Vehicle control method and device and readable storage medium

Abstract

The invention discloses a vehicle control method and device and a readable storage medium, and relates to the technical field of vehicles. The control method of the vehicle comprises the steps that when any one of the two current sensors breaks down, a first current signal of the current sensor running normally is obtained; converting the first current signal into a signal in a rotating coordinate system to obtain second current information; based on the second current information, third current information and a fourth current signal are determined, the third current information is a signal in a positive-sequence synchronous rotating coordinate system, and the fourth current information is a signal in a negative-sequence synchronous rotating coordinate system; performing signal decoupling processing on the third current information and the fourth current signal to obtain an output current value of the alternating current motor; and controlling the vehicle to operate normally based on the output current value. The safety and reliability of the vehicle are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control method, apparatus, and readable storage medium. Background Technology

[0002] The motor system is a core component of new energy vehicles, and its performance is directly related to the vehicle's safety. Motor control requires a current signal as a feedback reference, necessitating current sensors to detect the motor's phase currents. Due to symmetry, the sum of the three-phase currents is always zero during normal motor operation. Therefore, only two phase currents need to be detected to calculate the third phase current, which reduces costs to some extent. Many new energy vehicle manufacturers have adopted dual-current-sensor solutions. However, various malfunctions can occur during current sensor operation, causing the motor system to malfunction and posing a risk of loss of control and safety hazards. Therefore, existing vehicle control methods suffer from technical problems such as low safety and reliability. Summary of the Invention

[0003] This application provides a vehicle control method, apparatus, and readable storage medium to address technical problems such as low safety and reliability in the prior art.

[0004] A first aspect of this application provides a vehicle control method. The vehicle includes an AC motor and two current sensors, the two current sensors being used to detect the current of the AC motor. The method includes: When either current sensor fails, acquire the first current signal of the normally operating current sensor. The first current signal is converted into a signal in a rotating coordinate system to obtain the second current information; Based on the second current information, the third current information and the fourth current signal are determined. The third current information is the signal in the positive sequence synchronous rotating coordinate system, and the fourth current information is the signal in the negative sequence synchronous rotating coordinate system. The third current information and the fourth current signal are decoupled to obtain the output current value of the AC motor. The vehicle is controlled to operate normally based on the output current value.

[0005] In some embodiments, the first current signal includes a first phase current, a second phase current, and a third phase current. Converting the first current signal into a signal in a rotating coordinate system to obtain second current information includes: Determine the preset current value corresponding to the AC motor; With the second and third phase currents set to zero and the first phase current set to a preset current value, the first phase current is converted to a rotating coordinate system to obtain the second current information.

[0006] In some embodiments, determining the third current information and the fourth current signal based on the second current information includes: Under the condition that both current sensors are normal, determine the orthogonal axis component of the AC motor output current in the rotating coordinate system; The third current information is determined based on the orthogonal axis component and the second current information; The fourth current information is determined based on the orthogonal axis component and the second current information.

[0007] In some embodiments, the rotating coordinate system includes a direct axis and a quadrature axis, the output current value includes a positive-sequence current value and a negative-sequence current value, and signal decoupling processing is performed on the third current information and the fourth current signal to obtain the output current value of the AC motor. Based on the third current information and the fourth current signal, the first current component, the second current component, the third current component and the fourth current component are determined. The first current component is the positive sequence current component on the direct axis, the second current component is the negative sequence current component on the direct axis, the third current component is the positive sequence current component on the quadrature axis, and the fourth current component is the negative sequence current component on the quadrature axis. The first current component, the second current component, the third current component, and the fourth current component are decoupled in positive sequence to obtain the positive sequence current value. The first, second, third, and fourth current components are decoupled in negative sequence to obtain negative sequence current values.

