiveness of the first vehicle speed and the second vehicle speed, when it is determined that the target vehicle has a fault based on the first vehicle speed and the second vehicle speed, safety downgrade can be performed according to the different effectiveness of the first vehicle speed and the second vehicle speed, thereby avoiding directly shutting off the electric power assist function and causing user complaints.

[0076] In the embodiment of the present application, an exemplary flow chart of a method for determining the assist torque of a target vehicle is as follows: Figure 3 As shown:

[0077] S1. Obtain vehicle operation information of a target vehicle while it is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways; the at least two vehicle speeds include a first vehicle speed and a second vehicle speed.

[0078] It should be noted that the vehicle operation information may include at least two vehicle speeds of the target vehicle determined in different ways, ignition information of the target vehicle, steering wheel torque information of the target vehicle, steering wheel angle information of the target vehicle, motor position information of the target vehicle, and motor current information of the target vehicle.

[0079] S2. Determine the validity of the first vehicle speed and the second vehicle speed.

[0080] It should be noted that, when the first vehicle speed is within the first vehicle speed range, the first vehicle speed is determined to be valid; when the first vehicle speed is not within the first vehicle speed range, the first vehicle speed is determined to be invalid; when the second vehicle speed is within the second vehicle speed range, the second vehicle speed is determined to be valid; when the second vehicle speed is not within the second vehicle speed range, the second vehicle speed is determined to be invalid.

[0081] S3. When the first vehicle speed is valid and the second vehicle speed is invalid, the first vehicle speed is used as the traveling speed.

[0082] It should be noted that after executing step S2, step S3 can be executed.

[0083] S4. When the first vehicle speed is invalid and the second vehicle speed is valid, the second vehicle speed is used as the traveling speed.

[0084] It should be noted that after executing step S2, step S4 can be executed.

[0085] S5. When both the first vehicle speed and the second vehicle speed are invalid, obtain a preset vehicle speed; and use the preset vehicle speed as the driving speed.

[0086] It should be noted that after executing step S2, step S5 can be executed.

[0087] S6. When both the first vehicle speed and the second vehicle speed are valid, determine the difference between the first vehicle speed and the second vehicle speed.

[0088] It should be noted that after executing step S2, step S6 can be executed.

[0089] S7. If the difference is not within the preset difference range, determine the vehicle speed with the largest value between the first vehicle speed and the second vehicle speed as the driving speed.

[0090] It should be noted that after executing step S6, step S7 can be executed.

[0091] S8. When the difference is within a preset difference range, determine an average of the first vehicle speed and the second vehicle speed to obtain a driving speed.

[0092] It should be noted that after executing step S6, step S8 can be executed.

[0093] S9. Acquire ignition information, steering wheel torque information, and steering wheel angle information of the target vehicle from the vehicle operation information.

[0094] It should be noted that you can execute any one of steps S3, S4, S5, S7, and S8 first, and then execute step S9, or you can execute step S9 first, and then execute any one of steps S3, S4, S5, S7, and S8, or you can execute step S9 while executing any one of steps S3, S4, S5, S7, and S8.

[0095] S10: Determine a target torque based on the driving speed, ignition information, steering wheel torque information, and steering wheel angle information.

[0096] It should be noted that after executing any one of steps S3, S4, S5, S7, S8 and step S9, step S10 may be executed.

[0097] S103 : Determine motor control information of the target vehicle when it is traveling based on the traveling speed, and control a target motor of the target vehicle based on the motor control information.

[0098] In an embodiment of the present application, after the vehicle motor control device determines the driving speed of the target vehicle based on the at least two vehicle speeds, it can determine the motor control information of the target vehicle based on the driving speed, and control the target motor of the target vehicle based on the motor control information.

[0099] In the embodiment of the present application, the method of determining the motor control information of the target vehicle when traveling according to the driving speed can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0100] In an embodiment of the present application, the process of the vehicle motor control device determining the motor control information of the target vehicle when traveling based on the driving speed includes: obtaining the ignition information, steering wheel torque information, steering wheel angle information, motor position information and motor current information of the target vehicle from the vehicle operation information; determining the target torque according to the driving speed, the ignition information, the steering wheel torque information, and the steering wheel angle information; and determining the motor control information according to the target torque, the motor position information and the motor current information.

[0101] In an embodiment of the present application, the vehicle motor control device also includes an ignition information processing module, a steering wheel torque information processing module, a steering wheel angle information processing module, a motor position information processing module and a motor current information processing module. The ignition information processing module can be used to obtain external ignition information, the steering wheel torque information processing module can be used to obtain external steering wheel torque information, the steering wheel angle information processing module can be used to obtain steering wheel angle information, the motor position information can be used to obtain motor position information, and the motor current information processing module can be used to obtain motor current information.

