Motor stalling control system, vehicle, system, equipment and medium

Abstract

The invention discloses a motor locked-rotor control system, a vehicle, a system, equipment and a medium, and the method comprises the steps: obtaining the displacement parameter of a brake pedal push rod of the vehicle according to a preset period when the vehicle is in a static state; wherein when the displacement parameter is larger than 0, a plunger isolation valve of the vehicle is in an open state, and a motor of the vehicle is in a locked-rotor state; table look-up operation is conducted based on the displacement parameters, and the plunger target pressure of the plunger isolation valve is obtained; the actual plunger pressure of the plunger isolation valve is obtained; and the plunger isolating valve is controlled based on the actual plunger pressure and the target plunger pressure, so that the motor safely quits the locked-rotor state. The problem that in the prior art, if a vehicle is in a static state, a driver steps on a brake pedal and keeps still for a long time, a motor is always in a locked-rotor state, and consequently the service life of the motor is shortened is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a motor stall control system, vehicle, system, equipment and medium. Background Art

[0002] With the development of vehicle technology, the control logic of the vehicle's IBCU (Integrated Brake Control Unit) braking has become increasingly sophisticated. Currently, in the vehicle's IBCU braking system, when the vehicle is stationary, the motor is also stationary. However, the driver may intentionally or unintentionally step on the brake pedal when the vehicle is stationary. If the driver presses the brake pedal and holds it for a long time, the IBCU will remain in a pressure-maintaining state. During the pressure-maintaining process, the plunger segregate valve (PSV) located between the plunger chamber and the wheel cylinder opens, forming a hydraulic circuit between the plunger chamber and the wheel cylinder. The plunger chamber piston relies on the motor to be locked to maintain pressure, so the motor will remain in a locked state, shortening the motor's service life. Summary of the Invention

[0003] In order to overcome the problem in the prior art that if the vehicle is stationary and the driver presses the brake pedal for a long time and keeps it there, the motor will be in a stalled state, resulting in a shortened service life of the motor, the present application provides a motor stall control system, vehicle, system, equipment and medium.

[0004] In a first aspect, in order to solve the above technical problems, the present application provides a motor stall control method, comprising:

[0005] When the vehicle is stationary, a displacement parameter of the vehicle's brake pedal push rod is obtained according to a preset period; wherein, when the displacement parameter is greater than 0, the vehicle's plunger isolation valve is in an open state and the vehicle's motor is in a stalled state;

[0006] Perform a table lookup operation based on the displacement parameter to obtain the plunger target pressure of the plunger isolation valve;

[0007] Get the actual pressure of the plunger of the plunger isolation valve;

[0008] The plunger isolation valve is controlled based on the plunger actual pressure and the plunger target pressure to allow the motor to safely exit the stall state.

[0009] Furthermore, a table lookup operation is performed based on the displacement parameter to obtain the plunger target pressure of the plunger isolation valve, including:

[0010] Obtaining a curve relationship diagram corresponding to the displacement parameter and the plunger alternative pressure;

[0011] Find the plunger target pressure of the plunger isolation valve that matches the displacement parameter from the curve relationship diagram.

[0012] Furthermore, the plunger isolation valve is controlled based on the actual plunger pressure and the target plunger pressure to allow the motor to safely exit the stalled state, including:

[0013] A table lookup operation is performed based on the plunger target pressure to obtain the target closing waiting time of the plunger isolation valve;

[0014] Obtain the historical plunger target pressure and historical plunger pressure change slope of the plunger isolation valve in the previous cycle;

[0015] Filtering is performed based on historical plunger target pressures, historical plunger pressure change slopes, and plunger target pressures to obtain a target plunger pressure change slope of the plunger isolation valve in the current cycle;

[0016] The plunger isolation valve is controlled based on the plunger target pressure change slope, target closing wait time and plunger actual pressure to allow the motor to safely exit the stall state.

[0017] Furthermore, a table lookup operation is performed based on the plunger target pressure to obtain the target closing waiting time of the plunger isolation valve, including:

[0018] Obtaining the corresponding relationship between the plunger target pressure and the closing waiting time;

[0019] A target closing waiting time of the plunger isolation valve that matches the plunger target pressure is determined based on the corresponding relationship.

