Short-circuit self-checking method, device and equipment of high-voltage loop and storage medium

Abstract

The invention discloses a short-circuit self-checking method, device and equipment for a high-voltage loop and a storage medium, and the method comprises the steps: controlling a motor controller to execute at least one self-checking operation after a vehicle is in a static state, the vehicle is powered on, and a high-voltage system is in a high-voltage loop conduction stage, and obtaining a corresponding self-checking result, the self-checking operation comprises the step of controlling the motor controller to enter an upper bridge arm active short-circuit state, a lower bridge arm active short-circuit state and a bridge arm full-turn-off state in sequence, and the self-checking result is used for indicating whether a short-circuit fault exists in a power device in the motor controller or not; and determining whether a high-voltage loop of the vehicle high-voltage system has a short-circuit fault or not based on a self-checking result corresponding to the at least one self-checking operation. Before the high-voltage loop is formally conducted, at least one time of short-circuit self-inspection is carried out on each bridge arm power device in advance so as to identify the short-circuit fault, the battery pack can be prevented from being damaged by large current in the high-voltage stage, and the operation safety and stability of a vehicle high-voltage system are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power electronics, and in particular to a short-circuit self-checking method, device and equipment of a high-voltage loop and a storage medium. BACKGROUND

[0002] The high-voltage loop is a core power transmission unit of a new energy vehicle, which mainly consists of a battery, a motor, a motor controller and connecting lines. The motor controller is a key control component of the high-voltage loop, and the power devices (such as IGBT, MOSFET, etc.) integrated therein bear the functions of high-voltage power conversion and transmission, directly affecting the operation stability of the high-voltage loop.

[0003] After the high-voltage system of the vehicle is powered on, if a short-circuit fault occurs in the motor-side high-voltage loop and the power devices in the motor controller cannot be turned off in time, a continuous large current of one or two thousand amperes will be generated instantaneously. When the abnormal current does not reach the preset protection threshold of the battery pack, the battery pack will continue to output power, causing the large current to act on the high-voltage loop for a long time, which not only causes irreversible faults such as damage and thermal runaway of the battery pack, but also may cause the vehicle to break down. At the same time, the repair of such a fault requires replacement of the battery pack and related damaged components, resulting in extremely high repair costs.

[0004] Therefore, how to detect the short-circuit fault of the high-voltage loop, avoid damage to the battery pack caused by the large current, and reduce the safety risk and repair cost is a technical problem that needs to be solved at present. SUMMARY

[0005] In view of the above problems, the present application provides a short-circuit self-checking method, device, equipment and storage medium of a high-voltage loop. Before the vehicle is stationary and the high-voltage is turned on, the motor controller is controlled to perform self-checking in different bridge arm states to amplify the fault characteristics, so as to accurately identify the short-circuit of each bridge arm power device in advance, avoid damage to the battery pack caused by the large current during high-voltage operation, reduce the risk of the vehicle, reduce the repair cost, and significantly improve the safety and stability of the vehicle high-voltage system.

[0006] In a first aspect, a short-circuit self-checking method of a high-voltage loop is provided, comprising: controlling the motor controller to perform at least one self-checking operation and obtaining the corresponding self-checking result before the vehicle is in a stationary state and the high-voltage system is in a high-voltage loop conduction stage after the vehicle is powered on, the self-checking operation comprising controlling the motor controller to sequentially enter an upper bridge arm active short-circuit state, a lower bridge arm active short-circuit state and a bridge arm full-off state, and the self-checking result being used to indicate whether there is a short-circuit fault in the power devices in the motor controller; determining whether there is a short-circuit fault in the high-voltage loop based on the self-checking result corresponding to at least one self-checking operation.

[0007] In some embodiments, before the high-voltage system is in the high-voltage loop conduction stage, the motor controller is controlled to perform at least one self-checking operation and obtain a corresponding self-checking result, including: When the vehicle is in a stationary state and the vehicle is powered on, and the high-voltage system is in a first target stage, the motor controller is controlled to perform a self-checking operation and obtain a first self-checking result, wherein the first target stage is a low-voltage power-on stage in which the bus voltage of the vehicle high-voltage system is less than or equal to a first target voltage, and the first self-checking result is used to indicate whether a short circuit fault exists in the power device in the motor controller in the first target stage; If the first self-checking result indicates that the power device is not short-circuited in the first target stage, when the vehicle is in a stationary state and the vehicle is powered on, and the high-voltage system is in a second target stage, the motor controller is controlled to perform the self-checking operation again and obtain a second self-checking result, wherein the second target stage is a pre-charging stage in which the bus voltage is greater than the first target voltage and less than or equal to a second target voltage, and the second self-checking result is used to indicate whether a short circuit fault exists in the power device in the motor controller in the second target stage.

[0008] In some embodiments, the first self-checking result is obtained by: During the upper bridge arm active short-circuit state and the lower bridge arm active short-circuit state of the motor controller, a first short-circuit result is obtained, which is determined by a driving chip in the power device based on a driving voltage, and the first short-circuit result is used to indicate whether a short circuit fault exists between the gate and the emitter of the power device; The first self-checking result is determined based on the first short-circuit result.

[0009] In some embodiments, the first short-circuit result is obtained by: In the upper bridge arm active short-circuit state, if the driving chip in the power device located in the upper bridge arm determines that the driving voltage of the power device is less than or equal to a preset first fault voltage threshold, the first short-circuit result is obtained that a short circuit fault exists between the gate and the emitter of the power device located in the upper bridge arm; In the lower bridge arm active short-circuit state, if the driving chip in the power device located in the lower bridge arm determines that the driving voltage of the power device is less than or equal to the first fault voltage threshold, the first short-circuit result is obtained that a short circuit fault exists between the gate and the emitter of the power device located in the lower bridge arm; wherein, when the motor controller is in the upper bridge arm active short-circuit state, the power device in the upper bridge arm is turned on and the power device in the lower bridge arm is turned off; and when the motor controller is in the lower bridge arm active short-circuit state, the power device in the upper bridge arm is turned off and the power device in the lower bridge arm is turned on.

[0010] In some embodiments, the obtaining the second self-checking result comprises: During the motor controller is in the upper bridge arm active short-circuit state and the lower bridge arm active short-circuit state, obtaining the bus voltage, and determining a second short-circuit result based on the bus voltage, the second short-circuit result is used to indicate whether there is a short-circuit fault between the collector and the emitter of the power device; determining the second self-checking result based on the second short-circuit result.

[0011] In some embodiments, the determining the second short-circuit result based on the bus voltage comprises: In the upper bridge arm active short-circuit state, if the bus voltage is less than or equal to a preset second fault voltage threshold and the duration is greater than a preset time length, determining that the second short-circuit result is that there is a short-circuit fault between the collector and the emitter of the power device in the lower bridge arm; In the lower bridge arm active short-circuit state, if the bus voltage is less than or equal to the second fault voltage threshold and the duration is greater than a preset time length, determining that the second short-circuit result is that there is a short-circuit fault between the collector and the emitter of the power device in the upper bridge arm; wherein, when the motor controller is in the upper bridge arm active short-circuit state, the power device in the upper bridge arm is turned on and the power device in the lower bridge arm is turned off; and when the motor controller is in the lower bridge arm active short-circuit state, the power device in the upper bridge arm is turned off and the power device in the lower bridge arm is turned on.

[0012] In some embodiments, before the method of controlling the motor controller to perform a self-checking operation and obtaining a first self-checking result, the method further comprises: after the vehicle is powered on, obtaining a first high-voltage loop parameter, the first high-voltage loop parameter comprising the on-off state of the pre-charge relay, the on-off state of the main positive relay, and the bus voltage; determining whether the vehicle high-voltage system is in the first target stage based on the first high-voltage loop parameter.

[0013] In some embodiments, the determining whether the vehicle high-voltage system is in the first target stage based on the first high-voltage loop parameter comprises: If the pre-charge relay is in an open state, the main positive relay is in an open state, and the bus voltage is less than or equal to the first target voltage, it is determined that the vehicle high-voltage system is in the first target phase.

[0014] In some embodiments, before controlling the motor controller to perform the self-check operation again and obtaining a second self-check result, the method further comprises: After the vehicle is powered on, a second high-voltage loop parameter is obtained, the second high-voltage loop parameter comprising an on-off state of a pre-charge relay, an on-off state of a main negative relay, an on-off state of a main positive relay, and a bus voltage of a vehicle high-voltage system; Based on the second high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in the second target phase.

[0015] In some embodiments, the determination of whether the vehicle high-voltage system is in the second target phase based on the second high-voltage loop parameter comprises: If the pre-charge relay is in a closed state, the main negative relay is in a closed state, the main positive relay is in an open state, and the bus voltage is greater than the first target voltage and less than or equal to a second target voltage, it is determined that the vehicle high-voltage system is in the second target phase, wherein the second target voltage is a desaturation voltage threshold of the motor controller pre-labeled when a desaturation protection fault is triggered.

[0016] In some embodiments, the method further comprises: After controlling the motor controller to perform the self-check operation in the first target phase, a first self-check completion flag is switched from a non-trigger state to a trigger state; If the first self-check result indicates that the power device is short-circuited in the first target phase, a first self-check failure flag is switched from a non-trigger state to a trigger state; After controlling the motor controller to perform the self-check operation again in the second target phase, a second self-check completion flag is switched from a non-trigger state to a trigger state; If the second self-check result indicates that the power device is short-circuited in the second target phase, a second self-check failure flag is switched from a non-trigger state to a trigger state.

