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

Abstract

The application discloses a kind of whole vehicle drive motor control methods.The method includes: when vehicle normal driving, the drive motor of vehicle is controlled by torque ring by whole vehicle controller;Sensor detection data is obtained;When identifying that vehicle is currently in complex control scene according to sensor detection data, speed ring control signal is sent to the whole vehicle controller of vehicle;The drive motor of vehicle is controlled according to speed ring control signal by whole vehicle controller corresponding.The method can respond to the drive motor speed ring control instruction of intelligent driving control system, and can also respond to the wheel end torque reduction instruction of vehicle body stability control system, so that the vehicle can meet the requirements of intelligent driving control system on speed control accuracy and safety distance accuracy in various complex scenarios, and ensure that the whole vehicle driving torque can respond quickly when the vehicle slips, locks or the driver needs to drive.

Description

Technical Field

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

[0002] With the rapid development of intelligent vehicle technology, vehicle application scenarios are becoming increasingly complex and diverse, placing higher demands on vehicle control. Current technologies typically employ torque loop control to control the drive motor. This involves calculating the required drive torque and sending the torque command to the motor control system to achieve drive control. However, in practice, it has been found that due to the torque accuracy limitations of torque loop control, it cannot meet the requirements for precise speed control and safe distances between the vehicle and obstacles in scenarios such as mechanical parking spaces and extremely narrow horizontal parking spaces. It also cannot solve the problems of jerking and prolonged stopping times during scenarios such as parking on slopes, crossing speed bumps, and adaptive cruise control. Therefore, the existing torque loop control method suffers from low control accuracy, low safety, and is prone to causing jerking and prolonged stopping times. Summary of the Invention

[0003] In view of the above problems, this 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 stop time.

[0004] In a first aspect, this application provides a method for controlling a vehicle drive motor, including: When the vehicle is driving normally, the vehicle controller performs torque loop control on the vehicle's drive motor. Acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; When the sensor detection data indicates that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to the vehicle's overall controller. The vehicle controller performs corresponding speed loop control on the vehicle's drive motor based on the speed loop control signal. In the speed loop control signal, 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 mode.

[0005] In the above technical solution, 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 accuracy of vehicle speed control, meeting the safety distance requirements between the vehicle and obstacles, and solving the problems of nodding and jerking and long stopping time when the vehicle is parking on a slope, going over speed bumps, and adaptive cruise following and stopping. In this way, it can meet the requirements of safety, comfort and torque response.

[0006] In some embodiments, the method further includes: After the drive motor enters the speed loop control mode and a collision risk is detected, an emergency braking flag is sent to the vehicle stability control system. 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; Among them, in the torque loop control signal, the drive motor target speed enable is disabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is torque loop control mode.

[0007] In the above technical solution, the method can switch to torque loop control mode in a timely manner when the drive motor is in speed loop control mode and the vehicle is facing collision risk. The vehicle stability control system is triggered to intervene through the emergency braking flag, so as to ensure driving safety and optimize the response efficiency of control mode switching.

[0008] In some embodiments, the method further includes: After the drive motor enters the speed loop control mode, the motion mode of the drive motor and the actual motion mode fed back by the drive motor are monitored 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 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.

[0009] In the above technical solution, the method can identify control abnormalities in a timely manner 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.

[0010] In some embodiments, the method further includes: Obtain wheel speed information; Based on the wheel speed information, it was detected that the vehicle was skidding or locked. Alternatively, upon detecting an emergency braking sign, 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.

[0011] In the above technical solution, the method can promptly trigger the wheel-end torque correction mechanism when the vehicle experiences abnormal conditions such as slippage, lock-up, or emergency braking. By forcibly switching to the torque loop control mode, the driving torque can be quickly adjusted, thereby improving the stability and safety of vehicle driving.

