Method for determining motor stall and vehicle

Abstract

The present application relates to the field of motor control, in particular to a motor stall determination method and a vehicle. The present application discards the traditional single fixed threshold, introduces the first and second current stall threshold, solves the problem that the single threshold cannot cover both serious overload and slight implicit stall; secondly, by comparing the numerical relationship between the real-time current and the double threshold, the corresponding target stall verification condition can be dynamically matched according to the current size, realizing the working condition classification of the determination logic; then, the target condition is verified again by using the operating parameters under the current working condition, instead of relying only on the current absolute value, effectively eliminating the current false high interference caused by voltage fluctuation; finally, through the double threshold grading and multi-parameter collaborative verification method, the determination reference can be dynamically adjusted with the change of motor characteristics, thereby overcoming the threshold mismatching problem caused by temperature drift, improving the reliability of stall determination, and effectively avoiding misjudgment and omission.

Description

Technical Field

[0001] This invention relates to the field of motor control, and specifically to a method for determining motor stall and a vehicle. Background Technology

[0002] With the development of automotive intelligence and comfort, electric seats have become standard equipment, and their multi-dimensional adjustment functions all rely on motor drive. However, when adjusted to a mechanical hard stop or when there are foreign objects in the travel, the motor is very prone to stalling. At this time, the back electromotive force disappears, and the armature current rises sharply. If the power is not cut off in time, it will lead to motor burnout or even electrical failure. Therefore, an effective stall detection method is crucial.

[0003] Existing technologies typically rely on a single current sensor, setting fixed current thresholds and durations for judgment. However, the actual stall current of a motor is significantly affected by fluctuations in on-board power supply voltage and changes in operating temperature. Fixed thresholds cannot adapt to the dynamic drift of motor characteristics, easily leading to misjudgments during sudden load changes or missed judgments when the actual stall current decreases, seriously affecting the reliability of judgment and system safety. Summary of the Invention

[0004] In view of this, the present invention provides a method and vehicle for determining motor stall, in order to solve the problem that the existing motor stall determination methods rely only on a single current detection and a fixed threshold for determination, which cannot adapt to changes in motor characteristics caused by voltage fluctuations and temperature drift, resulting in insufficient reliability of stall determination and easy to cause misjudgment or missed judgment.

[0005] In a first aspect, embodiments of the present invention provide a method for determining motor stall, the method comprising: Obtain the real-time current value of the motor under the current operating conditions; The real-time current value is compared with the first current stall threshold and the second current stall threshold, wherein the first current stall threshold is greater than the second current stall threshold, and the first current stall threshold and the second current stall threshold correspond to different stall verification conditions. If the real-time current value is greater than or equal to the first current stall threshold, or if the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold, then the corresponding target stall verification condition is determined. The operating parameters of the motor under the current operating conditions are obtained, and the motor is determined to be stalled based on whether the operating parameters meet the target stall verification condition.

[0006] Furthermore, the method also includes: Obtain the driving voltage and motor temperature of the motor under the current operating conditions; A first current stall threshold is determined based on the driving voltage and the motor temperature, and a second current stall threshold is obtained by correcting the first current stall threshold using a correction coefficient. The correction coefficient represents the coefficient used to correct the first current stall threshold when the signal count value output by the Hall sensor does not change.

[0007] Furthermore, the step of obtaining the motor's operating parameters under the current operating conditions and determining whether the motor has stalled based on whether the operating parameters meet the target stall check condition includes: Obtain the operating parameters of the motor under the current operating conditions, wherein the operating parameters include a first duration during which the real-time current value is greater than or equal to the first current stall threshold; A first duration threshold is determined based on the driving direction of the motor under the current operating conditions and / or the historical stall situation of the previous motor stall. The comparison results are obtained by comparing the first duration with the first duration threshold. The comparison results are used to determine whether the motor has stalled.

[0008] Furthermore, determining whether the motor is stalled based on the comparison result includes: If the comparison result is that the first duration is greater than or equal to the first duration threshold, then it is determined that the motor is stalled and the stall type is current stall; or, if the comparison result is that the first duration is less than the first duration threshold, then it is determined that the motor is not stalled.

[0009] Furthermore, the step of obtaining the motor's operating parameters under the current operating conditions and determining whether the motor has stalled based on whether the operating parameters meet the verification conditions includes: The operating parameters of the motor under the current operating condition are obtained, wherein the operating parameters include: signal count value and a second duration during which the real-time current value is greater than or equal to the first current stall threshold, and the signal count value is obtained based on the detection of the rotor rotation of the motor by the Hall sensor; A first duration threshold is determined based on the driving direction of the motor under the current operating conditions and / or the historical stall situation of the previous motor stall. The sum of the first duration threshold and the calibration duration is determined as the second duration threshold; The system detects whether the signal count value changes within a preset time period and determines the relationship between the second duration threshold and the second duration to obtain the detection result. The detection results are used to determine whether the motor has stalled.

[0010] Furthermore, determining whether the motor is stalled based on the detection results includes: If the detection result is that the signal count value does not change within a preset time, and the second duration is greater than or equal to the second duration threshold, then it is determined that the motor is stalled, and the stall type is Hall stall; or, if the detection result is that the signal count value changes within a preset time, and / or the second duration is less than the second duration threshold, then it is determined that the motor is not stalled.

[0011] Furthermore, historical stall conditions include historical drive direction and historical stall location. The step of determining the first duration threshold based on the motor's drive direction under current operating conditions and / or the historical stall conditions of the previous motor stall includes: If there is no historical stalling situation of the previous motor stall, the base duration is determined as the first duration threshold. If the driving direction is consistent with the historical driving direction when the motor stalled last time, then the base duration is determined as the first duration threshold. If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is not the maximum limit position, then the basic duration is determined as the first duration threshold. If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is the maximum limit position, then the misjudgment duration is obtained, and the sum of the basic duration and the misjudgment duration is determined as the first duration threshold.

