Vehicle control method and device, vehicle and storage medium

Abstract

The embodiment of the invention provides a vehicle control method and device, a vehicle and a storage medium. The method comprises the steps that when it is detected that a motor in a vehicle breaks down, current speed information, temperature information and resistance torque of the vehicle are obtained; according to the current speed information and the temperature information, target bearable duration of the motor is determined in a mapping table corresponding to the active short circuit state, and bearable duration corresponding to at least one speed and at least one temperature is recorded in the mapping table; according to the target bearable duration, the current speed information, the target speed information corresponding to the magnetic field weakening state, the resistance torque and the whole vehicle mass of the vehicle, the target output torque of the vehicle is determined; and controlling the vehicle to run according to the torque request not higher than the target output torque. The method is used for achieving the purpose that the driving safety of the vehicle can still be guaranteed under the condition that the motor breaks down.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device, vehicle, and storage medium. Background Art

[0002] For vehicles with multiple power sources, if there is a motor failure during operation, the vehicle will immediately cut off all power to avoid vehicle failure. For example, if the current speed is greater than the target limit speed, the vehicle will immediately lose power until the target limit speed is reached.

[0003] However, if all power is cut off during vehicle travel, when the driver steps on the accelerator, the vehicle will not be able to respond to the accelerator stepping operation.

[0004] This causes the driver to mistakenly believe that the vehicle has malfunctioned, triggering panic and greatly reducing the safety of the vehicle. Summary of the Invention

[0005] The embodiments of the present application provide a vehicle control method, device, vehicle, and storage medium to ensure the vehicle's driving safety even in the event of a motor failure.

[0006] In a first aspect, an embodiment of the present application provides a vehicle control method, comprising:

[0007] When a motor failure in a vehicle is detected, obtaining current speed information, temperature information, and resistance torque of the vehicle;

[0008] Determining, based on the current speed information and the temperature information, a target tolerable duration of the motor in a mapping table corresponding to an active short circuit (ASC) state, the mapping table recording tolerable durations corresponding to at least one speed and at least one temperature;

[0009] determining a target output torque of the vehicle based on the target tolerable duration, the current speed information, target speed information corresponding to the field weakening FW state, the resistance torque, and the vehicle mass;

[0010] The vehicle is controlled to operate with a torque request not higher than the target output torque.

[0011] In one possible implementation, determining the target output torque of the vehicle based on the target tolerable duration, the current speed information, the target speed information corresponding to the magnetic field weakening FW state, the resistance torque, and the vehicle mass includes:

[0012] determining minimum deceleration information of the vehicle according to the target tolerable time, the current speed information, and the target speed information;

[0013] The target output torque is determined based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass. The driving wheel speed information is determined based on the current speed information or collected based on the driving wheel speed sensor.

[0014] In a possible implementation, determining the minimum deceleration information of the vehicle according to the target tolerable duration, the current speed information, and the target speed information includes:

[0015] determining a first difference between the current speed information and the target speed information;

[0016] A first ratio of the first difference to the target tolerable time is determined as minimum deceleration information of the vehicle.

[0017] In a possible implementation manner, determining the target output torque according to the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass includes:

[0018] determining a first product value of the driving wheel speed information and the vehicle mass;

[0019] determining a second product value of the first product value and the minimum deceleration information;

[0020] A second difference between the resistance torque and the second product value is determined as the target output torque.

[0021] In a possible implementation manner, before obtaining the current speed information, temperature information, and resistance torque of the vehicle, the method further comprises:

[0022] Control the vehicle to enter the ASC state.

[0023] In one possible implementation, controlling the vehicle operation with a torque request not higher than the target output torque includes:

[0024] determining the torque request according to a first output torque in an output torque range corresponding to 0 output torque and the target output torque;

[0025] The vehicle operation is controlled based on the torque request.

[0026] In a possible implementation manner, the resistance torque includes at least one of the following: rolling resistance torque, air resistance torque, slope resistance torque, and acceleration resistance torque.