[0020] Furthermore, filtering is performed based on the historical plunger target pressure, the historical plunger pressure change slope, and the plunger target pressure to obtain the target plunger pressure change slope of the plunger isolation valve in the current cycle. The corresponding calculation formula is as follows:

[0021] PGradientFilt(t)=

[0022] PGradientFilt(t-1)+FilterCoefficient*((PlungerTarPress(t)-

[0023] PlungerTarPress(t-1)) / CycleT-PGradientFilt(t-1));

[0024] Among them, PGradientFilt(t) represents the target plunger pressure change slope of the current cycle t, PGradientFilt(t-1) represents the historical plunger pressure change slope of the previous cycle t-1, FilterCoefficient represents the filter coefficient, PlungerTarPress(t) represents the plunger target pressure of the current cycle t, PlungerTarPress(t-1) represents the historical plunger target pressure of the previous cycle t-1, and CycleT represents the preset cycle.

[0025] Furthermore, the plunger isolation valve is controlled based on the plunger target pressure change slope, the target closing wait time, and the plunger actual pressure to allow the motor to safely exit the stalled state, including:

[0026] When the actual plunger pressure is greater than 0 and the absolute value of the plunger target pressure change slope is less than or equal to the threshold, start timing and obtain the timing duration;

[0027] When the timing reaches the target closing waiting time, the plunger isolation valve is controlled to close to allow the motor to safely exit the stall state.

[0028] In a second aspect, the present application also provides a vehicle, applying the above-mentioned motor stall control method.

[0029] In a third aspect, the present application further provides a motor stall control system, comprising:

[0030] a first acquisition module, configured to acquire a displacement parameter of a brake pedal push rod of the vehicle according to a preset period when the vehicle is stationary; wherein, when the displacement parameter is greater than 0, the plunger isolation valve of the vehicle is in an open state and the motor of the vehicle is in a stalled state;

[0031] A table lookup module is used to perform a table lookup operation based on the displacement parameter to obtain a plunger target pressure of the plunger isolation valve;

[0032] The second acquisition module is used for the actual pressure of the plunger of the plunger isolation valve;

[0033] The plunger isolation valve control module is used to control the plunger isolation valve based on the actual plunger pressure and the plunger target pressure to enable the motor to safely exit the stalled state.

[0034] In a fourth aspect, the present application also provides a computing device, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein when the processor executes the program, the steps of a motor stall control method as described above are implemented.

[0035] In a fifth aspect, the present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes the steps of a motor stall control method.

[0036] The beneficial effects of the present application are as follows: First, by obtaining the displacement parameter of the vehicle's brake pedal push rod according to a preset cycle when the vehicle is stationary, since when the displacement parameter is greater than 0, the vehicle's plunger isolation valve is in an open state and the vehicle's motor is in a stalled state, a table lookup based on the displacement parameter can be performed to obtain the plunger target pressure currently applied to the plunger isolation valve. Then, the plunger isolation valve is specifically controlled based on the actual plunger pressure and the plunger target pressure of the plunger isolation valve to ensure the safety of the motor while closing the plunger isolation valve in a timely manner. This allows the motor to safely exit the stalled state even when the driver depresses the brake pedal for a long time, resulting in the continued presence of the displacement parameter, thereby extending the service life of the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a motor stall control method according to an exemplary embodiment of the present application;

[0038] Figure 2 is a curve relationship diagram in an exemplary embodiment of the present application;

[0039] Figure 3 This is a control flow chart of a plunger isolation valve in an exemplary embodiment of the present application;

[0040] Figure 4 The figure is a schematic structural diagram of a motor stall control system according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0041] The following examples are provided to further explain and supplement the present application and do not constitute any limitation to the present application.

[0042] In the current IBCU braking system, when the vehicle is stationary, if the driver presses and holds the brake pedal, or the pedal changes at a slow rate, a corresponding target plunger braking force is generated. When the target plunger braking force exceeds a certain threshold and the pedal is depressed for a certain time, the PSV valve closes, maintaining the target wheel-end pressure while stopping the motor from stalling, thereby extending the motor's service life. This method has the following drawbacks:

[0043] 1) The depth of the brake pedal, that is, the corresponding target brake pressure on the plunger, was not considered. If the brake pressure is too high, the corresponding stall current of the motor will be greater during stall, which may cause the motor to overheat and burn out quickly. On the other hand, the rear wheel end will not be able to maintain pressure after exceeding the motor stall limit.