[0012] Furthermore, the method also includes: Obtain the historical number of times the motor has stalled, and the stall type corresponding to the historical stall number; If the number of historical stalls reaches a specified number, and the stall type corresponding to the number of historical stalls is Hall stall, then the historical drive voltage, historical motor temperature, and historical current value of each stall of the motor are obtained. The correlation between historical current values ​​and historical drive voltage and historical motor temperature is analyzed to obtain the new current stall threshold under different drive voltage and motor temperature. The newly added current stall threshold is used to replace the first current stall threshold corresponding to the drive voltage and motor temperature.

[0013] Secondly, embodiments of the present invention provide a device for determining motor stall, the device comprising: The acquisition module is used to acquire the real-time current value of the motor under the current operating conditions; The comparison module is used to compare the real-time current value with the first current stall threshold and the second current stall threshold respectively. The first current stall threshold is greater than the second current stall threshold, and the first current stall threshold and the second current stall threshold correspond to different stall verification conditions. The determination module is used to determine the corresponding target stall verification condition if the real-time current value is greater than or equal to the first current stall threshold, or if the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold. The verification module is used to obtain the motor's operating parameters under the current operating conditions and determine whether the motor has stalled based on whether the operating parameters meet the target stall verification conditions.

[0014] Thirdly, embodiments of the present invention provide an electronic device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0015] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a computer to perform the method described in the first aspect or any of its corresponding embodiments.

[0016] Fifthly, embodiments of the present invention provide a vehicle, the vehicle including: a controller, the controller including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method described in the first aspect or any corresponding embodiment thereof.

[0017] This application abandons the traditional single fixed threshold and introduces a first and a second current stall threshold, solving the problem that a single threshold cannot simultaneously cover severe overload and slight hidden stall. Secondly, by comparing the numerical relationship between real-time current and the two thresholds, the corresponding target stall verification conditions can be dynamically matched according to the current magnitude, realizing the condition-based classification of the judgment logic. Then, the target conditions are verified a second time using the operating parameters under the current operating conditions, rather than relying solely on the absolute value of the current, effectively eliminating the interference of artificially high current caused by voltage fluctuations. Finally, through the dual-threshold classification and multi-parameter collaborative verification method, the judgment benchmark can be dynamically adjusted with changes in motor characteristics, thereby overcoming the threshold mismatch problem caused by temperature drift, improving the reliability of stall judgment, and effectively avoiding false judgments and missed judgments. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a method for determining motor stall according to some embodiments of the present invention; Figure 2 This is a flowchart illustrating another method for determining motor stall according to some embodiments of the present invention; Figure 3 This is a complete flowchart of a method for determining motor stall according to some embodiments of the present invention; Figure 4 This is a structural block diagram of a motor stall determination device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the hardware structure of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] According to an embodiment of the present invention, a method for determining motor stall and a vehicle are provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0022] This embodiment provides a method for determining motor stall. Figure 1 This is a flowchart of a method for determining motor stall according to an embodiment of the present invention, as shown below. Figure 1 As shown, the process includes the following steps: Step S101: Obtain the real-time current value of the motor under the current operating conditions.

[0023] In this embodiment, the motor can be a seat motor, or other vehicle actuator motors such as a window motor, sunroof motor, or wiper motor. Specifically, a current sensor connected in series in the motor drive circuit can be used to collect the current signal when the motor is working. This sensor needs to have measurement accuracy matching the motor's operating current range to ensure the accuracy of the original signal. Secondly, the analog signal output by the current sensor is transmitted to the analog-to-digital converter module of the controller to complete the conversion from analog to digital signal. At the same time, a reasonable sampling frequency is set to ensure that the dynamic changes in the current can be captured.

[0024] Then, key related parameters under the current operating conditions are collected synchronously, namely drive voltage and motor temperature. The drive voltage is collected by a voltage sensor to obtain the actual operating voltage of the motor. The motor temperature is collected first by the measured value of the motor's built-in temperature sensor. If the sensor is not configured, the data of the passenger compartment temperature sensor is called and the motor temperature is estimated by a preset algorithm. Finally, the converted real-time current digital signal is filtered to remove high-frequency noise and instantaneous interference to obtain a stable and reliable real-time motor current value. At the same time, the synchronously collected operating condition parameters such as drive voltage and motor temperature are associated and stored with the real-time current value.

[0025] Step S102: Compare the real-time current value with the first current stall threshold and the second current stall threshold respectively. The first current stall threshold is greater than the second current stall threshold. The first current stall threshold and the second current stall threshold correspond to different stall verification conditions.

[0026] In this embodiment of the application, the first current stall threshold is used as a benchmark stall judgment threshold, and its value is greater than the second current stall threshold. The second current stall threshold is used as an auxiliary judgment benchmark for early intervention detection in scenarios where the Hall sensor signal does not change.

[0027] In practice, the real-time current values ​​collected are compared synchronously with these two thresholds. The two thresholds correspond to different stall verification conditions. The verification condition corresponding to the first current stall threshold is used to determine whether a current stall has occurred due to a severe overload. The verification condition corresponding to the second current stall threshold is used to determine whether there is a Hall stall related to abnormal Hall sensor signals. By comparing the two thresholds synchronously, it is ensured that severe overload faults are not missed, and minor overloads or hidden stall problems can be captured in a timely manner.

[0028] Step S103: If the real-time current value is greater than or equal to the first current stall threshold, or if the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold, then the corresponding target stall verification condition is determined.

[0029] In this embodiment of the application, if the real-time current value is greater than or equal to the first current stall threshold, the corresponding target stall verification condition will be triggered, and it will be determined that the motor has experienced current stall. This type of stall mainly originates from severe overload. The first current stall threshold serves as a benchmark threshold, which can ensure timely response to this type of emergency fault and prevent the motor from being damaged due to severe overload.

[0030] If the real-time current value is greater than or equal to the second current stall threshold, but less than the first current stall threshold, another corresponding target stall verification condition will be triggered, and the motor will be determined to have Hall stall. This type of stall is often related to minor overload or latent stall fault. The second current stall threshold effectively improves the sensitivity of stall detection by lowering the current trigger threshold and intervening in advance in special scenarios such as when the Hall sensor signal does not change.

[0031] Step S104: Obtain the motor's operating parameters under the current operating conditions, and determine whether the motor has stalled based on whether the operating parameters meet the target stall verification condition.

