A motor control method, device, medium and equipment for vehicle steady driving

Abstract

The application provides a motor control method and device for vehicle steady driving, a medium and equipment. The running state information of a target vehicle carrying a target motor is acquired. If the whole vehicle state information of the target vehicle is a fault state and / or the switch state information of the steady control system of the target vehicle is an open state, the active damping torque of the target motor is set to zero. That is, in the running process of the target vehicle, the whole vehicle state information of the target vehicle and the open state of the steady control system are detected in real time. If the target vehicle appears a fault state and / or the steady control system is open, the active damping torque of the target motor is set to zero, so as to remove the effect of the active damping torque on the motor torque, so as to realize the requirement of the torque of the target motor responding to the target torque quickly, so as to protect the target motor, thereby improving the stability and safety of the target motor.

Description

Technical Field

[0001] This application relates to the field of automotive motor control technology, specifically to a motor control method, device, medium, and equipment for steady-state vehicle driving. Background Technology

[0002] With the continuous development of new energy technologies, more and more cars are using electric motors as the drive system. During normal operation, the motor controller compensates for torque by detecting speed fluctuations. When the motor speed changes unexpectedly due to external special conditions, the vehicle dynamic stability control system is triggered. The motor active damping control will also apply a torque change in the opposite direction according to the speed change to offset the unexpected change and thus improve the stability of the motor operation.

[0003] However, the opposite effect can occur when the vehicle's steady-state control system is triggered. For example, on low-friction surfaces (snow, slippery surfaces, etc.), if the accelerator pedal is pressed too deeply, excessive wheel torque causes tire slippage. This triggers vehicle steady-state control systems such as ESP and TCS. The system sends a large torque request (including torque reduction and increase) to the vehicle control system or motor control system based on the tire slip ratio. The motor needs to respond quickly to this torque request. Due to the sudden torque change, vehicle speed and motor speed will fluctuate continuously within a short period. The active damping will compensate for the motor torque based on the speed changes. The compensated torque may overshoot (exceeding the target torque request value), causing the tires to continue slipping. This cycle repeats, exacerbating the fluctuations in motor speed. Furthermore, if a serious vehicle malfunction occurs, the vehicle controller will also send torque commands (including torque reduction and increase) to the motor. These torque commands require the motor controller to respond quickly to the target torque. However, active damping control causes the actual motor torque to fluctuate around the target torque, hindering motor speed control and torque convergence, resulting in a deterioration in the overall driving experience. Therefore, a solution is needed to address the issue of the motor's inability to respond quickly to torque when the vehicle malfunctions or the steady-state control system is triggered. Summary of the Invention

[0004] To address the aforementioned technical problems, this application is proposed. Embodiments of this application provide a motor control method, apparatus, medium, and device for steady-state vehicle operation.

[0005] According to one aspect of this application, a motor control method for steady-state driving of a vehicle is provided, comprising: acquiring operating status information of a target vehicle equipped with a target motor during operation; wherein the operating status information includes the overall vehicle status information of the target vehicle and the on / off status information of the steady-state control system of the target vehicle; if the overall vehicle status information of the target vehicle is a fault state and / or the on / off status information of the steady-state control system of the target vehicle is an on state, then setting the active damping torque of the target motor to zero.

[0006] In one embodiment, setting the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the steady-state control system of the target vehicle is in an on state includes: if the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then setting the active damping torque of the target motor to zero.

[0007] In one embodiment, setting the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, and / or the switch status information of the steady-state control system of the target vehicle is in an on state includes: if the overall vehicle status information of the target vehicle is in a fault state and the change value of the target torque received by the target motor is greater than a first preset torque, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then setting the active damping torque of the target motor to zero.

[0008] In one embodiment, the steady-state control system of the target vehicle includes: an electronic stability system, an automatic emergency braking system, an anti-lock braking system, a deceleration control system, a diagnostic fault code system, and a traction control system; wherein, setting the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the steady-state control system of the target vehicle is in an on state includes: if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of any one of the steady-state control systems of the target vehicle is in an on state, then setting the active damping torque of the target motor to zero.

[0009] In one embodiment, the motor control method for steady-state vehicle driving further includes: if the overall vehicle status information of the target vehicle is in a normal state and the switch status information of the steady-state control system of the target vehicle is in a closed state, then the active damping torque of the target motor is restored to a set value.

