Electric drive system control method and device, vehicle and storage medium

Abstract

The present disclosure relates to an electric drive system control method and device, a vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises: in response to a first abnormal trigger condition being met, obtaining a motor speed; in response to the motor speed being greater than or equal to a preset speed, controlling the electric drive system to be in a first safe state; and in response to the motor speed being less than the preset speed, controlling the electric drive system to be in a second safe state. Through the above technical means, the problem that torque safety and smoothness cannot be considered in related technologies is solved.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle control technology, and in particular to an electric drive system control method and device, vehicle and storage medium. Background Technology

[0002] The electric drive system is a core component of the powertrain of new energy vehicles, typically including an electric motor and motor controller, responsible for converting electrical energy into mechanical energy to propel the vehicle. As a critical system affecting the overall safety and reliability of the vehicle, if the electric drive system malfunctions or experiences abnormalities and effective measures are not taken in a timely manner, it may lead to unexpected power output, thereby causing safety hazards. Therefore, appropriate safety control mechanisms must be introduced into the electric drive system to ensure that it can promptly enter a controlled and safe state under various abnormal operating conditions, effectively protecting the safety of the vehicle and its occupants. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, this disclosure provides an electric drive system control method and device, a vehicle and a storage medium.

[0004] According to a first aspect of the present disclosure, an electric drive system control method is provided, comprising: acquiring a motor speed in response to satisfying a first abnormal triggering condition; controlling the electric drive system to a first safe state in response to the motor speed being greater than or equal to a preset speed; and controlling the electric drive system to a second safe state in response to the motor speed being less than the preset speed.

[0005] In this embodiment, a safe state is selected based on the motor speed under the first abnormal triggering condition, thereby taking into account both torque safety and smoothness under the first abnormal triggering condition and improving the user experience.

[0006] In some exemplary embodiments, the method further includes: acquiring the motor speed in response to a second abnormal triggering condition being met; controlling the electric drive system to a first safe state in response to the motor speed being greater than or equal to a preset speed; and controlling the electric drive system to a second safe state in response to the motor speed being less than the preset speed.

[0007] In this embodiment, a safe state is selected based on the motor speed under the second abnormal triggering condition, thereby taking into account both torque safety and smoothness under the second abnormal triggering condition and improving the user experience.

[0008] In some exemplary embodiments, the first safety state includes: the electric drive system is in an active short-circuit state; the vehicle speed of the vehicle to which the electric drive system belongs is reduced to below a preset speed; the second safety state includes: the electric drive system is in an idling state; the vehicle speed does not exceed the preset speed.

[0009] This embodiment sets a first safety state and a second safety state by actively short-circuiting and idling states, combined with vehicle speed limits, thereby effectively suppressing unexpected torque output under different abnormal conditions, while avoiding driving shock caused by sudden stops, thus improving driving safety and ride comfort.

[0010] In some exemplary embodiments, an idling state is used to control all switches in the motor controller to be in the off state; the electric drive system includes a motor controller; and an active short-circuit state is used to control all switches in the motor controller that act as upper or lower bridge arms to be in the closed state.

[0011] This embodiment achieves the switching between idling state and active short-circuit state through the switching strategy of the switching transistor.

[0012] In some exemplary embodiments, the method further includes: in response to the motor speed decreasing to below a preset speed in a first safe state, controlling the electric drive system to switch to a second safe state.

[0013] This embodiment is based on the safe state of motor speed switching. At high speed, it uses active short circuit to brake quickly, and at low speed, it switches to idling to reduce mechanical impact, thus balancing braking efficiency and smooth operation.

[0014] In some exemplary embodiments, the method further includes: acquiring safety status information of the electric drive system; the safety status information indicating the safety status of the electric drive system; and controlling the electric drive system to a third safety status in response to the electric drive system not being in a first safety status or a second safety status.

[0015] This embodiment can trigger a third security state if the first or second security state fails to be triggered, thus avoiding risks due to the security state not being effective.

[0016] In some exemplary embodiments, the electric drive system is controlled to enter a third safety state in response to the fulfillment of a third abnormality triggering condition.

[0017] This embodiment can trigger a third safety state under a third abnormal triggering condition, thereby ensuring vehicle safety.

[0018] In some exemplary embodiments, the third safety state includes: the electric drive system being in an active short-circuit state; and the vehicle to which the electric drive system belongs being stopped.

[0019] This embodiment combines an active short-circuit state with a parking action, ensuring vehicle parking while rapidly dissipating motor energy, thus guaranteeing vehicle safety.

[0020] In some exemplary embodiments, the third anomaly triggering condition is an anomaly occurring in the functional monitoring layer and / or resource monitoring layer of the electric drive system, and an anomaly occurring in the software of the electric drive system.

[0021] In this embodiment, if an anomaly occurs in the functional monitoring layer and / or the resource monitoring layer, and if an anomaly occurs in the software of the electric drive system, a third safety state is triggered, thereby ensuring vehicle safety.

[0022] In some exemplary embodiments, the first anomaly triggering condition is an anomaly occurring in the functional monitoring layer and / or resource monitoring layer of the electric drive system.

[0023] This embodiment detects anomalies occurring in the functional monitoring layer and / or resource monitoring layer, ensuring torque safety and smoothness in the event of anomalies in the functional monitoring layer and / or resource monitoring layer, thereby improving the user experience.

[0024] In some exemplary embodiments, the second anomaly trigger condition is an anomaly occurring in the functional layer of the electric drive system.

[0025] This embodiment detects anomalies occurring in the functional layer, ensuring torque safety and smoothness in the event of such anomalies, thereby improving the user experience.

[0026] In some exemplary embodiments, obtaining safety status information of the electric drive system includes: obtaining safety status information of the electric drive system within a preset time period, including: obtaining motor current and motor temperature; adjusting the preset time based on motor speed, motor current and motor temperature; wherein, speed, current and temperature are all positively correlated with the preset time.