[0027] In a second aspect, an embodiment of the present application provides a vehicle control device, comprising:

[0028] an acquisition module, configured to acquire current speed information, temperature information, and resistance torque of the vehicle when a motor failure in the vehicle is detected;

[0029] a first determining module, configured to determine, based on the current speed information and the temperature information, a target tolerable duration of the motor in a mapping table corresponding to an ASC state, the mapping table recording tolerable durations corresponding to at least one speed and at least one temperature;

[0030] a second determining module, configured to determine a target output torque of the vehicle based on the target tolerable time, the current speed information, the target speed information corresponding to the FW state, the resistance torque, and the vehicle mass;

[0031] A control module is configured to control the vehicle to operate with a torque request not higher than the target output torque.

[0032] In a possible implementation manner, the second determining module is specifically configured to:

[0033] determining minimum deceleration information of the vehicle according to the target tolerable time, the current speed information, and the target speed information;

[0034] The target output torque is determined based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass. The driving wheel speed information is determined based on the current speed information or collected based on the driving wheel speed sensor.

[0035] In a possible implementation manner, the second determination module determines the minimum deceleration information of the vehicle according to the target tolerable time, the current speed information, and the target speed information, specifically for:

[0036] determining a first difference between the current speed information and the target speed information;

[0037] A first ratio of the first difference to the target tolerable time is determined as minimum deceleration information of the vehicle.

[0038] In a possible implementation manner, the second determination module determines the target output torque based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass, specifically for:

[0039] determining a first product value of the driving wheel speed information and the vehicle mass;

[0040] determining a second product value of the first product value and the minimum deceleration information;

[0041] A second difference between the resistance torque and the second product value is determined as the target output torque.

[0042] In a possible implementation, the acquisition module is further configured to:

[0043] Control the vehicle to enter the ASC state.

[0044] In a possible implementation, the control module is specifically configured to:

[0045] determining the torque request according to a first output torque in an output torque range corresponding to 0 output torque and the target output torque;

[0046] The vehicle operation is controlled based on the torque request.

[0047] In a possible implementation manner, the resistance torque includes at least one of the following: rolling resistance torque, air resistance torque, slope resistance torque, and acceleration resistance torque.

[0048] In a third aspect, an embodiment of the present application provides a vehicle, comprising: a memory, a processor;

[0049] The memory stores computer-executable instructions;

[0050] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0051] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementation methods of the first aspect.

[0052] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0053] The embodiments of the present application provide a vehicle control method, device, vehicle and storage medium. The method obtains the vehicle's current speed information, temperature information, and resistance torque when a motor fault is detected in the vehicle; determines the target tolerable duration of the motor in a mapping table corresponding to an active short-circuit ASC state based on the current speed information and temperature information, wherein the mapping table records the tolerable duration corresponding to at least one speed and at least one temperature; determines the target output torque of the vehicle based on the target tolerable duration, the current speed information, the target speed information corresponding to the magnetic field weakening FW state, the resistance torque, and the vehicle's overall mass; and controls the vehicle operation with a torque request that is no higher than the target output torque. In this technical solution, the motor's target withstand time is determined in a mapping table corresponding to the ASC state based on current speed and temperature information. This operation takes into account the motor's actual withstand capacity under different operating conditions and avoids further damage to the motor due to blind operation. The target output torque is then determined by combining the target withstand time, current speed, the target speed corresponding to the field weakening FW state, the drag torque, and the vehicle mass. This comprehensive consideration of multiple factors affecting vehicle operation makes the determination of the target output torque more scientific and reasonable. Controlling vehicle operation with a torque request no higher than the target output torque ensures continued driving as much as possible in the event of a motor failure, avoiding the embarrassing and safety hazard of a user pressing the accelerator without response, thus improving the vehicle's emergency response capabilities and user experience. Furthermore, properly controlling the torque output ensures safe and stable vehicle operation, preventing excessive torque from causing loss of control or further damage to components such as the motor, thereby ensuring vehicle safety and reliability. Furthermore, this control strategy, based on comprehensive multi-factor analysis, demonstrates meticulous management of the vehicle's system states, enhancing vehicle intelligence and overall performance, and preventing unsafe driving caused by panicked driver operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0055] Figure 1 Schematic diagram of the process of the vehicle control method provided in the embodiment of the present application Figure 1 ;

[0056] Figure 2 Schematic diagram of the process of the vehicle control method provided in the embodiment of the present application Figure 2 ;

[0057] Figure 3 A schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0058] Figure 4A schematic diagram of the structure of a vehicle provided in an embodiment of the present application.