[0032] In this embodiment of the application, the operating parameters of the motor under the current operating conditions are obtained, and the motor is determined to be stalled based on whether the operating parameters meet the verification conditions, including the following steps A1-A4: Step A1: Obtain the operating parameters of the motor under the current operating conditions, including the first duration during which the real-time current value is greater than or equal to the first current stall threshold.

[0033] Specifically, the collected real-time motor current value is compared in real time with the first current stall threshold for the corresponding motor under complete stall condition. When the real-time current value is detected to rise to a level greater than or equal to the first current stall threshold, a timer is triggered to start. The timer accumulates the duration for which the current exceeds the threshold, and the timer value is read as the first duration for which the real-time current value is greater than or equal to the first current stall threshold. Thus, the operating parameters of the motor under the current operating condition are collected, namely the first duration for which the real-time current value is greater than or equal to the first current stall threshold.

[0034] Step A2: Determine the first duration threshold based on the driving direction of the motor under the current operating conditions and / or the historical stall situation of the motor in the previous stall.

[0035] Specifically, historical stall conditions include historical drive direction and historical stall location. Based on the motor's drive direction under current operating conditions and / or the historical stall conditions of the previous motor stall, a first duration threshold is determined, including: ①If there is no historical stalling situation of the previous motor stalling, the base duration is determined as the first duration threshold.

[0036] Check the historical record flag for motor stall in the internal memory to confirm the existence of valid previous motor stall data. If the historical record is empty, or the flag indicates that the motor has been operating normally since startup and has never triggered stall protection, the current operating condition is determined to be a normal first-drive or fault-free drive mode. No time compensation or adjustment for specific fault modes is required. The default baseline parameters can be directly called, and the preset base duration can be set as the first duration threshold.

[0037] ②If the driving direction is consistent with the historical driving direction when the motor stalled last time, the base duration is determined as the first duration threshold.

[0038] The system reads the current motor drive direction command from the register and simultaneously retrieves the drive direction data from the previous stall occurrence in the historical records. Next, a consistency comparison is performed on these two direction parameters to confirm whether the current drive direction is the same as the historical stall direction. Then, according to the decision logic, if the two directions are consistent, it means the motor is attempting to pass through the area where the stall previously occurred. In this case, using the standard judgment time is the safest approach, avoiding both additional delays to wait for position confirmation and shortening the time to prevent misjudgment. Finally, based on the consistent direction determination, the standard configuration is maintained, and the base duration is set as the first duration threshold.

[0039] ③ If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is not the maximum limit position, then the base duration is determined as the first duration threshold.

[0040] Compare the current drive direction with the historical drive direction at the last stall point to confirm if they are opposite. Simultaneously, read the stall position information from the historical records to determine if the position is at the maximum limit. Next, if the detection results show the drive direction is reversed and the historical stall position is marked as a non-hard stop (meaning a soft stall caused by obstruction or instantaneous resistance), the current operating condition is determined to be a reverse departure from this non-fixed obstacle area. Then, according to the decision logic, since this is not a reverse operation targeting mechanical limits, no additional waiting time is needed to eliminate the reverse backlash or confirm positioning. Based on this, no time compensation is performed, and the base duration is directly determined as the first duration threshold.

[0041] ④ If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is the maximum limit position, then obtain the misjudgment duration, and determine the sum of the base duration and the misjudgment duration as the first duration threshold.

[0042] First, confirm that the current driving direction is opposite to the historical stall direction, and that the historical stall position was indeed at the maximum limit position. Second, when both of the above conditions are met simultaneously, it indicates that the motor may be performing a "bounce-back" operation. To prevent instantaneous current fluctuations caused by backlash or mechanical rebound from being mistakenly identified as renewed stalling, the judgment time needs to be extended. Then, retrieve the preset "misjudgment duration" from the parameter library; this duration is used to cover the mechanical stabilization process during reverse operation. Finally, perform an addition operation, adding the base duration to the misjudgment duration, and determine the calculated sum as the first duration threshold. The maximum limit position is the physical limit position of the seat's mechanical movement.

[0043] It should be noted that the first duration threshold is used to indicate the shortest time for the current to continuously exceed the stall threshold. Its specific determination process needs to be combined with the current operating conditions of the motor and historical operating data to ensure the accuracy and reliability of the current stall judgment.

[0044] Step A3: Compare the first duration with the first duration threshold to obtain the comparison result.

[0045] Step A4: Determine whether the motor is stalled based on the comparison results.

[0046] Specifically, determining whether the motor is stalled based on the comparison results includes: if the comparison result is that the first duration is greater than or equal to the first duration threshold, then the motor is determined to be stalled, and the stall type is current stall; or, if the comparison result is that the first duration is less than the first duration threshold, then the motor is determined not to be stalled.

[0047] Understandably, the actual duration for which the real-time monitored current value continuously exceeds the first current stall threshold (i.e., the first duration) is compared with the first duration threshold. If the first duration is greater than or equal to the first duration threshold, it indicates that the motor is in a severe overload state and the duration has reached the set judgment criteria, thus confirming that the motor has stalled and classifying it as "current stall". Conversely, if the first duration is less than the first duration threshold, it indicates that the current overload is only a momentary fluctuation or a brief impact, which has not reached the time condition for triggering protection, therefore it is determined that the motor has not stalled. This effectively filters out current spike interference caused by the instantaneous start-up or sudden load changes, ensuring the accuracy of judging real current stall faults.

[0048] This application improves the accuracy and adaptability of motor protection by constructing a dynamic adaptive stall judgment mechanism based on operating conditions and historical data. First, the current driving direction of the motor and the historical situation of the previous stall are introduced to dynamically determine the first duration threshold. This allows the judgment benchmark to be intelligently adjusted according to changes in mechanical load characteristics (such as differences in forward and reverse resistance) and historical fault experience, effectively solving the problem of misjudgment or missed judgment caused by a fixed threshold. Second, by comparing the real-time monitored first duration of current overload with the dynamically generated first duration threshold, the accuracy of the judgment logic is ensured.

[0049] Finally, based on the comparison results, a clear binary judgment is performed (if the time limit is reached, the motor is considered stalled; otherwise, it is considered normal). This ensures that protection can be triggered in time to prevent motor overheating and damage when a real stall occurs, and effectively filters out brief overloads caused by starting shocks or instantaneous fluctuations. Thus, while ensuring the safety of motor operation, the stability and anti-interference ability of the control are greatly improved.

