Vehicle driving motor control method, device, equipment, medium and program product

Abstract

The invention discloses a whole vehicle driving motor control method. The method comprises the steps that when a vehicle runs normally, torque loop control is conducted on a driving motor of the vehicle through a vehicle control unit; acquiring sensor detection data; when it is recognized that the vehicle is currently in a complex control scene according to the sensor detection data, a rotating speed loop control signal is sent to a whole vehicle controller of the vehicle; and performing corresponding rotating speed loop control on a driving motor of the vehicle through the vehicle control unit according to the rotating speed loop control signal. The method can respond to a driving motor rotating speed loop control instruction of an intelligent driving control system, and also can respond to a wheel end torque reduction instruction of a vehicle body stability control system. Therefore, the vehicle can meet the requirements of the intelligent driving control system for the vehicle speed control precision and the safety distance precision in various complex scenes, and it is ensured that when the vehicle slips or is locked or a driver steps on an accelerator and needs to drive the vehicle, the whole vehicle driving torque can respond rapidly.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and specifically to a vehicle drive motor control method, device, electronic equipment, readable storage medium and computer program product. Background Art

[0002] With the rapid development of smart car technology, vehicle application scenarios are becoming increasingly complex and diverse, placing higher demands on vehicle control. In the existing technology, a torque loop control method is usually used to control the drive motor. The final drive torque to be executed is first calculated, and the torque command is sent to the motor control system to achieve drive control. However, in practice, it has been found that due to the torque accuracy problem of the torque loop control, it is impossible to achieve the required speed control accuracy in mechanical parking spaces, horizontal extremely narrow parking spaces, and the safe distance between the vehicle and obstacles. It is also impossible to solve the problem of nodding and jerking, and long stuck times when the vehicle is parking on a slope, passing a speed bump, and self-cruise and stopping. It can be seen that the existing torque loop control method has low control accuracy and low safety, and it is easy to cause the vehicle to have problems such as nodding and jerking, and long stuck times. Summary of the Invention

[0003] In view of the above problems, the present application provides a vehicle drive motor control method, device, electronic device, readable storage medium and computer program product, which can solve the problems of low control accuracy, low safety, and easy occurrence of vehicle jerking and long stuck time.

[0004] In a first aspect, the present application provides a vehicle drive motor control method, comprising: When the vehicle is running normally, the vehicle controller controls the torque loop of the vehicle's drive motor; Acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; When it is identified based on the sensor detection data that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to the vehicle controller of the vehicle; Performing corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal through the vehicle controller; Among them, in the speed loop control signal, the drive motor target speed enable is in the enabled state, the drive motor target speed control valid bit is valid, and the drive motor target mode is the speed loop control mode.

[0005] In the above technical solution, this method can switch the drive motor from torque loop control to speed loop control when the vehicle is in a complex control scenario, thereby improving the vehicle speed control accuracy, meeting the safety distance requirements between the vehicle and obstacles, and solving the problems of vehicle jerking and long parking time when parking on a slope, passing a speed bump, and adaptive cruise control, thereby meeting the safety, comfort and torque response requirements.

[0006] In some embodiments, the method further comprises: After the drive motor enters the speed loop control mode and a collision risk of the vehicle is detected, an emergency brake flag is sent to the vehicle stability control system; controlling the drive motor to exit the speed loop control mode and sending a torque loop control signal to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal; Among them, in the torque loop control signal, the drive motor target speed enable is in a disabled state, the drive motor target speed control valid bit is invalid, and the drive motor target mode is a torque loop control mode.

[0007] In the above technical solution, the method can switch to the torque loop control mode in time when the drive motor is in the speed loop control mode and the vehicle faces a collision risk, triggering the body stability control system to intervene through the emergency braking flag, thereby ensuring driving safety and optimizing the response efficiency of the control mode switching.

[0008] In some embodiments, the method further comprises: After the drive motor enters the speed loop control mode, monitoring the motion mode of the drive motor and the actual motion mode fed back by the drive motor in real time; When it is detected that the motion mode and / or the actual motion mode is not a speed loop control mode, it is determined that an abnormality occurs in the speed loop control of the drive motor; The drive motor is controlled to exit the speed loop control mode, and a torque loop control signal is sent to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal.