[0027] This embodiment enables the time threshold (preset time) for confirming the safety status to be adapted to the actual operating conditions, avoiding misjudgment of protection failure due to an excessively short fixed time limit under complex conditions such as high load or high speed.

[0028] In some exemplary embodiments, the method further includes: in response to satisfying a first abnormal triggering condition, acquiring motor speed and load information of the vehicle to which the electric drive system belongs; and controlling the electric drive system to be in a first safe state or a second safe state based on the motor speed and load information.

[0029] This embodiment combines the actual vehicle operating load and motor speed to determine the triggering safety state, thereby improving the adaptability of the triggering safety state to different operating conditions.

[0030] According to a second aspect of the present disclosure, an electric drive system control device is provided, comprising: an acquisition module configured to acquire motor speed in response to a first abnormal triggering condition being met; a first control module configured to control the electric drive system to a first safe state in response to a motor speed being greater than or equal to a preset speed; and a second control module configured to control the electric drive system to a second safe state in response to a motor speed being less than a preset speed.

[0031] In some exemplary embodiments, the apparatus further includes: an acquisition module further configured to acquire the motor speed in response to a second abnormal triggering condition being met; a first control module further configured to control the electric drive system to a first safe state in response to the motor speed being greater than or equal to a preset speed; and a second control module further configured to control the electric drive system to a second safe state in response to the motor speed being less than the preset speed.

[0032] In some exemplary embodiments, the apparatus further includes: an acquisition module further configured to acquire safety status information of the electric drive system; the safety status information indicating the safety status of the electric drive system; and a third control module configured to control the electric drive system to a third safety status in response to the electric drive system not being in a first safety status or a second safety status.

[0033] In some exemplary embodiments, the apparatus further includes: an acquisition module configured to acquire motor current and motor temperature; and an adjustment module configured to adjust a preset time based on motor speed, motor current, and motor temperature; wherein the speed, current, and temperature are all positively correlated with the preset time.

[0034] According to a third aspect of the present disclosure, a vehicle is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: implement the method of any embodiment of the first aspect.

[0035] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, which, when the instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform the method of any of the embodiments of the first aspect described above.

[0036] In this embodiment, when the electric drive system detects that a first abnormal triggering condition is met, if the motor speed is greater than or equal to a preset speed, a first safety state is triggered; if the motor speed is less than the preset speed, a second safety state is triggered. By using the above technical means to select a safety state based on the motor speed, the problem of not being able to simultaneously consider torque safety and smoothness in related technologies is solved, thereby balancing torque safety and smoothness and improving the user experience.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0039] Figure 1 This is a schematic diagram of an electric drive system control system according to some embodiments of the present disclosure.

[0040] Figure 2 This is a flowchart illustrating an electric drive system control method according to some embodiments of the present disclosure.

[0041] Figure 3 This is a flowchart illustrating another electric drive system control method according to some embodiments of the present disclosure.

[0042] Figure 4 This is a flowchart illustrating another electric drive system control method according to some embodiments of the present disclosure.

[0043] Figure 5 This is a flowchart illustrating yet another electric drive system control method according to some embodiments of the present disclosure.

[0044] Figure 6 This is a flowchart illustrating yet another electric drive system control method according to some embodiments of the present disclosure.

[0045] Figure 7 This is a flowchart illustrating yet another electric drive system control method according to some embodiments of the present disclosure.

[0046] Figure 8 This is a schematic diagram of a motor controller in an idling state, according to some embodiments of the present disclosure.

[0047] Figure 9 This is a schematic diagram of a motor controller under active short-circuit conditions, according to some embodiments of the present disclosure.

[0048] Figure 10 This is a schematic diagram illustrating torque characteristics under idling and active short-circuit conditions according to some embodiments of the present disclosure.

[0049] Figure 11 This is a block diagram illustrating an electric drive system control device according to some embodiments of the present disclosure.

[0050] Figure 12 This is a block diagram illustrating another electric drive system control device according to some embodiments of the present disclosure.

[0051] Figure 13 This is a block diagram illustrating another electric drive system control device according to some embodiments of the present disclosure.

[0052] Figure 14 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0053] Some embodiments of this disclosure will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. Various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will become apparent upon understanding this disclosure. For example, the order of operations described herein is merely illustrative and is not limited to those orders set forth herein, but can be changed as will become apparent upon understanding this disclosure, except for operations that must be performed in a particular order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0054] The embodiments described in the following examples of this disclosure are not representative of all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0055] To facilitate understanding, the following is an explanation of several terms used in this disclosure: E-GAS (Standardized E-Gas Monitoring Concept for Gasoline and Diesel Engine Control Units): A three-layer software monitoring architecture widely used in automotive functional safety. Through layered design, it achieves hierarchical monitoring and fault response of the electronic control system's operating status, ensuring that the system maintains a safe state or undergoes controllable degradation in the event of anomalies. The three-layer software monitoring architecture includes a functional layer, a functional monitoring layer, and a resource monitoring layer. Functional layer: A collection of software or hardware modules that directly implement core business logic or control functions, responsible for completing specific tasks such as motor control, energy management, and communication protocol processing.

[0056] Functional monitoring layer: A mechanism or module used to monitor whether the operation status of the functional layer meets the expected behavior. It determines whether the function has an anomaly by verifying the output results, execution flow or timing logic, and triggers corresponding safety response measures when a deviation is detected.

[0057] Resource monitoring layer: This layer monitors underlying hardware or basic software resources (such as processor load, memory usage, power supply voltage, temperature, clock signal, etc.) in real time. It aims to ensure that the physical or logical resources supporting the operation of functions are within the normal operating range and prevent failures caused by resource failures.