[0008] In some embodiments, determining a first current component, a second current component, a third current component, and a fourth current component based on third current information and a fourth current signal includes: Obtain the preset first low-pass filter value, second low-pass filter value, third low-pass filter value, and fourth low-pass filter value; Based on the third current information, the third low-pass filter value, and the fourth low-pass filter value, determine the first current component and the second current component; Based on the fourth current information, the first low-pass filter value, and the second low-pass filter value, the third current component and the fourth current component are determined.

[0009] In some embodiments, the third current information includes a first direct-axis current and a first quadrature-axis current. Determining the first current component and the second current component based on the third current information, a third low-pass filter value, and a fourth low-pass filter value includes: The first current component is determined based on the first direct-axis current, the third low-pass filter value, and the fourth low-pass filter value. The second current component is determined based on the first quadrature-axis current, the third low-pass filter value, and the fourth low-pass filter value.

[0010] In some embodiments, the fourth current information includes a second direct-axis current and a second quadrature-axis current. Determining the third current component and the fourth current component based on the fourth current information, a first low-pass filter value, and a second low-pass filter value includes: The third current component is determined based on the second direct-axis current, the first low-pass filter value, and the second low-pass filter value. The fourth current component is determined based on the second quadrature-axis current, the first low-pass filter value, and the second low-pass filter value.

[0011] In this embodiment, the vehicle control method converts the first current signal of the normally operating current sensor into a second current signal when either of the two current sensors fails. Then, based on the second current information, a third current information and a fourth current signal are determined. The third current information and the fourth current signal are decoupled to obtain the output current value of the AC motor, thereby controlling the vehicle to operate normally and improving the vehicle's safety and reliability.

[0012] A second aspect of this application provides a vehicle control device, characterized in that the vehicle includes an AC motor and two current sensors, the two current sensors being used to detect the current of the AC motor, and the device comprising: The acquisition unit is used to acquire the first current signal of the normally operating current sensor when either of the two current sensors fails. The first processing unit is used to convert the first current signal into a signal in a rotating coordinate system to obtain the second current information; The second processing unit is used to determine the third current information and the fourth current signal based on the second current information. The third current information is the signal in the positive sequence synchronous rotating coordinate system, and the fourth current information is the signal in the negative sequence synchronous rotating coordinate system. The third processing unit is used to perform signal decoupling processing on the third current information and the fourth current signal to obtain the output current value of the AC motor. The control unit is used to control the normal operation of the vehicle based on the output current value.

[0013] In this embodiment, when either of the two current sensors malfunctions, the vehicle control device converts the first current signal of the normally operating current sensor into a second current signal. Based on the second current information, it determines the third and fourth current signals, performs signal decoupling processing on the third and fourth current signals, obtains the output current value of the AC motor, and then controls the vehicle to operate normally, thereby improving the vehicle's safety and reliability.

[0014] A third aspect of this application provides another vehicle control device, including a processor and a memory. The memory stores a computer program that, when executed by the processor, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, this vehicle control device possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0015] A fourth aspect of this application provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the vehicle control method as described in any of the above embodiments. Therefore, this readable storage medium possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a vehicle control method provided in an embodiment of this application; Figure 2 This is one of the functional diagrams of the vehicle control method provided in the embodiments of this application; Figure 3 This is a second functional schematic diagram of the vehicle control method provided in the embodiments of this application; Figure 4 This is the third functional schematic diagram of the vehicle control method provided in the embodiments of this application; Figure 5 Functional block diagram of the vehicle control device provided in the embodiments of this application; Figure 6 This is a structural block diagram of a vehicle control device provided in an embodiment of this application. Detailed Implementation

[0018] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0019] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0020] In some embodiments, such as Figure 1 As shown, an embodiment of this application provides a vehicle control method, including: Step S101: When either of the two current sensors fails, acquire the first current signal of the normally operating current sensor. Step S102: Convert the first current signal into a signal in a rotating coordinate system to obtain the second current information; Step S103: Based on the second current information, determine the third current information and the fourth current signal; Step S104: Decouple the third current information and the fourth current signal to obtain the output current value of the AC motor. Step S105: Based on the output current value, control the vehicle to operate normally.