[0009] In the above technical solution, when the drive motor is in the speed loop control mode, the method can timely identify control abnormalities by real-time monitoring of the motion mode, and automatically switch to the torque loop control mode to ensure the stability and reliability of the drive motor operation and avoid safety risks caused by control failure.

[0010] In some embodiments, the method further comprises: Get wheel speed information; When it is detected that the vehicle is slipping or locking according to the wheel speed information, Alternatively, when an emergency braking sign is detected, a wheel-end drive torque rapid correction flag is sent to the vehicle controller; The drive motor is controlled to exit the speed loop control mode, and a torque loop control signal is sent to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal.

[0011] In the above technical solution, the method can promptly trigger the wheel-end torque correction mechanism when the vehicle encounters abnormal operating conditions such as slipping, locking or emergency braking, and achieve rapid adjustment of the driving torque by forcibly switching to the torque loop control mode, thereby improving the stability and safety of vehicle driving.

[0012] In some embodiments, performing corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal by the vehicle controller includes: When the vehicle controller receives the speed loop control signal, it determines the current vehicle driving mode; When the vehicle driving mode is single-axis driving, the driving motor is subjected to corresponding speed loop control according to the speed loop control signal; If the vehicle driving mode is multi-axle drive, determine the current axle drive motor and the unused axle drive motor; and transfer all the current vehicle driving torque to the current axle drive motor; and perform corresponding speed loop control on the current axle drive motor according to the speed loop control signal; under the condition that the control torque is set to zero torque, maintain the torque loop control of the unused axle drive motor; wherein, when the current axle drive motor is the front axle drive motor, the unused axle drive motor is the rear axle drive motor; when the current axle drive motor is the rear axle drive motor, the unused axle drive motor is the front axle drive motor.

[0013] In the above technical solution, this method can differentially execute the speed loop control strategy according to the single-axis or multi-axis drive mode of the vehicle. In single-axis drive, the speed loop is directly switched, and in multi-axis drive, the driving torque is concentratedly transferred to the current axis motor and the zero-torque torque loop control of the unused axis motor is maintained, thereby achieving precise coordination and safe and stable operation of the drive system under complex working conditions.

[0014] In some embodiments, the method further comprises: Obtaining the vehicle's current motion information; wherein the vehicle's current motion information includes at least vehicle speed, gear position, driving mode, throttle depth, and braking depth; calculating a driver's required torque based on the current vehicle motion information; When the driver's required torque is greater than a preset torque threshold and it is detected that the driver has a demand to control the vehicle, the drive motor is controlled to exit the speed loop control mode and to enter the torque loop control mode.

[0015] In the above technical solution, this method can dynamically judge the control requirements based on the vehicle's real-time motion state and the driver's operating intention. When the driver actively intervenes (such as sudden acceleration / braking) and the required torque exceeds the threshold, the drive motor is promptly switched from the speed loop to the torque loop control mode, thereby giving priority to responding to the driver's instructions and improving the responsiveness of human-vehicle interaction and driving safety.

[0016] In a second aspect, the present application provides a vehicle drive motor control device, comprising: The first control unit is used to perform torque loop control on the vehicle's drive motor through the vehicle controller when the vehicle is driving normally; An acquisition unit, configured to acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; a sending unit, configured to send a speed loop control signal to a vehicle controller of the vehicle when it is identified, based on the sensor detection data, that the vehicle is currently in a complex control scenario; A second control unit is configured to perform corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal through the vehicle controller; Among them, in the speed loop control signal, the drive motor target speed enable is in the enabled state, the drive motor target speed control valid bit is valid, and the drive motor target mode is the speed loop control mode.

[0017] In the above technical solution, the device can switch the drive motor from torque loop control to speed loop control when the vehicle is in a complex control scenario, thereby improving the vehicle speed control accuracy, meeting the safety distance requirements between the vehicle and obstacles, and solving the problems of vehicle jerking and long parking time when parking on a slope, passing a speed bump, and adaptive cruise control, thereby meeting the safety, comfort and torque response requirements.

[0018] In a third aspect, the present application provides an electronic device comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle drive motor control method described in any one of the first aspects.

[0019] In a fourth aspect, the present application provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the vehicle drive motor control method described in any one of the first aspects is executed.