[0044] 2) The waiting time for closing the PSV valve is too long and is a constant value. If the target brake pressure is too high, it is likely to exceed the motor stall limit and the motor may stop prematurely. At this time, the PSV valve has not yet closed and pressure maintenance cannot be achieved. If the working condition requires brake pressure at this time, it is relatively dangerous.

[0045] 3) If the PSV valve closing waiting time is simply shortened, when the driver repeatedly steps on the brake pedal, the PSV valve may open and close frequently, causing unnecessary noise.

[0046] In order to solve the above problems, embodiments of the present application provide a motor stall control system, a vehicle, a system, a device and a medium, and these embodiments will be described in detail below.

[0047] The motor stall control method provided in the embodiments of the present application can be specifically executed by a server. It should be noted that the server can be a standalone server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms, and is not limited here.

[0048] See also Figure 1 , Figure 1 A motor stall control method is shown as an exemplary embodiment of the present application. Figure 1 As shown, the present application provides a motor stall control method, comprising:

[0049] S11, when the vehicle is stationary, obtaining a displacement parameter of a brake pedal push rod of the vehicle according to a preset period; wherein, when the displacement parameter is greater than 0, the plunger isolation valve of the vehicle is in an open state and the motor of the vehicle is in a stalled state;

[0050] S12, performing a table lookup operation based on the displacement parameter to obtain a plunger target pressure of the plunger isolation valve;

[0051] S13, obtaining the actual plunger pressure of the plunger isolation valve;

[0052] S14, controlling the plunger isolation valve based on the plunger actual pressure and the plunger target pressure to allow the motor to safely exit the stalled state.

[0053] The motor stall control method of the embodiment provided in the present application first obtains the displacement parameter of the vehicle's brake pedal push rod according to a preset period when the vehicle is stationary. Since when the displacement parameter is greater than 0, the vehicle's plunger isolation valve is in an open state, and the vehicle's motor is in a stalled state at this time, a table lookup based on the displacement parameter can be used to obtain the plunger target pressure currently applied to the plunger isolation valve. Then, the plunger isolation valve is specifically controlled based on the actual plunger pressure and the plunger target pressure of the plunger isolation valve to ensure the safety of the motor while closing the plunger isolation valve in a timely manner. This allows the motor to safely exit the stalled state even when the driver depresses the brake pedal for a long time, resulting in the continued presence of the displacement parameter, thereby extending the service life of the motor.

[0054] Optionally, performing a table lookup operation based on the displacement parameter to obtain a plunger target pressure of the plunger isolation valve includes:

[0055] Obtaining a curve relationship diagram corresponding to the displacement parameter and the plunger alternative pressure;

[0056] Find the plunger target pressure of the plunger isolation valve that matches the displacement parameter from the curve relationship diagram.

[0057] In the embodiment provided by the present application, by obtaining a curve relationship diagram corresponding to the displacement parameters and the plunger alternative pressures, the corresponding relationship between the displacement parameters and the plunger alternative pressures can be understood, so that the plunger target pressure of the plunger isolation valve that matches the displacement parameters obtained above can be intuitively found from the curve relationship diagram, thereby achieving precise positioning of the plunger target pressure, thereby improving the efficiency of determining the plunger target pressure, facilitating the improvement of the subsequent control efficiency of the plunger isolation valve, and shortening the time for the motor to safely exit the stalled state, thereby further improving the service life of the motor.

[0058] See also Figure 2 , Figure 2 This is a curve relationship diagram in an exemplary embodiment of the present application, such as Figure 2 As shown, under the premise that the vehicle is stationary, assuming that the displacement parameter (PushrodS) of the push rod when the driver presses the brake pedal is 10 mm, the plunger target pressure found is 50 bar.

[0059] In this embodiment, when the displacement parameter is 10 mm, the current sensor signal I of the motor is 30 A, then according to the formula P=I 2 R represents the heat generation power P during a stalled motor (a stalled motor is defined as a motor that still outputs torque at 0 rpm), where R represents the motor's resistance. Because a longer stalled motor generates more heat and is more susceptible to motor damage, the opening and closing times of the plunger isolation valve must be controlled to prevent motor damage and allow the motor to safely exit the stalled state.