[0058] Figure 1 This is a flowchart illustrating an electric drive system control method according to some embodiments of the present disclosure. For example... Figure 1 As shown, in some embodiments, the electric drive system control method provided in this disclosure may include the following steps.

[0059] S101, in response to the fulfillment of the first abnormal triggering condition, obtain the motor speed; In some exemplary embodiments, the first anomaly triggering condition is an anomaly occurring in the functional monitoring layer and / or resource monitoring layer of the electric drive system.

[0060] Exemplary functional monitoring layer anomalies include: motor speed exceeding the maximum threshold, motor position not in the preset position, current or torque control failure, safety communication interruption, safety state switching failure, and other faults that affect the correctness of the function.

[0061] Exemplary anomalies at the resource monitoring layer include: software stack overflow, task timeout, watchdog timer failure, voltage anomaly, clock failure, overheating, and other faults that affect the availability of resources for the electric drive system.

[0062] This embodiment detects anomalies occurring in the functional monitoring layer and / or resource monitoring layer, ensuring torque safety and smoothness in the event of anomalies in the functional monitoring layer and / or resource monitoring layer, thereby improving the user experience.

[0063] S102, in response to the motor speed being greater than or equal to the preset speed, controls the electric drive system to be in the first safe state.

[0064] As an example, in the first safe state, the electric drive system has power output and controls the deceleration of the vehicle to which the electric drive system belongs.

[0065] S103, in response to the motor speed being less than the preset speed, controls the electric drive system to be in the second safety state.

[0066] As an example, in the second safety state, the electric drive system has no power output and the vehicle speed is limited.

[0067] In some exemplary embodiments, the first safety state includes: the electric drive system is in an active short-circuit state; the vehicle speed of the vehicle to which the electric drive system belongs is reduced to below a preset speed; the second safety state includes: the electric drive system is in an idling state; the vehicle speed does not exceed the preset speed.

[0068] An exemplary active short-circuit state refers to a safe mode in which the electric drive system short-circuits the motor winding terminals by controlling power switching devices (such as switching transistors), so that the motor generates braking torque under conditions of no external power supply, thereby achieving electrical braking and suppressing the rise of back electromotive force.

[0069] An exemplary idling state refers to the electric drive system cutting off the drive current to the motor by controlling power switching devices, allowing it to rotate freely without outputting torque, in order to avoid injecting additional energy and maintain the vehicle's inertial coasting.

[0070] In this embodiment, when the electric drive system enters the first safety state, the back EMF of the motor is limited by active short-circuiting, and the vehicle speed is reduced to below a preset threshold in conjunction with the vehicle control strategy. When it enters the second safety state, the motor stops driving output, allowing it to rotate freely with the wheel ends, while ensuring that the vehicle speed does not exceed the set limit. This embodiment sets the first and second safety states by combining active short-circuit and idling states with vehicle speed limits, thereby effectively suppressing unexpected torque output under different abnormal conditions, while avoiding driving shock caused by sudden stops, thus improving driving safety and ride comfort.

[0071] As an example, the vehicle speed does not exceed the preset speed, so that the motor speed is less than the preset speed.

[0072] In some exemplary embodiments, an idling state is used to control all switches in the motor controller to be in the off state; the electric drive system includes a motor controller; and an active short-circuit state is used to control all switches in the motor controller that act as upper or lower bridge arms to be in the closed state.

[0073] As an example, the upper bridge arm refers to the power switch branch in the motor controller that connects the positive terminal of the DC bus to the motor windings, and its conduction can apply the positive bus potential to the corresponding phase winding.

[0074] As an example, the lower bridge arm refers to the power switch branch in the motor controller that connects the motor windings to the negative terminal of the DC bus (or ground). Its conduction can pull the potential of the corresponding phase winding down to the negative bus potential.

[0075] In this embodiment, the idling state is achieved by turning off all the switching transistors in the motor controller, which completely isolates the motor windings from the power supply, thereby enabling free rotation without drive or short circuit. The active short circuit state is achieved by simultaneously closing the switching transistors of all upper bridge arms or all lower bridge arms, which short-circuit the three-phase windings of the motor to form a low-impedance circuit, thereby consuming back electromotive force energy and generating a braking effect.

[0076] In this embodiment, when the electric drive system detects that a first abnormal triggering condition is met, it acquires the current motor speed. If the motor speed is greater than or equal to a preset speed, a first safety state is triggered: the motor controller is controlled to enter an active short-circuit state, reducing the vehicle speed to below a preset speed, thereby causing the motor speed to be less than the preset speed. If the motor speed is less than the preset speed, a second safety state is triggered: the motor controller is controlled to enter an idling state, controlling the vehicle speed to not exceed the preset speed. Through the above technical means, a safety state is selected based on the motor speed (when selecting a safety state, the characteristics of the output torque under different motor speeds in the idling state and the active short-circuit state are comprehensively considered), solving the problem in related technologies where torque safety and smoothness cannot be simultaneously considered, thus achieving a balance between torque safety and smoothness and improving the user experience.

[0077] In one optional embodiment, the electric drive system includes a functional monitoring layer diagnostic module, a resource monitoring layer diagnostic module, a second safety control module, a first safety control module, and a first safety control circuit. The functional monitoring layer diagnostic module and / or the resource monitoring layer diagnostic module monitor whether a first abnormal triggering condition is met. Upon meeting the first abnormal triggering condition, the module sends an abnormality confirmation signal to the second safety control module. After receiving the abnormality confirmation signal from the functional monitoring layer diagnostic module and / or the first resource monitoring layer diagnostic module, the second safety control module sends a protection request signal to the first safety control module. The first safety control module determines to trigger a first safety state when the motor speed is greater than or equal to a preset speed; and determines to trigger a second safety state when the motor speed is less than the preset speed, sending a switch control signal to the first safety control circuit instructing it to trigger either the first or second safety state. The first safety control circuit receives the switch control signal from the first safety control module and triggers either the first or second safety state based on the switch control signal.