[0020] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it executes the vehicle drive motor control method described in any one of the first aspects.

[0021] The beneficial effects of this application are: it can respond to the drive motor speed loop control command of the intelligent driving control system while also responding to the wheel-end torque reduction command of the body stability control system. This allows the vehicle to meet the intelligent driving control system's requirements for vehicle speed control accuracy and safe distance accuracy in a variety of complex scenarios (such as mechanical parking spaces, ramp parking spaces, horizontal and extremely narrow parking spaces, speed bumps, and adaptive cruise control and stop scenarios), and ensures that the vehicle's drive torque can respond quickly when the vehicle slips, locks, or the driver steps on the accelerator to drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 Schematic diagram of the flow of a vehicle drive motor control method in some embodiments of the present application; Figure 2 This is an application framework diagram of the vehicle drive motor control method in some embodiments of the present application; Figure 3 This is a schematic structural diagram of a vehicle drive motor control device in some embodiments of the present application; Figure 4 This is a schematic diagram of the structure of an electronic device in some embodiments of the present application. DETAILED DESCRIPTION

[0024] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0025] 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 belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used solely to distinguish between different objects and should not be understood to indicate or imply relative importance, or to implicitly indicate the quantity, specific order, or primary and secondary relationship of the technical features indicated. In the description of the embodiments of this application, "multiple" means two or more (including two). Similarly, "multiple groups" means two or more (including two groups), and "multiple sheets" means two or more (including two sheets), unless otherwise specifically defined.

[0027] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0029] Currently, new energy vehicles primarily control the drive motor using a torque loop. However, with the development of intelligent vehicles, the vehicle control unit (VCU) now places higher demands on precise control of vehicle speed, safe distance between the vehicle and obstacles, and safety and comfort in special operating conditions such as negotiating speed bumps and parking on slopes. To address this, the VCU now switches the drive motor's torque loop control to speed loop control based on the needs of the Advanced Driver Assistance System (ADS) in scenarios such as mechanical parking, ramp parking, extremely narrow horizontal parking spaces, negotiating speed bumps, parking on slopes, and adaptive cruise control. In these scenarios, the VCU switches the drive motor from torque loop control to speed loop control based on ADS control commands, when the Vehicle Stability Control System (ESP) detects vehicle instability requiring wheel-end torque correction, or when the VCU detects the driver pressing the accelerator to control the vehicle, ensuring the drive motor can quickly respond to torque control commands. Therefore, how the VCU coordinates the control of the drive motor's switching between the torque and speed loops while meeting the safety, comfort, and torque response requirements of ADS, ESP, and the driver is a key challenge in vehicle torque control.

[0030] To solve this difficult problem, the current technical solution is basically that the VCU controls the drive motor in the torque loop while the vehicle is driving, and then integrates ADS, ESP and the driver's required torque to derive the final drive torque to be executed, which is then sent to the motor control system for execution.

[0031] However, the current control method will always control the drive motor in the torque loop during vehicle driving, resulting in the torque accuracy problem of the torque loop control, which makes the vehicle unable to meet the speed control accuracy requirements in scenarios such as mechanical parking spaces and extremely narrow horizontal parking spaces. It also cannot effectively ensure the safe distance between the vehicle and obstacles. On the other hand, in scenarios such as parking on a slope, going over speed bumps, and self-cruise and stopping, the current control method cannot solve the problem of vehicle nodding and jerking and long stuck time.

[0032] In response to the above technical problems, an embodiment of the present application provides a vehicle drive motor control method, which can perform torque loop control on the vehicle's drive motor through the vehicle controller when the vehicle is driving normally; then, obtain sensor detection data, and when it is identified that the vehicle is currently in a complex control scenario based on the sensor detection data, send a speed loop control signal to the vehicle controller of the vehicle; and then perform corresponding speed loop control on the vehicle's drive motor through the vehicle controller according to the speed loop control signal.

[0033] Based on this, the vehicle drive motor control method provided in the embodiments of the present application can simultaneously respond to the drive motor speed loop control commands of the intelligent driving control system and the wheel-end torque reduction commands of the vehicle stability control system. This allows the vehicle to meet the intelligent driving control system's requirements for speed control accuracy and safe distance accuracy in a variety of complex scenarios (such as mechanical parking spaces, ramp parking spaces, extremely narrow horizontal parking spaces, speed bumps, and adaptive cruise control). It also ensures that the vehicle's drive torque can quickly respond when the vehicle slips, locks, or the driver presses the accelerator to drive.