[0017] In some embodiments, before controlling the motor controller to perform the self-check operation in the first target phase, the method further comprises: After the vehicle is powered on, a first state parameter is obtained, the first state parameter comprising a working state of the motor controller and the first self-check completion flag; If the working state of the motor controller is the standby state, and the first self-check completion flag is in the non-trigger state, it is determined that the motor controller meets the first self-check condition. If the motor controller meets the first self-check condition, the motor controller is controlled to perform the self-check operation in the first target phase.

[0018] In some embodiments, after obtaining the first self-check result, before controlling the motor controller to perform the self-check operation again, the method further includes: After the vehicle is powered on, a second state parameter is obtained, the second state parameter including a working state of the motor controller, the first self-check completion flag, the first self-check failure flag, and the second self-check completion flag. If the working state of the motor controller is the standby state, and the first self-check completion flag is in the trigger state, the first self-check failure flag is in the non-trigger state, and the second self-check completion flag is in the non-trigger state, it is determined that the motor controller meets the second self-check condition. If the motor controller meets the second self-check condition, the motor controller is controlled to perform the self-check operation again in the second target phase.

[0019] In some embodiments, the determination of whether the high-voltage loop has a short-circuit fault based on the self-check result corresponding to at least one self-check operation includes: If the first self-check result indicates that the power device is short-circuited in the first target phase, or the first self-check result indicates that the power device is not short-circuited in the first target phase, and the second self-check result indicates that the power device is short-circuited in the second target phase, it is determined that the high-voltage loop has a short-circuit fault.

[0020] In a second aspect, a short-circuit self-check device for a high-voltage loop is provided, including: A self-check module is configured to control a motor controller to perform at least one self-check operation and obtain a corresponding self-check result before the vehicle is in a stationary state and the high-voltage system of the vehicle is in a high-voltage main loop conduction phase, the self-check operation including controlling the motor controller to sequentially enter an upper bridge arm active short-circuit state, a lower bridge arm active short-circuit state, and a bridge arm full-off state, the self-check result being used to indicate whether a power device in the motor controller is short-circuited. A determination module is configured to determine whether the high-voltage loop has a short-circuit fault based on the self-check result corresponding to at least one self-check operation.

[0021] In a third aspect, an electronic device is provided, comprising a memory and a processor, which are in communication connection with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the short circuit self-checking method according to the first aspect.

[0022] In a fourth aspect, a computer readable storage medium is provided, which stores computer instructions for causing a computer to execute the short circuit self-checking method according to the first aspect.

[0023] The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: By controlling the motor controller to sequentially enter the upper bridge arm active short circuit state, the lower bridge arm active short circuit state and the bridge arm full off state to perform at least one self-checking operation before the vehicle is stationary and the high-voltage system enters the high-voltage loop conduction stage, a specific fault amplification loop is constructed, and by using the voltage characteristic difference in the short circuit state, the short circuit fault characteristics of different bridge arm power devices can be amplified, so that the short circuit fault of each bridge arm power device can be identified in advance before the high-voltage loop is formally conducted, effectively solving the problem that in the prior art, when the high-voltage loop is conducted and operated, a large current caused by the short circuit of the power device cannot be turned off in time, resulting in a large current continuously acting on the battery pack, reducing the risk of damage to the battery pack, reducing the risk of vehicle breakdown and high repair costs, and significantly improving the operation safety and stability of the vehicle high-voltage system.

[0024] The above description is only a summary of the technical solutions of the present application, in order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0025] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are intended to only illustrate preferred embodiments and are not considered limiting of the present application. Moreover, like reference numerals designate similar parts throughout the several views in the drawings. In the drawings: Figure 1 is a circuit structure schematic diagram of a vehicle high-voltage system according to some embodiments of the present application; Figure 2 is a short circuit self-checking method flowchart of a high-voltage loop according to some embodiments of the present application; Figure 3 is a short circuit self-checking method flowchart of a high-voltage loop according to some embodiments of the present application; Figure 4is a flow chart of a short circuit self-checking method of a high voltage loop according to some embodiments of the present application; Figure 5 is a structure block diagram of a short circuit self-checking device of a high voltage loop according to some embodiments of the present application. DETAILED DESCRIPTION

[0026] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings and specific embodiments of the specification. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application. In the case of no conflict, the technical features in the embodiments of the present application and the embodiments can be combined with each other.

[0027] In order to better understand the present application, the vehicle high voltage system involved in the short circuit self-checking method of the present application will be briefly described below: Figure 1 is a circuit structure schematic diagram of a vehicle high voltage system according to some embodiments of the present application, as shown in Figure 1 The vehicle high voltage system includes a power battery 10, a main positive relay K1, a main negative relay K2, a pre-charging relay K3, a pre-charging resistor R, a bus S, a bus capacitor C, a motor controller 20, and a driving motor M, and other core components. The positive electrode of the vehicle power battery 10 is connected to the positive electrode of the bus of the high voltage loop through the main positive relay K1, and the negative electrode of the power battery 10 is connected to the negative electrode of the bus of the high voltage loop through the main negative relay K2. The high voltage input end of the motor controller 20 is connected to the positive and negative electrodes of the bus S, and the bus capacitor C is connected in parallel between the positive and negative electrodes of the bus, for stabilizing the bus voltage and suppressing voltage fluctuation. Thus, a core high voltage loop composed of the power battery 10, the bus S, and the motor controller 20 is formed.

[0028] The pre-charging relay K3 and the pre-charging resistor R are connected in series to form a pre-charging circuit, and the two ends of the pre-charging circuit are connected to the positive electrode of the power battery 10 and the positive electrode side of the bus of the motor controller 20 (i.e. connected in parallel to the two ends of the main positive relay K1). The power module of the motor controller includes a three-phase bridge circuit, each phase bridge circuit is configured with an upper bridge arm and a lower bridge arm, and the three-phase bridge circuit forms six bridge arms corresponding to six power devices; the motor controller controls the on / off state of the power devices in the six bridge arms to invert the direct current voltage on the bus into the three-phase (U, V, W) alternating current required by the driving motor, to realize the speed and torque control of the motor.

[0029] Wherein, each power device of the motor controller 10 corresponds to an independent drive chip; the power device can be selected from an IGBT (Insulated Gate Bipolar Transistor) tube or an MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) tube. The motor controller 10 can determine the state of the power device in the corresponding bridge arm (such as whether there is a short circuit fault) by monitoring the drive voltage (such as the gate-emitter voltage V GE

[0030] The high-voltage power-on process of the vehicle can be divided into a low-voltage power-on stage, a pre-charging stage, and a high-voltage loop conduction stage. In the high-voltage loop conduction stage, the high-voltage loop is in a low-impedance working state directly powered by the power battery 10, the bus voltage S is stabilized at the rated voltage of the power battery, and the motor controller 20 can drive the power device to output an adaptive three-phase alternating current according to the vehicle control instruction, drive the motor M to operate to output mechanical power, and meet the vehicle driving, acceleration, and other working condition requirements. The pre-charging stage and the low-voltage power-on stage are preparation stages before the high-voltage loop is turned on. At this time, the main positive relay K1 is not closed and is in an open state. The high-voltage loop does not form a direct power supply closed loop, and the bus voltage S is in a gradually rising or low-voltage standby state, without the risk of large current output. If a short circuit fault occurs in the high-voltage loop during the high-voltage loop conduction stage, and the power device in the motor controller cannot be turned off in time, a continuous large current of one or two thousand amperes will be generated instantaneously. If the abnormal current does not reach the preset protection threshold of the battery, the battery pack will continue to supply power, resulting in a large current acting on the high-voltage loop for a long time, and further causing irreversible faults such as damage to the internal cells of the battery pack and thermal runaway. It may also cause the vehicle to break down, and the maintenance cost is extremely high.

[0031] To solve the above technical problems, the embodiments of the present application provide a short circuit self-checking method for a high-voltage loop. The method includes performing at least one self-checking operation before the vehicle is stationary and the high-voltage system enters the high-voltage loop conduction stage (i.e., the low-voltage power-on stage, the pre-charging stage, and the like), and based on the self-checking result of the at least one self-checking operation, the power device short circuit fault is accurately identified in advance, the battery pack is prevented from being damaged by a large current during high-voltage operation, and the system safety and reliability are improved.

[0032] Figure 2 A short circuit self-checking method flowchart for a high-voltage loop according to some embodiments of the present application is shown in FIG. Figure 2 The method includes the following steps: Step S210: When the vehicle is stationary and after the vehicle is powered on, before the high-voltage system enters the high-voltage loop conduction stage, the motor controller is controlled to perform at least one self-checking operation, and the corresponding self-checking result is obtained.​

[0033] The self-test operation includes controlling the motor controller to sequentially enter the upper arm active short circuit state, the lower arm active short circuit state, and the arm fully shut-off state. The self-test result is used to indicate whether there is a short circuit fault in the power device inside the motor controller.