[0050] In this embodiment of the application, the operating parameters of the motor under the current operating conditions are obtained, and the motor is determined to be stalled based on whether the operating parameters meet the verification conditions, including: Step B1: Obtain the operating parameters of the motor under the current operating conditions. The operating parameters include: signal count value and a second duration during which the real-time current value is greater than or equal to the first current stall threshold. The signal count value is obtained based on the detection of the motor rotor rotation by the Hall sensor.

[0051] Specifically, firstly, a second current stall threshold is determined by multiplying a correction coefficient by a stall current reference value. Real-time current values ​​are continuously collected during motor operation and compared in real-time with the second current stall threshold. When a real-time current value is detected to be greater than or equal to the second current stall threshold, a Hall sensor is activated to detect the rotor rotation state of the motor, synchronously acquiring the corresponding signal count value. Simultaneously, timing logic is initiated, accumulating the duration during which the real-time current remains greater than or equal to the second current stall threshold to obtain a second duration during which the real-time current value is greater than or equal to the first current stall threshold. This completes the acquisition of the motor's operating parameters under the current operating condition. Here, the operating parameters include the signal count value obtained from the Hall sensor's detection of the motor rotor rotation and the second duration during which the real-time current value is greater than or equal to the first current stall threshold.

[0052] It should be noted that the correction factor K is less than 1. Its value can be comprehensively calibrated based on the motor's rated operating current, no-load operating current, load fluctuation current range, transmission mechanism friction resistance, hard stop point jamming load characteristics, and the sensitivity and anti-false judgment requirements of Hall stall detection. At the same time, it can be adapted and adjusted in combination with different driving conditions of the motor in forward and reverse rotation and the critical current characteristics under historical stall scenarios. For example, K can be calibrated to 0.7 based on the fact that the motor's normal load steady-state current is about 70% of the stall reference current. K can also be set to 0.6 for scenarios where the transmission structure resistance is small and the stall prediction sensitivity needs to be improved. K can also be set to 0.75 for conditions where the transmission clearance is large and the current fluctuation is obvious and prone to false triggering.

[0053] Step B2: Determine the first duration threshold based on the motor's driving direction under the current operating conditions and / or the historical stall situation of the previous motor stall.

[0054] Specifically, historical stall conditions include historical drive direction and historical stall location. Based on the motor's drive direction under current operating conditions and / or the historical stall conditions of the previous motor stall, a first duration threshold is determined, including: ①If there is no historical stalling situation of the previous motor stalling, the base duration is determined as the first duration threshold.

[0055] Check the historical record flag for motor stall in the internal memory to confirm the existence of valid previous motor stall data. If the historical record is empty, or the flag indicates that the motor has been operating normally since startup and has never triggered stall protection, the current operating condition is determined to be a normal first-drive or fault-free drive mode. No time compensation or adjustment for specific fault modes is required. The default baseline parameters can be directly called, and the preset base duration can be set as the first duration threshold.

[0056] ②If the driving direction is consistent with the historical driving direction when the motor stalled last time, the base duration is determined as the first duration threshold.

[0057] The system reads the current motor drive direction command from the register and simultaneously retrieves the drive direction data from the previous stall occurrence in the historical records. Next, a consistency comparison is performed on these two direction parameters to confirm whether the current drive direction is the same as the historical stall direction. Then, according to the decision logic, if the two directions are consistent, it means the motor is attempting to pass through the area where the stall previously occurred. In this case, using the standard judgment time is the safest approach, avoiding both additional delays to wait for position confirmation and shortening the time to prevent misjudgment. Finally, based on the consistent direction determination, the standard configuration is maintained, and the base duration is set as the first duration threshold.

[0058] ③ If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is not the maximum limit position, then the base duration is determined as the first duration threshold.

[0059] Compare the current drive direction with the historical drive direction at the last stall point to confirm if they are opposite. Simultaneously, read the stall position information from the historical records to determine if the position is at the maximum limit. Next, if the detection results show the drive direction is reversed and the historical stall position is marked as a non-hard stop (meaning a soft stall caused by obstruction or instantaneous resistance), the current operating condition is determined to be a reverse departure from this non-fixed obstacle area. Then, according to the decision logic, since this is not a reverse operation targeting mechanical limits, no additional waiting time is needed to eliminate the reverse backlash or confirm positioning. Based on this, no time compensation is performed, and the base duration is directly determined as the first duration threshold.

[0060] ④ If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is the maximum limit position, then obtain the misjudgment duration, and determine the sum of the base duration and the misjudgment duration as the first duration threshold.

[0061] First, confirm that the current driving direction is opposite to the historical stall direction, and that the historical stall position was indeed at the maximum limit position. Second, when both of the above conditions are met simultaneously, it indicates that the motor may be performing a "bounce-back" operation. To prevent instantaneous current fluctuations caused by backlash or mechanical rebound from being mistakenly identified as renewed stalling, the judgment time needs to be extended. Then, retrieve the preset "misjudgment duration" from the parameter library; this duration is used to cover the mechanical stabilization process during reverse operation. Finally, perform an addition operation, adding the base duration to the misjudgment duration, and determine the calculated sum as the first duration threshold. The maximum limit position is the physical limit position of the seat's mechanical movement.

[0062] It should be noted that the first duration threshold is used to indicate the shortest time for the current to continuously exceed the stall threshold. Its specific determination process needs to be combined with the current operating conditions of the motor and historical operating data to ensure the accuracy and reliability of the current stall judgment.

[0063] Step B3: The sum of the first duration threshold and the calibration duration is determined as the second duration threshold.

[0064] Specifically, the first duration threshold and the calibration duration are numerically summed to calculate the sum. Finally, the calculated sum is used as the final judgment time threshold and determined as the second duration threshold.

[0065] It should be noted that the second duration threshold, which is the shortest time for the Hall signal to remain unchanged, is calculated by adding the first duration threshold (the shortest time for the current to exceed the stall threshold) to the calibration duration. Its specific value directly determines the duration of signal stillness required to trigger the Hall stall judgment.