[0010] In one embodiment, the steady-state control system of the target vehicle includes: an electronic stability system, an automatic emergency braking system, an anti-lock braking system, a deceleration control system, a diagnostic fault code system, and a traction control system; wherein, the step of restoring the active damping torque of the target motor to a set value if the overall vehicle status information of the target vehicle is in a normal state and the on / off status information of the steady-state control system of the target vehicle is in a closed state includes: if the change value of the target torque received by the target motor is less than a second preset torque and the on / off status information of the steady-state control system of the target vehicle is in a closed state, then the active damping torque of the target motor is restored to the set value.

[0011] In one embodiment, restoring the active damping torque of the target motor to a set value if the overall vehicle status information of the target vehicle is in a normal state and the on / off status information of the steady-state control system of the target vehicle is in a closed state includes: restoring the active damping torque of the target motor to a set value if the change value of the target torque received by the target motor is less than a second preset torque, the change value of the vehicle speed of the target vehicle is less than a preset vehicle speed, and the on / off status information of the steady-state control system of the target vehicle is in a closed state.

[0012] According to another aspect of this application, a motor control device for steady-state driving of a vehicle is provided, comprising: an information acquisition module, configured to acquire operating status information of a target vehicle equipped with a target motor during operation; wherein the operating status information includes at least one of the overall vehicle status information of the target vehicle and the on / off status information of the steady-state control system of the target vehicle; and a torque control module, configured to set the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is a fault state and / or the on / off status information of the steady-state control system of the target vehicle is an on state.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for performing any of the methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to perform any of the methods described above.

[0015] This application provides a motor control method, device, medium, and equipment for steady-state vehicle operation. It acquires the operating status information of a target vehicle equipped with a target motor during operation. The operating status information includes at least one of the overall vehicle status information and the on / off status information of the target vehicle's steady-state control system. If the overall vehicle status information indicates a fault and / or the steady-state control system is on, the active damping torque of the target motor is set to zero. Specifically, during the operation of the target vehicle, the overall vehicle status information and the on / off status of the steady-state control system are monitored in real time. If a fault occurs in the target vehicle and / or the steady-state control system is on, the active damping torque of the target motor is set to zero to eliminate the effect of the active damping torque on the motor torque. This allows the target motor's torque to quickly respond to the target torque demand, protecting the target motor and improving its stability and safety. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a schematic flowchart of a motor control method for steady-state vehicle driving provided in an exemplary embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the output curve when active damping is activated in the motor control of a vehicle in steady-state driving, provided by an exemplary embodiment of this application.

[0019] Figure 3 This is a schematic diagram of the output curve when the active damping is turned off in the motor control of a vehicle in steady-state driving provided by an exemplary embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the structure of a motor control device for steady-state vehicle driving provided in an exemplary embodiment of this application.

[0021] Figure 5 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0022] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0023] Figure 1 This is a schematic flowchart of a motor control method for steady-state vehicle driving provided in an exemplary embodiment of this application. Figure 1 As shown, the motor control method for steady-state driving of this vehicle includes the following steps: Step 110: Obtain the operating status information of the target vehicle equipped with the target motor during operation.

[0024] The operational status information includes at least one of the target vehicle's overall vehicle status information and the on / off status information of the target vehicle's steady-state control system. The target vehicle may experience malfunctions during operation. To ensure the target vehicle's driving safety, the vehicle controller will issue commands such as deceleration or stopping when a malfunction occurs. Additionally, the target vehicle's steady-state control system may be triggered due to adverse driving conditions or sudden changes in driving status, and the steady-state control system will also issue commands such as acceleration or deceleration to the target motor.

[0025] Step 120: If the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then set the active damping torque of the target motor to zero.

[0026] If the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the target vehicle's steady-state control system is in the on state, then the target motor of the target vehicle will receive a control command. In order to reach the target torque expected by the control command more quickly, the target motor needs to respond quickly. However, the presence of active damping torque hinders the rapid response of the target motor, resulting in a slower rate of torque reduction in the target motor and fluctuations around the target torque. It also causes fluctuations in the motor speed of the target motor (e.g., Figure 2 (As shown). To address the fluctuations in the actual torque and motor speed of the target motor, this application disables active damping torque control (e.g., when the overall vehicle status information of the target vehicle is detected as a fault state and / or the switch status information of the target vehicle's steady-state control system is in the on state). Figure 3 As shown in the figure, this eliminates the interference of active damping torque, thereby stabilizing the actual torque and speed of the target motor, improving the stability of the target motor, and effectively protecting the target motor.