[0012] In some embodiments, the step of controlling the vehicle's drive motor according to the speed loop control signal via the vehicle controller includes: When the vehicle controller receives the speed loop control signal, it determines the current vehicle drive mode; When the vehicle drive mode is single-axle drive, the drive motor is controlled by the corresponding speed loop according to the speed loop control signal; If the vehicle's drive mode is multi-axle drive, the current axle drive motor and the unused axle drive motor are determined; all current vehicle drive torque is transferred to the current axle drive motor; and the current axle drive motor is subjected to corresponding speed loop control according to the speed loop control signal; under the condition that the control torque is set to zero torque, the torque loop control of the unused axle drive motor is maintained; wherein, when the current axle drive motor is a front axle drive motor, the unused axle drive motor is a rear axle drive motor; when the current axle drive motor is a rear axle drive motor, the unused axle drive motor is a front axle drive motor.

[0013] In the above technical solution, the method can execute the speed loop control strategy differently according to the single-axis or multi-axis drive mode of the whole vehicle. When driving a single axis, the speed loop is switched directly. When driving a multi-axis, the drive torque is concentrated and transferred to the current axis motor and the zero 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 includes: Obtain vehicle current motion information; wherein, the vehicle current motion information includes at least vehicle speed, gear, 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 the driver's need to control the vehicle is detected, the drive motor is controlled to exit the speed loop control mode and enter the torque loop control mode.

[0015] In the above technical solution, the method can dynamically judge the control demand based on the real-time motion state of the vehicle and the driver's operating intention. When the driver actively intervenes (such as rapid acceleration / braking) and the required torque exceeds the threshold, the drive motor is switched from the speed loop to the torque loop control mode in a timely manner, thereby prioritizing the response to the driver's command and improving the responsiveness of human-vehicle interaction and driving safety.

[0016] Secondly, this 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 is used to acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; The transmitting unit is used to send a speed loop control signal to the vehicle controller when the vehicle is identified to be in a complex control scenario based on the sensor detection data. The second control unit 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; In the speed loop control signal, 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 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 accuracy of vehicle speed control, meeting the safety distance requirements between the vehicle and obstacles, and solving the problems of nodding and jerking and long stopping time when the vehicle is parking on a slope, going over speed bumps, and adaptive cruise following and stopping. In this way, it can meet the requirements of safety, comfort and torque response.

[0018] Thirdly, this application provides an electronic device, the electronic device including a memory and a processor, the memory for storing a computer program, the processor running the computer program to cause the electronic device to perform the vehicle drive motor control method described in any one of the first aspects.

[0019] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the vehicle drive motor control method described in any one of the first aspects.

[0020] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, performs 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 vehicle stability control system. This enables the vehicle to meet the speed control accuracy and safe distance accuracy requirements of the intelligent driving control system in various complex scenarios (such as mechanical parking spaces, ramp parking spaces, extremely narrow horizontal parking spaces, speed bump crossings, and adaptive cruise control stop-and-go scenarios), and ensures that the vehicle's drive torque can respond quickly when the vehicle slips, locks up, or the driver needs to accelerate. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart illustrating the vehicle drive motor control method in some embodiments of this application; Figure 2 This is an application framework diagram of the vehicle drive motor control method in some embodiments of this application; Figure 3 This is a schematic diagram of the structure of the vehicle drive motor control device in some embodiments of this application; Figure 4 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0024] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0026] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