[0078] Figure 2 This is a flowchart illustrating another electric drive system control method according to some embodiments of this disclosure. Figure 2 As shown, in some embodiments, the electric drive system control method provided in this disclosure may include the following steps.

[0079] S201, in response to the fulfillment of the second abnormal triggering condition, obtain the motor speed; S202, in response to the motor speed being greater than or equal to the preset speed, controls the electric drive system to be in the first safe state; S203, in response to the motor speed being less than the preset speed, controls the electric drive system to be in the second safety state.

[0080] In some exemplary embodiments, the second anomaly trigger condition is an anomaly occurring in the functional layer of the electric drive system.

[0081] Exemplary functional level anomalies include those that prevent the electric drive system from performing basic drive functions, such as the motor failing to start, complete loss of motor output torque, short circuit in the inverter arm, and complete failure of the position sensor.

[0082] This embodiment detects anomalies occurring in the functional layer, ensuring torque safety and smoothness in the event of such anomalies, thereby improving the user experience.

[0083] In this embodiment, when the second abnormal triggering condition is met, the current motor speed is obtained. If the motor speed is greater than or equal to a preset speed, a first safety state is triggered. If the motor speed is less than the preset speed, a second safety state is triggered. By comprehensively considering the characteristics of the idling state and the active short circuit state, the problem of not being able to balance torque safety and smoothness in related technologies is solved, thereby balancing torque safety and smoothness and improving the user experience.

[0084] In one optional embodiment, the electric drive system includes a functional monitoring layer diagnostic module, a first-path safety control module, and a first-path safety control circuit. The functional layer diagnostic module detects whether any abnormalities have occurred at the functional layer. When an abnormality is detected, it outputs an abnormality confirmation signal to the first-path safety control module. Upon receiving the abnormality confirmation signal, the first-path safety control module determines to trigger a first safety state if the motor speed is greater than or equal to a preset speed; and determines to trigger a second safety state if the motor speed is less than the preset speed. It then sends a switch control signal to the first-path safety control circuit, instructing it to trigger either the first or second safety state. The first-path safety control circuit receives the switch control signal from the first-path safety control module and triggers either the first or second safety state based on the switch control signal.

[0085] In some exemplary embodiments, the method further includes: in response to the motor speed decreasing to below a preset speed in a first safe state, controlling the electric drive system to switch to a second safe state.

[0086] In this embodiment, when the first safety state is triggered due to the motor speed being greater than or equal to a preset speed, if the motor speed subsequently drops below the preset speed during operation, the safety state is automatically switched from the first safety state to the second safety state to adapt to the safety requirements under the current low-speed operating conditions. Through the above technical means, dynamic adaptation of the safety state can be achieved, effectively suppressing bus overvoltage during high-speed motor operation and avoiding current or torque surges caused by active short circuits after the motor speed decreases, thereby improving the safety and stability of the electric drive system.

[0087] Figure 3 This is a flowchart illustrating another electric drive system control method according to some embodiments of the present disclosure. Figure 3As shown, in some embodiments, the electric drive system control method provided in this disclosure may include the following steps.

[0088] S301, Obtain safety status information of the electric drive system; safety status information is used to indicate the safety status of the electric drive system. S302, in response to the electric drive system not being in the first safe state or the second safe state, control the electric drive system to be in the third safe state.

[0089] As an example, in the third safety state, the electric drive system has power output and controls the vehicle to stop.

[0090] In some exemplary embodiments, the third safety state includes: the electric drive system being in an active short-circuit state; and the vehicle to which the electric drive system belongs being stopped.

[0091] In this embodiment, after triggering the first or second safety state, readback status information is obtained to confirm whether the triggered safety state has actually taken effect. If the readback status information indicates that the first or second safety state has not been triggered, a third safety state is triggered, controlling the electric drive system to be in an active short-circuit state and requiring the vehicle to stop to prevent the risk of loss of control. Through the above technical means, a third safety state can be triggered even if the first or second safety state fails to be triggered, avoiding the risk of the safety state not taking effect.

[0092] In one optional embodiment, the electric drive system includes a second safety control module, a functional monitoring layer diagnostic module, a first resource monitoring layer diagnostic module, a first safety control module, a first status readback circuit, and a second safety control circuit. Upon receiving anomaly confirmation signals from the functional monitoring layer diagnostic module and the first resource monitoring layer diagnostic module, the second safety control module sends a protection request signal to the first safety control module. Simultaneously, it starts timing and retrieves safety status information from the first status readback circuit within a preset time to determine whether the electric drive system has entered a first safety state or a second safety state. If the electric drive system has not entered a first safety state or a second safety state, it sends a second protection trigger signal to the second safety control circuit, causing the second safety control circuit to trigger a third safety state.

[0093] In some exemplary embodiments, the electric drive system is controlled to enter a third safety state in response to the fulfillment of a third abnormality triggering condition.

[0094] This embodiment can trigger a third safety state under a third abnormal triggering condition, thereby ensuring vehicle safety.

[0095] In some exemplary embodiments, the electric drive system includes a hardware diagnostic module; the hardware diagnostic module is configured to control the electric drive system to a third safety state in response to a third abnormality triggering condition being met.

[0096] In some exemplary embodiments, the third anomaly triggering condition is an anomaly occurring in the resource monitoring layer of the electric drive system, and an anomaly occurring in the software of the electric drive system.

[0097] In this embodiment, if an anomaly occurs in the functional monitoring layer and / or the resource monitoring layer, and if an anomaly occurs in the software of the electric drive system, a third safety state is triggered, thereby ensuring vehicle safety.