[0034] like Figure 1 As shown, the motor controller includes three power devices Q1, Q3, and Q5 located in the upper bridge arm, and three power devices Q2, Q4, and Q6 located in the lower bridge arm. When the motor controller is in the upper bridge arm active short circuit (hereinafter referred to as upper bridge ASC) state, the three power devices Q1, Q3, and Q5 in the upper bridge arm are turned on, and the three power devices Q2, Q4, and Q6 in the lower bridge arm are turned off. When the motor controller is in the lower bridge arm active short circuit (hereinafter referred to as lower bridge ASC) state, the three power devices Q1, Q3, and Q5 in the upper bridge arm are turned off, and the three power devices Q2, Q4, and Q6 in the lower bridge arm are turned on. When the motor controller is in the bridge arm fully off state, the three power devices Q1, Q3, and Q5 in the upper bridge arm, and the three power devices Q2, Q4, and Q6 in the lower bridge arm are all turned off. The power device in the motor controller can be an IGBT. Short circuit faults in the power device can include gate-emitter short circuit (GE short circuit) or collector-emitter short circuit (CE short circuit).

[0035] For example, the self-test operation can control the motor controller to enter the upper bridge ASC state and run for time t1, then control the motor controller to enter the lower bridge ASC state and run for time t2, and finally control the motor controller to enter the bridge arm fully off state. t1 and t2 can be set according to actual needs, such as t1=t2=5ms or t1=t2=10ms, to ensure sufficient coverage time for detecting short-circuit faults in the power devices of each bridge arm, ensuring that fault characteristics such as voltage caused by short circuits can be stably captured, and improving the reliability of the detection results.

[0036] Exemplarily, after the vehicle is powered on, the high-voltage system is in a preparation stage before a high-voltage loop conduction stage, which can specifically include a low-voltage power-on stage and a pre-charging stage of the vehicle high-voltage system. The low-voltage power-on stage is an initial stage of activation of the high-voltage system, and the core supplies power to the vehicle controller (VCU), the battery management system (BMS), the motor controller and other control components through the 12V low-voltage battery, and completes initialization and hardware self-checking of each unit. The pre-charging stage is a key transition stage before the high-voltage loop is turned on, and the bus capacitor is charged gently through the pre-charging loop, and the bus voltage is gradually raised to close to the rated voltage of the power battery, and the voltage difference is eliminated to avoid the generation of impulse current when the main loop is turned on subsequently. The short-circuit self-checking operation of the present application can be performed in any one of the above two stages or both stages, and the core is to complete fault diagnosis before the main positive relay K1 is closed and the high-voltage loop is formally turned on, so as to realize early identification of short-circuit faults of power devices before high voltage. And when the high-voltage loop is normal, the energy consumption of the active short-circuit (ASC) operation of the upper bridge arm and the lower bridge arm is very small, and it will not affect the pre-charging process of the battery and the normal high-voltage process of the vehicle high-voltage system, which not only ensures the timeliness of fault diagnosis, but also ensures the stability of the power-on process.

[0037] Step S220, determining whether the high-voltage loop has a short-circuit fault based on the self-checking result corresponding to the at least one self-checking operation.

[0038] Exemplarily, if the self-checking result corresponding to the at least one self-checking operation indicates that the power device in the motor controller has a short-circuit fault, it can be determined that the high-voltage loop has a short-circuit fault. Conversely, if the self-checking result corresponding to the at least one self-checking operation indicates that the power device in the motor controller does not have a short-circuit fault, it can be determined that the high-voltage loop does not have a short-circuit fault.

[0039] Figure 3 The short-circuit self-checking method flowchart of the high-voltage loop provided according to other embodiments of the present application is as shown in Figure 3 As a further description of the above embodiments, the method comprises: Step S310, when the vehicle is in a stationary state and the high-voltage system is in a first target stage after the vehicle is powered on, controlling the motor controller to perform a self-checking operation and obtaining a first self-checking result.

[0040] Among them, the first target stage is a low-voltage power-on stage in which the bus voltage of the vehicle high-voltage system is less than or equal to a first target voltage, and the first self-checking result is used to indicate whether the power device in the motor controller has a short-circuit fault in the first target stage.

[0041] For example, the first target voltage can be set according to the rated voltage of the low-voltage power supply system of the vehicle, the working voltage threshold of the low-voltage control component of the motor controller, and the initial voltage level of the bus capacitor in the low-voltage power-on stage, for example, 15V, 12V or 10V. The core purpose is to ensure that the first target stage is in a safe scenario of low-voltage without high-voltage intervention - at this time, the bus is not connected to the high-voltage of the power battery, only relying on the 12V low-voltage battery power supply, the bus voltage is in the low-voltage interval, which can avoid the interference of the high-voltage environment on the self-checking process, while ensuring that the self-checking operation is executed in low-energy and low-risk conditions, further improving the safety and reliability of the short circuit self-checking.[dq1] In some embodiments, obtaining the first self-checking result in step S310 can include: During the motor controller is in the upper bridge arm active short circuit state and the lower bridge arm active short circuit state, obtaining a first short circuit result, the first short circuit result is determined by a driving chip in the power device based on a driving voltage, the first short circuit result is used to indicate whether there is a short circuit fault between the gate and the emitter of the power device; based on the first short circuit result, determining the first self-checking result.

[0042] Since the short circuit between the gate G and the emitter E will cause the power device to lose the switching control ability (the power device will be in the off state continuously), it will cause the bridge arm to be unable to conduct in the high-voltage stage, the three-phase current of the motor to be unbalanced, and even indirectly induce an overload short circuit fault. The low-voltage power-on stage only relies on 12V low-voltage power supply without high-voltage intervention, and the detection process is safe and the driving chip can directly monitor the voltage V GE between the gate and the emitter, without a complex high-voltage detection circuit, which can block the fault conduction in advance in a low-cost and fast manner; at the same time, the first short circuit result is obtained in the upper bridge ASC and lower bridge ASC states, which can amplify the fault signal through the conflict between the instruction conduction and the fault shutdown. For example, under normal circumstances, the driving chip will output the driving voltage V GE required for conduction (for example, 15V) in the ASC state, and the power device with a normal GE electrode will respond to the instruction, while the power device with a short-circuited GE electrode will pull the driving voltage to close to 0V (i.e., V GE =0V), and the driving chip can accurately capture the abnormality, avoiding the confusion between the instruction shutdown and the fault shutdown in a single state, and ensuring that the detection covers all bridge arms and improves the accuracy of the detection.

[0043] For example, obtaining the first short circuit result includes: In the upper bridge ASC state, if the driving chip in the power device located in the upper bridge arm determines that the driving voltage of the power device is less than or equal to the preset first fault voltage threshold, the first short circuit result is that there is a short circuit fault between the gate and the emitter of the power device located in the upper bridge arm; otherwise, in the upper bridge ASC state, if the driving chip in the power device located in the upper bridge arm determines that the driving voltage of the power device is greater than the preset first fault voltage threshold, the first short circuit result is that there is no short circuit fault between the gate and the emitter of the power device located in the upper bridge arm.

[0044] In the lower bridge ASC state, if the driving chip in the power device located in the lower bridge arm determines that the driving voltage of the power device is less than or equal to the preset first fault voltage threshold, the first short circuit result is that there is a short circuit fault between the gate and the emitter of the power device located in the lower bridge arm; otherwise, in the lower bridge ASC state, if the driving chip in the power device located in the lower bridge arm determines that the driving voltage of the power device is greater than the preset first fault voltage threshold, the first short circuit result is that there is no short circuit fault between the gate and the emitter of the power device located in the lower bridge arm.

[0045] Since in the upper bridge ASC state, the driving chip of the power device located in the upper bridge arm will output the driving voltage (such as 15V) required for the device to turn on, to drive the power device located in the upper bridge arm to turn on. If the GE pole of the power device located in the upper bridge arm is normal, the driving voltage (i.e. the voltage V GE between the gate and the emitter) of the power device located in the upper bridge arm will be stable in the preset driving voltage interval, i.e. greater than the preset first fault voltage threshold; if the GE pole is short-circuited, the short-circuit path will pull the driving voltage to close to 0V, i.e. less than or equal to the preset first fault voltage threshold, and the driving chip can directly capture the abnormality and quickly determine that the GE pole of the power device located in the upper bridge arm is short-circuited, and in the upper bridge ASC state, the power device located in the lower bridge arm is in the commanded-off state and will not interfere with the fault detection of the upper bridge arm. It should be noted that at this time, if the GE pole of the power device located in the lower bridge arm is short-circuited, because the driving chip of the power device located in the lower bridge arm does not output the driving voltage (only the off command is issued) in the upper bridge ASC state, the "V GE close to 0V" state of the GE pole short-circuit fault of the power device located in the lower bridge arm is consistent with the V GE of the commanded-off state, and the driving chip cannot distinguish between "commanded-off" and "fault-off", so the GE pole short-circuit fault of the power device located in the lower bridge arm cannot be detected in the upper bridge ASC state. At this time, it is necessary to further control the motor controller to enter the lower bridge ASC state, to further detect whether the power device located in the lower bridge arm has a GE pole short-circuit fault.