[0059] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0060] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0061] Technical terms:

[0062] Field Weakening (FW): In motor control, a technique for adjusting motor performance by appropriately reducing the strength of the motor's magnetic field. When the motor is running at high speed, the back EMF increases with the speed, potentially exceeding the power supply voltage limit and preventing the motor from accelerating. Field weakening can reduce the back EMF, allowing the motor to operate at higher speeds, thereby expanding the motor's speed range and meeting speed requirements under different operating conditions.

[0063] Active Short-Circuit (ASC): This is a measure taken when a motor fails or requires special protection. When triggered, the motor's three-phase windings are actively shorted together, forming a short-circuit loop. This function aims to quickly dissipate internal energy in the event of a motor failure, preventing excessive back EMF or other abnormalities that could damage the motor and other equipment. It also quickly stops the motor, protecting equipment and personnel. Technical background:

[0065] In the field of vehicle technology, for a vehicle with multiple power sources, if there is a motor failure during operation, the vehicle will immediately cut off all power to avoid vehicle failure. For example, if the current vehicle speed is greater than the target speed limit, the vehicle will immediately lose power until the target speed limit is reached.

[0066] However, if all power is directly cut off during vehicle driving, when the driver steps on the accelerator, the vehicle will not be able to respond to the accelerator operation, which may cause the driver to mistakenly believe that the vehicle has malfunctioned, causing panic and causing a negative impact on vehicle safety through panic operations.

[0067] Based on the above-mentioned technical problems, the inventors have devised the following technical solution: When a motor fails, a reasonable and safe method is needed to maintain vehicle operation while preventing further damage to the motor and ensuring safe driving. First, the vehicle's current speed, temperature, and resistance torque are acquired; these data reflect the vehicle's real-time operating status. Speed ​​and temperature significantly impact the motor's ability to withstand an active short-circuit condition. By querying a corresponding mapping table to determine the target withstand duration, the motor can operate within its tolerance range under fault conditions, preventing complete motor damage caused by excessive use. Next, the target output torque is determined by combining the target withstand duration, the current speed, the target speed corresponding to the field weakening condition, the resistance torque, and the vehicle mass. This comprehensively considers various vehicle operating parameters, ensuring that the target output torque meets the vehicle's basic power requirements for continued operation without placing excessive load on the faulty motor or affecting the vehicle's handling stability due to excessive torque. Finally, the vehicle's operation is controlled with a torque request no higher than the target output torque. This ensures continued vehicle operation and prevents unresponsiveness to user accelerator pedal pressure, while also achieving precise control of the vehicle's power output and ensuring safe and stable operation after a motor failure.

[0068] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0069] Figure 1 Schematic diagram of the process of the vehicle control method provided in the embodiment of the present application Figure 1 ,like Figure 1 As shown, the method includes:

[0070] Step 11: When a motor failure is detected in the vehicle, current speed information, temperature information, and resistance torque of the vehicle are obtained;

[0071] In this step, the vehicle's motor control system, such as the motor controller and microcontroller unit (MCU), monitors the motor's operating parameters in real time, such as current, voltage, speed, and temperature. When one or more of these parameters exceeds the normal range or a specific fault code appears, the motor control system determines that the motor has failed.

[0072] For example, when the motor's operating current continuously exceeds the rated current, or the motor's temperature is too high and exceeds the safety threshold, the motor fault detection mechanism may be triggered.

[0073] Furthermore, 1) the current speed information of the vehicle is obtained: for example, a vehicle is usually equipped with a variety of speed sensors, such as a wheel speed sensor, which measures the rotation speed of the wheel by sensing the rotation of the wheel, and then calculates the vehicle's driving speed based on parameters such as the radius of the wheel; for example, the speed sensor transmits the measured speed signal to the vehicle's electronic control unit, such as the engine control unit, vehicle controller, etc. When a motor failure is detected, the electronic control unit will extract the current speed information from the relevant sensor data.