[0066] Step B4: Detect whether the signal count value changes within a preset time period, and determine the relationship between the second duration threshold and the second duration to obtain the detection result; Specifically, a preset time window for status monitoring is set, within which the signal count value output by the Hall sensor is continuously monitored. Next, the signal count values ​​at the start and current times within the preset time window are compared to determine if the values ​​have changed, generating a position status detection result. Then, the acquired second duration is compared with a second duration threshold to determine the quantitative relationship between the two.

[0067] Step B5: Determine whether the motor is stalled based on the test results.

[0068] Specifically, determining whether the motor is stalled based on the detection results includes: if the detection result shows that the signal count value does not change within a preset time and the second duration is greater than or equal to the second duration threshold, then the motor is determined to be stalled, and the stall type is Hall stall; or, if the detection result shows that the signal count value changes within a preset time and / or the second duration is less than the second duration threshold, then the motor is determined not to be stalled.

[0069] Understandably, a motor stall is only confirmed and classified as "Hall-based stall" when the signal count value output by the Hall sensor remains static within a preset monitoring window without any jumps, and the actual duration of this static state (i.e., the second duration) reaches or exceeds the second duration threshold. Conversely, if the signal count value changes during monitoring, indicating that the motor is still rotating, or if the signal remains unchanged but its duration has not yet reached the second duration threshold, thus failing to meet the time determination condition, the system determines that the motor is not stalled. This effectively filters interference caused by signal jitter or momentary pauses, ensuring the accuracy of Hall-based stall fault identification.

[0070] This application improves the sensitivity and accuracy of motor stall detection by introducing Hall sensor position feedback and a dual threshold judgment mechanism. First, by combining a lower second current stall threshold with the static state of the Hall signal (count value unchanged), a joint judgment is made, effectively capturing hidden stall faults where the current has not reached its peak but the motor has stopped rotating, thus solving the blind spot that may exist when relying solely on high current detection. Second, by dynamically determining the first duration threshold based on the current drive direction and historical stall conditions, and superimposing a calibration duration to form the second duration threshold, not only is adaptive adjustment of mechanical characteristics under different operating conditions achieved, but also necessary response and mechanical stability buffer periods are reserved, effectively avoiding misjudgments caused by Hall signal delays or momentary pauses. Finally, using the AND logic of "current overload + static position + time calibrated" as the final criterion, it ensures timely triggering of protection to prevent motor overheating damage when a real stall occurs, while effectively filtering out normal overload operation or momentary interference signals.

[0071] In the embodiments of this application, such as Figure 2 As shown, the method also includes: Step S201: Obtain the driving voltage and motor temperature of the motor under the current operating conditions.

[0072] In this embodiment, a real-time acquisition channel for motor operating parameters is determined, and this channel is connected to the motor's power supply circuit and temperature monitoring point. Next, a voltage sampling circuit or sensor continuously detects and performs analog-to-digital conversion on the actual driving voltage applied to the motor under the current operating conditions to obtain real-time values ​​reflecting the motor's current operating voltage level. Then, a temperature sensor installed near the motor stator or coils is used to read the temperature of the motor windings in real time, and this temperature is taken as the motor temperature.

[0073] Step S202: Determine the first current stall threshold based on the drive voltage and motor temperature, and correct the first current stall threshold using a correction coefficient to obtain the second current stall threshold. The correction coefficient is used to represent the coefficient used to correct the first current stall threshold when the signal count value output by the Hall sensor does not change.

[0074] In this embodiment, firstly, a preset threshold mapping table is invoked, with the acquired drive voltage and motor temperature used as input variables. A reference current threshold under the current operating condition is obtained by looking up the table, and this reference value is determined as the first current stall threshold. Secondly, a preset correction coefficient, a calibration value less than 1, is read to lower the current trigger threshold in specific logic branches where the Hall sensor signal count value has not changed. Then, the first current stall threshold is multiplied by the correction coefficient to obtain a new current threshold lower than the reference value. This new current threshold, obtained after correction, is formally determined as the second current stall threshold, used for current condition determination in subsequent Hall stall judgment logic.

[0075] In this embodiment of the application, before determining the first current stall threshold based on the drive voltage and motor temperature, the method further includes: Step C1: Obtain the historical number of times the motor has stalled, and the stall type corresponding to the historical stall count; Specifically, the stall-related records in the motor operation fault storage area are retrieved, and the frequency of stall events marked in each record is counted to obtain the historical number of stalls. At the same time, for each stall record, the basis for triggering the stall judgment is analyzed. If the judgment is triggered by the real-time current exceeding the first current stall threshold and lasting for a specified duration, the stall type is marked as current stall. If the judgment is triggered by the Hall signal not changing and the real-time current value exceeding the second current stall threshold and lasting for a specified duration, it is marked as Hall stall. Finally, the stall types corresponding to all historical stall counts are summarized.

[0076] Step C2: If the number of historical stalls reaches a specified number, and the stall type corresponding to the historical stall count is Hall stall, then obtain the historical drive voltage, historical motor temperature, and historical current value for each stall of the motor.

[0077] Specifically, the historical number of stall occurrences is compared with a preset specified number, and the type of all historical stall records is checked to confirm whether they are all Hall-effect stall types. If both conditions are met, the controller retrieves the operating parameters corresponding to each Hall-effect stall occurrence from the fault storage area, extracts the drive voltage value output from the motor controller to the motor as the historical drive voltage, reads the motor body temperature collected by the temperature sensor at that moment as the historical motor temperature, retrieves the motor running current value synchronously recorded by the current sampling circuit as the historical current value, and stores each set of parameters in association according to the stall occurrence sequence.

[0078] As an example, five consecutive stall faults were recorded recently. All five were triggered by a constant Hall effect signal, a real-time current value exceeding the second current stall threshold, and a corresponding duration. The operating parameters for these five faults were extracted: a drive voltage of 300V and a temperature of 50℃, with corresponding current values ​​of 100A, 102A, 99A, 101A, and 98A, respectively. Based on this, the average current was calculated to be 100A. This value was then used to update the lookup table value for the "300V-50℃" operating condition to 100A, thus completing an adaptive threshold correction for this specific operating condition.