[0102] It should be noted that after obtaining the first vehicle speed, the second vehicle speed, the ignition information, the steering wheel torque information, the steering wheel angle information, the motor position information, and the motor current information, the vehicle operation information is obtained.

[0103] In the embodiment of the present application, the method of determining the target torque according to the driving speed, the ignition information, the steering wheel torque information, and the steering wheel angle information can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0104] In the embodiment of the present application, the method of determining the motor control information based on the target torque, the motor position information and the motor current information can be determined according to actual conditions, and the embodiment of the present application does not limit this.

[0105] It can be understood that based on the accurate driving speed and the ignition information, steering wheel torque information and steering wheel angle information of the target vehicle, the auxiliary torque provided by the EPS system can be accurately determined, and thus the motor control information of the target motor can be accurately determined based on the accurate auxiliary torque, motor position information and motor current information.

[0106] In an embodiment of the present application, the process of the vehicle motor control device controlling the target motor of the target vehicle based on the motor control information includes: controlling the motor drive circuit according to the motor control information, and controlling the target motor using the motor control circuit; or, controlling the phase breaker according to the motor control information, and controlling the target motor using the phase breaker.

[0107] In an embodiment of the present application, motor control information can be used to control the motor drive circuit, and the motor drive circuit can be used to control the target motor. Motor control information can also be used to control the phase breaker, and the phase breaker can be used to control the on and off of the target motor.

[0108] It should be noted that the motor control circuit can be a circuit in the prior art, or a circuit designed specifically for controlling the target motor. The specific motor control circuit can be determined based on actual conditions, and the embodiments of the present application do not limit this.

[0109] It can be understood that by setting a phase breaker to protect the target motor, when the target motor has a phase loss problem, the phase breaker can be used to cut off the power supply of the target motor to avoid damage to the target motor due to phase loss. When the target motor does not have a phase loss or other fault, the motor control information and motor drive circuit can be used to control the target motor normally.

[0110] For example, the vehicle motor control device in this application is as follows: Figure 4 As shown, it includes a vehicle power supply, a power management chip, external input information, a control processing center, a motor drive circuit, a phase breaker, and a power-assisting motor. The vehicle power supply is used to provide a 12V power supply voltage, the power management chip is used to convert the supply voltage into different input voltages to power each module, the external input information is used to provide the required information for the vehicle motor control device during operation, the control processing center is used to control the operation of the vehicle motor control device and issue relevant instructions for implementing the electric power assist function, the motor drive circuit is used to drive the power-assisting motor to provide real-time power assist according to the target instructions, and the phase breaker is used to control the on and off of the motor on demand. The control processing center includes an external input information processing module (including a vehicle speed information 1 processing module, a vehicle speed information 2 processing module, an ignition information processing module, a steering wheel torque information processing module, a steering wheel angle information processing module, a motor position information processing module, and a motor current information processing module), a vehicle speed information arbitration module, a power-assisting torque calculation module, and a motor control module. First, the external input information is processed. The vehicle speed information 1 processing module and the vehicle speed information 2 processing module send the vehicle speed information 1 (first vehicle speed) and the vehicle speed information 2 (second vehicle speed) to the vehicle speed information arbitration module to complete the vehicle speed arbitration (i.e., determine the validity of the first vehicle speed and the second vehicle speed). The power assist torque calculation module calculates the magnitude and direction of the output power assist torque (i.e., determines the target torque) based on the vehicle speed arbitration result (i.e., the determined driving speed), the ignition information processing result (ignition information), the steering wheel torque information processing result (steering wheel torque information), and the steering wheel angle information processing result (steering wheel angle information). Further, the motor control module outputs the motor control instruction (determines the motor control information) according to the power assist torque instruction (i.e., the target torque) and combined with the recovered motor position information and motor current information to realize real-time control of power steering.

[0111] It should be noted that external input information includes vehicle speed information 1, vehicle speed information 2, ignition information, steering wheel torque information, steering wheel angle information, motor position information, and motor current information. To ensure the required safety level of the vehicle speed signal, vehicle speed information 1 is calculated by the integrated brake control unit based on the wheel speed sensors, while vehicle speed information 2 is derived from vehicle information collected by the Internet of Vehicles cloud data sharing center. Vehicle speed information 1 and vehicle speed information 2 are transmitted to the EPS system via the CAN bus. This avoids the use of redundant sensors, meets the requirement for vehicle speed signal independence, and reduces hardware costs.