[0021] In this embodiment, a vehicle control method is proposed. The vehicle includes an AC motor and two current sensors for detecting the current of the AC motor.

[0022] For example, an AC motor is used to provide kinetic energy to a vehicle.

[0023] For example, the vehicle may specifically be a new energy electric vehicle.

[0024] For example, the vehicle may specifically be a driverless car.

[0025] For example, the two current sensors are two independent current sensors.

[0026] For example, the AC motor includes three phases, namely phase a, phase b, and phase c, and two current sensors are used to detect the three-phase current of the AC motor.

[0027] For example, under ideal conditions where harmonics are ignored, the three-phase current of an AC motor is as follows: ; Where iabc represents the three-phase current, ia represents the a-phase current, ib represents the b-phase current, ic represents the c-phase current, I represents the current of the AC motor, w represents the current phase, and t represents the time.

[0028] Vector control transforms the current from a three-phase stationary coordinate system to a two-phase synchronous rotating coordinate system through coordinate transformation, converting the current from an AC quantity to a DC quantity, thus achieving decoupled control of torque and flux linkage. First, the IABC is transformed to the two-phase stationary coordinate system; the transformation matrix Tclark is: ; Where m is the conversion coefficient.

[0029] ; Further transformation to a positive-sequence two-phase rotating coordinate system is as follows: ; ; i dq+ When the current sensor is functioning normally, the DQ+ axis component of the current is given. When the current sensor fails and only one current sensor remains, if the correct DQ+ axis component of the current can be reconstructed through a software algorithm, the normal state under fault conditions can be achieved. Based on this, this paper proposes a fault-tolerant control strategy for AC motor current sensors. The following section takes the normal operation of the a-phase current sensor as an example to explain its principle in detail. The relevant analysis methods can be extended to the normal operation of the b-phase or c-phase current sensors.

[0030] When either of the two current sensors fails, the operating current sensor is identified, and the first current signal of the operating current sensor is acquired, wherein the first current signal is the current value detected by the operating current sensor.

[0031] The first current signal is converted into a signal in a rotating coordinate system to obtain the second current information, wherein the second current information is the current information in the rotating coordinate system.

[0032] For example, a rotating coordinate system refers to redefining the position representation of a point by changing the direction of the coordinate axes. In two-dimensional space, the relationship between the new coordinates after rotation and the original coordinates can be represented by a rotation matrix.

[0033] Based on the second current information, the third current information and the fourth current signal are determined respectively. The third current information is the signal in the positive sequence synchronous rotating coordinate system, and the fourth current information is the signal in the negative sequence synchronous rotating coordinate system.

[0034] For example, the positive-sequence synchronous rotating coordinate system is an important mathematical tool used in power systems and motor control for analyzing three-phase alternating current. Its core feature is that it converts alternating current into direct current through synchronous rotation.

[0035] For example, the negative-sequence synchronous rotating coordinate system is an important tool for handling negative-sequence components in power system analysis and motor control. Its core feature is that it converts negative-sequence components into DC components by rotating in the opposite direction, which facilitates separation and suppression.

[0036] By decoupling the third current information and the fourth current signal, the output current value of the AC motor can be determined. The output current value is the real-time current value output by the AC motor.

[0037] Given a fixed output current value, the vehicle is controlled to operate normally based on that output current value.

[0038] It should be noted that in this embodiment, when only one of the two current sensors is working normally, the output current value of the AC motor can be determined based on the first current signal of the normally operating current sensor. This avoids AC motor failure caused by the failure of any current sensor and ensures that the AC motor can still operate normally when only a single current sensor is working normally, thereby improving the safety and reliability of the vehicle.