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

[0028] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0029] Currently, the control of the drive motor in new energy vehicles is primarily torque loop control. However, with the development of intelligent vehicles, the current Vehicle Control Unit (VCU) places higher demands on the precise control of vehicle speed, safe distance between the vehicle and obstacles, and safety and comfort in special conditions such as speed bumps and hill starts. Therefore, in scenarios such as mechanical parking spaces, hill start parking spaces, extremely narrow horizontal parking spaces, speed bumps, hill starts, and adaptive cruise control, the VCU switches the drive motor's torque loop control to speed loop control based on the requirements of the Adaptive Driving Controller (ADS). In these scenarios, based on ADS control commands or when the Electronic Stability Program (ESP) detects vehicle instability requiring wheel torque correction, or when the VCU detects the driver's need to control the vehicle by pressing the accelerator, the VCU switches the drive motor from the speed loop to the torque loop to ensure the drive motor can quickly respond to torque control commands. Therefore, how the VCU coordinates the switching between the torque and speed loops of the drive motor 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 address this challenge, current technical solutions generally involve the VCU controlling the drive motor in the torque loop during vehicle operation, then combining the torque requirements from ADS, ESP, and the driver to determine the final drive torque to be executed, and finally sending it to the motor control system for execution.

[0031] However, the current control method keeps the drive motor in the torque loop during vehicle operation. This torque loop control accuracy issue makes it impossible for the vehicle 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 slopes, going over speed bumps, and using cruise control to stop, the current control method cannot solve the problems of vehicle pitching and jerking and excessively long stopping time.

[0032] To address the aforementioned technical problems, this application provides a vehicle drive motor control method. This method allows for torque loop control of the vehicle's drive motor via the vehicle controller during normal vehicle operation. Then, sensor detection data is acquired, and when the sensor detection data indicates that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to the vehicle controller. The vehicle controller then performs corresponding speed loop control on the vehicle's drive motor based on the speed loop control signal.

[0033] Based on this, the vehicle drive motor control method provided in this application embodiment can respond to the drive motor speed loop control command of the intelligent driving control system, as well as the wheel-end torque reduction command of the vehicle stability control system. This enables the vehicle to meet the speed control accuracy and safe distance accuracy requirements of the intelligent driving control system in various complex scenarios (such as mechanical parking spaces, ramp parking spaces, extremely narrow horizontal parking spaces, speed bumps, and adaptive cruise control stop-and-go scenarios), and ensures that the vehicle drive torque can respond quickly when the vehicle slips, locks up, or the driver needs to accelerate.

[0034] like Figure 1 As shown, some embodiments of this application provide a vehicle drive motor control method, which includes: S101. When the vehicle is driving normally, the drive motor of the vehicle is controlled by the vehicle controller through torque loop control. S102. Acquire sensor detection data; wherein, the sensor detection data includes at least lidar data and camera data; S103. When the sensor detection data indicates that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to the vehicle's overall controller. S104. The vehicle controller performs corresponding speed loop control on the vehicle's drive motor according to the speed loop control signal; wherein, in the speed loop control signal, 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 mode. In some embodiments, complex control scenarios include the vehicle being in a mechanical parking space, a ramp parking space, a very narrow horizontal parking space, or crossing a speed bump.

[0035] In some embodiments, complex control scenarios also include situations where the vehicle needs to follow another vehicle to control the distance after activating adaptive cruise control, as well as temporary parking on a slope.

[0036] For example, the signals involved in this method may include: 1) The target speed enable for the drive motor is provided by the intelligent driving control system; 2) The effective position of the target speed control for the drive motor is provided by the intelligent driving control system; 3) The target mode for the drive motor is provided by the intelligent driving control system; 4) Emergency braking position, provided by the intelligent driving control system; 5) Vehicle speed, provided by the vehicle stability control system, in km / h; 6) The wheel speeds of the four wheels of the vehicle are provided by the vehicle stability control system, and the unit is r / min; 7) Braking depth, provided by the vehicle stability control system, in percentages (%). 8) Throttle depth, collected and provided by the vehicle controller, in percentage (%). 9) Wheel-end drive torque rapid correction indicator, provided by the vehicle stability control system; 10) Driving modes, provided by the infotainment control system; 11) Gear selection, provided by the infotainment control system; 12) The actual motion mode of the drive 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 road scenarios such as mechanical parking spaces, ramp parking spaces, extremely narrow horizontal parking spaces, and speed bump scenarios based on information from LiDAR, cameras, etc. Or, when the intelligent driving controller needs to follow and stop the vehicle to control the distance when activating the adaptive cruise function or when temporarily parking on a ramp, if it needs to control the drive motor to the speed loop mode, the intelligent driving system sends three signals to the vehicle controller: drive motor target speed enable, drive motor target speed control valid, and 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 accuracy of vehicle speed control, meeting the safety distance requirements between the vehicle and obstacles, and solving the problems of nodding and jerking and long stopping time when the vehicle is parking on a slope, going over speed bumps, and adaptive cruise control following and stopping. This is to meet the requirements of safety, comfort and torque response.

