Control method for drive system, drive system, device, medium, and vehicle

Abstract

The present disclosure relates to a control method for a drive system, a drive system, an apparatus, a medium, and a vehicle. The method is applied to a microcontroller unit of the drive system and includes acquiring electrical signals corresponding to a plurality of power drive devices in the drive system, determining a number of faulty power drive devices based on the electrical signals, and controlling the plurality of power drive devices to output drive signals when the number of faulty power drive devices is equal to or less than a predetermined number threshold.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure claims priority to Chinese Patent Application No. 202310350607.1, entitled "CONTROL METHOD FOR DRIVE SYSTEM, DRIVE SYSTEM, APPARATUS, MEDIUM, AND VEHICLE," filed with the State Intellectual Property Office of the People's Republic of China on March 27, 2023, which is incorporated herein by reference in its entirety.

[0002] The present disclosure relates to the technical field of vehicle control, and more particularly to a control method for a drive system, a drive system, an apparatus, a medium, and a vehicle. [Background technology]

[0003] In the related art, a vehicle includes multiple power drive devices that provide power to the vehicle's drive system. When one of the power drive devices reports a fault, the entire drive system is shut down, making it impossible to continue driving. However, in reality, two power drive devices can still support normal operation and driving of the drive system. Summary of the Invention

[0004] To overcome the problems in the related art, the present disclosure provides a control method for a drive system, a drive system, an apparatus, a medium, and a vehicle.

[0005] A first aspect of an embodiment of the present disclosure provides a control method for a drive system, the method being applied to a microcontroller unit for the drive system, the method comprising: acquiring electrical signals corresponding to a plurality of power driven devices in a drive system; determining a quantity of faulty power-driven devices based on the electrical signals; When the number of faulty power-driven devices is equal to or less than a predetermined number threshold, the power-driven devices are controlled to output a drive signal. Includes:

[0006] Optionally, the method comprises: When the number of faulty power-driven devices is greater than a predetermined number threshold, the power-driven devices are controlled to stop outputting drive signals. Further includes:

[0007] Optionally, controlling the plurality of power driving devices to stop outputting the driving signal when the number of faulty power driving devices is greater than a predetermined number threshold value includes: Stopping output of control signals to the plurality of power driving devices to control the plurality of power driving devices to stop outputting driving signals when the number of faulty power driving devices is greater than a predetermined number threshold. Includes:

[0008] Optionally, controlling the plurality of power driven devices to output a drive signal when the number of faulty power driven devices is equal to or less than a predetermined number threshold includes: sending control signals to the plurality of power-driven devices to control the plurality of power-driven devices to output drive signals when the number of faulty power-driven devices is equal to or less than a predetermined number threshold; Includes:

[0009] Optionally, acquiring electrical signals corresponding to a plurality of power driven devices in the drive system comprises: receiving voltage signals generated by the plurality of programming modules based on current signals transmitted by the power-driven device; Includes:

[0010] Optionally, the method comprises: receiving fault signals transmitted by the plurality of programming modules; controlling the plurality of power driving devices to stop outputting the driving signals based on the received fault signal; further comprising If the electrical signal of the power-driven device received by the programming module is not within a predetermined electrical signal threshold range, a fault signal is output by the programming module to the microcontroller unit.

[0011] Optionally, controlling the plurality of power driven devices to output a drive signal when the number of faulty power driven devices is equal to or less than a predetermined number threshold includes: If the number of faulty power-driven devices is equal to or less than a predetermined number threshold, determining a target programming module corresponding to the faulty power-driven device based on the electrical signal transmitted by each programming module; Sending a target control signal to the target programming module to control the plurality of power-driven devices to output drive signals, so that the target programming module stops outputting the fault signal and outputs a normal signal in response to the target control signal; Includes:

[0012] Optionally, the method comprises: Sending a predefined electrical signal threshold to the programming module Includes:

[0013] A second aspect of the embodiment of the present disclosure is a plurality of power drive devices configured to output drive signals; a plurality of programming modules, each programming module correspondingly connected to one powered device, each programming module configured to receive electrical signals transmitted by the powered device connected to the programming module; a microcontroller unit configured to determine the number of faulty power-driven devices based on the electrical signals transmitted by the plurality of programming modules, and to control the plurality of power-driven devices to output drive signals when the number of faulty power-driven devices is equal to or less than a predetermined number threshold; A drive system including:

[0014] Optionally, the microcontroller unit includes a program operating module and a switch control module, an output terminal of the program operating module is connected to an input terminal of the switch control module, and an output terminal of the switch control module is connected to input terminals of the plurality of power-driven devices; the program-operated module is configured to output a control signal, the control signal being used to enable the power-driven device to output a drive signal in response to the control signal; The switch control module is configured to control the connection / disconnection state of a path between the program operation module and the power driving device, and determine whether to transmit a control signal to the multiple power driving devices based on the connection / disconnection state.

[0015] Optionally, a first signal input end of each programming module is connected to a first output end of the program running module, a first signal output end of each programming module is connected to a signal input end of the microcontroller unit, a second signal input end of each programming module is connected to a signal output end of a power driving device, and a second signal output end of each programming module is connected to an input end of the switch control module; the programming module is configured to output a fault signal when the electrical signal transmitted by the power-driven device is not within a predetermined electrical signal threshold range; The switch control module is configured to disconnect paths between the program operation modules and the power drive devices to control the plurality of power drive devices to stop outputting drive signals when a fault signal output by at least one of the programming modules is received.

[0016] Optionally, the switch control module includes a plurality of first switch modules and an AND gate circuit module, the input ends of the plurality of first switch modules are connected to the output ends of the program operating modules, the output end of each first switch module is connected to the input end of a power driving device, the output end of the AND gate circuit module is connected to the control ends of the plurality of first switch modules, and the input end of the AND gate circuit module is connected to the second signal output end of each programming module; The AND gate circuit module is configured to control the first switch module to disconnect a path between the program operating module and the power driving device when a fault signal output by at least one of the programming modules is received.

[0017] Optionally, the programming module includes a signal conversion module and a threshold comparison module, an input end of the signal conversion module is connected to a signal output end of the power driving device, an output end of the signal conversion module is connected to an input end of the threshold comparison module, and an output end of the threshold comparison module is connected to an input end of the switch control module; the signal conversion module is configured to receive a current signal transmitted by the power-driven device and convert the current signal into a voltage signal; The threshold comparison module is configured to output a fault signal if the voltage signal is not within a predetermined electrical signal threshold range.

[0018] Optionally, the programming module further includes a second switch module, one end of which is connected to the output end of the threshold comparison module, and the other end of which is connected to the input end of the switch control module.

[0019] Optionally, the programming module includes a programmable chip.

[0020] Optionally, there are three power drive devices, and the drive signals output by the three power drive devices are used to drive the motor.

[0021] A third aspect of an embodiment of the present disclosure is a control device for a drive system, which is applied to a microcontroller unit of the drive system, comprising: an acquisition module configured to acquire electrical signals corresponding to a plurality of power-driven devices in the drive system; a determining module configured to determine a quantity of faulty power-driven devices based on the electrical signals; a first control module configured to control the plurality of power-driven devices to output a drive signal when the number of faulty power-driven devices is equal to or less than a predetermined number threshold; A control device including:

[0022] A fourth aspect of an embodiment of the present disclosure provides a computer-readable storage medium having stored thereon computer program instructions, the program instructions, when executed by a first processor, causing the steps of a control method for a drive system provided in the second aspect of the embodiment of the present disclosure to be performed.

[0023] A fifth aspect of the embodiment of the present disclosure provides a vehicle including the drive system provided in the second aspect of the embodiment of the present disclosure.

[0024] The embodiments of the present disclosure have the following technical effects.

[0025] In an embodiment of the present disclosure, by setting a predetermined quantity threshold, when it is determined that the number of faulty power drive devices is equal to or less than the predetermined quantity threshold, multiple power drive devices are controlled to output a drive signal. Therefore, even if some power drive devices in the drive system fail, the remaining power drive devices are still controlled to support normal operation of the drive system, ensuring normal vehicle operation. This implements a fault masking function, thereby ensuring normal operation and driving of the drive system even in the event of a failure and enhancing vehicle functionality. It is also possible to mitigate a degradation in the driver experience caused by vehicle damage during driving induced by a partial failure of the power drive devices.