[0074] 2) Obtaining vehicle temperature information: Multiple temperature sensors are installed in the motor and its related systems to monitor motor winding temperature, motor controller temperature, cooling system temperature, etc. These temperature sensors can be thermocouples, thermistors, etc., and can convert temperature changes into electrical signals.

[0075] 3) Obtaining the vehicle's resistance torque: The vehicle's resistance torque can be estimated based on parameters such as vehicle speed, road conditions, vehicle mass, and air resistance through certain physical models and calculation formulas.

[0076] Optionally, the resistance torque tq1 includes at least one of the following: rolling resistance torque, air resistance torque, slope resistance torque, and acceleration resistance torque.

[0077] 1) Rolling resistance torque: The torque caused by the friction between the tire and the road and the deformation of the tire, which is determined based on the rolling resistance coefficient, vehicle mass, tire radius, and gravity acceleration;

[0078] 2) Air resistance torque: The resistance torque generated by the interaction between the vehicle and the air during driving, determined based on the air resistance coefficient, air density, the vehicle's frontal area, and the vehicle's current speed;

[0079] 3) Slope resistance torque: When a vehicle is driving on a slope, the component of gravity along the slope direction will generate slope resistance torque, which is determined based on the slope resistance, tire radius, and slope angle;

[0080] 4) Acceleration resistance torque: When a vehicle accelerates, it needs to overcome its own inertia force, thereby generating acceleration resistance torque, which is determined based on vehicle acceleration, tire radius, etc.

[0081] Optionally, in step 11, “obtaining the vehicle's current speed information, temperature information, and resistance torque” may include the following implementation:

[0082] Step 1: Control the vehicle to enter the ASC state;

[0083] In this implementation, when a motor fault is detected, which may cause internal short circuit, winding overheating, etc., the vehicle is controlled to enter the ASC state, that is, the active short-circuit state, and the three-phase windings of the motor are short-circuited. This can quickly consume the magnetic field energy inside the motor, avoiding further damage to the motor due to the inability to release energy, such as winding burning.

[0084] That is, step 1 can be performed before step 11.

[0085] Step 2: Get the vehicle's current speed information, temperature information, and resistance torque.

[0086] Step 12: Determine the target endurance duration of the motor in the mapping table corresponding to the ASC state based on the current speed information and temperature information;

[0087] The mapping table records the tolerable duration corresponding to at least one speed and at least one temperature;

[0088] In this step, a map table, i.e., a mapping table, can be obtained through bench testing to determine how long the motor can withstand in the ASC mode.

[0089] In a possible implementation, Table 1 is a mapping table corresponding to the active short circuit ASC state provided in an embodiment of the present application, as shown in Table 1:

[0090] Table 1

[0091]

[0092]

[0093] Table 1 shows the corresponding relationships between some temperatures, vehicle speeds and tolerable durations. In actual implementation, the specific circumstances shall prevail.

[0094] For example, if the current speed information is 80 km / h and the temperature information is 45°C, the target endurable time is T5.

[0095] Step 13: Determine the target output torque of the vehicle based on the target tolerable time, the current speed information, the target speed information corresponding to the FW state, the resistance torque, and the vehicle mass;

[0096] In this step, the current speed information directly reflects the current operating status of the vehicle; the target speed information corresponding to the FW state provides a reference for adjusting the vehicle's speed when the motor fails. When the motor fails, the target speed information can be used as a desired speed target value when changing the vehicle speed by adjusting the output torque; the vehicle's resistance torque is the sum of various torques that hinder its movement during driving, including rolling resistance torque, air resistance torque, slope resistance torque, etc. When determining the maximum output torque (i.e., the vehicle's target output torque), the resistance torque needs to be fully considered; the vehicle's overall mass is an important physical parameter, which is directly related to the vehicle's inertia.

[0097] Furthermore, based on the comprehensive considerations of the above aspects, the maximum output torque of the vehicle that does not cause harm to the vehicle's motor within the target tolerable time can be obtained, that is, the target output torque of the vehicle.

[0098] Step 14: Control the vehicle to operate with a torque request that is not higher than the target output torque.