[0098] As an example, the hardware diagnostic module can be a second resource monitoring layer diagnostic module.

[0099] As an example, software anomalies in the electric drive system include, but are not limited to, the failure of the first resource monitoring layer diagnostic module, the first safety control module, and / or the second safety control module to function properly, such as the first resource monitoring layer diagnostic module failing to send an anomaly confirmation signal to the second safety control module.

[0100] In this embodiment, when the hardware diagnostic module detects that the third abnormal triggering condition is met, it bypasses the software control path and directly triggers the third safety state to ensure that basic safety actions can still be performed even when the software is untrusted. Through the above technical means, the triggering of the safety state can be guaranteed by the hardware diagnostic module in scenarios where software failures and abnormalities occur concurrently.

[0101] In one optional embodiment, the electric drive system includes a second resource monitoring layer diagnostic module, a first resource monitoring layer diagnostic module, and a second safety control circuit. The second resource monitoring layer diagnostic module receives a watchdog signal from the first resource monitoring layer diagnostic module, determines whether the software is abnormal based on the watchdog signal, and outputs a second protection trigger signal to the second safety control circuit if the software is abnormal. The second safety control circuit receives the second protection trigger signal from the first resource monitoring layer diagnostic module and triggers a third safety state based on the second protection trigger signal.

[0102] In some exemplary embodiments, obtaining safety status information of the electric drive system includes: obtaining safety status information of the electric drive system within a preset time period, including: obtaining motor current and motor temperature; adjusting the preset time based on motor speed, motor current and motor temperature; wherein, speed, current and temperature are all positively correlated with the preset time.

[0103] In this embodiment, the preset time is dynamically adjusted based on three physical quantities acquired in real time: motor speed, motor current, and motor temperature. The larger these three parameter values, the higher the energy level or the more demanding the operating state of the electric drive system; therefore, the allowable response window (preset time) is extended accordingly. Through these technical means, the time threshold (preset time) for confirming the safe state can be adapted to actual operating conditions, avoiding misjudgment of protection failure due to an excessively short fixed time limit under complex conditions such as high load or high speed.

[0104] Figure 4 This is a flowchart illustrating yet another electric drive system control method according to some embodiments of this disclosure. For example... Figure 4 As shown, in some embodiments, the electric drive system control method provided in this disclosure may include the following steps.

[0105] S401, in response to the fulfillment of the first abnormal triggering condition, obtain the motor speed and the load information of the vehicle to which the electric drive system belongs; S402 controls the electric drive system to either the first or second safety state based on motor speed and load information.

[0106] As an example, load information can be the overall vehicle weight.

[0107] In this embodiment, when the first abnormal triggering condition is met, the motor speed and load information are acquired in real time. Based on the motor speed and load information, it is determined whether to trigger the first safety state or the second safety state. By using the above technical means, and combining the actual vehicle operating load and motor speed to determine the triggered safety state, the adaptability of the triggered safety state to different operating conditions is improved.

[0108] In some exemplary embodiments, triggering a first safety state or a second safety state based on motor speed and load information includes: determining a speed score based on motor speed and a preset speed; determining a load score based on load information and a preset load; determining a safety score based on the speed score and the load score; and controlling the electric drive system to be in the first safety state or the second safety state based on the safety score.

[0109] In this embodiment, the greater the portion of the motor speed exceeding the preset speed, the higher the speed score; similarly, the greater the portion of the load information exceeding the preset load, the higher the load score. A speed score is generated by comparing the motor speed with the preset speed, and a load score is generated by comparing the load information with the preset load. The speed score and load score are then weighted and summed according to preset weights to obtain a safety score. Based on the safety score, a decision is made to trigger either the first safety state or the second safety state. Through these technical means, the triggering of the safety state is based on a comprehensive evaluation of motor speed and load information, improving the adaptability of the triggered safety state to different operating conditions.

[0110] In some exemplary embodiments, triggering a first security state or a second security state based on a security score includes: triggering a first security state in response to a security score being greater than or equal to a preset score; and triggering a second security state in response to a security score being less than a preset score.

[0111] In this embodiment, the calculated safety score is compared with a preset score. If the safety score exceeds the preset score, a first safety state is triggered. If the safety score is lower than the preset score, a second safety state is triggered, thereby adjusting the triggered safety state according to the actual working conditions.

[0112] Figure 5 This is a schematic diagram of an electric drive system control system 50 according to some embodiments of the present disclosure. Figure 5 As shown, the electric drive system control system includes a functional layer diagnostic module 501, a functional monitoring layer diagnostic module 502, a first resource monitoring layer diagnostic module 503, a second resource monitoring layer diagnostic module 504, a first safety control module 505, a second safety control module 506, a first safety control circuit 507, a first status readback circuit 508, and a second safety control circuit 509.

[0113] The functional layer diagnostic module 501 is configured to detect whether an abnormality has occurred in the functional layer, and when an abnormality is detected, it outputs an abnormality confirmation signal to the first safety control module 505. The functional monitoring layer diagnostic module 502 is configured to detect whether an abnormality has occurred in the functional monitoring layer, and when an abnormality is detected, it outputs an abnormality confirmation signal to the second safety control module 506. The first resource monitoring layer diagnostic module 503 is configured to detect whether an anomaly has occurred in the resource monitoring layer. When an anomaly is detected, it outputs an anomaly confirmation signal to the second security control module 506 and sends a watchdog signal to the second resource monitoring layer diagnostic module 504. The second resource monitoring layer diagnostic module 504 is configured to receive a watchdog signal from the first resource monitoring layer diagnostic module 503, determine whether the software is abnormal based on the watchdog signal, and output a second protection trigger signal to the second safety control circuit 509 in the event of a software abnormality.