[0046] After entering the lower bridge ASC state, the driving chip of the power device located in the lower bridge arm outputs the driving voltage (such as 15V) required for the device to turn on, to drive the power device located in the lower bridge arm to turn on. If the GE pole of the power device located in the lower bridge arm is normal, the driving voltage (i.e. the voltage V GE between the gate and the emitter) of the power device located in the lower bridge arm will be stable in the preset driving voltage interval, i.e. greater than the preset first fault voltage threshold; if the GE pole is short-circuited, the short-circuit path will pull the driving voltage to close to 0V, i.e. less than or equal to the preset first fault voltage threshold, and the driving chip can directly capture the abnormality, quickly determine that the GE pole of the power device located in the lower bridge arm is short-circuited, and in the lower bridge ASC state, the power device located in the upper bridge arm is in the commanded off state, which will not interfere with the lower bridge arm fault detection.[dq2] By controlling the motor controller to enter the upper bridge ASC state and the lower bridge ASC state respectively, the GE pole short-circuit faults of the power devices of the upper bridge arm and the lower bridge arm are detected respectively, so that comprehensive detection of the GE pole short-circuit faults of all bridge arm power devices of the motor controller is realized.

[0047] Exemplarily, the first fault voltage threshold is less than the driving voltage required for the power device to turn on, and the first fault voltage threshold can be defined based on the specifications of the driving chip. The first fault voltage thresholds corresponding to the respective power devices can be the same or different, and the present application does not limit this.

[0048] Exemplarily, based on the first short-circuit result, the first self-checking result is determined, including: If the first short-circuit result is that there is a short-circuit fault between the gate and the emitter of the power device located in the upper bridge arm, or, the first short-circuit result is that there is a short-circuit fault between the gate and the emitter of the power device located in the lower bridge arm, it is determined that the first self-checking result is that there is a short-circuit fault in the power device in the motor controller in the first target stage.

[0049] On the contrary, if in the upper bridge ASC state, the first short-circuit result is that there is no short-circuit fault between the gate and the emitter of the power device located in the upper bridge arm, and in the lower bridge ASC state, the first short-circuit result is that there is no short-circuit fault between the gate and the emitter of the power device located in the lower bridge arm, it can be determined that the first self-checking result is that there is no short-circuit fault in the power device in the motor controller in the first target stage.

[0050] The motor controller can determine the first self-checking result by obtaining the first short-circuit result of the driving chip corresponding to each power device, without complex algorithms or additional sensors, and the detection response speed is fast (millisecond level), which can adapt to the fast self-checking demand in the low-voltage power-on stage. At the same time, since each power device is configured with an independent driving chip, and each driving chip monitors and outputs the first short-circuit result (i.e. the fault signal is one-to-one corresponding to the specific power device) of the driving voltage of the corresponding power device, the motor controller can directly locate the specific power device (such as Q1, Q3, etc. upper bridge arm device or Q2, Q4, etc. lower bridge arm device) that causes the GE pole short-circuit fault by identifying the driving chip number outputting the fault signal, without additional fault positioning process; this not only facilitates subsequent targeted maintenance and replacement of faulty devices by the staff, avoids comprehensive investigation at the vehicle level, greatly shortens the fault handling time, but also reduces maintenance cost and vehicle downtime period, further improves the practicality, accuracy and operation convenience of the short-circuit fault self-checking.

[0051] In some embodiments, before step S310 is performed, the method can further include: After the vehicle is powered on, a first high-voltage loop parameter is obtained, the first high-voltage loop parameter including a pre-charging relay on-off state, a main positive relay on-off state, and a bus voltage; based on the first high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in a first target stage.

[0052] By jointly determining multiple parameters, abnormal scenarios can be excluded, ensuring that the self-checking is performed in a low-voltage safe environment, avoiding detection distortion in a non-first target stage (low-voltage power-on stage), and without additional hardware, adapting to the fast and low-cost determination demand, and providing accurate preconditions for subsequent self-checking.

[0053] For example, based on the first high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in the first target stage, including: If the pre-charging relay is in an open state, the main positive relay is in an open state, and the bus voltage is less than or equal to a first target voltage, it is determined that the vehicle high-voltage system is in the first target stage.

[0054] Since in the power-on logic of the high-voltage system of the new energy vehicle, the core feature of the pre-charging stage is that the main negative relay is closed and the pre-charging relay is closed, the bus capacitor is charged through the pre-charging loop, and the bus voltage is gradually raised; the feature of the high-voltage loop conduction stage after the pre-charging is completed is that the main negative relay is closed and the main positive relay is closed, and the power battery directly supplies power to the high-voltage loop; and only when the pre-charging relay and the main positive relay are both in the open state, whether the main negative relay is closed or not, the high-voltage system is not connected to the power battery high-voltage, and the bus is only powered by the 12V low-voltage battery, which belongs to the low-voltage scene (no high-voltage current risk). Therefore, the first target stage (low-voltage power-on stage) does not need to limit the on-off state of the main negative relay, which can be flexibly set to closed or open according to the vehicle control strategy, and the application does not make a mandatory limitation; only through the state that the pre-charging relay and the main positive relay are both open, combined with the condition that the bus voltage is less than or equal to the first target voltage, the safe scene of low-voltage without high-voltage intervention can be accurately locked, and it is ensured that the subsequent self-checking operation will not cause detection distortion or safety risk due to high-voltage intervention.

[0055] For example, the first target voltage can be determined based on the power supply source (such as a 12V low-voltage battery) of the low-voltage power-on stage, the working voltage range of the motor controller low-voltage control component, and the initial voltage level of the bus capacitor in the low-voltage scene, for example, 12V, and the application does not make a limitation.

[0056] Step S320, if the first self-checking result indicates that the power device is not short-circuited in the first target stage, when the vehicle is in a stationary state and the high-voltage system is in the second target stage after the vehicle is powered on, the motor controller is controlled to perform a self-checking operation again, and a second self-checking result is obtained.

[0057] The second target stage is a pre-charging stage in which the bus voltage is greater than the first target voltage and less than or equal to a second target voltage, and the second self-checking result is used to indicate whether the power device in the motor controller has a short-circuit fault in the second target stage.

[0058] For example, the second target voltage can be a desaturation voltage threshold of the motor controller when triggering a desaturation protection fault, which is calibrated in a bench calibration test.

[0059] In some embodiments, before step S320 is performed, the method can further include: Obtaining a desaturation voltage threshold of the motor controller when triggering a desaturation protection fault, which is calibrated in a bench calibration test of the motor controller.

[0060] The bench calibration experiment includes: building a bench test system composed of a high-voltage power supply, a pre-charge resistor and a motor controller; controlling the high-voltage power supply to output a target voltage, the target voltage being gradually increased from an initial voltage by a set step; at each target voltage, after the motor controller completes the pre-charge process, the power device of any lower bridge arm in the motor controller is short-circuited by fault injection, and the motor controller is controlled to enter an upper bridge arm active short-circuit state to perform a short-circuit test; and recording the desaturation voltage threshold of the motor controller when the desaturation protection fault is triggered during the short-circuit test.

[0061] By performing the self-checking operation in the pre-charge stage where the bus voltage is greater than the first target voltage and less than or equal to the second target voltage, short-circuit faults (such as CE short-circuit of the power device) not covered in the low-voltage stage can be investigated in the safe voltage interval; since the self-checking is performed at a safe voltage lower than the pre-labeled desaturation voltage threshold, even if the power device is actually short-circuited, the battery and the electric drive system will not be damaged, ensuring the safety of the self-checking process.

[0062] For example, in the above bench calibration experiment, the target voltage can be gradually increased from an initial voltage of, for example, 10V by a set step of 5V.

[0063] In some embodiments, the second self-checking result obtained in step S320 includes: During the period when the motor controller is in the upper bridge arm active short-circuit state and the lower bridge arm active short-circuit state, the bus voltage is obtained, and a second short-circuit result is determined based on the bus voltage, the second short-circuit result being used to indicate whether there is a short-circuit fault between the collector and the emitter of the power device; and the second self-checking result is determined based on the second short-circuit result.

[0064] Since the short-circuit between the collector C and the emitter E (CE short-circuit) is a fatal fault in a high-voltage scenario, its fault characteristics can only be shown under certain high-voltage conditions - the bus voltage is extremely low in the low-voltage stage, and there is no obvious voltage anomaly when CE short-circuit occurs, which cannot be effectively detected; while in the pre-charge stage, the bus has established a certain high voltage (greater than the first target voltage), at this time, the CE short-circuit will cause the bus voltage to have obvious abnormal characteristics, which has detection feasibility. Therefore, by detecting the CE short-circuit in the pre-charge stage, the fault type that cannot be investigated in the low-voltage stage can be accurately covered, and the fault is avoided from being left to the high-voltage loop conduction stage. At the same time, the second short-circuit result is obtained during the period when the motor controller is in the upper bridge ASC state and the lower bridge ASC state, the corresponding bridge arm can be turned on for targeted conduction, and the bus voltage anomaly signal of the CE short-circuit is amplified. If there is a CE short-circuit, the bus voltage will quickly drop to an abnormal interval, and based on this feature, the fault can be accurately determined, ensuring that there is no omission of the CE short-circuit fault, and the self-checking is performed in the safe voltage interval, ensuring the safety of the detection.

[0065] Exemplarily, the second short-circuit result is determined based on the bus voltage, including: In the upper bridge ASC state, if the bus voltage is less than or equal to a preset second fault voltage threshold and the duration is greater than a preset time length, it is determined that a short-circuit fault exists between the collector and the emitter of the power device in the lower bridge arm; otherwise, in the upper bridge ASC state, if the bus voltage is greater than the preset second fault voltage threshold, it is determined that no short-circuit fault exists between the collector and the emitter of the power device in the lower bridge arm.

