Locking mechanism control method, controller, vehicle, medium and program product

Abstract

The invention relates to the technical field of vehicle electric control, and provides a locking mechanism control method, a controller, a vehicle, a medium and a program product. The locking mechanism control method comprises the steps that under the condition that a position sensor of the locking mechanism is abnormal, the locking mechanism is controlled according to a motor Hall signal, the motor Hall signal is obtained through detection of a Hall sensor, and the Hall sensor is arranged in a locking motor system. According to the technical scheme, under the condition that the position sensor of the locking mechanism is abnormal, the locking mechanism is controlled to be locked and unlocked through the motor Hall signal detected by the Hall sensor arranged in the locking motor system, so that under the condition that the position sensor is abnormal, locking and unlocking control can still be conducted.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle electronic control, and in particular to a locking mechanism control method, a controller, a vehicle, a medium, and a program product. Background Art

[0002] The vehicle differential lock is locked and unlocked by judging whether the locking mechanism has reached the locked position and the unlocked position based on the position signal detected by the position sensor. When the locking mechanism reaches the locked position, the locking mechanism is locked, and when the locking mechanism reaches the unlocked position, the locking mechanism is unlocked.

[0003] In the related art, if the position sensor of the locking mechanism is abnormal, the position information detected by the position sensor becomes invalid, and locking and unlocking control cannot be performed based on the position information. Summary of the Invention

[0004] The purpose of the present disclosure is to provide a locking mechanism control method, a controller, a vehicle, a medium and a program product to solve the problems in the related art.

[0005] In order to achieve the above objectives, the present disclosure provides a locking mechanism control method, comprising: In the case that the position sensor of the locking mechanism is abnormal, the locking mechanism is controlled according to the motor Hall signal, wherein the motor Hall signal is detected by a Hall sensor, and the Hall sensor is provided in the locking motor system.

[0006] Optionally, the abnormality of the position sensor of the locking mechanism is determined by: When the position signal of the position sensor of the locking mechanism exceeds the preset sensor value range, the change in the position signal of the position sensor is abnormal, or the change in the position signal of the position sensor does not match the change in the motor Hall signal of the Hall sensor, it is determined that the position sensor of the locking mechanism is abnormal.

[0007] Optionally, the abnormal change in the position signal of the position sensor is determined by: determining whether the motor is actuated when a position signal of the position sensor of the locking mechanism is within the preset sensor value range; When the motor does not move and the position signal change of the position sensor is greater than a preset change threshold, it is determined that the position signal change of the position sensor is abnormal.

[0008] Optionally, the mismatch between the change in the position signal of the position sensor and the change in the motor Hall signal of the Hall sensor is determined by: determining whether the motor is actuated when a position signal of the position sensor of the locking mechanism is within the preset sensor value range; When the motor moves and the ratio of the change in the motor Hall signal of the motor Hall signal to the change in the position signal of the position sensor does not meet the preset ratio value, it is determined that the change in the position signal of the position sensor does not match the change in the motor Hall signal of the Hall sensor.

[0009] Optionally, whether the motor is in motion is determined by: When the Hall signal of the motor changes, determining the action of the motor; When the motor Hall signal does not change, it is determined that the motor is not operating.

[0010] Optionally, controlling the locking mechanism according to the motor Hall signal includes: According to the motor Hall signal and the target motor locking Hall signal, the locking mechanism is locked and controlled; and / or, The locking mechanism is unlocked and controlled according to the motor Hall signal and the target motor unlocking Hall signal.

[0011] Optionally, the locking control of the locking mechanism according to the motor Hall signal and the target motor locking Hall signal includes: With the goal of reducing the difference signal between the motor Hall signal and the target motor locking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve locking of the locking mechanism.

[0012] Optionally, the unlocking control of the locking mechanism according to the motor Hall signal and the target motor unlocking Hall signal includes: With the goal of reducing the difference signal between the motor Hall signal and the target motor unlocking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve unlocking of the locking mechanism.