[0027] This application provides a motor control method for steady-state vehicle operation. The method acquires the operating status information of a target vehicle equipped with a target motor during operation. This operating status information includes at least one of the vehicle's overall status information and the on / off status information of the vehicle's steady-state control system. If the vehicle's overall status information indicates a fault and / or the steady-state control system is on, the active damping torque of the target motor is set to zero. Specifically, during the operation of the target vehicle, the overall vehicle status information and the on / off status of the steady-state control system are monitored in real time. If a fault occurs in the target vehicle and / or the steady-state control system is on, the active damping torque of the target motor is set to zero to eliminate the effect of the active damping torque on the motor torque. This allows the target motor to quickly respond to the target torque demand, protecting the target motor and improving its stability and safety.

[0028] In one embodiment, the specific implementation of step 120 above may be as follows: if the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

[0029] This application detects the overall vehicle status information and the on / off status information of the steady-state control system of the target vehicle in real time, as well as the target torque received by the target motor. If the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, it indicates that the target vehicle has malfunctioned and a rapid torque adjustment control command has been issued to the target motor. In order to respond quickly to the control command, this application sets the active damping torque of the target motor to zero (i.e., turns off the dynamic damping torque control). If the on / off status information of the steady-state control system is in an on state, it indicates that the steady-state control system has been triggered. In order to respond quickly to the control command, this application sets the active damping torque of the target motor to zero.

[0030] In one embodiment, the specific implementation of step 120 above may be as follows: if the overall vehicle status information of the target vehicle is in a fault state and the change value of the target torque received by the target motor is greater than the first preset torque, and / or the switch status information of the steady-state control system of the target vehicle is in an open state, then the active damping torque of the target motor is set to zero.

[0031] If the overall vehicle status information of the target vehicle is in a fault state and the change value of the target torque received by the target motor is greater than the first preset torque (e.g., 50 Nm), it indicates that the target vehicle has a fault and a rapid torque adjustment control command has been issued to the target motor. In order to respond quickly to the control command, this application sets the active damping torque of the target motor to zero.

[0032] In one embodiment, the steady-state control system of the target vehicle includes: electronic stability system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system and traction control system; wherein, the specific implementation of step 120 above may be: if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of any item in the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

[0033] The steady-state control system of the target vehicle in this application includes: electronic stability control system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system, and traction control system, etc. Among them, Electronic Stability Program (ESP) is a general term for systems or programs designed to improve vehicle handling performance while effectively preventing loss of control when the car reaches its dynamic limits. ESP enhances vehicle safety and handling. Automatic Emergency Braking (AEB) is an active safety technology for automobiles, mainly composed of three modules: the control module (ECU), the distance measurement module, and the braking module. The core of the distance measurement module includes microwave radar, facial recognition technology, and a video system, which can provide accurate and real-time images and road condition information of the road ahead. Anti-lock Braking System (ABS) automatically controls the braking force of the brakes during braking to prevent the wheels from locking up, maintaining a state of rolling and sliding to ensure maximum adhesion between the wheels and the ground. Controller Deceleration Parking (CDP) is an auxiliary function of ESP that decelerates the vehicle to a standstill according to the driver's request. Diagnostic Troubleshooting (DTT) is another function. Vehicle self-diagnostic codes (DTCs) are a coding system used to detect and record vehicle faults. The main function of the traction control system (TCS) is to ensure that the vehicle obtains optimal traction under various driving conditions, prevent wheel slippage and loss of control, thereby improving vehicle stability and safety.

[0034] This application detects the overall vehicle status information and the on / off status information of each steady-state control system of the target vehicle. If the overall vehicle status information of the target vehicle is in a fault state and / or the on / off status information of any item in the steady-state control system of the target vehicle is in an open state, the active damping torque of the target motor is set to zero.