[0039] In this embodiment, the vehicle control method converts the first current signal of the normally operating current sensor into a second current signal when either of the two current sensors fails. Then, based on the second current information, a third current information and a fourth current signal are determined. The third current information and the fourth current signal are decoupled to obtain the output current value of the AC motor, thereby controlling the vehicle to operate normally and improving the vehicle's safety and reliability.

[0040] In some embodiments, this application provides a vehicle control method, wherein a first current signal includes a first phase current, a second phase current, and a third phase current, and the first current signal is converted into a signal in a rotating coordinate system to obtain second current information, including: Determine the preset current value corresponding to the AC motor; With the second and third phase currents set to zero and the first phase current set to a preset current value, the first phase current is converted to a rotating coordinate system to obtain the second current information.

[0041] In this embodiment, the first current signal includes a first phase current, a second phase current, and a third phase current, wherein the first phase current, the second phase current, and the third phase current are the three-phase currents of the AC motor.

[0042] For example, the first phase current can be specifically the a-phase current.

[0043] For example, the second phase current can be specifically the b-phase current.

[0044] For example, the third phase current can be specifically the c-phase current.

[0045] Determine the preset current value corresponding to the AC motor, where the preset current value is the preset value corresponding to the first phase current.

[0046] Set the second and third phase currents to zero, and then set the first phase current to the preset current value.

[0047] After setting the first phase current, the second phase current, and the third phase current, the first phase current is converted to a rotating coordinate system to obtain the second current information.

[0048] For example, when the phase a current signal is normal, the phase bc current is 0. First, it is transformed to a two-phase rotating coordinate system, as follows: ; Among them, i αβ-a This is the second current information, and Icos(φ) is the preset current value.

[0049] In some embodiments, this application provides a vehicle control method that determines third current information and a fourth current signal based on second current information, including: Under the condition that both current sensors are normal, determine the orthogonal axis component of the AC motor output current in the rotating coordinate system; The third current information is determined based on the orthogonal axis component and the second current information; The fourth current information is determined based on the orthogonal axis component and the second current information.

[0050] In this embodiment, assuming both current sensors are functioning normally, the orthogonal axis component of the AC motor output current in the rotating coordinate system is determined, wherein the orthogonal axis component is the current component in the orthogonal axis.

[0051] For example, the orthogonal axis component may include the current component of the direct axis and the current component of the quadrature axis.

[0052] Based on the orthogonal axis components and the second current information, the third current information is determined, and then based on the orthogonal axis components and the second current information, the fourth current information is determined.

[0053] For example, the second current information is transformed into the positive-sequence synchronous rotating coordinate system DQ+, as follows: ; The second current information is transformed into the negative-sequence synchronous rotating coordinate system DQ-, as follows: ; Among them, i dq+a For the second current information, i dq-a This is the third current information.

[0054] In some embodiments, this application provides a vehicle control method, wherein the rotating coordinate system includes a direct axis and a quadrature axis, the output current value includes a positive sequence current value and a negative sequence current value, and signal decoupling processing is performed on the third current information and the fourth current signal to obtain the output current value of the AC motor, including: Based on the third current information and the fourth current signal, the first current component, the second current component, the third current component and the fourth current component are determined. The first current component is the positive sequence current component on the direct axis, the second current component is the negative sequence current component on the direct axis, the third current component is the positive sequence current component on the quadrature axis, and the fourth current component is the negative sequence current component on the quadrature axis. The first current component, the second current component, the third current component, and the fourth current component are decoupled in positive sequence to obtain the positive sequence current value. The first, second, third, and fourth current components are decoupled in negative sequence to obtain negative sequence current values.

[0055] In this embodiment, the rotating coordinate system includes a direct axis and a quadrature axis, and the output current value includes a positive sequence current value and a negative sequence current value, wherein the positive sequence current value is the positive sequence current output by the AC motor, and the negative sequence current value is the negative sequence current output by the AC motor.

[0056] For example, the direct axis can be the d-axis, and the cross axis can be the q-axis.