[0013] Optionally, the locking mechanism control method further includes: When the position sensor of the locking mechanism is normal, the locking mechanism is controlled according to the motor Hall signal and the position signal of the position sensor.

[0014] The present disclosure also provides a controller, comprising: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of the above-mentioned locking mechanism control method.

[0015] The present disclosure also provides a vehicle, comprising: the above-mentioned controller.

[0016] The present disclosure also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned locking mechanism control method when executed by a processor.

[0017] The present disclosure also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned locking mechanism control method when executed by a processor.

[0018] Through the above technical solution, when the position sensor of the locking mechanism is abnormal, the locking mechanism is controlled to be locked and unlocked by the motor Hall signal detected by the Hall sensor arranged in the locking motor system, so that locking and unlocking control can still be performed when the position sensor is abnormal.

[0019] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings: Figure 1 This is a flow chart of a locking mechanism control method provided in the related art.

[0021] Figure 2 This is a control flow chart provided in the related art when a position sensor fails.

[0022] Figure 3 The figure is a flow chart showing a locking mechanism control method according to an exemplary embodiment.

[0023] Figure 4 The figure is a schematic diagram showing changes in Hall element signals when a motor rotates forward according to an exemplary embodiment.

[0024] Figure 5 The figure is a schematic diagram showing signal changes of a Hall element when a motor is reversed according to an exemplary embodiment.

[0025] Figure 6 The flowchart of updating the Hall signal of a motor is shown according to an exemplary embodiment.

[0026] Figure 7 The present invention is a flowchart showing a method for determining an abnormal change in a position signal of a position sensor according to an exemplary embodiment.

[0027] Figure 8The present invention is a flowchart showing a method for determining whether a change in a position signal of a position sensor does not match a change in a motor Hall signal of a motor Hall sensor according to an exemplary embodiment.

[0028] Figure 9 The flowchart of determining whether a motor is in operation is shown according to an exemplary embodiment.

[0029] Figure 10 The present invention is a flowchart showing a method for determining whether a position sensor of a locking mechanism is abnormal according to an exemplary embodiment.

[0030] Figure 11 is a flowchart of sub-steps of step S1 according to an exemplary embodiment.

[0031] Figure 12 The flowchart of updating the target motor locking / unlocking Hall signal is shown according to an exemplary embodiment.

[0032] Figure 13 is a flow chart showing another locking mechanism control method according to an exemplary embodiment.

[0033] Figure 14 is a flow chart showing another locking mechanism control method according to an exemplary embodiment.

[0034] Figure 15 The figure is a schematic diagram showing a signal of locking a position sensor in an abnormal situation according to an exemplary embodiment.

[0035] Figure 16 The figure is a block diagram of a locking mechanism control device according to an exemplary embodiment. DETAILED DESCRIPTION

[0036] The following describes the specific embodiments of the present disclosure in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure and are not intended to limit the present disclosure.

[0037] In the following description, words such as “first” and “second” are only used for the purpose of distinguishing the description and should not be understood as indicating or implying relative importance or order.

[0038] The vehicle differential lock is locked and unlocked by judging whether the locking mechanism has reached the locked position and the unlocked position based on the position signal detected by the position sensor. When the locking mechanism reaches the locked position, the locking mechanism is locked, and when the locking mechanism reaches the unlocked position, the locking mechanism is unlocked.

[0039] In the related art, the flowchart of the locking mechanism control method can be as follows: Figure 1As shown, if the position sensor of the locking mechanism is abnormal, the position information detected by the position sensor becomes invalid, and locking and unlocking control cannot be performed based on the position information.

[0040] like Figure 2 As shown, when the position sensor fails in the locked state or during the locking process, the locking mechanism will not be unlocked, resulting in vehicle speed limit and affecting the driving experience; this is because the differential lock controller cannot perform accurate control when the position sensor fails, resulting in the differential lock motor not moving directly after the fault or the differential lock motor rotating in the unlocking direction until it is blocked and stops.