[0079] It should be noted that Hall lockout is typically triggered when the current has not reached the first current lockout threshold, but the Hall signal has stopped. This means that the actual physical lockout current is already lower than the preset theoretical threshold. If the threshold is updated based solely on a single Hall lockout, it is highly susceptible to transient signal interference or misjudgment, leading to an erroneous reduction of the threshold and frequent false protection. Therefore, it is necessary to continuously accumulate several fault records of the same type to eliminate intermittent interference and establish a high degree of confidence that the lockout current has indeed deviated under this operating condition. Only after confirming that these several instances are Hall lockouts can it be determined that the current lookup value (first current lockout threshold) is no longer applicable to the current motor state. At this point, updating the lookup value using these actual fault current values ​​allows for accurate adaptive correction of the threshold, ensuring the sensitivity of the protection.

[0080] Step C3: Analyze the correlation between historical current values, historical drive voltage, and historical motor temperature to obtain the new current stall threshold under different drive voltage and motor temperature.

[0081] In this embodiment, the correlation between historical current values, historical drive voltage, and historical motor temperature is analyzed to obtain the new current stall threshold under different drive voltage and motor temperatures. This includes: grouping historical current values ​​according to the combination of historical drive voltage and historical motor temperature to obtain multiple sets of current datasets; obtaining the minimum current value in each set of current datasets; determining a current reference value based on the minimum current value in each set of current datasets; performing compensation calculation on the current reference value using a preset safety margin coefficient to obtain the adaptive current stall threshold corresponding to each set, and using the adaptive current stall threshold as the new current stall threshold under the corresponding drive voltage and motor temperature.

[0082] First, a classification index framework based on a two-dimensional coordinate system of "drive voltage-motor temperature" is constructed, dividing voltage and temperature into several continuous numerical intervals or discrete grid points. All historical stall data samples recorded in the storage unit are traversed. For each data point, the historical drive voltage and historical motor temperature values ​​are extracted, and the specific coordinate grid position to which the data belongs is determined. Then, based on the determined grid position, the corresponding historical current value in the data is assigned to the set corresponding to that position, achieving the aggregation of data under similar operating conditions. After completing the traversal and classification of all samples, each coordinate grid set containing current data forms an independent current dataset, thus obtaining multiple sets of current datasets corresponding to different voltage-temperature combinations.

[0083] Each group of current datasets that has been categorized is selected as the current processing object. A temporary variable is initialized to store the current minimum value and set to infinity. Each historical current value in the current dataset is iterated over, and each value is compared with the current minimum value stored in the temporary variable. If a historical current value is found to be smaller than the current value in the temporary variable, the temporary variable is updated with the smaller value. If the temporary variable is not updated after iterating over all values, it means that the data group is empty or does not need adjustment. After all values ​​in the dataset have been compared, the final value stored in the temporary variable is determined as the minimum current value in the current dataset group and stored in the result cache.

[0084] The minimum current value corresponding to each group of operating conditions is read from the results buffer. This value represents the actual minimum current level that triggers the stall protection under specific voltage and temperature conditions. A new data mapping table is established, with an index structure consistent with the previous group index framework, to store subsequent benchmark parameters. Then, the read minimum current values ​​for each group are directly filled into the corresponding coordinate positions in the mapping table, without additional weighting or averaging calculations, using the measured limit values ​​as the benchmark. These minimum current values ​​filled into the mapping table are formally defined as the current reference values ​​for each group of operating conditions, establishing a threshold benchmark based on actual operating data.

[0085] A preset safety margin coefficient, a constant less than 1, is retrieved to reserve necessary safety trigger margin under the actual stall current. Each data item in the current reference value mapping table is iterated through, and each current reference value is multiplied by the safety margin coefficient. Specific compensation calculations are performed, and the resulting product is used as a new candidate threshold value, lower than the original current reference value. Finally, all calculated product results are filled into the final threshold table, and these values ​​are formally defined as the corresponding adaptive current stall threshold for each group, and simultaneously established as the new current stall threshold under the corresponding drive voltage-motor temperature.

[0086] Step C4: Replace the first current stall threshold corresponding to the drive voltage and motor temperature with the newly added current stall threshold.

[0087] Specifically, by using the newly obtained current stall threshold obtained after analyzing the historical current values, drive voltage, and motor temperature corresponding to multiple Hall stalls, the first current stall threshold stored under the current drive voltage and motor temperature conditions is replaced, thus completing the adaptive update of the current stall threshold.

[0088] It should be noted that by accumulating multiple Hall-effect stall events of the same type and matching them with corresponding operating parameters such as drive voltage and motor temperature, an adaptive new current stall threshold is generated based on the actual stall current value, grouped and statistically analyzed, and combined with the safety margin coefficient. This new threshold replaces the original first current stall threshold under the corresponding operating conditions. This not only effectively compensates for the insufficient adaptability caused by motor performance degradation and initial threshold calibration deviation, but also avoids the problems of abnormal threshold reduction and frequent false protection caused by single misjudgment and instantaneous signal interference.

[0089] As a complete example, such as Figure 3 As shown: Step 1: Collect the motor's drive voltage and motor temperature under the current operating conditions.

[0090] Step 2: Determine the first current stall threshold based on the collected drive voltage and motor temperature, and then use a correction coefficient to correct the first current stall threshold to obtain the second current stall threshold. The correction coefficient is the coefficient used to correct the first current stall threshold when the signal count value output by the Hall sensor does not change.

[0091] Step 3: Obtain the current driving direction of the motor and the historical stall situation, including the historical driving direction and historical stall position. If there is no historical stall situation, set the base duration as the first duration threshold. If the current driving direction is the same as the historical driving direction, set the base duration as the first duration threshold. If the driving directions are different and the historical stall position is not the maximum limit position, set the base duration as the first duration threshold. If the driving directions are different and the historical stall position is the maximum limit position, set the sum of the base duration and the misjudgment duration as the first duration threshold.

[0092] Step 4: Collect the real-time current value of the motor under the current operating conditions.

[0093] Step 5: Compare the real-time current value with the first current stall threshold to determine whether the real-time current value is greater than or equal to the first current stall threshold.