[0026] Other features and advantages of the present disclosure are described in detail in the Detailed Description of the Preferred Embodiments section below.

[0027] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated into and constitute a part of this specification, and are used to explain, but not to limit, the present disclosure in conjunction with the following specific implementations: [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 2 is a schematic diagram of the structure of a drive system protection module. [Figure 2] FIG. 10 is a schematic diagram of the structure of another drive system protection module. [Figure 3] 1 is a flow diagram of a control method for a drive system in accordance with an exemplary embodiment. [Figure 4] 1 is a schematic diagram of a drive system structure according to an exemplary embodiment; [Figure 5] 1 is a schematic diagram of an exemplary drive system structure according to an exemplary embodiment; [Figure 6] 5 is a flow diagram of another control method for a drive system in accordance with an exemplary embodiment. [Figure 7]FIG. 1 is a block diagram of a controller for a drive system according to an exemplary embodiment. [Figure 8] FIG. 1 is a block diagram of a vehicle in accordance with an exemplary embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0029] Exemplary embodiments are described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise specified, the same numbers in different accompanying drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure as detailed in the accompanying claims.

[0030] In the related art, as shown in the schematic diagram of the structure of a drive system protection module in Figure 1, the output terminals of multiple Hall sensors are connected to the input terminals of a comparison circuit, the output terminal of the comparison circuit is connected to the input terminal of a complex programmable logic device (CPLD), the output terminal of the CPLD is connected to the input terminal of a microcontroller unit (MCU), the output terminal of the MCU is connected to the input terminals of multiple power drive devices, and the output terminals of the multiple power drive devices are connected to a motor module. The Hall sensors detect the current signals of the multiple power drive devices in real time and transmit the current signals to the CPLD via corresponding comparison circuits. The CPLD detects the current signals sent by the Hall sensors in real time. If an abnormal signal occurs, such as a current exceeding a threshold, the CPLD takes protective action and sends a fault signal to the MCU. The MCU then implements a corresponding protection control strategy to shut down the motor, thereby stopping the operation of the entire drive system.

[0031] As shown in the schematic diagram of the structure of another drive system protection module in FIG. 2, the output terminals of each of the multiple Hall sensors are connected to the input terminal of a comparison circuit, the output terminals of all the comparison circuits are connected to the input terminal of a microcontroller unit, the output terminals of all the comparison circuits are connected to the input terminal of an AND gate, the output terminal of the AND gate is connected to the control terminal of the microcontroller unit, the output terminal of the microcontroller unit is connected to the input terminal of the multiple power drive devices, and the output terminal of the multiple power drive devices is connected to the motor. The Hall sensors detect the current signals of the multiple power drive devices in real time and transmit the current signals to the corresponding comparison circuits. The comparison circuits detect the signals sent by the Hall sensors in real time. If an abnormal signal occurs, such as a current exceeding a threshold, the comparison circuit sends an abnormal signal to the microcontroller unit. The microcontroller unit executes protective actions and protection control strategies to shut down the entire drive system. In addition, the comparison circuit may transmit the abnormal signal to the AND gate, which outputs a control signal to the microcontroller unit. The microcontroller unit executes protective actions and protection control strategies to shut down the motor, thereby stopping the operation of the entire drive system.

[0032] In the two solutions mentioned above, if one Hall sensor sends out a fault signal (possibly due to a fault in a power drive device or the Hall sensor itself), the fault signal cannot be overridden, the entire drive system is shut down, and the vehicle cannot run. However, in practice, more than two normal power drive devices can still support the operation and driving of the drive system.

[0033] In addition, both of the above solutions use a Hall sensor and a comparison circuit. The solution in Figure 1 also uses a CPLD. Both solutions use a large number of components and have a relatively low level of integration. The more components there are, the higher the risk of multiple failures. In addition, the above solutions include a comparison circuit in the path from the Hall sensor that outputs the signal to the microcontroller unit that executes the protection action. The signal transmission time for this path is approximately 14 μs. There is still room for optimization to achieve fast protection performance for the drive system.

[0034] In order to solve the above-mentioned technical problems, the embodiments of the present disclosure provide a control method for a drive system, a drive system, an apparatus, a medium, and a vehicle. The solutions proposed in the embodiments of the present disclosure will be described in further detail in conjunction with the accompanying drawings.