[0041] When the differential lock motor does not operate, the vehicle will remain locked for a long time, causing the steering wheel to lock and speed limit to occur, greatly affecting the driving experience and driving safety. When the differential lock motor rotates in the unlocking direction until it stops, there is a chance that it will reach the unlocking position, but there is also a high chance that it will get stuck in the locked position, leaving the differential lock position in an unknown state. When the position sensor fails in the unlocked state, there is a chance that the locking mechanism will be locked, and the steering wheel will be locked. If the vehicle speed is very high at this time, it will not only cause damage to the locking assembly, but may even threaten the driver's life. When the position sensor failure type is signal jitter, it will trigger the locking controller to fine-tune the target position. In extreme cases, the locking motor will move in the locking direction.

[0042] To solve the above problem, when the position sensor of the locking mechanism is abnormal, the locking mechanism is locked and unlocked by using the motor Hall signal detected by the Hall sensor set in the locking motor system, so that locking and unlocking control can still be performed when the position sensor is abnormal.

[0043] The embodiment of the present disclosure provides a locking mechanism control method, which can be applied to a vehicle controller, for example, a locking controller, which can be applied to a vehicle gear shifting scenario, see Figure 3 , the locking mechanism control method may include step S1.

[0044] Step S1 : When the position sensor of the locking mechanism is abnormal, the locking mechanism is controlled according to the motor Hall signal.

[0045] The motor Hall signal is detected by a Hall sensor, which is arranged in the locking motor system.

[0046] The locking motor system can be understood as a locking motor assembly. The Hall sensor is set in the locking motor assembly to detect the motor rotor position and obtain the motor Hall signal. The locking motor can be a three-phase brushless DC motor. Three Hall sensors are installed inside the motor to identify the motor phase. When the motor rotates in one direction, the voltage values of the three Hall sensors of the motor change in a certain phase sequence. The high level is 1 and the low level is 0. When the motor rotates forward, Figure 4 As shown, the level changes to 101-100-110-010-011-001, which is converted to decimal as 5-4-6-2-3-1; when the motor is reversed, Figure 5 As shown, the level changes are 001-011-010-110-100-101, which is converted into decimal form as 1-3-2-6-4-5.

[0047] See also Figure 6 The locking controller can monitor whether the Hall value of the locking motor changes. When the current Hall value is different from the previous Hall value, the locking controller will Figure 4 and Figure 5 The clockwise and counterclockwise timing shown in the figure identifies the running direction of the motor. When it is identified that the motor rotates clockwise, the current motor Hall signal is updated by adding 1. When it is identified that the motor rotates counterclockwise, the current motor Hall signal is updated by subtracting 1.

[0048] The locking and / or unlocking of the locking mechanism can be controlled according to the motor Hall signal. The locking of the locking mechanism can be controlled according to the motor Hall signal. The unlocking of the locking mechanism can be controlled according to the motor Hall signal. The locking and unlocking of the locking mechanism can be controlled according to the motor Hall signal.

[0049] In the event that the position sensor of the locking mechanism is abnormal, the locking and unlocking of the locking mechanism is controlled by the motor Hall signal detected by the Hall sensor set in the locking motor system, so that locking and unlocking control can still be performed in the event of an abnormality in the position sensor.

[0050] In a possible implementation, abnormality of the position sensor of the locking mechanism can be determined by: When the position signal of the position sensor of the locking mechanism exceeds the preset sensor value range, the position signal change of the position sensor is abnormal, or the position signal change of the position sensor does not match the motor Hall signal change of the Hall sensor, it is determined that the position sensor of the locking mechanism is abnormal.

[0051] It can be understood that if any of the following conditions is met, it can be determined that the position sensor of the locking mechanism is abnormal: First, the position signal of the position sensor exceeds the preset sensor value range; Second, the position signal change of the position sensor is abnormal; Third, the change in the position signal of the position sensor does not match the change in the motor Hall signal of the motor Hall sensor.