[0057] Based on the third current information and the fourth current signal, the first current component, the second current component, the third current component, and the fourth current component are determined. The first current component is the positive sequence current component on the direct axis, the second current component is the negative sequence current component on the direct axis, the third current component is the positive sequence current component on the quadrature axis, and the fourth current component is the negative sequence current component on the quadrature axis.

[0058] For example, the first current component can be specifically i d+ The second current component can be specifically i d- The third current component can be specifically i q+ The fourth current component can be specifically i q- The details are as follows: i d+ =3[i d+a- i d-a * cos(2wt+2φ)-i q-a* sin(2wt+2φ)]; i d- =3[i q+a +i d-a * sin(2wt+2φ)-i q-a * cos(2wt+2φ)]; i q+ =3[i d-a -i d+a * cos(2wt+2φ)+i q+a * sin(2wt+2φ)]; i q- =3[i d+a -i d+a * sin(2wt+2φ)-i q-a * cos(2wt+2φ)]; Among them, i d+a * i d-a * i q-a * i q+a * These represent the low-pass filter values ​​for the corresponding components.

[0059] The first, second, third, and fourth current components are decoupled in positive sequence to obtain the positive sequence current value.

[0060] The first, second, third, and fourth current components are decoupled in negative sequence to obtain negative sequence current values.

[0061] For example, such as Figure 2 As shown, positive-sequence decoupling and negative-sequence decoupling are performed on phase a of the AC motor.

[0062] For example, such as Figure 3 As shown, positive-sequence decoupling and negative-sequence decoupling are performed on phase b of the AC motor.

[0063] For example, such as Figure 4 As shown, positive-sequence decoupling and negative-sequence decoupling are performed on the c-phase of the AC motor.

[0064] In some embodiments, this application provides a vehicle control method that determines a first current component, a second current component, a third current component, and a fourth current component based on third current information and a fourth current signal, including: Obtain the preset first low-pass filter value, second low-pass filter value, third low-pass filter value, and fourth low-pass filter value; Based on the third current information, the third low-pass filter value, and the fourth low-pass filter value, determine the first current component and the second current component; Based on the fourth current information, the first low-pass filter value, and the second low-pass filter value, the third current component and the fourth current component are determined.

[0065] In this embodiment, preset first low-pass filter values, second low-pass filter values, third low-pass filter values, and fourth low-pass filter values ​​are obtained.

[0066] For example, the first low-pass filter value can be specifically i as described above. d+a * .

[0067] For example, the second low-pass filter value can be specifically i as described above. d-a * .

[0068] For example, the third low-pass filter value can be specifically the i mentioned above. q-a * .

[0069] For example, the fourth low-pass filter value can be specifically the i mentioned above. q+a * .

[0070] Based on the third current information, the third low-pass filter value, and the fourth low-pass filter value, the first current component and the second current component are determined.

[0071] Based on the fourth current information, the first low-pass filter value, and the second low-pass filter value, the third current component and the fourth current component are determined.

[0072] In some embodiments, this application provides a vehicle control method, wherein the third current information includes a first direct-axis current and a first quadrature-axis current, and a first current component and a second current component are determined based on the third current information, a third low-pass filter value, and a fourth low-pass filter value, including: The first current component is determined based on the first direct-axis current, the third low-pass filter value, and the fourth low-pass filter value. The second current component is determined based on the first quadrature-axis current, the third low-pass filter value, and the fourth low-pass filter value.

[0073] In this embodiment, a first current component is determined based on a first direct-axis current, a third low-pass filter value, and a fourth low-pass filter value, and a second current component is determined based on a first quadrature-axis current, a third low-pass filter value, and a fourth low-pass filter value.

[0074] In some embodiments, this application provides a vehicle control method, wherein the fourth current information includes a second direct-axis current and a second quadrature-axis current, and a third current component and a fourth current component are determined based on the fourth current information, a first low-pass filter value, and a second low-pass filter value, including: The third current component is determined based on the second direct-axis current, the first low-pass filter value, and the second low-pass filter value. The fourth current component is determined based on the second quadrature-axis current, the first low-pass filter value, and the second low-pass filter value.