[0035] 3 is a flow chart of a control method for a drive system according to an exemplary embodiment. As shown in FIG. 3, the control method for a drive system is applied to a microcontroller unit of the drive system and includes the following steps:

[0036] S101: Acquire electrical signals corresponding to a plurality of power-driven devices in a drive system.

[0037] Specifically, the drive system determines the operational performance of an electric vehicle. The drive system of an electric vehicle includes a motor, a motor controller, a mechanical transmission, and wheel ends. The mechanical transmission includes a reducer, a transmission shaft, a differential, an axle shaft, etc. Motor controllers are widely used for various devices that need to be driven by a motor. The power drive device is the power device in the motor controller. The power devices commonly used in motor controllers include two types: IGBTs (Insulated Gate Bipolar Transistors) and MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors). The electrical signal may be a current signal or a voltage signal; alternatively, the electrical signal may be a normal signal or a fault signal.

[0038] S102: Determine the number of faulty power-driven devices based on the electrical signals.

[0039] In one implementation, the electrical signals are collected by a sensor and transmitted to a microcontroller unit, and the microcontroller unit determines whether the plurality of power-driven devices are faulty and the number of faulty power-driven devices based on whether the electrical signals of the plurality of power-driven devices are within a predetermined electrical signal threshold range.

[0040] In another implementation, the electrical signals may be acquired by multiple programming modules, each corresponding to one power-driven device. In one example, the electrical signals may represent the magnitude of the current or voltage of the power-driven devices. The programming modules collect the electrical signals of the multiple power-driven devices. The microcontroller unit determines whether the multiple power-driven devices are faulty and the number of faulty power-driven devices based on predetermined electrical signal thresholds. In another example, the electrical signals may represent whether the current or voltage of the power-driven devices is abnormal, i.e., the electrical signals may include a fault signal or a normal signal. Specifically, the programming modules acquire the electrical signals of the power-driven devices, compare the electrical signals with predetermined electrical signal thresholds, and output electrical signals indicating whether the current or voltage is abnormal to the microcontroller unit. The microcontroller unit determines the number of faulty power-driven devices based on all the received electrical signals.

[0041] S103: If the number of faulty power-driven devices is equal to or less than a predetermined number threshold, control the power-driven devices to output drive signals.

[0042] Specifically, the multiple power drive devices are all connected to a motor, and the drive signals output by the power drive devices are used to control the output torque of the motor to support the operation and drive of the drive system. The motor controller has multiple power drive devices. Generally, if some of the power drive devices fail, the remaining power drive devices can still support the operation and drive of the drive system. Therefore, by setting a predetermined quantity threshold, the multiple power drive devices can be controlled to output drive signals when the number of faulty power drive devices is equal to or less than the predetermined quantity threshold. The predetermined quantity threshold may be determined based on empirical values ​​from vehicle tests. For example, if there are three power drive devices, the predetermined quantity threshold may be set to 1, i.e., when the number of faulty power drive devices in the drive system is equal to or less than 1, the multiple power drive devices are controlled to output drive signals. If a faulty power drive device exists among the multiple power drive devices, when the microcontroller unit controls the multiple power drive devices to output drive signals, the microcontroller unit cannot control the faulty power drive device, i.e., the microcontroller unit controls the remaining non-faulty power drive devices to output drive signals to support the operation and drive of the drive system.

[0043] In this embodiment of the present disclosure, by setting a predetermined quantity threshold, when it is determined that the number of faulty power drive devices is equal to or less than the predetermined quantity threshold, multiple power drive devices are controlled to output a drive signal. Therefore, even if some power drive devices in the drive system fail, the remaining power drive devices that are not failed can still be controlled to support the normal operation of the drive system and ensure normal vehicle operation, thereby implementing a fault masking function, thereby ensuring normal operation and driving of the drive system even in the event of a failure and enhancing vehicle functionality. It is also possible to mitigate a degradation in the driver experience caused by vehicle damage during driving induced by the failure of some power drive devices.