[0052] The position sensor can feedback the magnetic field strength signal. The magnet is on the fork, and the motor pushes the fork to move. Therefore, the position signal detected by the position sensor in the entire travel range has a range. This range can be used as the preset sensor value range. For example, the preset sensor value range can be 10-90mm. When the position signal of the position sensor exceeds the preset sensor value range, it can be determined that the position sensor of the locking mechanism is abnormal.

[0053] In another embodiment, the preset sensor value range may also be a measurement range specified in the design of the position sensor, i.e., a range limit of the position sensor. When the position signal of the position sensor exceeds the range limit of the position sensor, it can be determined that the position sensor of the locking mechanism is abnormal.

[0054] When the motor is not moving, the position signal of the position sensor should not change. Therefore, if the motor is not moving and the position signal of the position sensor has changed significantly, it can be considered that the position signal of the position sensor has changed abnormally, and then it can be determined that the position sensor of the locking mechanism is abnormal.

[0055] When the motor is in motion, the position signal of the position sensor changes by one unit, and the corresponding motor Hall signal of the motor Hall sensor will also have a corresponding change value. If the change in the position signal of the position sensor does not match the change in the motor Hall signal of the motor Hall sensor, it can be considered that the position sensor of the locking mechanism is abnormal.

[0056] In one possible implementation, see Figure 7 , the abnormality of the position signal change of the position sensor can be determined through steps S31 and S32.

[0057] Step S31 : When the position signal of the position sensor of the locking mechanism is within a preset sensor value range, it is determined whether the motor is in operation.

[0058] Step S32 : when the motor is not moving and the position signal change of the position sensor is greater than a preset change threshold, determining that the position signal change of the position sensor is abnormal.

[0059] When the motor is not moving, the position signal of the position sensor should also not change. Therefore, if the motor is not moving and the change in the position signal of the position sensor is greater than the preset change threshold, it can be considered that the position signal change of the position sensor is abnormal, and then it can be determined that the position sensor of the locking mechanism is abnormal.

[0060] The preset change threshold can be set according to actual conditions, for example, ±0.2 mm.

[0061] In one possible implementation, see Figure 8 The mismatch between the change in the position signal of the position sensor and the change in the motor Hall signal of the motor Hall sensor can be determined through steps S33 and S34.

[0062] Step S33 : When the position signal of the position sensor of the locking mechanism is within a preset sensor value range, it is determined whether the motor is in operation.

[0063] Step S34, when the motor is in motion and the ratio of the change in the motor Hall signal of the motor Hall signal to the change in the position signal of the position sensor does not meet the preset ratio value, it is determined that the change in the position signal of the position sensor does not match the change in the motor Hall signal of the motor Hall sensor.

[0064] When the motor is in motion, the position signal of the position sensor changes by one unit, and the corresponding motor Hall signal of the motor Hall sensor will also have a corresponding change value. If the ratio of the change in the position signal of the position sensor to the change in the motor Hall signal of the motor Hall sensor does not meet the preset ratio value, it can be considered that the change in the position signal of the position sensor does not match the change in the motor Hall signal of the motor Hall sensor, and then the position sensor of the locking mechanism is considered abnormal.

[0065] The preset ratio value can be determined according to the speed ratio relationship between the position sensor and the locking motor assembly.

[0066] For example, if the position signal of the position sensor changes from 16 mm to 20 mm, and the change in the motor Hall signal is 60 Hall steps, then the change ratio is 1 / 15.

[0067] In one possible implementation, see Figure 9 Whether the motor is operating is determined through steps S35 and S36.

[0068] Step S35: When the motor Hall signal changes, determine whether the motor is in motion.

[0069] When a change in the motor's Hall signal is detected, it means that the motor is running and the rotor is rotating. At this time, it can be determined that the motor is in action.

[0070] Step S36: When the motor Hall signal does not change, it is determined that the motor is not moving.