[0034] like Figure 1 As shown, some embodiments of the present application provide a vehicle drive motor control method, the vehicle drive motor control method comprising: S101. When the vehicle is driving normally, the vehicle controller performs torque loop control on the vehicle's drive motor; S102, acquiring sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; S103: When it is identified based on sensor detection data that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to a vehicle controller of the vehicle; S104. Perform corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal through the vehicle controller; wherein, in the speed loop control signal, the drive motor target speed enable is in the enabled state, the drive motor target speed control valid bit is valid, and the drive motor target mode is the speed loop control mode. In some embodiments, the complex control scenario includes the vehicle's current road being a mechanical parking space, a ramp parking space, a horizontal extremely narrow parking space, or passing a speed bump.

[0035] In some embodiments, complex control scenarios also include the vehicle needing to follow a vehicle to control the distance between vehicles and temporarily stop on a slope after activating the adaptive cruise function.

[0036] Exemplarily, the signals involved in this method may include: 1) The target speed of the drive motor is enabled, provided by the intelligent driving control system; 2) The effective position of the drive motor target speed control is provided by the intelligent driving control system; 3) Drive motor target mode, provided by the intelligent driving control system; 4) Emergency brake flag, provided by the intelligent driving control system; 5) Vehicle speed, provided by the vehicle stability control system, in km / h; 6) The wheel speed of the vehicle's four wheels, provided by the vehicle stability control system, in r / min; 7) Braking depth, provided by the vehicle stability control system, unit is %; 8) Throttle depth, collected and provided by the vehicle controller, unit is %; 9) Wheel end drive torque rapid correction flag, provided by the vehicle stability control system; 10) Driving mode, provided by the infotainment control system; 11) Gear position, provided by the infotainment control system; 12) The actual motion mode of the driving motor is provided by the motor control system; 13) The VCU requests the motion mode of the drive motor, which is collected and provided by the vehicle controller.

[0037] For example, the intelligent driving controller identifies the road as a mechanical parking space, a ramp parking space, an extremely narrow horizontal parking space, and a speed bump scenario based on information from lidar, cameras, etc., or when the intelligent driving controller activates the adaptive cruise function and needs to follow a stopped vehicle to control the distance or temporarily park on a slope, if it is necessary to control the drive motor to the speed loop mode, the intelligent driving system sends three signals to the vehicle controller: the drive motor target speed enable is enabled, the drive motor target speed control valid bit is valid, and the drive motor target mode is speed loop control.

[0038] In these embodiments, the method can switch the drive motor from torque loop control to speed loop control when the vehicle is in a complex control scenario, thereby improving the vehicle speed control accuracy, meeting the safety distance requirements between the vehicle and obstacles, and solving the problems of vehicle jerking and long parking times when parking on a slope, passing a speed bump, and adaptive cruise control, thereby meeting safety, comfort, and torque response requirements.

[0039] In some embodiments, the method further comprises: After the drive motor enters the speed loop control mode and detects the risk of vehicle collision, it sends the emergency braking flag to the vehicle stability control system; Control the drive motor to exit the speed loop control mode and send a torque loop control signal to the vehicle controller, so that the vehicle controller can perform corresponding torque loop control on the drive motor according to the torque loop control signal; Among them, in the torque loop control signal, the drive motor target speed enable is in a disabled state, the drive motor target speed control valid bit is invalid, and the drive motor target mode is the torque loop control mode.

[0040] For example, when the intelligent driving controller identifies that the vehicle is at risk of collision based on information such as lidar and cameras, it will send an emergency braking flag to the body stability control system; if the intelligent driving control system is requesting the vehicle controller to enter the drive motor speed loop control at this time, it will exit the drive motor speed loop control and send three signals to the vehicle controller: the drive motor target speed enable is not enabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is torque loop control.

[0041] In these embodiments, the method can switch to the torque loop control mode in a timely manner when the drive motor is in the speed loop control mode and the vehicle faces a collision risk, triggering the body stability control system to intervene through the emergency braking flag, thereby ensuring driving safety and optimizing the response efficiency of the control mode switching.