[0044] In some embodiments, the method comprises: When the number of faulty power-driven devices is greater than a predetermined number threshold, the power-driven devices are controlled to stop outputting drive signals. Further includes:

[0045] Specifically, if a large number of power driving devices fail, the remaining power driving devices cannot support the operation and driving of the drive system, and if the remaining power driving devices are forced to support the operation of the drive system, problems such as motor overload, overload, excessive speed, inability to start, or loud noise may occur, and in serious cases, the motor may be damaged. Therefore, if the number of faulty power driving devices is greater than a predetermined number threshold, the multiple power driving devices are controlled to stop outputting drive signals.

[0046] It should be noted that the number of power drive devices in a vehicle motor controller may be determined based on actual circumstances, and the default number threshold may be set to more than half of the number of power drive devices in the motor controller to avoid dangerous driving caused by excessive failures of the vehicle motor controller. For example, if there are five power drive devices, the default number threshold may be 2 or 1. If there are four power drive devices, the default number threshold is generally 1, not 2.

[0047] In an embodiment of the present disclosure, when the number of faulty electric power drive devices is too large, all electric power drive devices are controlled to stop outputting drive signals to the outside in order to ensure the driving safety of the vehicle. That is, when the number of faulty electric power drive devices is greater than a predetermined number threshold, all electric power drive devices are controlled to stop outputting drive signals regardless of whether there are any electric power drive devices that are not faulty.

[0048] In some embodiments, controlling the plurality of power-driven devices to stop outputting the drive signal when the number of faulty power-driven devices is greater than a predetermined number threshold includes: Stopping output of control signals to the plurality of power driving devices to control the plurality of power driving devices to stop outputting driving signals when the number of faulty power driving devices is greater than a predetermined number threshold. Includes:

[0049] For example, if the microcontroller unit determines that a number of power drive devices have failed, control signals are output to the multiple power drive devices to stop the multiple power drive devices from outputting drive signals, resulting in the motor stopping outputting torque and the drive system no longer continuing to support drive.

[0050] In some embodiments, when the number of faulty power-driven devices is equal to or less than a predetermined number threshold, controlling the plurality of power-driven devices to output a drive signal includes: sending control signals to the plurality of power-driven devices to control the plurality of power-driven devices to output drive signals when the number of faulty power-driven devices is equal to or less than a predetermined number threshold; Includes:

[0051] For example, if the microcontroller unit determines that some of the power driving devices have failed, control signals are output to the multiple power driving devices to control the multiple power driving devices to output driving signals, so that the motor outputs torque to support the operation and driving of the drive system.

[0052] Therefore, it can be understood that if the number of faulty power-driven devices is less than or equal to a predetermined quantity threshold, or if the number of faulty power-driven devices is greater than a predetermined quantity threshold, a control signal is output to control the state of the power-driven device.

[0053] In some embodiments, obtaining electrical signals corresponding to a plurality of power drive devices in the drive system comprises: receiving voltage signals generated by the plurality of programming modules based on current signals transmitted by the power-driven device; Includes:

[0054] For example, if the electrical signal is a current signal, the microcontroller unit receives the current signals transmitted by the multiple programming modules. Each power-driven device is connected to one programming module. The programming modules are configured to obtain the current signal of the corresponding power-driven device, process the current signal, and transmit the processed current signal to the microcontroller unit.

[0055] For example, the electrical signal may include a voltage signal or a processed current signal, and the power drive device may send the current signal to a programming module for processing into a voltage signal, or send the current signal after further processing to a microcontroller unit.

[0056] Specifically, each power drive device is connected to one programming module. Each programming module acquires a current signal from a respective power drive device, further processes the current signal, or processes the current signal into a voltage signal, and transmits the voltage signal to the microcontroller unit. For example, if multiple power drive devices fail, each programming module transmits the electrical signal of the corresponding power drive device. As a result, the microcontroller unit can identify the current or voltage information contained in all the electrical signals and identify the faulty power drive device and its corresponding programming module.

[0057] In some embodiments, the method comprises: receiving fault signals transmitted by a plurality of programming modules; controlling the plurality of power driving devices to stop outputting the driving signals based on the received fault signal; further comprising If the electrical signal of the power-driven device received by the programming module is not within a predetermined electrical signal threshold range, a fault signal is output by the programming module to the microcontroller unit.