[0060] Optionally, the plunger isolation valve is controlled based on the actual plunger pressure and the plunger target pressure to allow the motor to safely exit a stalled state, including:

[0061] A table lookup operation is performed based on the plunger target pressure to obtain the target closing waiting time of the plunger isolation valve;

[0062] Obtain the historical plunger target pressure and historical plunger pressure change slope of the plunger isolation valve in the previous cycle;

[0063] Filtering is performed based on historical plunger target pressures, historical plunger pressure change slopes, and plunger target pressures to obtain a target plunger pressure change slope of the plunger isolation valve in the current cycle;

[0064] The plunger isolation valve is controlled based on the plunger target pressure change slope, target closing wait time and plunger actual pressure to allow the motor to safely exit the stall state.

[0065] In the embodiment provided by the present application, first, the target closing waiting time of the plunger isolation valve is obtained based on the plunger target pressure lookup table, and filtering is performed based on the plunger target pressure, the historical plunger target pressure of the plunger isolation valve in the previous cycle, and the historical plunger pressure change slope to obtain the target plunger pressure change slope of the plunger isolation valve in the current cycle. Secondly, the plunger isolation valve is targetedly controlled based on the plunger target pressure change slope, the target closing waiting time, and the actual plunger pressure, taking into account the pressure change of the plunger isolation valve (plunger target pressure change slope) and the safety waiting time (target closing waiting time), so that the plunger isolation valve can be closed in time while ensuring the safety of the motor, so that the motor can safely exit the stalled state in both the pressure maintaining state and the stalled state, thereby extending the service life of the motor.

[0066] Optionally, a table lookup operation is performed based on the plunger target pressure to obtain a target closing waiting time of the plunger isolation valve, including:

[0067] Obtaining the corresponding relationship between the plunger target pressure and the closing waiting time;

[0068] A target closing waiting time of the plunger isolation valve that matches the plunger target pressure is determined based on the corresponding relationship.

[0069] In the embodiment provided by the present application, through the correspondence between the plunger target pressure and the closing waiting time, the target closing waiting time of the plunger isolation valve that matches the plunger target pressure can be determined more intuitively based on the correspondence, thereby achieving precise positioning of the target closing waiting time, thereby improving the efficiency of determining the target closing waiting time, and facilitating the improvement of the subsequent control efficiency of the plunger isolation valve based on the target closing waiting time, so as to shorten the time for the motor to safely exit the stalled state, thereby further improving the service life of the motor.

[0070] In this embodiment, the correspondence between the plunger target pressure and the closing waiting time includes: when the plunger target pressure is in the range of 0bar~30bar, the corresponding closing waiting time is 8min; when the plunger target pressure is in the range of 30bar~60bar, the corresponding closing waiting time is 6min; when the plunger target pressure is in the range of 60bar~100bar, the corresponding closing waiting time is 5min; when the plunger target pressure is in the range of 100bar~150bar, the corresponding closing waiting time is 4min; when the plunger target pressure is in the range of 150bar~200bar, the corresponding closing waiting time is 3min; when the plunger target pressure is greater than 200bar, the corresponding closing waiting time is 1min.

[0071] See also Figure 3 , Figure 3 This is a control flow chart of the plunger isolation valve in an exemplary embodiment of the present application, as shown in FIG. Figure 3 As shown, when the vehicle stationary signal is received, it indicates that the vehicle is stationary. At this time, the target plunger pressure corresponding to the displacement parameter of the vehicle's brake pedal push rod is first calculated to obtain the target closing waiting time of the plunger isolation valve. Secondly, based on the plunger target pressure, the historical plunger target pressure of the plunger isolation valve in the previous cycle, and the historical plunger pressure change slope, filtering is performed to obtain the target plunger pressure change slope of the plunger isolation valve in the current cycle. The plunger isolation valve is then controlled based on the target plunger pressure change slope, the target closing waiting time, and the actual plunger pressure to close the plunger isolation valve (PSV). At this time, the motor is shut down (Motor Shutdown), allowing the motor to safely exit the stalled state.

[0072] Optionally, filtering is performed based on the historical plunger target pressure, the historical plunger pressure change slope, and the plunger target pressure to obtain the target plunger pressure change slope of the plunger isolation valve in the current cycle. The corresponding calculation formula is as follows:

[0073] PGradientFilt(t)=

[0074] PGradientFilt(t-1)+FilterCoefficient*((PlungerTarPress(t)-

[0075] PlungerTarPress(t-1)) / CycleT-PGradientFilt(t-1));

[0076] Among them, PGradientFilt(t) represents the target plunger pressure change slope of the current cycle t, PGradientFilt(t-1) represents the historical plunger pressure change slope of the previous cycle t-1, FilterCoefficient represents the filter coefficient, PlungerTarPress(t) represents the plunger target pressure of the current cycle t, PlungerTarPress(t-1) represents the historical plunger target pressure of the previous cycle t-1, and CycleT represents the preset cycle.