[0042] In some embodiments, the method further comprises: After the drive motor enters the speed loop control mode, the motion pattern of the drive motor and the actual motion pattern fed back by the drive motor are monitored in real time; When the motion mode and / or the actual motion mode is detected to be not the speed loop control mode, it is determined that the speed loop control of the drive motor is abnormal; The drive motor is controlled to exit the speed loop control mode and a torque loop control signal is sent to the vehicle controller so that the vehicle controller can perform corresponding torque loop control on the drive motor according to the torque loop control signal.

[0043] In some embodiments, when the drive motor control system has no faults (no abnormalities) in its own system, it should respond in real time to the vehicle controller's request for the drive motor motion mode to be a torque loop mode or a speed loop mode, and send the actual drive motor motion mode.

[0044] For example, after requesting the vehicle controller to enter the drive motor speed loop control, the intelligent driving controller monitors in real time the motion mode of the drive motor requested by the vehicle controller and the actual motion mode fed back by the drive motor. If the vehicle controller has not requested the drive motor to enter the speed loop control within 5 seconds or the actual motion mode fed back by the drive motor is not under the speed loop control, the drive motor speed loop control is judged to be abnormal, and the intelligent driving controller exits the drive motor speed loop control and enters the torque loop control, and sends three signals to the vehicle controller: the drive motor target speed enable is not enabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is torque loop control.

[0045] In these embodiments, the method can promptly identify control anomalies by real-time monitoring of the motion mode when the drive motor is in the speed loop control mode, and automatically switch to the torque loop control mode to ensure the stability and reliability of the drive motor operation and avoid safety risks caused by control failure.

[0046] In some embodiments, the method further comprises: Get wheel speed information; When the vehicle is detected to be skidding or locked based on the wheel speed information, Alternatively, when an emergency braking sign is detected, a wheel-end drive torque rapid correction flag is sent to the vehicle controller; The drive motor is controlled to exit the speed loop control mode and a torque loop control signal is sent to the vehicle controller so that the vehicle controller can perform corresponding torque loop control on the drive motor according to the torque loop control signal.

[0047] For example, the body stability control system determines that the vehicle is slipping or locking based on the speed of the four wheels, or when it receives an emergency braking flag sent by the intelligent driving control system, it sends a wheel-end drive torque rapid correction flag to the vehicle controller.

[0048] For example, when the vehicle controller receives the wheel-end drive torque rapid correction flag sent by the vehicle stability control system, if the vehicle controller is requesting the drive motor to enter speed loop control at this time, it is necessary to exit speed loop control and enter torque loop control.

[0049] In these embodiments, the method can promptly trigger the wheel-end torque correction mechanism when the vehicle experiences abnormal operating conditions such as slipping, locking or emergency braking, and achieve rapid adjustment of the driving torque by forcibly switching to the torque loop control mode, thereby improving the stability and safety of vehicle driving.

[0050] In some embodiments, the vehicle controller performs corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal, including: When the vehicle controller receives the speed loop control signal, it determines the current vehicle driving mode; When the vehicle is driven in a single-axis mode, the speed loop of the drive motor is controlled accordingly according to the speed loop control signal; If the vehicle drive mode is multi-axle drive, determine the current axle drive motor and the unused axle drive motor; and transfer all the current vehicle drive torque to the current axle drive motor; and perform corresponding speed loop control on the current axle drive motor according to the speed loop control signal; while setting the control torque to zero torque, maintain torque loop control on the unused axle drive motor; wherein, when the current axle drive motor is the front axle drive motor, the unused axle drive motor is the rear axle drive motor; when the current axle drive motor is the rear axle drive motor, the unused axle drive motor is the front axle drive motor.

[0051] In some embodiments, the single-axle drive is front-wheel drive or rear-wheel drive.

[0052] In some embodiments, the multi-axle drive is a four-wheel drive or distributed drive with motors on both the front and rear axles.