[0066] In the lower bridge ASC state, if the bus voltage is less than or equal to a preset second fault voltage threshold and the duration is greater than a preset time length, it is determined that a short-circuit fault exists between the collector and the emitter of the power device in the upper bridge arm; otherwise, in the lower bridge ASC state, if the bus voltage is greater than the preset second fault voltage threshold, it is determined that no short-circuit fault exists between the collector and the emitter of the power device in the upper bridge arm.

[0067] Exemplarily, the second fault voltage threshold can be set based on the bus voltage range in the pre-charging stage, the voltage characteristics in the short-circuit fault and the detection accuracy requirement, for example, 0V-5V (preferably 0V, to accurately capture the voltage drop characteristics caused by short-circuit); the preset time length can be set according to the actual system response speed, for example, 1ms-5ms (such as 3ms), to ensure that the fault characteristics are stably captured and the reliability of the detection result is ensured.

[0068] Since in the upper bridge ASC state, the upper bridge arm power device is controlled to be turned on and the lower bridge arm power device is in the instruction-off state, at this time, the bus in the pre-charging stage has established a stable high voltage (greater than the first target voltage): if the lower bridge arm power device CE is normal, the lower bridge arm off makes the loop unable to form a low-impedance path, and the bus voltage will be maintained at the current pre-charging voltage level (greater than the second fault voltage threshold); if there is a CE short circuit in the lower bridge arm, a low-impedance short circuit loop of “bus positive pole→upper bridge arm on device→short-circuit lower bridge arm device→bus negative pole” will be quickly formed, resulting in a transient drop of the bus voltage to close to 0V (less than or equal to the second fault voltage threshold), and the low voltage state will continue to exist.

[0069] Similarly, in the lower bridge ASC state, the lower bridge arm power device is controlled to be turned on, and the upper bridge arm power device is in the instruction-off state. If the CE electrode of the upper bridge arm power device is normal, the bus voltage remains stable. If the CE electrode of the upper bridge arm power device is short-circuited, a low-impedance short-circuit loop of “bus positive pole→short-circuited upper bridge arm device→lower bridge arm conduction device→bus negative pole” is formed, which also causes the bus voltage to drop sharply to close to 0V. Through the dual-determination logic of the bus voltage and the duration (for example, the bus voltage is lower than 0V for 3ms in the 5ms running period), interference signals can be accurately filtered, and the CE electrode short-circuit fault can be reliably identified.

[0070] Meanwhile, the combined detection of the upper bridge ASC and the lower bridge ASC state can comprehensively cover the CE electrode short-circuit scenarios of all bridge arms, and combined with the GE electrode short-circuit detection result in the low-voltage stage, the GE electrode and the CE electrode short-circuit faults of the power device are comprehensively detected, the risks of device burning and battery overcurrent damage caused by short-circuit in the high-voltage stage are blocked from the source, and the running safety and the power-up process stability of the vehicle high-voltage system are greatly improved.

[0071] For example, based on the second short-circuit result, the second self-check result is determined, including: If the second short-circuit result is that there is a short-circuit fault between the collector and the emitter of the power device in the lower bridge arm, or the second short-circuit result is that there is a short-circuit fault between the collector and the emitter of the power device in the upper bridge arm, it is determined that the second self-check result is that the power device in the motor controller has a short-circuit fault in the second target stage.

[0072] On the contrary, if in the upper bridge ASC state, the second short-circuit result is that there is no short-circuit fault between the collector and the emitter of the power device in the lower bridge arm, and in the lower bridge ASC state, the second short-circuit result is that there is no short-circuit fault between the collector and the emitter of the power device in the upper bridge arm, it can be determined that the second self-check result is that the power device in the motor controller has no short-circuit fault in the second target stage.

[0073] The motor controller can determine whether each power device has a short-circuit fault in the second target stage based on the second short-circuit result determined based on the bus voltage, without additional hardware, and only relying on the existing bus voltage monitoring module, the short-circuit fault detection can be completed in the pre-charging stage, without affecting the power-up efficiency.

[0074] In some embodiments, before step S330 is performed, the method can further include: After the vehicle is powered on, the second high-voltage loop parameters are obtained, the second high-voltage loop parameters include the on-off state of the pre-charging relay, the on-off state of the main negative relay, the on-off state of the main positive relay, and the bus voltage of the vehicle high-voltage system; based on the second high-voltage loop parameters, it is determined whether the vehicle high-voltage system is in the second target stage.

[0075] By using multi-parameter joint judgment, abnormal scenarios can be eliminated, ensuring that the secondary self-check is performed in the pre-charging stage, avoiding detection distortion in non-second target stages (pre-charging stage), and requiring no additional hardware, thus adapting to the needs of fast and low-cost judgment.

[0076] For example, determining whether the vehicle's high-voltage system is in the second target stage based on the parameters of the second high-voltage circuit includes: If the precharge relay is closed, the main negative relay is closed, the main positive relay is open, and the bus voltage is greater than the first target voltage and less than or equal to the second target voltage, the vehicle high-voltage system is determined to be in the second target stage.

[0077] Since the core function of the pre-charge phase is to smoothly charge the bus capacitor through the pre-charge circuit, it necessarily requires the main negative relay to be closed (to build a complete circuit), the pre-charge relay to be closed (to connect the pre-charge resistor and the charging circuit), and the main positive relay to be open (to avoid direct high-voltage surges). Furthermore, the bus voltage will gradually rise from low voltage to near the power battery voltage (the bus voltage is greater than the first target voltage). Therefore, it is necessary to combine the on / off states of the pre-charge relay, the main negative relay, and the main positive relay, as well as the range of the bus voltage, to perform multi-parameter joint judgment in order to accurately determine the actual scenario of the pre-charge phase. This ensures that the secondary self-test is only performed in a pre-charge scenario with a certain high voltage (detectable as a short circuit between the CE terminals) and within a safe voltage threshold (less than or equal to the second target voltage), guaranteeing the accuracy of the test results and the safety of the test process. Step S330: If the first self-test result indicates that the power device is short-circuited in the first target stage, or if the first self-test result indicates that the power device is not short-circuited in the first target stage, and the second self-test result indicates that the power device is short-circuited in the second target stage, it is determined that there is a short-circuit fault in the high-voltage circuit.

[0078] It is understandable that if the first self-test result indicates that the power device does not have a short circuit fault in the first target stage, and the second self-test result indicates that the power device does not have a short circuit fault in the second target stage, then it can be determined that there is no short circuit fault in the high voltage circuit.

[0079] By combining the self-test results from at least two self-test operations, the system determines whether a short circuit fault exists in the high-voltage circuit, further improving the reliability and accuracy of fault detection and effectively reducing the risk of missed or incorrect fault detection.

[0080] In some embodiments, if a short-circuit fault is determined to exist in the high-voltage circuit, the method may further include: A fault command is sent to the vehicle controller, which, based on the fault command, prevents the vehicle from receiving high voltage and stops the battery from precharging.

[0081] By prohibiting high voltage on the vehicle, the large current impact caused by short circuit fault in the high voltage conduction stage can be prevented, and the chain damage such as burnout of power device, overcurrent damage of battery pack, and insulation breakdown of high voltage loop can be avoided. At the same time, the safety risks such as high voltage leakage and thermal runaway are blocked, and the safety of personnel and vehicle is ensured.

[0082] For example, the fault instruction can also include fault related information, such as the fault type of short circuit fault (including CE pole short circuit fault and GE pole short circuit fault), the ID of the power device in the GE fault detection, and the like. This can enable the staff to quickly locate the fault, shorten the maintenance time, reduce the maintenance cost, and improve the operation and maintenance convenience.

[0083] In some embodiments, the method can further include: After controlling the motor controller to perform the self-check operation in the first target stage, switching the first self-check completion flag from the non-trigger state to the trigger state; if the first self-check result indicates that the power device is short-circuited in the first target stage, switching the first self-check failure flag from the non-trigger state to the trigger state; After controlling the motor controller to perform the self-check operation in the second target stage again, switching the second self-check completion flag from the non-trigger state to the trigger state; if the second self-check result indicates that the power device is short-circuited in the second target stage, switching the second self-check failure flag from the non-trigger state to the trigger state.

[0084] By setting the first self-check completion flag and the first self-check failure flag, the self-check execution state and result in the low voltage power-on stage can be recorded, and clear state feedback can be provided to the vehicle controller, such as whether the first self-check operation has been completed, whether the GE pole short circuit detection has been completed, whether there is a GE pole short circuit fault, and the like. This can avoid repeated triggering of self-check or omission of fault determination. At the same time, the state of the flag can be used as a basis for decision making in the subsequent power-on process, such as allowing entering the pre-charging stage for the second self-check operation only when the first self-check operation is completed and there is no self-check failure. This can ensure the orderliness and safety of the power-on process, and facilitate fault tracing and diagnostic analysis.

[0085] By setting the second self-check completion flag and the second self-check failure flag, the self-check execution state and result in the pre-charging stage can be recorded, and clear state feedback can be provided to the vehicle controller, such as whether the second self-check operation has been completed, whether the CE pole short circuit detection has been completed, whether there is a CE pole short circuit fault, and the like. This can avoid repeated triggering of self-check or omission of fault determination. At the same time, the state of the flag can be used as a basis for decision making in the subsequent power-on process, such as continuing the subsequent power-on process to enter the high voltage loop conduction stage and complete the high voltage power-on process only when the second self-check operation is completed and there is no self-check failure. At the same time, the state of the flag can be quickly fed back to the diagnostic system, which can facilitate the staff to intuitively obtain the self-check results of each stage, improve the fault troubleshooting efficiency, and ensure the logical closed loop and traceability of the power-on process.