[0099] In this step, after obtaining the target output torque, the vehicle is controlled to run at a torque not greater than the target output torque, thereby protecting the motor while taking into account the driving safety of the vehicle. At this time, the driver can still feel the control of the vehicle when stepping on the accelerator.

[0100] Optionally, step 14 may include the following implementation:

[0101] Step 1: Determine a torque request based on a first output torque in an output torque range corresponding to 0 output torque to a target output torque;

[0102] In this implementation, when the driver steps on the accelerator, the vehicle's response output torque can be converted based on the depth of the accelerator's depression. When the response output torque is less than the target output torque, the determined torque request is based on the response output torque (here recorded as the first output torque); when the response output torque is not less than the target output torque, the determined torque request is based on the target output torque (here recorded as the first output torque).

[0103] Furthermore, when the driver does not step on the accelerator, the torque request may be determined as 0 output torque (recorded as the first output torque in this case), that is, no request may be made.

[0104] That is, in this implementation, the value of the first output torque corresponding to the torque request is a torque value within the range of 0-target output torque, and the specific implementation is determined based on actual conditions.

[0105] Step 2: Control the vehicle operation according to the torque request.

[0106] The vehicle control method provided in the embodiment of the present application obtains the vehicle's current speed information, temperature information, and resistance torque of the vehicle when a fault is detected in the motor in the vehicle; determines the target tolerable time of the motor in a mapping table corresponding to the active short-circuit ASC state based on the current speed information and temperature information, wherein the mapping table records the tolerable time corresponding to at least one speed and at least one temperature; determines the target output torque of the vehicle based on the target tolerable time, the current speed information, the target speed information corresponding to the magnetic field weakening FW state, the resistance torque, and the vehicle's overall mass; and controls the vehicle operation with a torque request not higher than the target output torque. In this technical solution, the motor's target endurance duration is determined in a mapping table corresponding to the ASC state based on current speed and temperature information. This operation takes into account the motor's actual endurance under different operating conditions and avoids further damage to the motor due to blind operation. Next, the target output torque is determined by combining the target endurance duration, current speed, target speed corresponding to the field weakening FW state, resistance torque, and vehicle mass. This comprehensive consideration of multiple factors affecting vehicle operation makes the determination of the target output torque more scientific and reasonable. Controlling vehicle operation with a torque request no higher than the target output torque, on the one hand, ensures that the vehicle can continue driving as much as possible in the event of a motor failure, avoiding the embarrassment and safety hazards of the user's unresponsive accelerator pedal, and improving the vehicle's emergency response capabilities and user experience. On the other hand, properly controlling the torque output also ensures that the vehicle operates in a safe and stable state, preventing excessive torque from causing loss of control or causing more serious damage to components such as the motor, thereby ensuring the safety and reliability of the vehicle. In addition, this control strategy based on comprehensive multi-factor analysis also reflects the meticulous management of the status of each vehicle system, improving the vehicle's intelligence and overall performance, and avoiding unsafe situations caused by panic operation by the driver.

[0107] Based on the above embodiments, Figure 2 Schematic diagram of the process of the vehicle control method provided in the embodiment of the present application Figure 2 ,like Figure 2 As shown, step 13 may include:

[0108] Step 21: Determine the minimum deceleration information of the vehicle based on the target tolerable time, the current speed information, and the target speed information;

[0109] In this step, in the specific scenario of a vehicle motor failure, the vehicle's minimum deceleration information is determined based on the target tolerable duration, current speed information, and target speed information to provide a reference for the subsequent actual output torque.

[0110] Optionally, step 21 may include the following implementation:

[0111] Step 1: Determine the first difference between the current speed information and the target speed information;

[0112] For example, the current speed information is V1 and the target speed information is V2, then the first difference is V1-V2.

[0113] Step 2: Determine a first ratio of the first difference to the target tolerable time as the minimum deceleration information of the vehicle.

[0114] For example, if the target tolerable time is T5, the minimum deceleration information a is (V1-V2) / T5.

[0115] Step 22: Determine the target output torque based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass.

[0116] The driving wheel speed information is determined based on current speed information or collected based on a driving wheel speed sensor.