[0114] The first safety control module 505 is configured to, upon receiving an abnormality confirmation signal or a protection request signal, determine whether to trigger a first safety state or a second safety state based on the motor speed, and output a switch control signal carrying an instruction to determine whether to trigger the first safety state or the second safety state to the first safety control circuit 507. The second safety control module 506 is configured to send a protection request signal to the first safety control module 505 after receiving an anomaly confirmation signal from the functional monitoring layer diagnostic module 502 and / or the first resource monitoring layer diagnostic module 503, so that the first safety control module 505 determines whether to trigger a first safety state or a second safety state based on the motor speed; at the same time as sending the protection request signal, a timer is started, and a readback status signal is obtained from the first status readback circuit 508 within a preset time to determine whether the electric drive system has entered the first safety state or the second safety state; if the electric drive system has not entered the first safety state or the second safety state, a second protection trigger signal is sent to the second safety control circuit 509, so that the second safety control circuit 509 triggers a third safety state; The first safety control circuit 507 is configured to receive a switch control signal from the first safety control module 505 and trigger a first safety state or a second safety state based on the switch control signal. The first status readback circuit 508 is configured to determine whether the electric drive system has entered the first safety state or the second safety state, and to send the readback status signal indicating whether the electric drive system has entered the first safety state or the second safety state to the second safety control module 506. The second safety control circuit 509 is configured to receive a second protection trigger signal from the second safety control module 506 or the resource monitoring layer diagnostic module 504, and trigger a third safety state based on the second protection trigger signal.

[0115] The exemplary electric drive system control system can be divided into software and hardware components. The software component includes: a functional layer diagnostic module 501, a functional monitoring layer diagnostic module 502, a first resource monitoring layer diagnostic module 503, a first-channel safety control module 505, and a second-channel safety control module 506. The hardware component includes: a second-channel resource monitoring layer diagnostic module 504, a first-channel safety control circuit 507, a first-channel status readback circuit 508, and a second-channel safety control circuit 509.

[0116] Figure 6 This is a flowchart illustrating yet another electric drive system control method according to some embodiments of this disclosure. For example... Figure 6 As shown, in some embodiments, the electric drive system control method provided in this disclosure may include the following steps.

[0117] S601, the second abnormal triggering condition is identified through the functional layer diagnostic module; S602 determines whether the motor speed is higher than the preset speed through the first safety control module; S603, when the motor speed is higher than the preset speed, the first safety state is triggered through the first safety control circuit; S604, when the motor speed is lower than the preset speed, the second safety state is triggered through the first safety control circuit.

[0118] In this embodiment, when the functional layer diagnostic module detects that the second abnormal triggering condition is met, the first safety control module reads the current motor speed and compares it with a preset threshold. If the speed is higher than the preset speed, the first safety control circuit activates the first safety state; if the speed is lower than the preset speed, the second safety state is activated, realizing differentiated handling based on speed characteristics. Through the above technical means, when an abnormality occurs in the functional layer, an appropriate safety state can be dynamically selected according to the actual operating speed of the motor, avoiding performance or safety problems that may be caused by a single safety state under all operating conditions, thereby improving the smoothness of low-speed operation while ensuring torque safety.

[0119] Figure 7 This is a flowchart illustrating yet another electric drive system control method according to some embodiments of this disclosure. For example... Figure 7 As shown, in some embodiments, the electric drive system control method provided in this disclosure may include the following steps.

[0120] S701, the first abnormal triggering condition is identified by the functional monitoring layer diagnostic module or the first resource monitoring layer diagnostic module; S702, triggers a first safety state or a second safety state through the control path of the first safety control module: the first safety control module determines whether the motor speed is higher than the preset speed; if the motor speed is higher than the preset speed, the first safety state is triggered through the first safety control circuit; if the motor speed is lower than the preset speed, the second safety state is triggered through the first safety control circuit.

[0121] S703 obtains the readback status signal through the first status readback circuit; S704 determines whether the electric drive system has entered the first safety state or the second safety state based on the readback status signal through the second safety control module. S705 If the electric drive system does not enter the first or second safety state, the third safety state is triggered through the second safety control circuit. S706, the electric drive system enters the first or second safety state, then ends.

[0122] In this embodiment, when the software diagnostic module of the functional monitoring layer or resource monitoring layer identifies that the first abnormal triggering condition is met, the first safety control module selects to trigger either the first safety state or the second safety state based on the motor speed. Subsequently, the actual system response state is obtained through the first state readback circuit, and the second safety control module verifies this state. If it is confirmed that the desired first or second safety state has not been successfully entered, the second safety control circuit activates the third safety state to ensure that a controlled and safe shutdown can still be achieved in the event of a fault. Through the above technical means, a safety verification mechanism based on state readback and dual-path independent control is introduced, providing redundancy protection in scenarios where the main safety path may fail, effectively improving the fault tolerance capability of the electric drive system under abnormal operating conditions.

[0123] Figure 8 This is a schematic diagram illustrating a motor controller in an idling state according to some embodiments of this disclosure. Figure 8 As shown: The electric drive system includes a first high-voltage interface, a second high-voltage interface, a motor controller, a motor, and an output interface. In the idling state, all switches in the motor controller are in the off state.

[0124] Figure 9 This is a schematic diagram illustrating a motor controller under active short-circuit conditions according to some embodiments of this disclosure. Figure 9 As shown: The electric drive system includes a first high-voltage interface, a second high-voltage interface, a motor controller, a motor, and an output interface. Under active short-circuit conditions, all switches in the motor controller acting as the lower bridge arm are closed; alternatively, all switches in the motor controller acting as the upper bridge arm are closed.