[0071] If the motor Hall signal does not change, it means that the motor is not running and the rotor is not rotating. At this time, it can be determined that the motor is in a non-operating state.

[0072] In one embodiment, see Figure 10 To determine whether the position sensor of the locking mechanism is abnormal, you can use the following steps to determine: Determine whether the position signal of the position sensor is within a preset sensor value range; If yes, it is determined whether the motor is operating, and if not, it is determined that the position sensor of the locking mechanism is abnormal; When the motor is in motion, determining whether the change in the position signal of the position sensor matches the change in the motor Hall signal of the motor Hall sensor; If not, it is determined that the position sensor of the locking mechanism is abnormal; When the motor is not moving, determine whether the change in the position signal of the position sensor is greater than a preset change threshold; If so, it is determined that the position sensor of the locking mechanism is abnormal.

[0073] In one possible implementation, see Figure 11 Controlling the locking mechanism according to the motor Hall signal in step S1 may include step S11 and / or step S12.

[0074] Step S11 , locking the locking mechanism according to the motor Hall signal and the target motor locking Hall signal.

[0075] The motor Hall signal can reflect the position of the motor rotor magnetic pole.

[0076] The target motor locking Hall signal may be a specific Hall signal state corresponding to the position that the motor rotor should be at when the locking mechanism is locked.

[0077] When the motor Hall signal matches the target motor locking Hall signal, it indicates that the motor rotor is in the correct locking position, and the locking mechanism can be triggered to perform the locking operation.

[0078] The target motor locking Hall signal may be pre-stored in a memory.

[0079] Step S12: unlocking the locking mechanism according to the motor Hall signal and the target motor unlocking Hall signal.

[0080] The motor Hall signal can reflect the position of the motor rotor magnetic pole.

[0081] The target motor unlocking Hall signal may be a specific Hall signal state corresponding to a position that the motor rotor should be in when the locking mechanism is unlocked.

[0082] When the motor Hall signal matches the target motor unlocking Hall signal, it indicates that the motor rotor is in the correct unlocking position, and the locking mechanism can be triggered to perform the unlocking operation.

[0083] The target motor unlocking Hall signal may be pre-stored in a memory.

[0084] It should be understood that the control of the locking mechanism according to the motor Hall signal in step S1 may include only step S11, only step S12, or both step S11 and step S12, which is not limited in this embodiment.

[0085] See also Figure 12 , the target motor lock / unlock Hall signal can be updated as follows: First, at the initial power-on, the current motor Hall signal stored at the last power-off time is read, as well as the target motor locking Hall signal and / or target motor unlocking Hall signal stored at the last power-off time. After the differential lock controller or vehicle control unit (VCU) triggers the differential lock zero point self-learning, the controller updates the target motor locking Hall signal and / or target motor unlocking Hall signal to prepare for limp home control. When power is off, the target motor locking Hall signal and / or target motor unlocking Hall signal and the current motor Hall signal are updated and stored in the Electrically Erasable Programmable Read-Only Memory (EEPROM).

[0086] The VCU trigger condition is that the target motor lock Hall effect signal is in the target motor lock state when the vehicle is powered on, which immediately triggers the differential lock zero position self-learning. The zero position corresponds to the target motor unlock Hall effect signal, ensuring vehicle driving safety. The differential lock controller trigger condition is that the controller does not have the target motor lock Hall effect signal and / or the target motor unlock Hall effect signal stored in it, which is triggered when the controller is new.

[0087] The differential lock zero-point self-learning process is an endpoint learning process. The reference is the zero position, which is the limit position in the unlocking direction. With the zero position as the reference, the unlocking and locking positions are fixed. For example, after the zero position is determined, the unlocking position is 20 and the locking position is 80. Therefore, the range of 0 to 20 is the unlocking zone, the range of 20 to 80 is the transition zone, and the range of ≥80 is the locking zone. Therefore, the target motor unlocking Hall effect signal is 20, and the target motor locking Hall effect signal is 80.