[0077] In the embodiment provided by the present application, the target plunger pressure change slope is directly calculated based on the calculation formula, which can improve the efficiency of determining the target plunger pressure change slope, thereby improving the subsequent control efficiency of the plunger isolation valve based on the target plunger pressure change slope in the current cycle, so as to shorten the time for the motor to safely exit the stalled state, thereby further improving the service life of the motor.

[0078] Optionally, the plunger isolation valve is controlled based on the plunger target pressure change slope, the target closing wait time, and the plunger actual pressure to enable the motor to safely exit the stalled state, including:

[0079] When the actual plunger pressure is greater than 0 and the absolute value of the plunger target pressure change slope is less than or equal to the threshold, start timing and obtain the timing duration;

[0080] When the timing reaches the target closing waiting time, the plunger isolation valve is controlled to close to allow the motor to safely exit the stall state.

[0081] In the embodiment provided by the present application, when the actual plunger pressure is greater than 0 and the absolute value of the plunger target pressure change slope is less than or equal to the threshold value, it indicates that the vehicle's IBCU system is continuously in a pressure-maintaining state in a stationary state, and timing starts at this time. When the timing obtained by timing reaches the target closing waiting time, it indicates that the motor stall limit is about to be exceeded. At this time, the plunger isolation valve is controlled to be closed, which not only enables the vehicle's IBCU system to exit the pressure-maintaining state and enables the motor to safely exit the stalled state to extend the service life of the motor, but also avoids the frequent opening and closing of the plunger isolation valve (PSV valve) caused by the driver repeatedly stepping on the brake pedal, resulting in unnecessary noise.

[0082] In this embodiment, when the absolute value of the plunger target pressure change slope is greater than the threshold, it indicates that the vehicle's IBCU system may not be in a pressure-maintaining state. At this time, it is necessary to respond to the driver's braking demand first. Only when the actual plunger pressure is greater than 0 and the absolute value of the plunger target pressure change slope is less than or equal to the threshold, and the timing obtained by timing reaches the target closing waiting time, the plunger isolation valve is controlled to close, and the motor is shut down, so that the motor can safely exit the stalled state.

[0083] In summary, the motor stall control method provided in the present application can flexibly adjust the closing waiting time of the plunger isolation valve (PSV valve) according to the plunger target pressure of the plunger isolation valve (PSV valve), so as to realize timely closing of the plunger isolation valve (PSV valve) before the motor stops stalling, thereby realizing timely pressure maintenance at the motor wheel end, and avoiding rapid overheating of the motor caused by the motor stalling time being too long; at the same time, the closing waiting time can give full play to the maximum bearing capacity of the motor in the stalled state, and avoid NVH (noise) problems caused by frequent opening and closing of the plunger isolation valve (PSV valve).

[0084] A vehicle according to an embodiment of the present application employs the motor stall control method as claimed above.

[0085] See also Figure 4 , Figure 4 This is an exemplary embodiment of the present application showing a motor stall control system, such as Figure 4 As shown, the present application provides a motor stall control system 400, comprising:

[0086] The first acquisition module 401 is configured to acquire a displacement parameter of a brake pedal push rod of the vehicle according to a preset period when the vehicle is stationary; wherein, when the displacement parameter is greater than 0, the plunger isolation valve of the vehicle is in an open state and the motor of the vehicle is in a stalled state;

[0087] A table lookup module 402 is configured to perform a table lookup operation based on the displacement parameter to obtain a plunger target pressure of the plunger isolation valve;

[0088] The second acquisition module 403 is used for the actual pressure of the plunger of the plunger isolation valve;

[0089] The plunger isolation valve control module 404 is used to control the plunger isolation valve based on the actual plunger pressure and the target plunger pressure to enable the motor to safely exit the stalled state.