[0125] Figure 10 This is a schematic diagram illustrating torque characteristics under idling and active short-circuit conditions according to some embodiments of this disclosure. Figure 10 As shown: In idle mode: When the motor speed is low, the induced voltage generated by the motor is much lower than the bus voltage, so no current is generated (and no energy conversion occurs), and therefore no electromagnetic torque is produced. However, if the motor speed is high, its induced voltage will exceed the battery voltage, thus generating charging current (and energy conversion), at which point the motor will produce electromagnetic torque. If the motor speed is low, then idle mode is the optimal control scheme, with no heat generation or abnormal torque; the vehicle only experiences a loss of power, with minimal impact. However, once the motor speed exceeds the preset speed, idle mode will generate a large braking torque, causing abnormal vehicle deceleration; in the most severe cases, it can cause wheel lock-up, leading to vehicle instability, which is extremely dangerous. In summary, idle mode can improve torque smoothness, but it cannot effectively suppress back EMF at high motor speeds.

[0126] In an active short-circuit state: the permanent magnets on the motor rotor continuously cut the stator windings, generating a short-circuit current in the short-circuited windings, which in turn generates a magnetic field, producing braking torque. This torque manifests as a large spike at low speeds, but gradually decreases as the speed increases. Although braking torque exists at all speeds, it is small in the high-speed range and does not cause significant deceleration. Even with a large torque spike in the low-speed range (generally around 5 kph), its impact does not pose a safety issue. The drawback is that the short-circuit current continuously generates heat in an active short-circuit state, which can lead to motor burnout if not suppressed, necessitating immediate stopping. Additionally, the torque spike during stopping can cause a momentary jolt, resulting in a poor user experience. In summary, while an active short-circuit state can quickly clamp the bus voltage and ensure high-speed safety, it may trigger current surges at low speeds.

[0127] Figure 11 This is a block diagram illustrating an electric drive system control device according to some embodiments of the present disclosure. (Refer to...) Figure 11 The electric drive system control device 1100 includes: The acquisition module 1101 is configured to acquire the motor speed in response to the fulfillment of a first abnormal triggering condition; The first control module 1102 is configured to control the electric drive system to a first safe state in response to the motor speed being greater than or equal to a preset speed. The second control module 1103 is configured to control the electric drive system to a second safety state in response to the motor speed being less than a preset speed.

[0128] In some exemplary embodiments, the apparatus further includes: an acquisition module 1101 further configured to acquire the motor speed in response to a second abnormal triggering condition being met; a first control module 1102 further configured to control the electric drive system to a first safe state in response to the motor speed being greater than or equal to a preset speed; and a second control module 1103 further configured to control the electric drive system to a second safe state in response to the motor speed being less than a preset speed.

[0129] Figure 12 This is a block diagram illustrating another electric drive system control device according to some embodiments of the present disclosure. (Refer to...) Figure 12 The electric drive system control device 1100 includes: The acquisition module 1101 is also configured to acquire safety status information of the electric drive system; the safety status information is used to indicate the safety status of the electric drive system. The third control module 1104 is configured to control the electric drive system to a third safety state in response to the electric drive system not being in a first safety state or a second safety state.

[0130] Figure 13This is a block diagram illustrating another electric drive system control device according to some embodiments of the present disclosure. (Refer to...) Figure 13 The electric drive system control device 1100 includes: The acquisition module 1101 is also configured to acquire motor current and motor temperature; The adjustment module 1105 is configured to adjust a preset time based on motor speed, motor current and motor temperature; wherein the speed, current and temperature are all positively correlated with the preset time.

[0131] In some exemplary embodiments, the first safety state includes: the electric drive system is in an active short-circuit state; the vehicle speed of the vehicle to which the electric drive system belongs is reduced to below a preset speed; the second safety state includes: the electric drive system is in an idling state; the vehicle speed does not exceed the preset speed.

[0132] In some exemplary embodiments, an idling state is used to control all switches in the motor controller to be in the off state; the electric drive system includes a motor controller; and an active short-circuit state is used to control all switches in the motor controller that act as upper or lower bridge arms to be in the closed state.

[0133] In some exemplary embodiments, the first control module 1102 is also configured to control the electric drive system to switch to a second safe state in response to the motor speed decreasing below a preset speed in the first safe state.

[0134] In some exemplary embodiments, the third control module 1104 is also configured to control the electric drive system to a third safety state in response to the fulfillment of a third abnormal triggering condition.

[0135] In some exemplary embodiments, the third safety state includes: the electric drive system being in an active short-circuit state; and the vehicle to which the electric drive system belongs being stopped.

[0136] In some exemplary embodiments, the third anomaly triggering condition is an anomaly occurring in the functional monitoring layer and / or resource monitoring layer of the electric drive system, and an anomaly occurring in the software of the electric drive system.

[0137] In some exemplary embodiments, the first anomaly triggering condition is an anomaly occurring in the functional monitoring layer and / or resource monitoring layer of the electric drive system.

[0138] In some exemplary embodiments, the second anomaly trigger condition is an anomaly occurring in the functional layer of the electric drive system.

[0139] In some exemplary embodiments, the first control module 1102 is further configured to, in response to the fulfillment of a first abnormal triggering condition, acquire the motor speed and load information of the vehicle to which the electric drive system belongs; and control the electric drive system to be in a first safe state or a second safe state based on the motor speed and load information.

[0140] Regarding the above Figure 11 Figure 12 Figure 13 The specific manner in which the various modules perform their operations in the embodiments of the apparatus have been described in detail in the embodiments relating to the method, and will not be elaborated upon here.

[0141] In some embodiments, an electronic device is also provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to: implement the method of any of the above method embodiments.

[0142] Figure 14 This is a block diagram illustrating a vehicle 1400 according to an exemplary embodiment. For example, vehicle 1400 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicle. Vehicle 1400 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0143] Reference Figure 14 The vehicle 1400 may include various subsystems, such as an infotainment system 1410, a perception system 1420, a decision control system 1430, a drive system 1440, and a computing platform 1450. The vehicle 1400 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 1400 can be interconnected via wired or wireless means.