[0088] In a possible implementation, step S11 may include: With the goal of reducing the difference signal between the motor Hall signal and the target motor locking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve locking of the locking mechanism.

[0089] It can be understood that the difference signal between the motor Hall signal and the target motor locking Hall signal is calculated in real time, and the motor drive signal is dynamically adjusted according to the difference signal. If the difference signal is less than 0, the motor is controlled to rotate forward (move toward the locking direction); if the difference signal is greater than 0, the motor is controlled to reverse (reverse for correction); if the difference signal is 0, the motor control is stopped and the position is locked. When the absolute value of the difference signal is large, the motor can be controlled to run at high torque to quickly reduce the difference signal between the motor Hall signal and the target motor locking Hall signal. When the absolute value of the difference signal is small, the motor can be controlled to run at low torque to avoid over-regulation.

[0090] Through the difference signal between the real-time motor Hall signal and the target motor locking Hall signal, the motor action is dynamically adjusted in a closed loop to achieve high-precision locking.

[0091] In a possible implementation, step S12 may include: With the goal of reducing the difference signal between the motor Hall signal and the target motor unlocking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve unlocking of the locking mechanism.

[0092] It can be understood as calculating the difference signal between the motor Hall signal and the target motor unlocking Hall signal in real time, and dynamically adjusting the motor drive signal according to the difference signal. If the difference signal is less than 0, the motor is controlled to rotate forward (reverse to the locking direction for correction); if the difference signal is greater than 0, the motor is controlled to reverse (move to the unlocking direction). If the difference signal is 0, the motor control is stopped and the position is locked. When the absolute value of the difference signal is large, the motor can be controlled to run at high torque to quickly reduce the difference signal between the motor Hall signal and the target motor unlocking Hall signal. When the absolute value of the difference signal is small, the motor can be controlled to run at low torque to avoid over-regulation.

[0093] Through the difference signal between the real-time motor Hall signal and the target motor unlocking Hall signal, the motor action is dynamically adjusted in a closed loop to achieve high-precision locking.

[0094] In one possible implementation, see Figure 13 The locking mechanism control method may include step S201 and step S202.

[0095] Step S201 : When the position sensor of the locking mechanism is abnormal, the locking mechanism is controlled according to the motor Hall signal.

[0096] The motor Hall signal is detected by a Hall sensor, which is arranged in the locking motor system.

[0097] Step S202 : When the position sensor of the locking mechanism is normal, the locking mechanism is controlled according to the motor Hall signal and the position signal of the position sensor.

[0098] The locking mechanism is controlled according to the motor Hall signal and the position signal of the position sensor. It can be understood that the locking mechanism is controlled according to the position signal of the position sensor, and the position signal of the position sensor is made redundant through the motor Hall signal, thereby ensuring the control of the locking mechanism.

[0099] For example, when the VCU requests unlocking, the motor Hall signal is used as redundancy to ensure that the locking mechanism is in the unlocked state.

[0100] It should be noted that the specific implementation process of step S201 can refer to step S1, and this embodiment will not be repeated here.

[0101] In one embodiment, see Figure 14 and Figure 15 In the case where the position sensor diagnoses an abnormality and the VCU requests locking, the motor is closed-loop controlled with the goal of reducing the difference signal between the motor Hall signal and the target motor locking Hall signal, and returns to the locked position state after the control is completed. In the case where the position sensor diagnoses an abnormality and the VCU requests unlocking, the motor is closed-loop controlled with the goal of reducing the difference signal between the motor Hall signal and the target motor unlocking Hall signal, and returns to the locked position state after the control is completed. In the case where the position sensor diagnoses normal, including the case where the position sensor has been abnormal but not diagnosed, according to the normal control logic, the VCU requests unlocking, and the unlocked motor Hall signal is used as a redundancy to ensure that the locking mechanism is in the unlocked position.