[0058] For example, if the electrical signal of the power-driven device corresponding to the programming module is not within a predetermined electrical signal threshold range, the programming module outputs a fault signal to the microcontroller unit; if the electrical signal of the power-driven device corresponding to the programming module is within a predetermined electrical signal threshold range, the programming module outputs a normal signal to the microcontroller unit.

[0059] For example, when the electrical signal is a voltage signal, if the voltage represented by the voltage signal is greater than a predetermined voltage threshold, the programming module sends a fault signal to the microcontroller unit. When the voltage represented by the voltage signal is equal to or less than a predetermined voltage threshold, the programming module sends a normal signal to the microcontroller unit. When the electrical signal is a current signal, if the current value represented by the current signal exceeds a predetermined current threshold range, the programming module sends a fault signal to the microcontroller unit. When the current value represented by the current signal is within a predetermined current threshold range, the programming module sends a normal signal to the microcontroller unit.

[0060] In some embodiments, when the number of faulty power-driven devices is equal to or less than a predetermined number threshold, controlling the plurality of power-driven devices to output a drive signal includes: If the number of faulty power-driven devices is equal to or less than a predetermined number threshold, determining a target programming module corresponding to the faulty power-driven device based on the electrical signal transmitted by each programming module; Sending a target control signal to the target programming module to control the plurality of power-driven devices to output drive signals, so that the target programming module stops outputting the fault signal and outputs a normal signal in response to the target control signal; Includes:

[0061] Specifically, the microcontroller unit's own logic controls the multiple power drive devices to stop outputting drive signals if the signals transmitted by the multiple programming modules and received by the microcontroller unit include at least one fault signal. In this embodiment, upon receiving a fault signal, the microcontroller unit determines whether the number of fault signals is equal to or less than a predetermined threshold, i.e., whether the number of faulty power drive devices is equal to or less than a predetermined threshold. If a fault exists, the microcontroller unit identifies the target programming module corresponding to the faulty power drive device based on the electrical signals transmitted by the multiple programming modules and received from the multiple power drive devices, and controls the target programming module to stop outputting fault signals and output normal signals to control the multiple power drive devices to output drive signals. If a fault does not exist, the microcontroller unit still controls the multiple power drive devices to stop outputting drive signals.

[0062] In some embodiments, the method comprises: Sending a predefined electrical signal threshold to the programming module Includes:

[0063] Specifically, the default electrical signal threshold value stored in the programming module is transmitted by the microcontroller unit. When the drive system is operating normally, during the initialization phase, the microcontroller unit writes information such as the default electrical signal threshold value to the programming module via the first output terminal.

[0064] It will be appreciated that the control method for the drive system described above may be applied to the microcontroller unit in the drive system protection module shown in Figures 1 and 2, or may be applied to the microcontroller unit in the drive system shown in Figure 4.

[0065] In the drive system protection module shown in Figures 1 and 2, the microcontroller unit acquires electrical signals corresponding to the power drive devices in the drive system based on the Hall sensors, determines the number of faulty power drive devices based on the electrical signals, and controls the power drive devices to output drive signals when the number of faulty power drive devices is equal to or less than a predetermined number threshold. The Hall sensors acquire current signals of the power drive devices.

[0066] It should be noted that a person skilled in the art can make adaptive improvements to the structure and connection relationship of the drive system protection module shown in Figures 1 and 2 based on the control method for the drive system provided in the embodiment of the present disclosure, so that the microcontroller unit in the drive system protection module shown in Figures 1 and 2 can execute the control method for the drive system provided in the embodiment of the present disclosure.

[0067] As shown in Figure 4, Figure 4 is a schematic diagram of the structure of a drive system according to an exemplary embodiment. a plurality of power drive devices 404 configured to output drive signals; a plurality of programming modules 401, each programming module 401 correspondingly connected to one power drive device 404, and each programming module 401 configured to receive an electrical signal transmitted by the power drive device 404 connected to the programming module; a microcontroller unit (402) configured to determine the number of faulty power-driven devices (404) based on the electrical signals sent by the plurality of programming modules (401), and control the plurality of power-driven devices (404) to output drive signals when the number of faulty power-driven devices (404) is equal to or less than a predetermined quantity threshold; Includes:

[0068] Specifically, each programming module 401 acquires an electrical signal of the power driving device 404 connected to the programming module 401. The programming module 401 outputs a fault signal or a normal signal based on the relationship between the acquired electrical signal and a predetermined electrical signal threshold. The microcontroller unit 402 receives the fault signal or the normal signal and controls the state of the power driving device 404.