[0144] In some embodiments, the infotainment system 1410 may include a communication system, an entertainment system, and a navigation system, etc.

[0145] The perception system 1420 may include several sensors for sensing information about the environment surrounding the vehicle 1400. For example, the perception system 1420 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0146] The decision control system 1430 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0147] The drive system 1440 may include components that provide powered motion to the vehicle 1400. In one embodiment, the drive system 1440 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0148] Some or all of the functions of the vehicle 1400 are controlled by a computing platform 1450. The computing platform 1450 may include at least one processor 1451 and a memory 1452, the processor 1451 being able to execute instructions 1453 stored in the memory 1452.

[0149] Processor 1451 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0150] The memory 1452 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0151] In addition to instruction 1453, memory 1452 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 1452 can be used by computing platform 1450.

[0152] In this embodiment of the disclosure, processor 1451 may execute instructions 1453 to perform all or part of the steps of the method in any of the above method embodiments.

[0153] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0154] This disclosure also provides a non-transitory computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is able to perform the methods in any of the above method embodiments.

[0155] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0156] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0157] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0158] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. An electric drive system control method characterized by, include: In response to the fulfillment of the first abnormal trigger condition, the motor speed is obtained; In response to the motor speed being greater than or equal to a preset speed, the electric drive system is controlled to be in a first safe state; In response to the motor speed being less than the preset speed, the electric drive system is controlled to enter a second safety state.

2. The method of claim 1, wherein, The method further includes: In response to the fulfillment of the second abnormal triggering condition, the motor speed is obtained; In response to the motor speed being greater than or equal to the preset speed, the electric drive system is controlled to be in the first safe state; In response to the motor speed being less than the preset speed, the electric drive system is controlled to be in the second safe state.

3. The method according to claim 1 or 2, characterized in that, The first safety state includes: the electric drive system being in an active short-circuit state; and reducing the speed of the vehicle to which the electric drive system belongs to below a preset speed. The second safety state includes: the electric drive system is in an idling state; and the vehicle speed does not exceed the preset speed.

4. The method according to claim 3, characterized in that, The idling state is used to control all the switching transistors in the motor controller to be in the off state; the electric drive system includes the motor controller; The active short-circuit state is used to control all the switches in the motor controller that act as upper or lower bridge arms to be in a closed state.

5. The method according to claim 3, characterized in that, The method further includes: In response to the first safe state, when the motor speed is reduced to below the preset speed, the electric drive system is controlled to switch to the second safe state.

6. The method according to claim 1, characterized in that, The method further includes: Obtain the safety status information of the electric drive system; the safety status information is used to indicate the safety status of the electric drive system. In response to the electric drive system not being in the first safe state or the second safe state, the electric drive system is controlled to be in the third safe state.

7. The method according to claim 1, characterized in that, In response to the fulfillment of the third abnormal triggering condition, the electric drive system is controlled to enter the third safe state.

8. The method according to claim 6 or 7, characterized in that, The third safety state includes: the electric drive system is in an active short-circuit state; the vehicle to which the electric drive system belongs is stopped.

9. The method according to claim 7, characterized in that, The third abnormality triggering condition is that the functional monitoring layer and / or resource monitoring layer of the electric drive system malfunctions, and the software of the electric drive system malfunctions.

10. The method according to claim 1, characterized in that, The first abnormality triggering condition is that an abnormality occurs in the functional monitoring layer and / or resource monitoring layer of the electric drive system.

11. The method according to claim 2, characterized in that, The second abnormal trigger condition is that an abnormality occurs in the functional layer of the electric drive system.

12. The method according to claim 6, characterized in that, The step of obtaining the safety status information of the electric drive system includes: Acquire the safety status information of the electric drive system within a preset time period, including: Obtain motor current and motor temperature; The preset time is adjusted based on the motor speed, the motor current, and the motor temperature; The rotational speed, the current, and the temperature are all positively correlated with the preset time.

13. The method according to claim 1, characterized in that, The method further includes: In response to the fulfillment of the first abnormal triggering condition, the motor speed and the load information of the vehicle to which the electric drive system belongs are obtained; Based on the motor speed and the load information, the electric drive system is controlled to be in either the first safe state or the second safe state.

14. A control device for an electric drive system, characterized in that, include: The acquisition module is configured to acquire the motor speed in response to the fulfillment of a first abnormal trigger condition; The first control module is configured to control the electric drive system to a first safe state in response to the motor speed being greater than or equal to a preset speed. The second control module is configured to control the electric drive system to a second safety state in response to the motor speed being less than the preset speed.

15. The apparatus according to claim 14, characterized in that, The device further includes: The acquisition module is also configured to acquire the motor speed in response to a second abnormal triggering condition being met; The first control module is also configured to control the electric drive system to the first safe state in response to the motor speed being greater than or equal to the preset speed. The second control module is also configured to control the electric drive system to the second safe state in response to the motor speed being less than the preset speed.

16. The apparatus according to claim 14, characterized in that, The device further includes: The acquisition module is also configured to acquire safety status information of the electric drive system; the safety status information is used to indicate the safety status of the electric drive system. The third control module is configured to control the electric drive system to a third safety state in response to the electric drive system not being in the first safety state or the second safety state.

17. The apparatus according to claim 14, characterized in that, The device further includes: The acquisition module is also configured to acquire motor current and motor temperature; The adjustment module is configured to adjust the preset time based on the motor speed, the motor current, and the motor temperature; The rotational speed, the current, and the temperature are all positively correlated with the preset time.

18. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured as follows: Implement the method according to any one of claims 1 to 13.

19. A non-transitory computer-readable storage medium, wherein when instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to perform the method of any one of claims 1 to 13.

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