[0035] In one embodiment, the above-mentioned motor control method for steady-state vehicle driving may further include: if the overall vehicle status information of the target vehicle is in a normal state and the switch status information of the steady-state control system of the target vehicle is in a closed state, then the active damping torque of the target motor is restored to a set value.

[0036] In order to ensure the stability of the target motor, after the fault of the target vehicle is eliminated (i.e., restored to normal state) and the steady-state control system of the target vehicle is also turned off, this application restores the active damping torque compensation again after the fault of the target vehicle is eliminated and the steady-state control system is turned off, i.e., activates the active damping torque control.

[0037] In one embodiment, the steady-state control system of the target vehicle includes: electronic stability system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system, and traction control system; wherein, the specific implementation of the active damping torque control can be: if the change value of the target torque received by the target motor is less than the second preset torque, and the switch status information of the steady-state control system of the target vehicle is all in the off state, then the active damping torque of the target motor is restored to the set value.

[0038] If the fault condition of the target vehicle is resolved and all the on / off status information of the steady-state control system is in the off state, specifically, if the change in the target torque received by the target motor is less than a second preset torque (e.g., 40 Nm), then the fault condition of the target vehicle is determined to be resolved. The second preset torque is less than the first preset torque to prevent frequent on / off switching of the active damping torque control. After determining that the fault condition of the target vehicle has been resolved and all the on / off status information of the steady-state control system is in the off state, this application re-activates the active damping torque control of the target motor to improve the stability of the target motor.

[0039] In one embodiment, the active damping torque control can be activated by: if the change in the target torque received by the target motor is less than the second preset torque, the change in the vehicle speed of the target vehicle is less than the preset vehicle speed, and the switch status information of the steady-state control system of the target vehicle is in the off state, then the active damping torque of the target motor is restored to the set value.

[0040] If the change in the target torque received by the target motor is less than the second preset torque, the change in the target vehicle speed is less than the preset speed (e.g., 2 km / h), and the switch status information of the steady-state control system of the target vehicle is in the off state, it indicates that the fault state of the target vehicle has been resolved and the switch status information of the steady-state control system is in the off state. At this time, the active damping torque control of the target motor can be turned on again to improve the stability of the target motor.

[0041] Figure 4This is a schematic diagram of the structure of a motor control device for steady-state vehicle driving provided in an exemplary embodiment of this application. Figure 4 As shown, the motor control device 40 for steady-state driving of the vehicle includes: an information acquisition module 41, used to acquire the operating status information of the target vehicle equipped with the target motor during operation; wherein, the operating status information includes at least one of the overall vehicle status information of the target vehicle and the on / off status information of the steady-state control system of the target vehicle; and a torque control module 42, used to set the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is a fault state and / or the on / off status information of the steady-state control system of the target vehicle is an on state.

[0042] This application provides a motor control device for steady-state vehicle operation. The device acquires the operating status information of a target vehicle equipped with a target motor during operation via an information acquisition module 41. This operating status information includes at least one of the overall vehicle status information and the on / off status information of the target vehicle's steady-state control system. If the overall vehicle status information indicates a fault and / or the on / off status information of the target vehicle's steady-state control system indicates an on state, the torque control module 42 sets the active damping torque of the target motor to zero. That is, during the operation of the target vehicle, the overall vehicle status information and the on / off status of the steady-state control system are monitored in real time. If a fault occurs in the target vehicle and / or the steady-state control system is on, the active damping torque of the target motor is set to zero to eliminate the effect of the active damping torque on the motor torque. This allows the target motor's torque to quickly respond to the target torque demand, protecting the target motor and improving its stability and safety.

[0043] In one embodiment, the torque control module 42 can be further configured to: if the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

[0044] In one embodiment, the torque control module 42 can be further configured to: if the overall vehicle status information of the target vehicle is in a fault state and the change value of the target torque received by the target motor is greater than the first preset torque, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

[0045] In one embodiment, the steady-state control system of the target vehicle includes: electronic stability system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system and traction control system; wherein, the torque control module 42 can be further configured to: if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of any item in the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

[0046] In one embodiment, the motor control device 40 for steady-state vehicle operation can be further configured to restore the active damping torque of the target motor to a set value if the overall vehicle status information of the target vehicle is in a normal state and the switch status information of the steady-state control system of the target vehicle is in a closed state.