[0039] In some embodiments, the method further includes: After the drive motor enters the speed loop control mode and a collision risk is detected, an emergency braking flag is sent to the vehicle stability control system. 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. Among them, in the torque loop control signal, the drive motor target speed enable is disabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is torque loop control mode.

[0040] For example, when the intelligent driving controller identifies a collision risk based on information such as LiDAR and cameras, it sends an emergency braking flag to the vehicle 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 exits the drive motor speed loop control and sends three signals to the vehicle controller: drive motor target speed enable is disabled, drive motor target speed control valid bit is invalid, and drive motor target mode is torque loop control.

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

[0042] In some embodiments, the method further includes: After the drive motor enters the speed loop control mode, the motion mode of the drive motor and the actual motion mode fed back by the drive motor are monitored in real time. When the motion mode and / or the actual motion mode is not detected to be 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 is fault-free (abnormal), it should respond in real time to the vehicle controller's request for the drive motor motion mode to be either torque loop mode or 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 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 in the speed loop control, the intelligent driving controller determines that the drive motor speed loop control is abnormal, exits the drive motor speed loop control and enters the torque loop control, and sends three signals to the vehicle controller: drive motor target speed enable is disabled, drive motor target speed control valid bit is invalid, and drive motor target mode is torque loop control.

[0045] In these embodiments, the method can identify control anomalies in a timely manner by real-time monitoring of the motion mode when the drive motor is in speed loop control mode, and automatically switch to 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 includes: Obtain wheel speed information; Based on wheel speed information, it was detected that the vehicle was skidding or locked. Alternatively, upon detecting an emergency braking sign, 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, when the vehicle stability control system determines whether the vehicle is slipping or locked based on the speed of the four wheels, or when it receives an emergency braking signal from 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 fast correction flag from the vehicle stability control system, if the vehicle controller requests the drive motor to enter the speed loop control at this time, it needs to exit the speed loop control and enter the torque loop control.

[0049] In these embodiments, the method can promptly trigger the wheel-end torque correction mechanism when the vehicle experiences abnormal conditions such as slippage, lock-up, or emergency braking. By forcibly switching to the torque loop control mode, the method can quickly adjust the drive torque, thereby improving the stability and safety of vehicle operation.

[0050] In some embodiments, the vehicle controller performs corresponding speed loop control on the vehicle's drive motor based on the speed loop control signal, including: When the vehicle controller receives the speed loop control signal, it determines the current vehicle drive mode; When the vehicle is driven by a single axle, the drive motor is controlled by the speed loop control signal. If the vehicle's drive mode is multi-axle drive, the current axle drive motor and the unused axle drive motor are identified; all current vehicle drive torque is transferred to the current axle drive motor; and the current axle drive motor is subjected to corresponding speed loop control according to the speed loop control signal; under the condition that the control torque is set to zero torque, the torque loop control of the unused axle drive motor is maintained; 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-axis drive is either front-drive or rear-drive.