[0086] For example, the first self-check completion flag is switched from the non-trigger state to the trigger state, which can be set as the first self-check completion flag being changed from 0 to 1; the first self-check failure flag is switched from the non-trigger state to the trigger state, which can be set as the first self-check failure flag being changed from 0 to 1; the second self-check completion flag is switched from the non-trigger state to the trigger state, which can be set as the second self-check completion flag being changed from 0 to 1; and the second self-check failure flag is switched from the non-trigger state to the trigger state, which can be set as the second self-check failure flag being changed from 0 to 1. The binary flag design using 0 to represent the non-trigger state and 1 to represent the trigger state is suitable for the digital signal processing logic of the vehicle-mounted controller, and can quickly realize state reading and judgment.

[0087] In some embodiments, the non-trigger state and the trigger state of each flag can also be represented in other forms, for example: the non-trigger state is set as “FALSE” and the trigger state is set as “TRUE”; or, the non-trigger state is set as “FF” and the trigger state is set as “01” in hexadecimal encoding form, or through different level signals, such as a low level representing the non-trigger state and a high level representing the trigger state, and the like. The present application does not limit this, as long as the two states of the flag can be clearly distinguished and the signal processing logic of the vehicle-mounted controller is suitable.

[0088] In some embodiments, before controlling the motor controller to perform the self-check operation in step S310, the method can further include: After the vehicle is powered on, a first state parameter is obtained, the first state parameter including a working state of the motor controller and a first self-check completion flag; if the working state of the motor controller is a standby state and the first self-check completion flag is in the non-trigger state, it is determined that the motor controller meets a first self-check condition; and if the motor controller meets the first self-check condition, the motor controller is controlled to perform the self-check operation in a first target stage.

[0089] Through the setting of the first self-check condition, it can be ensured that the first self-check is only performed when the motor controller is in standby and has not completed the self-check, thereby avoiding repeated detection or false triggering in a non-standby state, and ensuring the effectiveness of the self-check and the rationality of the process.

[0090] In some embodiments, before controlling the motor controller to perform the self-check operation again in step S320, the method can further include: After the vehicle is powered on, a second state parameter is acquired, the second state parameter including a working state of the motor controller, a first self-check completion flag, a first self-check failure flag, and a second self-check completion flag; if the working state of the motor controller is a standby state, the first self-check completion flag is a trigger state, the first self-check failure flag is a non-trigger state, and the second self-check completion flag is a non-trigger state, it is determined that the motor controller meets a second self-check condition; if the motor controller meets the second self-check condition, the motor controller is controlled to perform a self-check operation again at a second target stage.

[0091] By setting the second self-check condition, it can be ensured that the second self-check is triggered only when the motor controller is in standby, the low-voltage stage self-check has been completed without failure, and the second self-check has not been performed, thereby avoiding false detection when repeated detection or the precondition is not met (such as the low-voltage self-check not being passed), and guaranteeing the effectiveness of the pre-charging stage self-check.

[0092] In some embodiments, before step S310 is performed, the method can further include: Acquiring vehicle running data, the vehicle running data including a vehicle gear and a working state of an electronic parking brake system; if the vehicle gear is a parking gear and the working state of the electronic parking brake system is a pull-up state, it is determined that the vehicle is in a stationary state.

[0093] By using the gear and the electronic parking brake to determine the stationary state of the vehicle, it can be avoided that the self-check is triggered in a non-stationary state such as vehicle sliding or mis-hanging of the gear, the detection environment is guaranteed to be stable, the detection result is prevented from being disturbed by the motion state, and the accuracy and safety of the self-check are improved.

[0094] In order to better understand the present application, the following describes the present application in conjunction with Figure 4 The following briefly describes a specific process of a short-circuit self-check method of a high-voltage loop provided by an embodiment of the present application: Figure 4 The following is a flowchart of a short-circuit self-check method of a high-voltage loop provided by another embodiment of the present application, as shown in FIG. 4, the method includes: Figure 4 Step S401, determining whether a first target stage enabling condition is met; The first target stage enabling condition includes that the vehicle gear is a parking gear, the working state of the electronic parking brake system is a pull-up state, the working state of the motor controller is a standby state (Standby), the pre-charging relay is in a disconnected state, the main positive relay is in a disconnected state, and the first self-check completion flag is 0.

[0095] If the first target stage enabling condition is met, steps S402 and S403 are performed, otherwise, step S402' is performed.

[0096] ​Step S402', setting the first self-check completion flag = 0 and the first self-check failure flag = 0, and then returning to step S401; Step S402, the motor controller enters the upper bridge ASC; Step S403, determining whether the timing is full t1; If the timing is full t1, step S404 is executed, otherwise, step S402 is executed; Step S404, the motor controller enters the lower bridge ASC; Step S405, determining whether the timing is full t2; If the timing is full t1, step S406 is executed, otherwise, step S404 is executed; Step S406, determining whether the first self-check result exists a short circuit fault.

[0097] The method for obtaining the first self-check result can refer to the related description of step S310, which will not be repeated here.

[0098] If the first self-check result indicates that there is no short circuit fault, steps S407 and S408 are further executed; if the first self-check result indicates that there is a short circuit fault, step S407' is further executed.

[0099] Step S407', setting the first self-check completion flag = 1 and the first self-check failure flag = 1, and then executing step S416; Step S407, setting the first self-check completion flag = 1 and the first self-check failure flag = 0; Step S408, determining whether the second target stage enabling condition is met; The second target stage enabling condition includes: the vehicle gear is in the parking gear and the working state of the electronic parking brake system is in the pull-up state, the working state of the motor controller is in the standby state, the pre-charging relay is in the closed state, the main negative relay is in the closed state, the main positive relay is in the open state, the first self-check completion flag is 1, the first self-check failure flag is 0, the second self-check completion flag is 0, and the second self-check failure flag is 0.

[0100] If the second target stage enabling condition is met, steps S409 and S410 are executed, otherwise, step S409' is executed.

[0101] Step S409', setting the second self-check completion flag = 0 and the second self-check failure flag = 0, and then returning to step S408; Step S409, the motor controller enters the upper bridge ASC; Step S410, determining whether the timing is full t1; If the timing is full t1, step S411 is executed, otherwise, step S409 is executed; Step S411, the motor controller enters the lower bridge ASC; Step S412, determine whether the timing is full t2; If the timing is full t1, step S413 is executed, otherwise, step S411 is executed; Step S413, determine whether the second self-check result exists a short circuit fault.

[0102] The acquisition method of the second self-check result can refer to the related description of step S320, which will not be repeated here.

[0103] If the second self-check result indicates that there is no short circuit fault, steps S414 and S415 are further executed; if the first self-check result indicates that there is a short circuit fault, step S414' is further executed.

[0104] Step S414, set the second self-check completion flag =1, and the second self-check failure flag =0, and then execute step S415; Step S415, control the vehicle to normally charge high voltage and normally pre-charge the battery; Step S414', set the second self-check completion flag =1, and the second self-check failure flag =1, and then execute step S416; Step S416, control the vehicle to prohibit charging high voltage and prohibit pre-charging the battery.

[0105] Through the above short circuit self-checking method, the short circuit fault of each bridge arm power device can be identified in advance before the high voltage loop is formally turned on, and at the same time, whether the high voltage loop exists a short circuit fault is determined by comprehensively judging the two self-checking results, which further improves the reliability and accuracy of fault detection, effectively reduces the risk of fault omission and misjudgment, effectively solves the problem that when the high voltage loop is turned on and runs in the prior art, a large current continuously acts on the battery pack due to the short circuit and the power device cannot be turned off in time, reduces the risk of battery pack damage, reduces the risk of vehicle breakdown and high maintenance cost, and significantly improves the operation safety and stability of the vehicle high voltage system.

[0106] Based on the same inventive concept, the embodiment of the present application also provides a short circuit self-checking device of a high voltage loop, which is used to implement the short circuit self-checking method in the above embodiment. Figure 5 The structural block diagram of the short circuit self-checking device of the high voltage loop provided according to some embodiments of the present application is shown in FIG. 5, which comprises: Figure 5 ​The self-checking module 510 is configured to control the motor controller to perform at least one self-checking operation and obtain a corresponding self-checking result before the vehicle is in a stationary state and the high-voltage system of the vehicle is in a high-voltage main loop conduction stage, the self-checking operation comprises controlling the motor controller to sequentially enter an upper bridge arm active short-circuit state, a lower bridge arm active short-circuit state and a bridge arm full-off state, and the self-checking result is used to indicate whether the power device in the motor controller is short-circuited. The determination module 520 is configured to determine whether a short-circuit fault exists in the high-voltage loop based on the self-checking result corresponding to the at least one self-checking operation.