[0075] In this embodiment, a third current component is determined based on the second direct-axis current, the first low-pass filter value, and the second low-pass filter value, and then a fourth current component is determined based on the second quadrature-axis current, the first low-pass filter value, and the second low-pass filter value.

[0076] For example, when a car is in motion, according to Figures 2 to 4 The process runs synchronously (if there are only two current sensors, then only two of them need to run). The DQ+ axis current is reconstructed in real time through the sampling value of the single-phase current sensor. If a current sensor fails during the driving process, the feedback of the current loop is directly switched to the DQ+ current reconstructed by the normal current sensor. The whole process is without delay.

[0077] During the vehicle startup phase, because the motor speed is close to zero, the cutoff frequency of the low-pass filter needs to be set very low to accurately estimate the DQ+ shaft current, which introduces a significant delay and can cause the motor to lose control. In this phase, a single-loop speed control mode is used. When the speed reaches the minimum threshold, the current loop is engaged, and then closed-loop control is performed using the single-current sensor current reconstruction method mentioned earlier.

[0078] In summary, the method of this embodiment can prevent the car from stalling when the current sensor fails during normal driving, and can start from zero speed. Moreover, the entire process does not depend on the motor parameters and has good robustness.

[0079] For example, taking a motor with two current sensors installed on phases a and b respectively, the calculation logic for the dq axis current feedback signal during normal vehicle operation is as follows: The current sensor status monitoring module monitors the status of the current sensor in real time and outputs three variables, k1, k2, and k3, based on the current sensor status. When the current sensor is fault-free, k1=1, k2=0, and k3=0, and the motor control system is operating normally. The qd current feedback value is calculated from the sampling signals of the two sensors. When the a-phase current sensor fails, k1=0, k2=0, and k3=1. At this time, the sampling signal of the b-phase current sensor is switched to reconstruct the qd current using the method described above. When the b-phase current sensor fails, k1=0, k2=1, and k3=0. At this time, the sampling signal of the a-phase current sensor is switched to reconstruct the qd current using the method described above.

[0080] In some embodiments, such as Figure 6 As shown, an embodiment of this application provides a vehicle control device 600, including: The acquisition unit 602 is used to acquire the first current signal of the normally operating current sensor when either of the two current sensors fails. The first processing unit 604 is used to convert the first current signal into a signal in a rotating coordinate system to obtain the second current information; The second processing unit 606 is used to determine the third current information and the fourth current signal based on the second current information. The third current information is a signal in the positive sequence synchronous rotating coordinate system, and the fourth current information is a signal in the negative sequence synchronous rotating coordinate system. The third processing unit 608 is used to perform signal decoupling processing on the third current information and the fourth current signal to obtain the output current value of the AC motor. Control unit 610 is used to control the normal operation of the vehicle based on the output current value.

[0081] It should be noted that in this embodiment, when only one of the two current sensors is working normally, the output current value of the AC motor can be determined based on the first current signal of the normally operating current sensor. This avoids AC motor failure caused by the failure of any current sensor and ensures that the AC motor can still operate normally when only a single current sensor is working normally, thereby improving the safety and reliability of the vehicle.

[0082] In this embodiment, the vehicle control device 600, when either of the two current sensors fails, converts the first current signal of the normally operating current sensor into a second current signal, then determines the third current information and the fourth current signal based on the second current information, performs signal decoupling processing on the third current information and the fourth current signal to obtain the output current value of the AC motor, thereby controlling the normal operation of the vehicle and improving the safety and reliability of the vehicle.

[0083] In some embodiments of this application, a vehicle control device 600 and a first processing unit 604 are provided, which are further configured to: Determine the preset current value corresponding to the AC motor; With the second and third phase currents set to zero and the first phase current set to a preset current value, the first phase current is converted to a rotating coordinate system to obtain the second current information.