[0117] In this step, after determining the minimum deceleration information, the maximum output torque of the vehicle under safety conditions such as the motor, that is, the target output torque, is determined based on the resistance torque, the drive wheel speed information, and the vehicle's total mass.

[0118] Optionally, step 22 may include the following implementation:

[0119] Step 1: Determine a first product value of the driving wheel speed information and the vehicle mass;

[0120] For example, if the driving wheel speed information is r and the vehicle mass is m, the first product value is r*m.

[0121] Step 2: determining a second product value of the first product value and the minimum deceleration information;

[0122] For example, the second product value is r*m*a.

[0123] Step 3: Determine the second difference between the resistance torque and the second product value as the target output torque.

[0124] For example, if the resistance torque is tq1 and the second product value is r*m*a, the target output torque tq is tq1 - r*m*a.

[0125] The vehicle control method provided in an embodiment of the present application determines the vehicle's minimum deceleration information based on a target tolerable duration, current speed information, and target speed information, and then determines the target output torque based on the minimum deceleration information, resistance torque, drive wheel speed information, and the vehicle's overall mass. The drive wheel speed information is determined based on the current speed information or acquired by a drive wheel speed sensor. In this technical solution, the vehicle's minimum deceleration information is first determined based on the target tolerable duration, current speed information, and target speed information. This process fully considers the motor's tolerance under fault conditions and the vehicle's speed variation requirements, avoiding additional damage to the motor or other vehicle components caused by rapid speed variations and providing a reasonable basis for smooth vehicle deceleration. Next, the target output torque is determined based on the minimum deceleration information, resistance torque, drive wheel speed information, and the vehicle's overall mass, comprehensively considering multiple key factors during vehicle operation. Whether determined based on current speed information or acquired by a speed sensor, the drive wheel speed information accurately reflects the vehicle's actual operating state. Combined with other parameters, it enables more accurate and scientific determination of the target output torque. This target output torque not only meets the vehicle's basic power requirements in fault conditions, maintaining normal operation, but also prevents excessive torque from exacerbating motor failures or causing loss of vehicle control, ensuring safe and stable operation. Furthermore, this solution improves the vehicle's adaptability and reliability in fault conditions, enhancing user trust in the vehicle system and providing strong support for enhanced vehicle intelligence and safety.

[0126] Based on the above method embodiment, Figure 3 A schematic diagram of the structure of the vehicle control device provided in an embodiment of the present application is shown in FIG. Figure 3 Shown, including:

[0127] An acquisition module 31 is used to acquire the current speed information, temperature information, and resistance torque of the vehicle when a motor failure is detected in the vehicle;

[0128] A first determining module 32 is configured to determine a target tolerable duration of the motor from a mapping table corresponding to the ASC state based on the current speed information and the temperature information, wherein the mapping table records the tolerable duration corresponding to at least one speed and at least one temperature;

[0129] A second determination module 33 is configured to determine a target output torque of the vehicle based on the target tolerable time, the current speed information, the target speed information corresponding to the FW state, the resistance torque, and the vehicle mass;

[0130] The control module 34 is configured to control the vehicle to operate with a torque request not higher than the target output torque.

[0131] In a possible implementation, the second determining module 33 is specifically configured to:

[0132] Determine the minimum deceleration information of the vehicle based on the target tolerable time, current speed information, and target speed information;

[0133] The target output torque is determined based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass. The driving wheel speed information is determined based on the current speed information or collected based on the driving wheel speed sensor.

[0134] In one possible implementation, the second determining module 33 determines the minimum deceleration information of the vehicle based on the target tolerable duration, the current speed information, and the target speed information, specifically for:

[0135] determining a first difference between the current speed information and the target speed information;

[0136] A first ratio of the first difference to the target tolerable time is determined as minimum deceleration information of the vehicle.

[0137] In one possible implementation, the second determination module 33 determines the target output torque based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass, specifically for:

[0138] determining a first product value of the driving wheel speed information and the vehicle mass;

[0139] determining a second product value of the first product value and the minimum deceleration information;

[0140] A second difference between the resistance torque and the second product value is determined as the target output torque.

[0141] In a possible implementation, the acquisition module 31 is further configured to:

[0142] Control the vehicle to enter the ASC state.