[0107] In some embodiments, the self-checking module 510 comprises: The first self-checking unit is configured to control the motor controller to perform a self-checking operation and obtain a first self-checking result when the vehicle is in a stationary state and the high-voltage system is in a first target stage after the vehicle is powered on, the first target stage is a low-voltage power-on stage in which the bus voltage of the high-voltage system of the vehicle is less than or equal to a first target voltage, and the first self-checking result is used to indicate whether a short-circuit fault exists in the power device in the motor controller in the first target stage. The second self-checking unit is configured to control the motor controller to perform the self-checking operation again and obtain a second self-checking result when the vehicle is in a stationary state and the high-voltage system is in a second target stage after the vehicle is powered on, if the first self-checking result indicates that the power device is not short-circuited in the first target stage, the second target stage is a pre-charging stage in which the bus voltage is greater than the first target voltage and less than or equal to a second target voltage, and the second self-checking result is used to indicate whether a short-circuit fault exists in the power device in the motor controller in the second target stage.

[0108] In some embodiments, the first self-checking unit is configured to: obtain a first short-circuit result during the motor controller is in the upper bridge arm active short-circuit state and the lower bridge arm active short-circuit state, the first short-circuit result is determined by a driving chip in the power device based on a driving voltage, the first short-circuit result is used to indicate whether a short-circuit fault exists between the gate and the emitter of the power device, and determine the first self-checking result based on the first short-circuit result.

[0109] In some embodiments, the first self-checking unit is configured to: in the upper bridge arm active short-circuit state, if the driving chip in the power device located in the upper bridge arm determines that the driving voltage of the power device is less than or equal to a preset first fault voltage threshold, the first short-circuit result is obtained, indicating that a short-circuit fault exists between the gate and the emitter of the power device located in the upper bridge arm. In the active short circuit state of the lower bridge arm, if the driving chip located in the power device of the lower bridge arm determines that the driving voltage of the power device is less than or equal to the first fault voltage threshold, the first short circuit result is obtained that there is a short circuit fault between the gate and the emitter of the power device of the lower bridge arm. In the active short circuit state of the lower bridge arm, if the driving chip located in the power device of the lower bridge arm determines that the driving voltage of the power device is less than or equal to the first fault voltage threshold, the first short circuit result is obtained that there is a short circuit fault between the gate and the emitter of the power device of the lower bridge arm.

[0110] In some embodiments, the second self-checking unit, when obtaining the second self-checking result, is configured to: During the active short circuit state of the upper bridge arm and the active short circuit state of the lower bridge arm, the bus voltage is obtained, and the second short circuit result is determined based on the bus voltage, the second short circuit result being used to indicate whether there is a short circuit fault between the collector and the emitter of the power device; and the second self-checking result is determined based on the second short circuit result.

[0111] In some embodiments, the second self-checking unit, when determining the second short circuit result based on the bus voltage, is configured to: In the active short circuit state of the upper bridge arm, if the bus voltage is less than or equal to the preset second fault voltage threshold and the duration is greater than the preset time length, it is determined that the second short circuit result is that there is a short circuit fault between the collector and the emitter of the power device of the lower bridge arm. In the active short circuit state of the lower bridge arm, if the bus voltage is less than or equal to the second fault voltage threshold and the duration is greater than the preset time length, it is determined that the second short circuit result is that there is a short circuit fault between the collector and the emitter of the power device of the upper bridge arm. In the active short circuit state of the lower bridge arm, if the driving chip located in the power device of the lower bridge arm determines that the driving voltage of the power device is less than or equal to the first fault voltage threshold, the first short circuit result is obtained that there is a short circuit fault between the gate and the emitter of the power device of the lower bridge arm.

[0112] In some embodiments, the apparatus 500 further comprises a first parameter obtaining module, before the motor controller performs the self-checking operation and the first self-checking result is obtained, the first parameter module is configured to: After the vehicle is powered on, the first high-voltage loop parameter is obtained, the first high-voltage loop parameter includes the on-off state of the pre-charging relay, the on-off state of the main positive relay, and the bus voltage; based on the first high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in the first target stage.

[0113] In some embodiments, the first parameter obtaining module, when determining whether the vehicle high-voltage system is in the first target stage based on the first high-voltage loop parameter, is configured to: If the pre-charging relay is in the open state, the main positive relay is in the open state, and the bus voltage is less than or equal to the first target voltage, it is determined that the vehicle high-voltage system is in the first target phase.

[0114] In some embodiments, the apparatus 500 further includes a second parameter acquisition module, before controlling the motor controller to perform the self-check operation again and obtaining the second self-check result, the second parameter acquisition module is configured to: After the vehicle is powered on, a second high-voltage loop parameter is obtained, the second high-voltage loop parameter includes a on-off state of the pre-charging relay, a on-off state of the main negative relay, a on-off state of the main positive relay, and a bus voltage of the vehicle high-voltage system; based on the second high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in the second target phase.

[0115] In some embodiments, when determining whether the vehicle high-voltage system is in the second target phase based on the second high-voltage loop parameter, the second parameter module is configured to: If the pre-charging relay is in the closed state, the main negative relay is in the closed state, the main positive relay is in the open state, the bus voltage is greater than the first target voltage and less than or equal to the second target voltage, it is determined that the vehicle high-voltage system is in the second target phase, wherein the second target voltage is a desaturation voltage threshold of the motor controller pre-labeled when triggering a desaturation protection fault.

[0116] In some embodiments, the apparatus 500 further includes a flag triggering module, configured to: After controlling the motor controller to perform the self-check operation in the first target phase, switch the first self-check completion flag from the non-trigger state to the trigger state; if the first self-check result indicates that the power device is short-circuited in the first target phase, switch the first self-check failure flag from the non-trigger state to the trigger state; after controlling the motor controller to perform the self-check operation again in the second target phase, switch the second self-check completion flag from the non-trigger state to the trigger state; if the second self-check result indicates that the power device is short-circuited in the second target phase, switch the second self-check failure flag from the non-trigger state to the trigger state.

[0117] In some embodiments, the apparatus 500 further includes a third parameter acquisition module, before controlling the motor controller to perform the self-check operation in the first target phase, the third parameter acquisition module is configured to: After the vehicle is powered on, a first state parameter is obtained, the first state parameter includes a working state of the motor controller and the first self-check completion flag; if the working state of the motor controller is in the standby state and the first self-check completion flag is in the non-trigger state, it is determined that the motor controller meets the first self-check condition; if the motor controller meets the first self-check condition, the motor controller is controlled to perform the self-check operation in the first target phase.

[0118] In some embodiments, the apparatus 500 further comprises a fourth parameter obtaining module, after obtaining the first self-checking result, before the motor controller is controlled to perform the self-checking operation again, the fourth parameter obtaining module is configured to: After the vehicle is powered on, a second state parameter is obtained, the second state parameter comprising a working state of the motor controller, a first self-checking completion flag, a first self-checking failure flag, and a second self-checking completion flag; if the working state of the motor controller is a standby state, the first self-checking completion flag is in a triggered state, the first self-checking failure flag is in a non-triggered state, and the second self-checking completion flag is in a non-triggered state, it is determined that the motor controller satisfies a second self-checking condition; if the motor controller satisfies the second self-checking condition, the motor controller is controlled to perform the self-checking operation again at a second target stage.

[0119] In some embodiments, the determining module 520 is configured to: If the first self-checking result indicates that the power device is short-circuited at the first target stage, or, the first self-checking result indicates that the power device is not short-circuited at the first target stage, and the second self-checking result indicates that the power device is short-circuited at the second target stage, it is determined that a short-circuit fault exists in the high-voltage loop.

[0120] The specific details of the short-circuit self-checking method used in the short-circuit self-checking apparatus described above can be understood in correspondence with the related descriptions and effects of the corresponding embodiments of the short-circuit self-checking method described above, which will not be repeated here.

[0121] Based on the same inventive concept as the short-circuit self-checking method described above, the present application also provides an electronic device, which can comprise a processor and a memory, wherein the processor and the memory can be communicatively connected to each other through a bus or other means. The processor can be a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. chips, or combinations of the above-mentioned chips. The memory, as a kind of non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the short-circuit self-checking method in the embodiments of the present application. The processor performs various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, implements the short-circuit self-checking method in the above method embodiments.

[0122] The memory can include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function; and the data storage area can store data created by the processor and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. The one or more modules are stored in the memory and, when executed by the processor, perform the short-circuit self-checking method as Figures 1 to 4 The short-circuit self-checking method in any of the embodiments.

[0123] The above electronic device specific details can be understood by referring to Figures 1 to 4 The above electronic device specific details can be understood by referring to

[0124] Based on the same inventive concept as the short-circuit self-checking method, the present application also provides a computer readable storage medium, the computer readable storage medium has computer program instructions stored thereon, the computer program instructions are used to make a computer execute the short-circuit self-checking method in the above embodiments.

[0125] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it can include the processes of the above-mentioned embodiment methods. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage medium can also include a combination of the above types of memories.

[0126] The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: This invention provides a short-circuit self-test method, apparatus, device, and storage medium for a high-voltage circuit. Before the vehicle is stationary and the high-voltage system enters the high-voltage circuit conduction phase, the motor controller sequentially enters an active short-circuit state of the upper axle arm, an active short-circuit state of the lower axle arm, and a fully off state of the axle arm to perform at least one self-test operation. This constructs a specific fault amplification circuit. Utilizing the voltage characteristic differences under short-circuit conditions, the short-circuit fault characteristics of different axle arm power devices can be amplified specifically. Therefore, short-circuit faults of each axle arm power device can be identified in advance before the high-voltage circuit is formally turned on. This effectively solves the problem in the prior art where a short circuit occurs during high-voltage circuit conduction, and the power devices cannot be turned off in time, resulting in a continuous large current acting on the battery pack. This reduces the risk of battery pack damage, lowers the risk of vehicle breakdown and high repair costs, and significantly improves the operational safety and stability of the vehicle's high-voltage system.