[0084] In some embodiments of this application, a vehicle control device 600 and a second processing unit 606 are provided, further configured to: Under the condition that both current sensors are normal, determine the orthogonal axis component of the AC motor output current in the rotating coordinate system; The third current information is determined based on the orthogonal axis component and the second current information; The fourth current information is determined based on the orthogonal axis component and the second current information.

[0085] In some embodiments of this application, a vehicle control device 600 and a third processing unit 608 are provided, which are further used for: Based on the third current information and the fourth current signal, the first current component, the second current component, the third current component and the fourth current component are determined. The first current component is the positive sequence current component on the direct axis, the second current component is the negative sequence current component on the direct axis, the third current component is the positive sequence current component on the quadrature axis, and the fourth current component is the negative sequence current component on the quadrature axis. The first current component, the second current component, the third current component, and the fourth current component are decoupled in positive sequence to obtain the positive sequence current value. The first, second, third, and fourth current components are decoupled in negative sequence to obtain negative sequence current values.

[0086] In some embodiments of this application, a vehicle control device 600 and a third processing unit 608 are provided, which are further configured to: acquire preset first low-pass filter values, second low-pass filter values, third low-pass filter values ​​and fourth low-pass filter values; Based on the third current information, the third low-pass filter value, and the fourth low-pass filter value, determine the first current component and the second current component; Based on the fourth current information, the first low-pass filter value, and the second low-pass filter value, the third current component and the fourth current component are determined.

[0087] In some embodiments of this application, a vehicle control device 600 and a third processing unit 608 are provided, which are further configured to: determine a first current component based on a first direct-axis current, a third low-pass filter value, and a fourth low-pass filter value; The second current component is determined based on the first quadrature-axis current, the third low-pass filter value, and the fourth low-pass filter value.

[0088] In some embodiments of this application, a vehicle control device 600 and a third processing unit 608 are provided, which are further configured to: determine a third current component based on a second direct-axis current, a first low-pass filter value, and a second low-pass filter value; The fourth current component is determined based on the second quadrature-axis current, the first low-pass filter value, and the second low-pass filter value.

[0089] In some embodiments, such as Figure 6 As shown, a vehicle control device 700 is proposed. The vehicle control device 700 includes a processor 702 and a memory 704. The memory 704 stores a computer program, which, when executed by the processor 702, implements the steps of the vehicle control method as described in any of the above embodiments. Therefore, the vehicle control device 700 possesses all the beneficial effects of the vehicle control method in any of the above embodiments, which will not be elaborated further here.

[0090] In some embodiments, a readable storage medium is provided having a program stored thereon, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the above embodiments, and thus has all the beneficial technical effects of the vehicle control method described in any of the above embodiments.

[0091] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0092] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-readable program code.

[0093] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0094] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0096] This application also provides a computer program product, which includes computer software instructions that, when executed on a processing device, cause the processing device to execute a process of a vehicle control method.

[0097] A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0098] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0099] In the several embodiments provided in this application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0100] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0101] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0102] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0103] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0104] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0105] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes an AC motor and two current sensors, the two current sensors being used to detect the current of the AC motor, the method comprising: When either of the two current sensors malfunctions, a first current signal of the current sensor operating normally is acquired. The first current signal is converted into a signal in a rotating coordinate system to obtain the second current information; Based on the second current information, a third current information and a fourth current signal are determined. The third current information is a signal in the positive-sequence synchronous rotating coordinate system, and the fourth current information is a signal in the negative-sequence synchronous rotating coordinate system. The third current information and the fourth current signal are decoupled to obtain the output current value of the AC motor. Based on the output current value, the vehicle is controlled to operate normally.