[0112] It can be understood that the present application obtains at least two vehicle speeds of the target vehicle in different ways, thereby avoiding the at least two vehicle speeds being inaccurate vehicle speed information; and then accurately determines the actual driving speed of the target vehicle based on the at least two vehicle speeds; thereby determining the motor control information of the target vehicle based on the actual driving speed, and controlling the target motor of the target vehicle based on the motor control information, thereby avoiding the inaccurate speed determined in the event of a speed sensor failure on the target vehicle, and determining the inaccurate assist torque based on the inaccurate vehicle speed information, thereby improving the accuracy of controlling the motor in the vehicle.

[0113] Based on the above embodiments, the present application also provides a vehicle motor control device. Figure 5 This is a schematic diagram of the structure of a vehicle motor control device provided in an embodiment of the present application. Figure 5 As shown, the vehicle motor control device 1 includes an acquisition unit 11, a determination unit 12 and a control unit 13, wherein:

[0114] The acquisition unit 11 is configured to acquire vehicle operation information of the target vehicle when the target vehicle is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways;

[0115] The determining unit 12 is configured to determine a driving speed of the target vehicle according to the at least two vehicle speeds; and determine motor control information of the target vehicle based on the driving speed.

[0116] The control unit 13 is configured to control a target motor of the target vehicle based on the motor control information.

[0117] In some embodiments, the at least two vehicle speeds include a first vehicle speed and a second vehicle speed;

[0118] The determining unit 12 is specifically configured to determine the validity of the first vehicle speed and the second vehicle speed; if the first vehicle speed is valid and the second vehicle speed is invalid, use the first vehicle speed as the driving speed; if the first vehicle speed is invalid and the second vehicle speed is valid, use the second vehicle speed as the driving speed; and use a preset vehicle speed as the driving speed;

[0119] The acquiring unit 11 is configured to acquire the preset vehicle speed when both the first vehicle speed and the second vehicle speed are invalid.

[0120] In some embodiments, the determination unit 12 is further used to determine the difference between the first vehicle speed and the second vehicle speed when both the first vehicle speed and the second vehicle speed are valid; when the difference is not within a preset difference range, determine the speed with the largest speed value between the first vehicle speed and the second vehicle speed as the driving speed; when the difference is within a preset difference range, determine the average of the first vehicle speed and the second vehicle speed to obtain the driving speed.

[0121] In some embodiments, the determination unit 12 is specifically used to determine that the first vehicle speed is valid when the first vehicle speed is within a first vehicle speed range; determine that the first vehicle speed is invalid when the first vehicle speed is not within the first vehicle speed range; determine that the second vehicle speed is valid when the second vehicle speed is within a second vehicle speed range; and determine that the second vehicle speed is invalid when the second vehicle speed is not within the second vehicle speed range.

[0122] In some embodiments, the first vehicle speed is the speed collected by the sensor on the target vehicle; the second vehicle speed is the speed determined by the cloud based on the driving information of the side vehicle; the side vehicle is a vehicle traveling on the side of the target vehicle.

[0123] In some embodiments, the acquisition unit 11 is configured to acquire ignition information, steering wheel torque information, steering wheel angle information, motor position information, and motor current information of the target vehicle from the vehicle operation information;

[0124] The determination unit 12 is specifically configured to determine the target torque based on the driving speed, the ignition information, the steering wheel torque information, and the steering wheel angle information; and determine the motor control information based on the target torque, the motor position information, and the motor current information.

[0125] In some embodiments, the control unit 13 is specifically used to control the motor drive circuit according to the motor control information, and use the motor control circuit to control the target motor; or, control the phase breaker according to the motor control information, and use the phase breaker to control the target motor.

[0126] It can be understood that the present application obtains at least two vehicle speeds of the target vehicle in different ways, thereby avoiding the at least two vehicle speeds being inaccurate vehicle speed information; and then accurately determines the actual driving speed of the target vehicle based on the at least two vehicle speeds; thereby determining the motor control information of the target vehicle based on the actual driving speed, and controlling the target motor of the target vehicle based on the motor control information, thereby avoiding the inaccurate speed determined in the event of a speed sensor failure on the target vehicle, and determining the inaccurate assist torque based on the inaccurate vehicle speed information, thereby improving the accuracy of controlling the motor in the vehicle.