[0053] For example, when the vehicle is in motion, the vehicle controller defaults to torque loop control for the drive motor. When it receives three signals from the intelligent driving controller: the drive motor target speed enable is enabled, the drive motor target speed control valid bit is valid, and the drive motor target mode is speed loop control, it determines that the drive motor is to enter speed loop control. If the vehicle is driven by a single axle such as front-wheel drive or rear-wheel drive, the vehicle controller directly requests the drive motor motion mode to be speed loop control; if the vehicle is driven by a multi-axis such as four-wheel drive or distributed drive with motors on both the front and rear axles, because the drive motor speed control requires coaxial control, the current vehicle's drive torque is first transferred to the front or rear axle drive motor at a certain slope to ensure smoothness. The vehicle controller then requests the front or rear axle drive motor to enter speed loop control, while maintaining the request for torque loop control for the remaining rear axle or front axle drive motor and controlling the torque to zero torque.

[0054] In these embodiments, the method can differentially execute the speed loop control strategy according to the single-axis or multi-axis drive mode of the vehicle, directly switch the speed loop in single-axis drive, and concentrate the driving torque to the current axis motor in multi-axis drive and maintain zero-torque torque loop control of the unused axis motor, thereby achieving precise coordination and safe and stable operation of the drive system under complex working conditions.

[0055] In some embodiments, the method further comprises: Obtaining the vehicle's current motion information; wherein the vehicle's current motion information includes at least vehicle speed, gear position, driving mode, throttle depth, and braking depth; Calculate the driver's required torque based on the vehicle's current motion information; When the driver's required torque is greater than the preset torque threshold and it is detected that the driver has a demand to control the vehicle, the drive motor is controlled to exit the speed loop control mode and to enter the torque loop control mode.

[0056] For example, when the driver's required torque calculated by the vehicle controller based on vehicle speed, gear, driving mode, throttle depth and braking depth is greater than a certain value, it is judged that the driver has a demand to control the vehicle at this time. Because the drive motor will not respond to the drive torque sent by the vehicle controller when it is in speed loop control, if the vehicle controller requests the drive motor to enter speed loop control at this time, it needs to exit speed loop control and enter torque loop control.

[0057] In these embodiments, the method can dynamically determine control requirements based on the vehicle's real-time motion state and the driver's operating intentions. When the driver actively intervenes (such as sudden acceleration / braking) and the required torque exceeds a threshold, the drive motor is promptly switched from the speed loop to the torque loop control mode, thereby giving priority to responding to the driver's instructions and improving the responsiveness of human-vehicle interaction and driving safety.

[0058] In order to make the purpose, technical solutions and advantages of this application clearer, the application framework in this application will be described accordingly below. In some embodiments, Figure 2 An application framework diagram of a vehicle drive motor control method is shown.

[0059] For example, when the driver is reversing, the intelligent driving control system uses lidar and cameras to identify that the parking space is a mechanical parking space and the distance between the obstacle and the vehicle. Through relevant calculations, when the vehicle enters the mechanical parking space, it requests the vehicle controller to control the drive motor to enter the speed loop control. The drive motor accurately responds to the driver's needs to control the vehicle speed and safe distance, reducing the number of times the driver rubs the parking space and improving the driver's experience.

[0060] For example, when the customer operates improperly, the intelligent driving control system identifies that the vehicle is at risk of emergency collision in a mechanical parking space or the body stability control system detects that the vehicle is slipping and requires emergency torque reduction, the body stability control system sends the wheel-end drive torque reduction flag to the vehicle controller to control the drive motor to switch from speed loop mode to torque loop mode, so that the drive motor can quickly respond to the torque reduction demand and resolve the risk of vehicle collision or instability and slipping.

[0061] In these embodiments, the method can be further deepened for models without intelligent driving systems. For example, when the driver needs to temporarily stop on a slope, the vehicle controller can calculate the current slope based on the vehicle acceleration sent by the vehicle stability system. When the slope is greater than a certain value, the vehicle controller requests the drive motor to switch from the torque loop to the speed loop, and sends a certain target speed to put the drive motor in a stalled state so that the vehicle stops on the slope. When the stall time of the drive motor reaches a certain value, the vehicle controller controls the gear to enter P gear and pulls up the electronic handbrake to prevent the drive motor from overheating. This function can reduce the number of steps the driver has to take when temporarily stopping on a slope or pulling the electronic handbrake, thereby improving the driver's comfort experience.