[0102] When the position sensor has a fault anomaly that is difficult to diagnose, the gear shift fork may be constantly adjusted and changed. The motor Hall signal of the locking motor can be used to perform redundant diagnosis on the position sensor, which can more accurately identify the abnormality of the position sensor.

[0103] If the locking controller initially detects a position sensor anomaly upon power-up, for example, if the position sensor read is outside the theoretical range, the controller will switch from position sensor control to motor travel control. Closed-loop control will then be performed using the motor travel position values for locking and unlocking as the target. These values are read from the controller's EEPROM at power-up. If an anomaly occurs during the locking and unlocking process, the locking controller will seamlessly switch to locking and unlocking control based on the motor travel position. For example, if the position sensor read is outside the theoretical range during the locking process, the controller will immediately switch to motor travel control, converting the locking target from the position signal to the motor Hall effect signal.

[0104] Based on the same inventive concept, the present disclosure also provides a locking mechanism control device 600, see Figure 16 The locking mechanism control device 600 may include a first processing module 601 .

[0105] The first processing module 601 is configured to control the locking mechanism according to the motor Hall signal when the position sensor of the locking mechanism is abnormal, wherein the motor Hall signal is obtained by detecting the Hall sensor, and the Hall sensor is provided in the locking motor system.

[0106] Optionally, the locking mechanism control device 600 may further include a second processing module.

[0107] The second processing module is configured to determine that the position sensor of the locking mechanism is abnormal when the position signal of the position sensor of the locking mechanism exceeds the preset sensor value range, the change in the position signal of the position sensor is abnormal, or the change in the position signal of the position sensor does not match the change in the motor Hall signal of the Hall sensor.

[0108] Optionally, the second processing module may include a first sub-processing module and a second sub-processing module.

[0109] A first sub-processing module is configured to determine whether the motor is activated when a position signal of a position sensor of the locking mechanism is within a preset sensor value range; The second sub-processing module is configured to determine that the change in the position signal of the position sensor is abnormal when the motor is not moving and the change in the position signal of the position sensor is greater than a preset change threshold.

[0110] Optionally, the second processing module may include a third sub-processing module and a fourth sub-processing module.

[0111] The third sub-processing module is specifically configured to determine whether the motor is activated when the position signal of the position sensor of the locking mechanism is within a preset sensor value range; The fourth sub-processing module is specifically configured to determine that the position signal change of the position sensor does not match the motor Hall signal change of the Hall sensor when the motor is in motion and the ratio of the change between the motor Hall signal change of the motor Hall signal and the position signal change of the position sensor does not meet the preset ratio value.

[0112] Optionally, the second processing module may include a fifth sub-processing module and a sixth sub-processing module.

[0113] a fifth sub-processing module, configured to determine the motor action when the motor Hall signal changes; The sixth sub-processing module is configured to determine that the motor is not moving when the motor Hall signal does not change.

[0114] Optionally, the first processing module may include a seventh sub-processing module and / or an eighth sub-processing module.

[0115] a seventh sub-processing module, configured to perform locking control on the locking mechanism according to the motor Hall signal and the target motor locking Hall signal; The eighth sub-processing module is configured to perform unlocking control on the locking mechanism according to the motor Hall signal and the target motor unlocking Hall signal.

[0116] Optionally, the seventh sub-processing module is specifically configured to: With the goal of reducing the difference signal between the motor Hall signal and the target motor locking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve locking of the locking mechanism.

[0117] Optionally, the eighth sub-processing module is specifically configured to: With the goal of reducing the difference signal between the motor Hall signal and the target motor unlocking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve unlocking of the locking mechanism.

[0118] Optionally, the locking mechanism control device 600 may further include a third processing module: The third processing module is configured to control the locking mechanism according to the motor Hall signal and the position signal of the position sensor when the position sensor of the locking mechanism is normal.

[0119] Regarding the locking mechanism control device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the locking mechanism control method, and will not be elaborated here.