[0069] In some embodiments, the microcontroller unit includes a program-operated module and a switch control module 405. An output of the program-operated module is connected to an input of the switch control module 405. An output of the switch control module 405 is connected to inputs of the plurality of power-driven devices 404.

[0070] The program-operated module is configured to output a control signal, which is used to enable the power drive device 404 to output a drive signal in response to the control signal.

[0071] The switch control module 405 is configured to control the connection / disconnection state of the path between the program operation module and the power driving device 404, and determine whether to transmit a control signal to the multiple power driving devices 404 based on the connection / disconnection state.

[0072] Specifically, the program running module may execute a predetermined program and output a control signal to control the power-driven device to output a drive signal. When the switch control module controls to open the path between the program running module and the power-driven device, the program running module cannot output the control signal to the power-driven device. When the switch control module controls to close the path between the program running module and the power-driven device, the program running module stops outputting the control signal to the power-driven device.

[0073] In some embodiments, a first signal input of each programming module is connected to a first output of the program operating module, a first signal output of each programming module is connected to a signal input of the microcontroller unit, a second signal input of each programming module is connected to a signal output of one of the power driving devices, and a second signal output of each programming module is connected to an input of the switch control module.

[0074] The programming module is configured to output a fault signal when the electrical signal transmitted by the power-driven device is not within a predetermined electrical signal threshold range.

[0075] The switch control module is configured to cut off a path between the program operation module and the power driving device and control the multiple power driving devices to stop outputting the driving signal when a fault signal output by at least one programming module is received.

[0076] Specifically, the programming module outputs a fault signal to the switch control module of the microcontroller unit when the electrical signal transmitted by the power driving device is not within a predetermined electrical signal threshold range. When the fault signal output by at least one programming module is received, the switch control module controls to disconnect the path between the program operation module and the power driving device, causing the power driving device to stop outputting the driving signal.

[0077] In some embodiments, the switch control module 405 includes a plurality of first switch modules 403 and an AND gate circuit module. The input terminals of the plurality of first switch modules 403 are connected to the output terminals of the program operation modules. The output terminal of each first switch module 403 is connected to the input terminal of one power driving device 404. The output terminal of the AND gate circuit module is connected to the control terminals of the plurality of first switch modules 403. The input terminal of the AND gate circuit module is connected to the second signal output terminal of each programming module 401.

[0078] The AND gate circuit module is configured to control the first switch module 403 to disconnect the path between the program operating module and the power driving device 404 when a fault signal output by at least one programming module 401 is received.

[0079] For example, the switch control module controls the states of a plurality of first switch modules, thereby controlling the connection / disconnection state of the path between the program operation module and the power-driven device.

[0080] For example, an AND gate has multiple inputs and one output. If all inputs are simultaneously high, the output is high; otherwise, the output is low. That is, the decision is made based on multiple input signals. As long as one or more signals output a low level, the output signal is low.

[0081] Specifically, the second signal output terminal of each programming module is connected to the input terminal of the switch control module, which receives the normal signals or fault signals output by the multiple programming modules, and controls the switch control module to output a low level when the received signals output by the multiple programming modules include fault signals, so that the microcontroller unit controls the multiple power driving devices to stop outputting driving signals based on the received low level, or controls the switch control module to output a high level when the received signals output by the multiple programming modules are all normal signals, so that the microcontroller unit controls the multiple power driving devices to output driving signals based on the received high level.

[0082] In the related art, a comparison circuit is included in the path from the Hall sensor that outputs a signal to the microcontroller unit that executes a protective action, and the signal transmission time of this path is approximately 14 μs. In the embodiment of the present disclosure, only an AND gate circuit is included in the path from the first switch module of the programming module that outputs the fault signal to the microcontroller unit that responds and executes a protective action, and the signal transmission time of this path is less than 0.5 μs. Therefore, by using the aforementioned AND gate circuit, the speed at which the entire drive system is protected can be significantly improved.