[0062] Figure 3 The schematic diagram of the structure of a vehicle drive motor control device is shown. It should be understood that the device is Figure 1 The method executed in the embodiment corresponds to the embodiment, and the steps involved in the aforementioned method can be executed. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed description is appropriately omitted here.

[0063] The vehicle drive motor control device includes: The first control unit 210 is used to perform torque loop control on the vehicle's drive motor through the vehicle controller when the vehicle is driving normally; An acquisition unit 220 is configured to acquire sensor detection data, wherein the sensor detection data includes at least lidar data and camera data; The sending unit 230 is configured to send a speed loop control signal to a vehicle controller when the vehicle is identified as being in a complex control scenario based on sensor detection data; The second control unit 240 is used to perform corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal through the vehicle controller; Among them, in the speed loop control signal, the drive motor target speed enable is in the enabled state, the drive motor target speed control valid bit is valid, and the drive motor target mode is the speed loop control mode.

[0064] In some embodiments, the sending unit 230 is further configured to send an emergency braking flag to a vehicle stability control system after the drive motor enters the speed loop control mode and a collision risk of the vehicle is detected; The second control unit 240 is further configured to control the drive motor to exit the speed loop control mode and send a torque loop control signal to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal; Among them, in the torque loop control signal, the drive motor target speed enable is in a disabled state, the drive motor target speed control valid bit is invalid, and the drive motor target mode is the torque loop control mode.

[0065] In some embodiments, the vehicle drive motor control device further includes: The monitoring unit 250 is used to monitor the motion mode of the drive motor and the actual motion mode fed back by the drive motor in real time after the drive motor enters the speed loop control mode; a determination unit 260 for determining that an abnormality occurs in the speed loop control of the drive motor when the detected motion mode and / or the actual motion mode is not the speed loop control mode; The second control unit 240 is further used to control the drive motor to exit the speed loop control mode and send a torque loop control signal to the vehicle controller, so that the vehicle controller can perform corresponding torque loop control on the drive motor according to the torque loop control signal.

[0066] In some embodiments, the acquiring unit 220 is further configured to acquire wheel speed information; The sending unit 230 is further configured to send a wheel end driving torque rapid correction flag to the vehicle controller when the vehicle is detected to be slipping or locking according to the wheel speed information, or when an emergency braking flag is detected; The second control unit 240 is further used to control the drive motor to exit the speed loop control mode and send a torque loop control signal to the vehicle controller, so that the vehicle controller can perform corresponding torque loop control on the drive motor according to the torque loop control signal.

[0067] In some embodiments, the second control unit 240 includes: The determination subunit 241 is used to determine the current vehicle driving mode when the vehicle controller receives the speed loop control signal; The control subunit 242 is used to perform corresponding speed loop control on the drive motor according to the speed loop control signal when the vehicle drive mode is single-axle drive; The determination subunit 241 is also used to determine the current axle drive motor and the unused axle drive motor if the vehicle driving mode is multi-axle drive; and transfer all the current vehicle driving torque to the current axle drive motor; and perform corresponding speed loop control on the current axle drive motor according to the speed loop control signal; maintain the torque loop control of the unused axle drive motor under the condition that the control torque is set to zero torque; wherein, when the current axle drive motor is the front axle drive motor, the unused axle drive motor is the rear axle drive motor; when the current axle drive motor is the rear axle drive motor, the unused axle drive motor is the front axle drive motor.

[0068] In some embodiments, the vehicle drive motor control device also includes:

[0069] The acquisition unit 220 is further configured to acquire the current motion information of the vehicle; wherein the current motion information of the vehicle includes at least vehicle speed, gear position, driving mode, throttle depth, and braking depth; A calculation unit 270 is used to calculate the driver's required torque based on the current vehicle motion information; The second control unit 240 is further configured to control the drive motor to exit the speed loop control mode and enter the torque loop control mode when the driver's required torque is greater than a preset torque threshold and it is detected that the driver has a demand to control the vehicle.

[0070] like Figure 4 As shown, the present application provides an electronic device 300, which includes a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanisms (not shown). The memory 302 stores a computer program executable by the processor 301. When the computing device is running, the processor 301 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0071] The present application provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the method in any of the aforementioned optional implementations is executed.