[0127] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0128] Similarly, it should be understood that, in order to simplify this disclosure and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof. However, this method of disclosure should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the invention.

[0129] It should be noted that the above embodiments are illustrative of the invention and not restrictive of the invention, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims.

Claims

1. A method of short circuit self-checking of a high voltage circuit, characterized in that, Comprise: Before the vehicle is in a static state and the vehicle is powered on, and before the high-voltage system is in a high-voltage loop conduction stage, control the motor controller to perform at least one self-checking operation and obtain the corresponding self-checking result, the self-checking operation comprises controlling the motor controller to enter the upper bridge arm active short-circuit state, the lower bridge arm active short-circuit state and the bridge arm full-off state in turn, and the self-checking result is used to indicate whether there is a short-circuit fault in the power device in the motor controller; Determine whether there is a short-circuit fault in the high-voltage loop based on the self-checking result corresponding to at least one self-checking operation.

2. The method of claim 1, wherein, Before the vehicle is in a static state and the vehicle is powered on, and before the high-voltage system is in a high-voltage loop conduction stage, control the motor controller to perform at least one self-checking operation and obtain the corresponding self-checking result, comprising: When the vehicle is in a static state and the vehicle is powered on, and when the high-voltage system is in a first target stage, control the motor controller to perform a self-checking operation and obtain a first self-checking result, wherein the first target stage is a low-voltage power-on stage in which the bus voltage of the vehicle high-voltage system is less than or equal to a first target voltage, and the first self-checking result is used to indicate whether there is a short-circuit fault in the power device in the motor controller in the first target stage; If the first self-checking result indicates that the power device is not short-circuited in the first target stage, when the vehicle is in a static state and the vehicle is powered on, and when the high-voltage system is in a second target stage, control the motor controller to perform the self-checking operation again and obtain a second self-checking result, wherein the second target stage is a pre-charging stage in which the bus voltage is greater than the first target voltage and less than or equal to a second target voltage, and the second self-checking result is used to indicate whether there is a short-circuit fault in the power device in the motor controller in the second target stage.

3. The method of claim 2, wherein, The first self-checking result is obtained, comprising: During the motor controller is in the upper bridge arm active short-circuit state and the lower bridge arm active short-circuit state, obtain a first short-circuit result, the first short-circuit result is determined by a driving chip in the power device based on a driving voltage, and the first short-circuit result is used to indicate whether there is a short-circuit fault between the gate and the emitter of the power device; Determine the first self-checking result based on the first short-circuit result.

4. The method of claim 3, wherein, The first short-circuit result is obtained, comprising: In the upper bridge arm active short-circuit state, if the driving chip in the power device located in the upper bridge arm determines that the driving voltage of the power device is less than or equal to a preset first fault voltage threshold, the first short-circuit result is obtained that there is a short-circuit fault between the gate and the emitter of the power device located in the upper bridge arm; In the lower bridge arm active short-circuit state, if the driving chip in the power device located in the lower bridge arm determines that the driving voltage of the power device is less than or equal to the first fault voltage threshold, the first short-circuit result is obtained that there is a short-circuit fault between the gate and the emitter of the power device located in the lower bridge arm; In the upper bridge arm active short circuit state, the power device in the upper bridge arm is turned on, and the power device in the lower bridge arm is turned off; in the lower bridge arm active short circuit state, the power device in the upper bridge arm is turned off, and the power device in the lower bridge arm is turned on.

5. The method of claim 2, wherein, The method further comprises: During the self-checking operation of the motor controller, the bus voltage is obtained, and a second short circuit result is determined based on the bus voltage, the second short circuit result being used to indicate whether a short circuit fault exists between the collector and the emitter of the power device. The second short circuit result is determined based on the second short circuit result.

6. The method of claim 5, wherein, The method further comprises: In the upper bridge arm active short circuit state, if the bus voltage is less than or equal to a preset second fault voltage threshold and the duration is greater than a preset time length, it is determined that the second short circuit result is that a short circuit fault exists between the collector and the emitter of the power device in the lower bridge arm. In the lower bridge arm active short circuit state, if the bus voltage is less than or equal to the second fault voltage threshold and the duration is greater than a preset time length, it is determined that the second short circuit result is that a short circuit fault exists between the collector and the emitter of the power device in the upper bridge arm. In the upper bridge arm active short circuit state, the power device in the upper bridge arm is turned on, and the power device in the lower bridge arm is turned off; in the lower bridge arm active short circuit state, the power device in the upper bridge arm is turned off, and the power device in the lower bridge arm is turned on.

7. The method of claim 2, wherein, Before the motor controller performs the self-checking operation and the first self-checking result is obtained, the method further comprises: After the vehicle is powered on, a first high-voltage loop parameter is obtained, the first high-voltage loop parameter comprising the on-off state of a pre-charging relay, the on-off state of a main positive relay, and the bus voltage; Based on the first high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in the first target stage.

8. The method of claim 7, wherein, The method further comprises: If the pre-charging relay is in the off state, the main positive relay is in the off state, and the bus voltage is less than or equal to the first target voltage, it is determined that the vehicle high-voltage system is in the first target stage.

9. The method of claim 2, wherein, Before the motor controller performs the self-checking operation again and the second self-checking result is obtained, the method further comprises: After the vehicle is powered on, a second high-voltage loop parameter is obtained, the second high-voltage loop parameter comprising the on-off state of a pre-charging relay, the on-off state of a main negative relay, the on-off state of a main positive relay, and the bus voltage of the vehicle high-voltage system; Based on the second high-voltage loop parameter, it is determined whether the vehicle high-voltage system is in the second target stage.

10. The method of claim 9, wherein, The method further comprises: If the pre-charge relay is in the closed state, the main negative relay is in the closed state, the main positive relay is in the open state, and the bus voltage is greater than the first target voltage and less than or equal to the second target voltage, it is determined that the vehicle high-voltage system is in the second target phase, wherein the second target voltage is a pre-labeled desaturation voltage threshold of the motor controller when a desaturation protection fault is triggered.

11. The method of claim 2, wherein, The method further comprises: After controlling the motor controller to perform the self-checking operation in the first target phase, switching a first self-checking completion flag from a non-triggered state to a triggered state; If the first self-checking result indicates that the power device is short-circuited in the first target phase, switching a first self-checking failure flag from a non-triggered state to a triggered state; After controlling the motor controller to perform the self-checking operation again in the second target phase, switching a second self-checking completion flag from a non-triggered state to a triggered state; If the second self-checking result indicates that the power device is short-circuited in the second target phase, switching a second self-checking failure flag from a non-triggered state to a triggered state.

12. The method of claim 11, wherein, Before controlling the motor controller to perform the self-checking operation in the first target phase, the method further comprises: After the vehicle is powered on, obtaining a first state parameter, the first state parameter comprising a working state of the motor controller and the first self-checking completion flag; If the working state of the motor controller is in a standby state and the first self-checking completion flag is in a non-triggered state, it is determined that the motor controller satisfies a first self-checking condition; If the motor controller satisfies the first self-checking condition, controlling the motor controller to perform the self-checking operation in the first target phase.

13. The method of claim 11, wherein, Before controlling the motor controller to perform the self-checking operation again after obtaining the first self-checking result, the method further comprises: After the vehicle is powered on, obtaining a second state parameter, the second state parameter comprising a working state of the motor controller, the first self-checking completion flag, the first self-checking failure flag, and the second self-checking completion flag; If the working state of the motor controller is in a standby state, the first self-checking completion flag is in a triggered state, the first self-checking failure flag is in a non-triggered state, and the second self-checking completion flag is in a non-triggered state, it is determined that the motor controller satisfies a second self-checking condition; If the motor controller satisfies the second self-checking condition, controlling the motor controller to perform the self-checking operation again in the second target phase.

14. The method of claim 2, wherein, The determination of whether the high-voltage loop has a short-circuit fault based on the self-checking result corresponding to at least one self-checking operation comprises: If the first self-checking result indicates that the power device is short-circuited in the first target phase, or the first self-checking result indicates that the power device is not short-circuited in the first target phase and the second self-checking result indicates that the power device is short-circuited in the second target phase, it is determined that the high-voltage loop has a short-circuit fault.

15. A short-circuit self-checking device for a high-voltage circuit, characterized in that Comprise: The self-checking module is configured to control the motor controller to perform at least one self-checking operation and obtain a corresponding self-checking result when the vehicle is in a stationary state and before the high-voltage system of the vehicle is in a high-voltage main loop conduction stage, the self-checking operation comprising controlling the motor controller to sequentially enter an upper bridge arm active short-circuit state, a lower bridge arm active short-circuit state and a bridge arm full-off state, and the self-checking result being used to indicate whether a power device in the motor controller is short-circuited; The determining module is configured to determine whether a short-circuit fault exists in the high-voltage loop based on the self-checking result corresponding to the at least one self-checking operation.

16. An electronic device, comprising: The method comprises: A memory and a processor are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the short-circuit self-checking method according to any one of claims 1 to 14.

17. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for causing the computer to perform the short-circuit self-checking method according to any one of claims 1 to 14.

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