[0047] In one embodiment, the steady-state control system of the target vehicle includes: electronic stability control system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system, and traction control system; wherein, the motor control device 40 for steady-state driving of the vehicle can be further configured to: if the change value of the target torque received by the target motor is less than the second preset torque, and the switch status information of the steady-state control system of the target vehicle is all in the off state, then the active damping torque of the target motor is restored to the set value.

[0048] In one embodiment, the motor control device 40 for steady-state vehicle driving can be further configured to: if the change value of the target torque received by the target motor is less than the second preset torque, the change value of the target vehicle speed is less than the preset vehicle speed, and the switch status information of the steady-state control system of the target vehicle is in the off state, then the active damping torque of the target motor is restored to the set value.

[0049] Below, for reference Figure 5 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0050] Figure 5 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0051] like Figure 5 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0052] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0053] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0054] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0055] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0056] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0057] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0058] Of course, for the sake of simplicity, Figure 5 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0059] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0060] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0061] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0062] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0063] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0064] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0065] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0066] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0067] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A motor control method for steady-state vehicle operation, characterized in that, include: The operating status information of the target vehicle equipped with the target motor during operation is obtained; wherein the operating status information includes at least one of the overall vehicle status information of the target vehicle and the on / off status information of the steady-state control system of the target vehicle. If the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

2. The motor control method for steady-state vehicle operation according to claim 1, characterized in that, The step of setting the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the steady-state control system of the target vehicle is in an on state includes: If the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

3. The motor control method for steady-state vehicle operation according to claim 2, characterized in that, If the overall vehicle status information of the target vehicle is in a fault state and the target torque received by the target motor is abnormal, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then setting the active damping torque of the target motor to zero includes: If the overall vehicle status information of the target vehicle is in a fault state and the change value of the target torque received by the target motor is greater than the first preset torque, and / or the switch status information of the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

4. The motor control method for steady-state vehicle operation according to claim 1, characterized in that, The steady-state control system of the target vehicle includes: electronic stability control system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system, and traction control system; wherein, setting the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is in a fault state and / or the on / off status information of the steady-state control system of the target vehicle is in an on state includes: If the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of any item in the steady-state control system of the target vehicle is in an on state, then the active damping torque of the target motor is set to zero.

5. The motor control method for steady-state vehicle operation according to claim 1, characterized in that, The motor control method for steady-state vehicle operation also includes: If the overall vehicle status information of the target vehicle is in a normal state and the on / off status information of the steady-state control system of the target vehicle is in a closed state, then the active damping torque of the target motor will be restored to the set value.

6. The motor control method for steady-state vehicle operation according to claim 5, characterized in that, The steady-state control system of the target vehicle includes: electronic stability control system, automatic emergency braking system, anti-lock braking system, deceleration control system, diagnostic fault code system, and traction control system; wherein, if the overall vehicle status information of the target vehicle is normal and the on / off status information of the steady-state control system of the target vehicle is off, restoring the active damping torque of the target motor to the set value includes: If the change in the target torque received by the target motor is less than the second preset torque, and the switch status information of the steady-state control system of the target vehicle is all in the off state, then the active damping torque of the target motor will be restored to the set value.

7. The motor control method for steady-state vehicle operation according to claim 5, characterized in that, If the overall vehicle status information of the target vehicle is in a normal state and the on / off status information of the steady-state control system of the target vehicle is in a closed state, then restoring the active damping torque of the target motor to the set value includes: If the change in the target torque received by the target motor is less than the second preset torque, the change in the speed of the target vehicle is less than the preset speed, and the switch status information of the steady-state control system of the target vehicle is in the off state, then the active damping torque of the target motor will be restored to the set value.

8. A motor control device for steady-state vehicle operation, characterized in that, include: The information acquisition module is used to acquire the operating status information of the target vehicle equipped with the target motor during operation; wherein, the operating status information includes at least one of the overall vehicle status information of the target vehicle and the on / off status information of the steady-state control system of the target vehicle. The torque control module is used to set the active damping torque of the target motor to zero if the overall vehicle status information of the target vehicle is in a fault state and / or the switch status information of the steady-state control system of the target vehicle is in an on state.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program for performing the method described in any one of claims 1-7.

10. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is used to execute the method described in any one of claims 1-7.

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