[0127] The description of the above device embodiment is similar to the description of the above method embodiment and has similar beneficial effects as the method embodiment. For technical details not disclosed in the device embodiment of this application, please refer to the description of the method embodiment of this application for understanding.

[0128] It should be noted that, in the embodiment of the present application, if the above method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0129] In another embodiment of the present application, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the above method when executed by a processor. The computer-readable storage medium may be transient or non-transient.

[0130] In yet another embodiment of the present application, the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method. The computer program product can be implemented specifically by hardware, software, or a combination thereof. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0131] It should be noted that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0132] In yet another embodiment of the present application, the present application further provides a vehicle, which includes the vehicle motor control device described in the above embodiment.

[0133] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution, and the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0134] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0135] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0136] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0137] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0138] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiments; and the aforementioned storage medium includes: mobile storage devices, read-only memories, magnetic disks or optical disks, and other media that can store program codes.

[0139] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially or in other words be embodied in the form of a software product that contributes to the relevant technology. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0140] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A vehicle motor control method, characterized in that: The method comprises: Acquiring vehicle operation information of a target vehicle while it is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways; determining a traveling speed of the target vehicle according to the at least two vehicle speeds; Motor control information when the target vehicle is traveling is determined based on the traveling speed, and a target motor of the target vehicle is controlled based on the motor control information.

2. The method according to claim 1, characterized in that The at least two vehicle speeds include a first vehicle speed and a second vehicle speed; and determining the driving speed of the target vehicle according to the at least two vehicle speeds includes: determining validity of the first vehicle speed and the second vehicle speed; When the first vehicle speed is valid and the second vehicle speed is invalid, the first vehicle speed is used as the traveling speed; When the first vehicle speed is invalid and the second vehicle speed is valid, the second vehicle speed is used as the driving speed; In the case that both the first vehicle speed and the second vehicle speed are invalid, a preset vehicle speed is acquired; and the preset vehicle speed is used as the driving speed.

3. The method according to claim 2, characterized in that After determining the validity of the first vehicle speed and the second vehicle speed, the method further includes: determining a difference between the first vehicle speed and the second vehicle speed when both the first vehicle speed and the second vehicle speed are valid; If the difference is not within the preset difference range, determining the vehicle speed with the largest value between the first vehicle speed and the second vehicle speed as the driving speed; When the difference is within a preset difference range, an average of the first vehicle speed and the second vehicle speed is determined to obtain the driving speed.

4. The method according to claim 2 or 3, characterized in that The determining the validity of the first vehicle speed and the second vehicle speed includes: When the first vehicle speed is within a first vehicle speed range, determining that the first vehicle speed is valid; If the first vehicle speed is not within a first vehicle speed range, determining that the first vehicle speed is invalid; When the second vehicle speed is within a second vehicle speed range, determining that the second vehicle speed is valid; In a case where the second vehicle speed is not within the second vehicle speed range, it is determined that the second vehicle speed is invalid.

5. The method according to claim 2 or 3, characterized in that The first vehicle speed is the vehicle speed collected by the sensor on the target vehicle; the second vehicle speed is the vehicle speed determined by the cloud based on the driving information of the side vehicle; the side vehicle is the vehicle driving on the side of the target vehicle.

6. The method according to any one of claims 1 to 3, characterized in that The determining of motor control information of the target vehicle when traveling based on the traveling speed includes: Acquire ignition information, steering wheel torque information, steering wheel angle information, motor position information, and motor current information of the target vehicle from the vehicle operation information; determining a target torque according to the driving speed, the ignition information, the steering wheel torque information, and the steering wheel angle information; The motor control information is determined according to the target torque, the motor position information, and the motor current information.

7. The method according to any one of claims 1 to 3, characterized in that The controlling the target motor of the target vehicle based on the motor control information includes: controlling a motor drive circuit according to the motor control information, and controlling the target motor using the motor control circuit; Alternatively, a phase breaker is controlled according to the motor control information, and the target motor is controlled by using the phase breaker.

8. A vehicle motor control device, characterized in that: The vehicle motor control device includes an acquisition unit, a determination unit and a control unit, wherein: The acquisition unit is configured to acquire vehicle operation information of the target vehicle when the target vehicle is traveling; the vehicle operation information includes at least two vehicle speeds determined in different ways; The determining unit is configured to determine a driving speed of the target vehicle according to the at least two vehicle speeds; and determine motor control information of the target vehicle according to the driving speed. The control unit is configured to control a target motor of the target vehicle based on the motor control information.

9. A vehicle, characterized in that: The vehicle includes the vehicle motor control device according to claim 8 .

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

11. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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