[0094] Step 6: When the real-time current value is greater than or equal to the first current stall threshold, obtain the first duration for which the real-time current value is greater than or equal to the first current stall threshold, and compare the first duration with the first duration threshold. If the first duration is greater than or equal to the first duration threshold, it is determined that the motor has stalled, and the stall type is current stall; if the first duration is less than the first duration threshold, it is determined that the motor has not stalled.

[0095] Step 7: When the real-time current value is less than the first current stall threshold, compare the real-time current value with the second current stall threshold to determine whether the real-time current value is greater than or equal to the second current stall threshold. When the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold, acquire the signal count value obtained from the Hall sensor's detection of the motor rotor rotation, and the second duration for which the real-time current value is greater than or equal to the second current stall threshold.

[0096] Step 10: Determine the sum of the first duration threshold and the calibration duration as the second duration threshold, detect whether the signal count value changes within a preset time, and simultaneously determine the relationship between the second duration and the second duration threshold to obtain the detection result.

[0097] Step 11: If the signal count value does not change within a preset time and the second duration is greater than or equal to the second duration threshold, then it is determined that the motor is stalled and the stall type is Hall stall; if the signal count value changes within a preset time and / or the second duration is less than the second duration threshold, then it is determined that the motor is not stalled.

[0098] Step 12: Obtain the historical number of times the motor has stalled, and the corresponding stall type. If the historical stall count reaches a specified number, and the stall type for each historical stall count is Hall effect stall, obtain the historical drive voltage, historical motor temperature, and historical current value for each stall. Analyze the correlation between the historical current value, historical drive voltage, and historical motor temperature to obtain the current stall threshold at different drive voltages and motor temperatures. Simultaneously, recount the Hall effect stalls.

[0099] This embodiment also provides a device for determining motor stall, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0100] This embodiment provides a device for determining motor stall, such as... Figure 4 As shown, it includes: The acquisition module 301 is used to acquire the real-time current value of the motor under the current operating conditions; The comparison module 302 is used to compare the real-time current value with the first current stall threshold and the second current stall threshold respectively, wherein the first current stall threshold is greater than the second current stall threshold, and the first current stall threshold and the second current stall threshold correspond to different stall verification conditions respectively. The determination module 303 is used to determine the corresponding target stall verification condition if the real-time current value is greater than or equal to the first current stall threshold, or if the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold. The verification module 304 is used to obtain the motor's operating parameters under the current operating conditions and determine whether the motor has stalled based on whether the operating parameters meet the target stall verification conditions.

[0101] In this embodiment of the application, the device further includes: a construction module, used to acquire the driving voltage and motor temperature of the motor under the current operating conditions; determine a first current stall threshold based on the driving voltage and motor temperature, and correct the first current stall threshold using a correction coefficient to obtain a second current stall threshold, wherein the correction coefficient is used to represent the coefficient for correcting the first current stall threshold when the signal count value output by the Hall sensor does not change.

[0102] In this embodiment, the verification module 304 is specifically used to: if the real-time current value is greater than or equal to a first current stall threshold, obtain the operating parameters of the motor under the current operating condition, wherein the operating parameters include a first duration for which the real-time current value is greater than or equal to the first current stall threshold; determine the first duration threshold based on the driving direction of the motor under the current operating condition and / or the historical stall situation of the previous motor stall; compare the first duration with the first duration threshold to obtain a comparison result; and determine whether the motor has stalled based on the comparison result.

[0103] In this embodiment of the application, the verification module 304 is specifically used to determine that the motor has stalled and the stall type is current stall if the comparison result is that the first duration is greater than or equal to the first duration threshold; or, if the comparison result is that the first duration is less than the first duration threshold, determine that the motor has not stalled.

[0104] In this embodiment, the verification module 304 is specifically used to obtain the motor's operating parameters under the current operating condition if the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold. The operating parameters include: a signal count value and a second duration for which the real-time current value is greater than or equal to the first current stall threshold. The signal count value is obtained by detecting the rotor rotation of the motor based on a Hall sensor. A first duration threshold is determined based on the motor's driving direction under the current operating condition and / or the historical stall situation of the previous motor stall. The sum of the first duration threshold and the calibration duration is determined as the second duration threshold. The module detects whether the signal count value changes within a preset time and determines the relationship between the second duration threshold and the second duration to obtain a detection result. The module determines whether the motor has stalled based on the detection result.

[0105] In this embodiment of the application, the verification module 304 is specifically used to determine that the motor has stalled and the stall type is Hall stall if the detection result is that the signal count value has not changed within a preset time and the second duration threshold is greater than or equal to the second duration; or, if the detection result is that the signal count value has changed within a preset time and / or the second duration threshold is less than the second duration, then the motor has not stalled.

[0106] In this embodiment of the application, the verification module 304 is specifically used to: if there is no historical stall situation of the previous motor stall, determine the basic duration as the first duration threshold; if the driving direction is consistent with the historical driving direction when the motor stalled, determine the basic duration as the first duration threshold; if the driving direction is inconsistent with the historical driving direction when the motor stalled, and the historical stall position is not the maximum limit position, determine the basic duration as the first duration threshold; if the driving direction is inconsistent with the historical driving direction when the motor stalled, and the historical stall position is the maximum limit position, obtain the misjudgment duration, and determine the sum of the basic duration and the misjudgment duration as the first duration threshold.

[0107] In this embodiment, the device further includes: an update module, configured to acquire the historical number of times the motor has stalled, and the stall type corresponding to the historical stall number; if the historical stall number reaches a specified number, and the stall type corresponding to the historical stall number is Hall stall, then acquire the historical drive voltage, historical motor temperature, and historical current value for each stall; analyze the correlation between the historical current value and the historical drive voltage and historical motor temperature to obtain the new current stall threshold under different drive voltage and motor temperature; and update the mapping relationship between drive voltage-motor temperature and current stall threshold using the new current stall threshold.

[0108] In this embodiment, the device further includes: an update module, configured to group historical current values ​​according to the combination of historical drive voltage and historical motor temperature to obtain multiple sets of current datasets; obtain the minimum current value in each set of current datasets; determine a current reference value based on the minimum current value in each set of current datasets; perform compensation calculation on the current reference value using a preset safety margin coefficient to obtain the adaptive current stall threshold corresponding to each set, and use the adaptive current stall threshold as the new current stall threshold under the corresponding drive voltage-motor temperature.