[0120] The present disclosure also provides a controller, including: a memory having a computer program stored thereon; The processor is used to execute the computer program in the memory to implement the steps of the above-mentioned locking mechanism control method.

[0121] An embodiment of the present disclosure also provides a vehicle, including: the above-mentioned controller.

[0122] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above-mentioned locking mechanism control method when executed by a processor.

[0123] An embodiment of the present disclosure further provides a computer program product, including a computer program, which implements the steps of the above-mentioned locking mechanism control method when executed by a processor.

[0124] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0125] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0126] In addition, the various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A locking mechanism control method, characterized in that: include: In the case that the position sensor of the locking mechanism is abnormal, the locking mechanism is controlled according to the motor Hall signal, wherein the motor Hall signal is detected by a Hall sensor, and the Hall sensor is provided in the locking motor system.

2. The locking mechanism control method according to claim 1, characterized in that: The abnormality of the position sensor of the locking mechanism is determined by: When the position signal of the position sensor of the locking mechanism exceeds the preset sensor value range, the change in the position signal of the position sensor is abnormal, or the change in the position signal of the position sensor does not match the change in the motor Hall signal of the Hall sensor, it is determined that the position sensor of the locking mechanism is abnormal.

3. The locking mechanism control method according to claim 2, characterized in that: The abnormal change in the position signal of the position sensor is determined by: determining whether the motor is actuated when a position signal of the position sensor of the locking mechanism is within the preset sensor value range; When the motor does not move and the position signal change of the position sensor is greater than a preset change threshold, it is determined that the position signal change of the position sensor is abnormal.

4. The locking mechanism control method according to claim 2, characterized in that: The mismatch between the change in the position signal of the position sensor and the change in the motor Hall signal of the Hall sensor is determined by: determining whether the motor is actuated when a position signal of the position sensor of the locking mechanism is within the preset sensor value range; When the motor moves and the ratio of the change in the motor Hall signal of the motor Hall signal to the change in the position signal of the position sensor does not meet the preset ratio value, it is determined that the change in the position signal of the position sensor does not match the change in the motor Hall signal of the Hall sensor.

5. The locking mechanism control method according to claim 3 or 4, characterized in that: Whether the motor is in motion is determined by: When the Hall signal of the motor changes, determining the action of the motor; When the motor Hall signal does not change, it is determined that the motor is not operating.

6. The locking mechanism control method according to claim 1, characterized in that: The controlling of the locking mechanism according to the motor Hall signal includes: According to the motor Hall signal and the target motor locking Hall signal, the locking mechanism is locked and controlled; and / or, The locking mechanism is unlocked and controlled according to the motor Hall signal and the target motor unlocking Hall signal.

7. The locking mechanism control method according to claim 6, characterized in that: The locking control of the locking mechanism according to the motor Hall signal and the target motor locking Hall signal includes: With the goal of reducing the difference signal between the motor Hall signal and the target motor locking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve locking of the locking mechanism.

8. The locking mechanism control method according to claim 6, characterized in that: The unlocking control of the locking mechanism according to the motor Hall signal and the target motor unlocking Hall signal includes: With the goal of reducing the difference signal between the motor Hall signal and the target motor unlocking Hall signal, the motor in the locking mechanism is closed-loop controlled to achieve unlocking of the locking mechanism.

9. The locking mechanism control method according to claim 1, characterized in that: The locking mechanism control method further includes: When the position sensor of the locking mechanism is normal, the locking mechanism is controlled according to the motor Hall signal and the position signal of the position sensor.

10. A controller, characterized in that: include: a memory having a computer program stored thereon; A processor is used to execute the computer program in the memory to implement the steps of the locking mechanism control method according to any one of claims 1 to 9.

11. A vehicle, characterized in that: include: The controller of claim 10.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the locking mechanism control method according to any one of claims 1 to 9 are implemented.

13. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the locking mechanism control method according to any one of claims 1 to 9 when the computer program is executed by a processor.

Images