[0143] In a possible implementation, the control module 34 is specifically configured to:

[0144] determining the torque request according to a first output torque in an output torque range corresponding to 0 output torque and the target output torque;

[0145] Control vehicle movement based on torque request.

[0146] In a possible implementation manner, the resistance torque includes at least one of the following: rolling resistance torque, air resistance torque, slope resistance torque, and acceleration resistance torque.

[0147] The vehicle control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0148] Figure 4 This is a schematic diagram of the structure of the vehicle provided in the embodiment of the present application. Figure 4 As shown, the vehicle provided in this embodiment includes:

[0149] At least one processor 41 and a memory 42. Optionally, the vehicle further includes a communication component 43. The processor 41, the memory 42 and the communication component 43 are connected via a bus 44.

[0150] During the specific implementation process, at least one processor 41 executes the computer-executable instructions stored in the memory 42, so that the at least one processor 41 performs the above method.

[0151] The specific implementation process of the processor 41 can be found in the above-mentioned method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0152] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0153] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0154] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0155] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0156] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0157] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory 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 memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0158] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0159] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0160] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0161] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0162] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0163] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0164] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A vehicle control method, characterized in that: include: When a motor failure in a vehicle is detected, obtaining current speed information, temperature information, and resistance torque of the vehicle; Determining, based on the current speed information and the temperature information, a target tolerable duration of the motor in a mapping table corresponding to an active short circuit (ASC) state, the mapping table recording tolerable durations corresponding to at least one speed and at least one temperature; determining a target output torque of the vehicle based on the target tolerable duration, the current speed information, target speed information corresponding to the field weakening FW state, the resistance torque, and the vehicle mass; The vehicle is controlled to operate with a torque request not higher than the target output torque.

2. The method according to claim 1, characterized in that The determining the target output torque of the vehicle according to the target tolerable time, the current speed information, the target speed information corresponding to the FW state, the resistance torque, and the vehicle mass includes: determining minimum deceleration information of the vehicle according to the target tolerable time, the current speed information, and the target speed information; The target output torque is determined based on the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass. The driving wheel speed information is determined based on the current speed information or collected based on the driving wheel speed sensor.

3. The method according to claim 2, characterized in that The determining, based on the target tolerable duration, the current speed information, and the target speed information, of the minimum deceleration information of the vehicle includes: determining a first difference between the current speed information and the target speed information; A first ratio of the first difference to the target tolerable time is determined as minimum deceleration information of the vehicle.

4. The method according to claim 2, characterized in that The determining the target output torque according to the minimum deceleration information, the resistance torque, the driving wheel speed information, and the vehicle mass includes: determining a first product value of the driving wheel speed information and the vehicle mass; determining a second product value of the first product value and the minimum deceleration information; A second difference between the resistance torque and the second product value is determined as the target output torque.

5. The method according to any one of claims 1 to 4, characterized in that Before obtaining the current speed information, temperature information, and resistance torque of the vehicle, the method further includes: Control the vehicle to enter the ASC state.

6. The method according to any one of claims 1 to 4, characterized in that The controlling the vehicle operation with a torque request not higher than the target output torque includes: determining the torque request according to a first output torque in an output torque range corresponding to 0 output torque and the target output torque; The vehicle operation is controlled based on the torque request.

7. The method according to any one of claims 1 to 4, characterized in that The resistance torque includes at least one of the following: rolling resistance torque, air resistance torque, slope resistance torque, and acceleration resistance torque.

8. A vehicle control device, characterized in that: include: an acquisition module, configured to acquire current speed information, temperature information, and resistance torque of the vehicle when a motor failure in the vehicle is detected; a first determining module, configured to determine, based on the current speed information and the temperature information, a target tolerable duration of the motor in a mapping table corresponding to an ASC state, the mapping table recording tolerable durations corresponding to at least one speed and at least one temperature; a second determining module, configured to determine a target output torque of the vehicle based on the target tolerable time, the current speed information, the target speed information corresponding to the FW state, the resistance torque, and the vehicle mass; A control module is configured to control the vehicle to operate with a torque request not higher than the target output torque.

9. A vehicle, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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