[0109] Please see Figure 5 , Figure 5 This is a schematic diagram of a vehicle according to an optional embodiment of the present invention. The diagram includes a vehicle body 1 and electronic devices 2 mounted on the vehicle. The electronic devices 2 include one or more processors 10, a memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the electronic devices, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some optional embodiments, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple electronic devices can be connected, each providing some of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system).

[0110] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0111] The memory 20 stores instructions executable by at least one processor 10 to cause at least one processor 10 to perform the method shown in the above embodiments.

[0112] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device as displayed on a mini-program landing page. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0113] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0114] The electronic device also includes a communication interface 30 for communicating with other devices or communication networks.

[0115] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0116] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for determining motor stall, characterized in that, The method includes: Obtain the real-time current value of the motor under the current operating conditions; The real-time current value is compared with the first current stall threshold and the second current stall threshold, wherein the first current stall threshold is greater than the second current stall threshold, and the first current stall threshold and the second current stall threshold correspond to different stall verification conditions. If the real-time current value is greater than or equal to the first current stall threshold, or if the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold, then the corresponding target stall verification condition is determined. The operating parameters of the motor under the current operating conditions are obtained, and the motor is determined to be stalled based on whether the operating parameters meet the target stall verification condition.

2. The method according to claim 1, characterized in that, The method further includes: Obtain the driving voltage and motor temperature of the motor under the current operating conditions; A first current stall threshold is determined based on the driving voltage and the motor temperature, and a second current stall threshold is obtained by correcting the first current stall threshold using a correction coefficient. The correction coefficient represents the coefficient used to correct the first current stall threshold when the signal count value output by the Hall sensor does not change.

3. The method according to claim 1, characterized in that, The step of obtaining the motor's operating parameters under the current operating conditions and determining whether the motor has stalled based on whether the operating parameters meet the target stall verification condition includes: If the real-time current value is greater than or equal to the first current stall threshold, then the operating parameters of the motor under the current operating condition are obtained, wherein the operating parameters include a first duration during which the real-time current value is greater than or equal to the first current stall threshold; A first duration threshold is determined based on the driving direction of the motor under the current operating conditions and / or the historical stall situation of the previous motor stall. The comparison results are obtained by comparing the first duration with the first duration threshold. The comparison results are used to determine whether the motor has stalled.

4. The method according to claim 3, characterized in that, Determining whether the motor is stalled based on the comparison result includes: If the comparison result is that the first duration is greater than or equal to the first duration threshold, then it is determined that the motor is stalled and the stall type is current stall; or, if the comparison result is that the first duration is less than the first duration threshold, then it is determined that the motor is not stalled.

5. The method according to claim 1, characterized in that, The step of obtaining the operating parameters of the motor under the current operating conditions and determining whether the motor is stalled based on whether the operating parameters meet the verification conditions includes: If the real-time current value is greater than or equal to the second current stall threshold and less than the first current stall threshold, then the operating parameters of the motor under the current operating condition are obtained. The operating parameters include: a signal count value and a second duration during which the real-time current value is greater than or equal to the first current stall threshold. The signal count value is obtained based on the detection of the rotor rotation of the motor by a Hall sensor. A first duration threshold is determined based on the driving direction of the motor under the current operating conditions and / or the historical stall situation of the previous motor stall. The sum of the first duration threshold and the calibration duration is determined as the second duration threshold; The system detects whether the signal count value changes within a preset time period and determines the relationship between the second duration threshold and the second duration to obtain the detection result. The detection results are used to determine whether the motor has stalled.

6. The method according to claim 5, characterized in that, The step of determining whether the motor is stalled based on the detection results includes: If the detection result is that the signal count value does not change within a preset time, and the second duration is greater than or equal to the second duration threshold, then it is determined that the motor is stalled, and the stall type is Hall stall; or, if the detection result is that the signal count value changes within a preset time, and / or the second duration is less than the second duration threshold, then it is determined that the motor is not stalled.

7. The method according to claim 3 or 5, characterized in that, Historical stall conditions include historical drive direction and historical stall location. The step of determining a first duration threshold based on the motor's drive direction under current operating conditions and / or the historical stall condition of the previous motor stall includes: If there is no historical stalling situation of the previous motor stall, the base duration is determined as the first duration threshold. If the driving direction is consistent with the historical driving direction when the motor stalled last time, then the base duration is determined as the first duration threshold. If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is not the maximum limit position, then the basic duration is determined as the first duration threshold. If the driving direction is inconsistent with the historical driving direction when the motor stalled last time, and the historical stall position is the maximum limit position, then the misjudgment duration is obtained, and the sum of the basic duration and the misjudgment duration is determined as the first duration threshold.

8. The method according to claim 1, characterized in that, The method further includes: Obtain the historical number of times the motor has stalled, and the stall type corresponding to the historical stall number; If the number of historical stalls reaches a specified number, and the stall type corresponding to the number of historical stalls is Hall stall, then the historical drive voltage, historical motor temperature, and historical current value of each stall of the motor are obtained. The correlation between historical current values ​​and historical drive voltage and historical motor temperature is analyzed to obtain the new current stall threshold under different drive voltage and motor temperature. The newly added current stall threshold is used to replace the first current stall threshold corresponding to the drive voltage and motor temperature.

9. The method according to claim 8, characterized in that, The analysis of the correlation between historical current values, historical drive voltage, and historical motor temperature yields the new current stall threshold under different drive voltage and motor temperature conditions, including: The historical current values ​​are grouped according to the combination of the historical driving voltage and the historical motor temperature to obtain multiple sets of current datasets. Obtain the minimum current value in each group of current datasets; The current reference value is determined based on the minimum current value in each group's current dataset; The current reference value is compensated using a preset safety margin coefficient to obtain the adaptive current stall threshold for each group, and the adaptive current stall threshold is used as the new current stall threshold at the corresponding drive voltage-motor temperature.

10. A vehicle, characterized in that, The vehicle includes a controller, which includes a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the method of any one of claims 1 to 9.

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