[0052] In some embodiments, multi-axis 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—that the drive motor target speed is enabled, the drive motor target speed control is valid, and the drive motor target mode is speed loop control—it determines that the drive motor should enter speed loop control. If the vehicle's drive mode is a single-axle drive such as front-wheel drive or rear-wheel drive, the vehicle controller directly requests the drive motor's motion mode to be speed loop control. If the vehicle's drive mode is a multi-axle drive such as four-wheel drive or distributed drive with motors on both the front and rear axles, since drive motor speed control requires coaxial control, the current vehicle's drive torque is first transferred to the front or rear axle drive motor with a certain slope to ensure smoothness. Then, the vehicle controller requests the front or rear axle drive motor to enter speed loop control, while the remaining rear or front axle drive motors maintain the request for torque loop control and control the torque to zero.

[0054] In these embodiments, the method can execute speed loop control strategies differently depending on whether the vehicle is driven by a single axle or multiple axles. When driving a single axle, the speed loop is switched directly. When driving multiple axles, the driving torque is concentrated and transferred to the motor of the current axle while maintaining zero torque loop control of the motor of the unused axle. This enables precise coordination and safe and stable operation of the drive system under complex working conditions.

[0055] In some embodiments, the method further includes: Obtain vehicle's current motion information; this information includes at least vehicle speed, gear, driving mode, throttle position, and braking position. Calculate the driver's required torque based on the vehicle's current motion information; When the driver's required torque exceeds the preset torque threshold and the system detects that the driver needs to control the vehicle, it controls the drive motor to exit the speed loop control mode and enter the torque loop control mode.

[0056] For example, when the vehicle controller calculates the driver's required torque based on vehicle speed, gear, driving mode, throttle depth, and braking depth to be greater than a certain value, it determines that the driver has a need to control the vehicle. Since the drive motor will not respond to the drive torque sent by the vehicle controller during 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 real-time motion state of the vehicle and the driver's operating intentions. When the driver actively intervenes (such as rapid acceleration / braking) and the required torque exceeds the threshold, the drive motor is switched from the speed loop to the torque loop control mode in a timely manner, thereby prioritizing the response to the driver's commands and improving the responsiveness of human-vehicle interaction and driving safety.

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

[0059] For example, during the reversing process, the intelligent driving control system uses lidar and cameras to identify whether the parking space is a mechanical parking space and the distance between obstacles and vehicles. 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 maneuvers into the parking space and improving the driver's experience.

[0060] For example, when the customer operates improperly, if the intelligent driving control system recognizes that the vehicle has an emergency collision risk in the mechanical parking space, or if the vehicle stability control system detects that the vehicle is slipping and needs to reduce torque urgently, the vehicle stability control system sends a wheel-end drive torque reduction flag to the vehicle controller, controlling 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 slippage.

[0061] In these embodiments, the method can be further refined in vehicles without intelligent driving systems. For example, when a 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 exceeds a certain value, the vehicle controller requests the drive motor to switch from the torque loop to the speed loop and sends a target speed to put the drive motor in a stall state, stopping the vehicle on the slope. When the drive motor stall time reaches a certain value, the vehicle controller controls the gear to enter P gear and engages the electronic parking brake to prevent the drive motor from overheating. This function can reduce the steps the driver needs to take when temporarily stopping on a slope by stepping on the brake or engaging the electronic parking brake, improving the driver's comfort experience.

[0062] Figure 3 A schematic diagram of a vehicle drive motor control device is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are 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. The acquisition unit 220 is used to acquire sensor detection data; wherein, the sensor detection data includes at least lidar data and camera data; The transmitting unit 230 is used to send a speed loop control signal to the vehicle controller when the vehicle is identified to be 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; In the speed loop control signal, 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 mode.