2. The method according to claim 1, characterized in that, The first current signal includes a first phase current, a second phase current, and a third phase current. Converting the first current signal into a signal in a rotating coordinate system to obtain the second current information includes: Determine the preset current value corresponding to the AC motor; With the second phase current and the third phase current set to zero, and the first phase current set to a preset current value, the first phase current is transformed into a rotating coordinate system to obtain the second current information.

3. The method according to claim 1, characterized in that, The step of determining the third current information and the fourth current signal based on the second current information includes: With both current sensors functioning normally, determine the orthogonal axis component of the AC motor output current in the rotating coordinate system. The third current information is determined based on the orthogonal axis component and the second current information; The fourth current information is determined based on the orthogonal axis component and the second current information.

4. The method according to claim 1, characterized in that, The rotating coordinate system includes a direct axis and a quadrature axis, the output current value includes a positive-sequence current value and a negative-sequence current value, and the signal decoupling processing of the third current information and the fourth current signal to obtain the output current value of the AC motor includes: Based on the third current information and the fourth current signal, a first current component, a second current component, a third current component, and a fourth current component are determined. The first current component is the positive sequence current component on the direct axis, the second current component is the negative sequence current component on the direct axis, the third current component is the positive sequence current component on the quadrature axis, and the fourth current component is the negative sequence current component on the quadrature axis. The first current component, the second current component, the third current component, and the fourth current component are subjected to positive-sequence decoupling processing to obtain the positive-sequence current value. The first current component, the second current component, the third current component, and the fourth current component are subjected to negative sequence decoupling processing to obtain the negative sequence current value.

5. The method according to claim 4, characterized in that, The step of determining the first current component, the second current component, the third current component, and the fourth current component based on the third current information and the fourth current signal includes: Obtain the preset first low-pass filter value, second low-pass filter value, third low-pass filter value, and fourth low-pass filter value; The first current component and the second current component are determined based on the third current information, the third low-pass filter value, and the fourth low-pass filter value. The third current component and the fourth current component are determined based on the fourth current information, the first low-pass filter value, and the second low-pass filter value.

6. The method according to claim 5, characterized in that, The third current information includes a first direct-axis current and a first quadrature-axis current. Determining the first current component and the second current component based on the third current information, the third low-pass filter value, and the fourth low-pass filter value includes: The first current component is determined based on the first direct-axis current, the third low-pass filter value, and the fourth low-pass filter value; The second current component is determined based on the first cross-axis current, the third low-pass filter value, and the fourth low-pass filter value.

7. The method according to claim 5, characterized in that, The fourth current information includes a second direct-axis current and a second quadrature-axis current. Determining the third and fourth current components based on the fourth current information, the first low-pass filter value, and the second low-pass filter value includes: The third current component is determined based on the second direct-axis current, the first low-pass filter value, and the second low-pass filter value. The fourth current component is determined based on the second quadrature-axis current, the first low-pass filter value, and the second low-pass filter value.

8. A vehicle control device, characterized in that, The vehicle includes an AC motor and two current sensors, the two current sensors being used to detect the current of the AC motor, and the device comprising: The acquisition unit is used to acquire a first current signal of the current sensor that is operating normally when either of the two current sensors fails. The first processing unit is used to convert the first current signal into a signal in a rotating coordinate system to obtain the second current information; The second processing unit is used to determine a third current information and a fourth current signal based on the second current information, wherein the third current information is a signal in a positive-sequence synchronous rotating coordinate system and the fourth current information is a signal in a negative-sequence synchronous rotating coordinate system. The third processing unit is used to perform signal decoupling processing on the third current information and the fourth current signal to obtain the output current value of the AC motor. The control unit is used to control the normal operation of the vehicle based on the output current value.

9. A vehicle control device, characterized in that, include: processor; A memory, which stores programs or instructions, wherein a processor, when executing the programs or instructions in the memory, implements the steps of the vehicle control method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, A program or instructions are stored on a readable storage medium, which, when executed by a processor, implement the steps of the vehicle control method as described in any one of claims 1 to 7.

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