[0072] Among them, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0073] The present application provides a computer program product, which includes computer programmability. When the computer program is executed by a processor, the method in any of the aforementioned optional implementations is executed.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A vehicle drive motor control method, characterized in that: include: When the vehicle is running normally, the vehicle controller controls the torque loop of the vehicle's drive motor; Acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; When it is identified according to the sensor detection data that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to the vehicle controller of the vehicle; Performing corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal through the vehicle controller; Among them, in the speed loop control signal, the drive motor target speed enable is in the enabled state, the drive motor target speed control valid bit is valid, and the drive motor target mode is the speed loop control mode.

2. The vehicle drive motor control method according to claim 1, characterized in that: The method further comprises: After the drive motor enters the speed loop control mode and a collision risk of the vehicle is detected, an emergency brake flag is sent to the vehicle stability control system; controlling the drive motor to exit the speed loop control mode and sending a torque loop control signal to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal; Among them, in the torque loop control signal, the drive motor target speed enable is in a disabled state, the drive motor target speed control valid bit is invalid, and the drive motor target mode is a torque loop control mode.

3. The vehicle drive motor control method according to claim 1, characterized in that: The method further comprises: After the drive motor enters the speed loop control mode, monitoring the motion mode of the drive motor and the actual motion mode fed back by the drive motor in real time; When it is detected that the motion mode and / or the actual motion mode is not a speed loop control mode, it is determined that an abnormality occurs in the speed loop control of the drive motor; The drive motor is controlled to exit the speed loop control mode, and a torque loop control signal is sent to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal.

4. The vehicle drive motor control method according to claim 1, characterized in that: The method further comprises: Get wheel speed information; When it is detected that the vehicle is slipping or locking according to the wheel speed information, Alternatively, when an emergency braking sign is detected, a wheel-end drive torque rapid correction flag is sent to the vehicle controller; The drive motor is controlled to exit the speed loop control mode, and a torque loop control signal is sent to the vehicle controller, so that the vehicle controller performs corresponding torque loop control on the drive motor according to the torque loop control signal.

5. The vehicle drive motor control method according to claim 1, characterized in that: The vehicle controller performs corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal, including: When the vehicle controller receives the speed loop control signal, it determines the current vehicle driving mode; When the vehicle driving mode is single-axis driving, the driving motor is subjected to corresponding speed loop control according to the speed loop control signal; If the vehicle driving mode is multi-axle drive, determine the current axle drive motor and the unused axle drive motor; and transfer all the current vehicle driving torque to the current axle drive motor; and perform corresponding speed loop control on the current axle drive motor according to the speed loop control signal; under the condition that the control torque is set to zero torque, maintain the torque loop control of the unused axle drive motor; wherein, when the current axle drive motor is the front axle drive motor, the unused axle drive motor is the rear axle drive motor; when the current axle drive motor is the rear axle drive motor, the unused axle drive motor is the front axle drive motor.

6. The vehicle drive motor control method according to claim 1, characterized in that: The method further comprises: Obtaining the vehicle's current motion information; wherein the vehicle's current motion information includes at least vehicle speed, gear position, driving mode, throttle depth, and braking depth; calculating a driver's required torque based on the current vehicle motion information; When the driver's required torque is greater than a preset torque threshold and it is detected that the driver has a demand to control the vehicle, the drive motor is controlled to exit the speed loop control mode and to enter the torque loop control mode.

7. A vehicle drive motor control device, characterized in that: The vehicle drive motor control device includes: The first control unit is used to perform torque loop control on the vehicle's drive motor through the vehicle controller when the vehicle is driving normally; An acquisition unit, configured to acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; a sending unit, configured to send a speed loop control signal to a vehicle controller of the vehicle when it is identified, based on the sensor detection data, that the vehicle is currently in a complex control scenario; A second control unit is configured to perform corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal through the vehicle controller; Among them, in the speed loop control signal, the drive motor target speed enable is in the enabled state, the drive motor target speed control valid bit is valid, and the drive motor target mode is the speed loop control mode.

8. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the vehicle drive motor control method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that The readable storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle drive motor control method according to any one of claims 1 to 6 is executed.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the vehicle drive motor control method according to any one of claims 1 to 6 is executed.

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