[0090] The motor stall control system 400 of the embodiment provided in the present application first obtains the displacement parameter of the vehicle's brake pedal push rod according to a preset period when the vehicle is in a stationary state through the first acquisition module 401. Since when the displacement parameter is greater than 0, the vehicle's plunger isolation valve is in an open state, and the vehicle's motor is in a stalled state at this time, the table lookup module 402 performs a table lookup operation based on the displacement parameter to obtain the plunger target pressure of the plunger isolation valve at this time. Then, the plunger isolation valve control module 404 is used to perform targeted control of the plunger isolation valve based on the actual plunger pressure and plunger target pressure of the plunger isolation valve obtained by the second acquisition module 403, so as to close the plunger isolation valve in a timely manner while ensuring the safety of the motor, so that the motor can remain stationary for a long time when the driver presses the brake pedal, resulting in the motor being able to safely exit the stalled state even when the displacement parameter persists, thereby extending the service life of the motor.

[0091] Optionally, the table lookup module 402 is specifically configured to:

[0092] Obtaining a curve relationship diagram corresponding to the displacement parameter and the plunger alternative pressure;

[0093] Find the plunger target pressure of the plunger isolation valve that matches the displacement parameter from the curve relationship diagram.

[0094] Optionally, the plunger isolation valve control module 404 is specifically configured to:

[0095] A table lookup operation is performed based on the plunger target pressure to obtain the target closing waiting time of the plunger isolation valve;

[0096] Obtain the historical plunger target pressure and historical plunger pressure change slope of the plunger isolation valve in the previous cycle;

[0097] Filtering is performed based on historical plunger target pressures, historical plunger pressure change slopes, and plunger target pressures to obtain a target plunger pressure change slope of the plunger isolation valve in the current cycle;

[0098] The plunger isolation valve is controlled based on the plunger target pressure change slope, target closing wait time and plunger actual pressure to allow the motor to safely exit the stall state.

[0099] Optionally, the plunger isolation valve control module 404 is specifically configured to:

[0100] Obtaining the corresponding relationship between the plunger target pressure and the closing waiting time;

[0101] A target closing waiting time of the plunger isolation valve that matches the plunger target pressure is determined based on the corresponding relationship.

[0102] Optionally, in the plunger isolation valve control module 404, a calculation formula for calculating the target plunger pressure change slope is as follows:

[0103] PGradientFilt(t)=

[0104] PGradientFilt(t-1)+FilterCoefficient*((PlungerTarPress(t)-

[0105] PlungerTarPress(t-1)) / CycleT-PGradientFilt(t-1));

[0106] Among them, PGradientFilt(t) represents the target plunger pressure change slope of the current cycle t, PGradientFilt(t-1) represents the historical plunger pressure change slope of the previous cycle t-1, FilterCoefficient represents the filter coefficient, PlungerTarPress(t) represents the plunger target pressure of the current cycle t, PlungerTarPress(t-1) represents the historical plunger target pressure of the previous cycle t-1, and CycleT represents the preset cycle.

[0107] Optionally, the plunger isolation valve control module 404 is specifically configured to:

[0108] When the actual plunger pressure is greater than 0 and the absolute value of the plunger target pressure change slope is less than or equal to the threshold, start timing and obtain the timing duration;

[0109] When the timing reaches the target closing waiting time, the plunger isolation valve is controlled to close to allow the motor to safely exit the stall state.

[0110] It should be noted that the motor stall control system provided in the above-described embodiment and the motor stall control method provided in the above-described embodiment are based on the same concept. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the motor stall control system provided in the above-described embodiment can, as needed, allocate the aforementioned functions to different functional modules, i.e., divide the internal structure of the system into different functional modules to perform all or part of the functions described above. This is not a limitation herein.

[0111] A computing device according to an embodiment of the present application includes a memory, a processor, and a program stored in the memory and running on the processor. When the processor executes the program, some or all steps of the above-mentioned motor stall control method are implemented.

[0112] Among them, the computing device can be a computer, and correspondingly, its program is computer software. The above-mentioned parameters and steps in a computing device of the present application can refer to the parameters and steps in the embodiment of a motor stall control method above, and will not be repeated here.

[0113] In an embodiment of the present application, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium. When the instructions are executed, the steps of the above-mentioned motor stall control method are executed.

[0114] The computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0115] The technical solution of the embodiments of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of the embodiments of the present disclosure. The aforementioned computer-readable storage medium can be a non-transitory computer-readable storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program code, or a transient computer-readable storage medium.