[0064] In some embodiments, the sending unit 230 is further configured to send an emergency braking flag to the vehicle stability control system after the drive motor enters the speed loop control mode and a collision risk is detected in the vehicle. The second control unit 240 is also 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. Among them, in the torque loop control signal, the drive motor target speed enable is disabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is 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. The determination unit 260 is used to determine that the speed loop control of the drive motor is abnormal when the motion mode and / or the actual motion mode is not the speed loop control mode. The second control unit 240 is also 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 acquisition unit 220 is further configured to acquire wheel speed information; The transmitting unit 230 is also used to send a wheel-end drive torque rapid correction flag to the vehicle controller when the vehicle is detected to be slipping or locked based on the wheel speed information, or when an emergency braking sign is detected. The second control unit 240 is also 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 drive 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 further configured to, if the vehicle drive mode is multi-axle drive, determine the current axle drive motor and the unused axle drive motor; 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; and maintain torque loop control on the unused axle drive motor when 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; and 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 further includes:

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

[0070] like Figure 4 As shown, this 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 mechanism (not shown). The memory 302 stores a computer program that can be executed 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] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0072] 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 Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0073] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

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

Claims

1. A method for controlling a vehicle drive motor, characterized in that, include: When the vehicle is driving normally, the vehicle controller performs torque loop control on the vehicle's drive motor. Acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; When the sensor detection data indicates that the vehicle is currently in a complex control scenario, a speed loop control signal is sent to the vehicle's overall controller. The vehicle controller performs corresponding speed loop control on the vehicle's drive motor based on the speed loop control signal. In the speed loop control signal, 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 mode; The method further includes: After the drive motor enters the speed loop control mode and a collision risk is detected, an emergency braking flag is sent to the vehicle stability control system. 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; In the torque loop control signal, the drive motor target speed enable is disabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is torque loop control mode.

2. The vehicle drive motor control method according to claim 1, characterized in that, The method further includes: After the drive motor enters the speed loop control mode, the motion mode of the drive motor and the actual motion mode fed back by the drive motor are monitored 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 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.

3. The vehicle drive motor control method according to claim 1, characterized in that, The method further includes: Obtain wheel speed information; Based on the wheel speed information, it was detected that the vehicle was skidding or locked. Alternatively, upon detecting an emergency braking sign, 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.

4. The vehicle drive motor control method according to claim 1, characterized in that, The step of controlling the vehicle's drive motor according to the speed loop control signal via the vehicle controller includes: When the vehicle controller receives the speed loop control signal, it determines the current vehicle drive mode; When the vehicle drive mode is single-axle drive, the drive motor is controlled by the corresponding speed loop according to the speed loop control signal; If the vehicle's drive mode is multi-axle drive, the current axle drive motor and the unused axle drive motor are determined; all current vehicle drive torque is transferred to the current axle drive motor; and the current axle drive motor is subjected to corresponding speed loop control according to the speed loop control signal; under the condition that the control torque is set to zero torque, the torque loop control of the unused axle drive motor is maintained; wherein, when the current axle drive motor is a front axle drive motor, the unused axle drive motor is a rear axle drive motor; when the current axle drive motor is a rear axle drive motor, the unused axle drive motor is a front axle drive motor.

5. The vehicle drive motor control method according to claim 1, characterized in that, The method further includes: Obtain vehicle current motion information; wherein, the vehicle current motion information includes at least vehicle speed, gear, 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 the driver's need to control the vehicle is detected, the drive motor is controlled to exit the speed loop control mode and enter the torque loop control mode.

6. 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 is used to acquire sensor detection data; wherein the sensor detection data includes at least lidar data and camera data; The transmitting unit is used to send a speed loop control signal to the vehicle controller when the vehicle is identified to be in a complex control scenario based on the sensor detection data. The second control unit 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; In the speed loop control signal, 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 mode; The sending unit is also used to send an emergency braking flag to the vehicle stability control system after the drive motor enters the speed loop control mode and a collision risk is detected. The second control unit is also 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. Among them, in the torque loop control signal, the drive motor target speed enable is disabled, the drive motor target speed control valid bit is invalid, and the drive motor target mode is torque loop control mode.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle drive motor control method according to any one of claims 1 to 5.

8. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the vehicle drive motor control method according to any one of claims 1 to 5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the vehicle drive motor control method according to any one of claims 1 to 5.

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