[0116] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] Those skilled in the art will appreciate that the present application may be implemented as a system, method, or computer program product. Therefore, the present disclosure may be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "module" or "system." Furthermore, in some embodiments, the present application may also be implemented in the form of a computer program product in one or more computer-readable media, the computer-readable medium containing a computer-readable program code. Computer-readable storage media may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination thereof.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0119] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A motor stall control method, characterized in that: include: When the vehicle is in a stationary state, a displacement parameter of a brake pedal push rod of the vehicle is obtained according to a preset period; wherein, when the displacement parameter is greater than 0, the plunger isolation valve of the vehicle is in an open state and the motor of the vehicle is in a stalled state; Performing a table lookup operation based on the displacement parameter to obtain a plunger target pressure of the plunger isolation valve; Obtaining the actual plunger pressure of the plunger isolation valve; The plunger isolation valve is controlled based on the plunger actual pressure and the plunger target pressure to enable the motor to safely exit the stalled state.

2. The method according to claim 1, characterized in that The performing a table lookup operation based on the displacement parameter to obtain the plunger target pressure of the plunger isolation valve includes: Obtaining a curve relationship diagram corresponding to the displacement parameter and the plunger alternative pressure; The plunger target pressure of the plunger isolation valve that matches the displacement parameter is found from the curve relationship diagram.

3. The method according to claim 1 or 2, characterized in that The controlling the plunger isolation valve based on the actual plunger pressure and the target plunger pressure to enable the motor to safely exit the stalled state includes: Performing a table lookup operation based on the plunger target pressure to obtain a target closing waiting time of the plunger isolation valve; Obtaining a historical plunger target pressure and a historical plunger pressure change slope of the plunger isolation valve in a previous cycle; Performing filtering based on the historical plunger target pressure, the historical plunger pressure change slope, and the plunger target pressure to obtain a target plunger pressure change slope of the plunger isolation valve in a current cycle; The plunger isolation valve is controlled based on the plunger target pressure change slope, the target closing wait time, and the plunger actual pressure, so as to enable the motor to safely exit the stall state.

4. The method according to claim 3, characterized in that The performing of a table lookup operation based on the plunger target pressure to obtain a target closing waiting time of the plunger isolation valve includes: Obtaining the corresponding relationship between the plunger target pressure and the closing waiting time; A target closing wait time of the plunger isolation valve that matches the plunger target pressure is determined based on the corresponding relationship.

5. The method according to claim 3, characterized in that The filtering process is performed based on the historical plunger target pressure, the historical plunger pressure change slope and the plunger target pressure to obtain the target plunger pressure change slope of the plunger isolation valve in the current cycle. The corresponding calculation formula is as follows: PGradientFilt(t) PGradientFilt(t-1)+FilterCoefficient*((PlungerTarPress(t) PlungerTarPress(t-1)) / CycleT-PGradientFilt(t-1)); Among them, PGradientFilt(t) represents the target plunger pressure change slope of the current cycle t, PGradientFilt(t-1) represents the historical plunger pressure change slope of the previous cycle t-1, FilterCoefficient represents the filter coefficient, PlungerTarPress(t) represents the plunger target pressure of the current cycle t, PlungerTarPress(t-1) represents the historical plunger target pressure of the previous cycle t-1, and CycleT represents the preset cycle.

6. The method according to claim 3, characterized in that The controlling the plunger isolation valve based on the plunger target pressure change slope, the target closing waiting time and the plunger actual pressure so as to enable the motor to safely exit the stalled state includes: When the actual plunger pressure is greater than 0 and the absolute value of the slope of the plunger target pressure change is less than or equal to a threshold, start timing to obtain a timing duration; When the timing duration reaches the target closing waiting time, the plunger isolation valve is controlled to close, so that the motor safely exits the stalled state.

7. A vehicle, characterized in that: Apply the motor stall control method as described in any one of claims 1 to 6.

8. A motor stall control system, characterized in that: include: A first acquisition module is configured to acquire a displacement parameter of a brake pedal push rod of the vehicle according to a preset period when the vehicle is stationary; wherein, when the displacement parameter is greater than 0, the plunger isolation valve of the vehicle is in an open state and the motor of the vehicle is in a stalled state; a table lookup module, configured to perform a table lookup operation based on the displacement parameter to obtain a plunger target pressure of the plunger isolation valve; A second acquisition module, used for the actual plunger pressure of the plunger isolation valve; The plunger isolation valve control module is used to control the plunger isolation valve based on the actual plunger pressure and the target plunger pressure, so as to enable the motor to safely exit the stalled state.

9. A computing device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the steps of the motor stall control method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the steps of a motor stall control method according to any one of claims 1 to 6.

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