[0083] In some embodiments, the programming module includes a signal conversion module and a threshold comparison module, an input end of the signal conversion module is connected to a signal output end of the power-driven device, an output end of the signal conversion module is connected to an input end of the threshold comparison module, and an output end of the threshold comparison module is connected to an input end of the switch control module.

[0084] The signal conversion module is configured to receive a current signal transmitted by the power-driven device and convert the current signal into a voltage signal.

[0085] The threshold comparison module is configured to output a fault signal if the voltage signal is not within a predetermined electrical signal threshold range.

[0086] Specifically, the signal conversion module may convert the current signal transmitted by the power-driven device into a voltage signal or further process the current signal, and the threshold comparison module may output a fault signal if the voltage signal is not within a predetermined electrical signal threshold range.

[0087] In some embodiments, each programming module includes a second switch module, one end of which is connected to the programming module, the other end of which is connected to the switch control module, and the control end of the second switch module is connected to the programming module.

[0088] Specifically, the programming module is configured to control the second switch module to disconnect the programming module from the switch control module when the voltage or current of the electrical signal is not within a predetermined electrical signal threshold range, so that the second switch module outputs a low-level signal, which is a fault signal; and when the current of the electrical signal is greater than the predetermined electrical signal threshold, the programming module controls the second switch module to put the programming module into communication with the switch control module, so that the second switch module outputs a high-level signal, which is a normal signal.

[0089] In some embodiments, the programming module comprises a programmable chip.

[0090] Specifically, compared to solutions using Hall sensors, CPLDs, and comparison circuits in related art, a large number of components are used. In embodiments of the present disclosure, by using a programmable chip, current data of a power-driven device can be collected, the current data can be processed, and the output of a fault or abnormal signal to a microcontroller unit can be controlled. Therefore, the programmable module integrates the functions of the Hall sensors, CPLDs, and comparison circuits and has a high level of integration, thereby reducing the risk of multiple faults.

[0091] In some embodiments, there are three power drive devices, and the drive signals output by the three power drive devices are used to drive the motor.

[0092] In an embodiment of the present disclosure, a predetermined quantity threshold is set, and when the microcontroller unit 402 determines that the number of faulty power drive devices 404 is equal to or less than the predetermined quantity threshold, the multiple power drive devices 404 are controlled to output drive signals. Therefore, even if some of the power drive devices 404 in the drive system fail, the remaining power drive devices 404 that are not failing can still be controlled to support the normal operation of the drive system, ensuring normal vehicle operation. This implements a fault masking function, thereby ensuring normal operation and driving of the drive system even in the event of a failure and enhancing vehicle functionality. It is also possible to mitigate a degradation in the driver experience caused by vehicle damage during driving induced by a failure of some of the power drive devices 404.

[0093] Continuing to refer to Figure 4, the drive system is a power drive module including a plurality of power drive devices 404; a microcontroller unit 402, the microcontroller unit 402 including a plurality of first switch modules 403 and a switch control module 405, one end of each first switch module 403 is connected to the microcontroller unit 402, the other end of each first switch module 403 is connected to one power driving device 404, and an output end of the switch control module 405 is connected to a control end of each first switch module 403; a plurality of programming modules 401, a first signal input end of each programming module 401 being connected to a first output end of a microcontroller unit 402, a first signal output end of each programming module 401 being connected to a signal input end of the microcontroller unit 402 by using a signal collection module, a second signal input end of each programming module 401 being connected to a signal output end of one power driving device 404, a second signal output end of each programming module 401 being connected to an input end of a switch control module 405, and an output end of the switch control module 405 being connected to a signal input end of the microcontroller unit 402; Includes:

[0094] In some embodiments, referring to Figure 5, Figure 5 is a schematic diagram of an exemplary drive system structure according to an exemplary embodiment. As shown in Figure 5, the programming module 401 a signal conversion module, an input end of the signal conversion module being connected to the power driving device 404, and a first output end of the signal conversion module being connected to an input end of the signal collecting module; a threshold comparison module, a first input terminal of which is connected to a second output terminal of the signal conversion module; a second switch module, wherein a first input terminal of the second switch module is connected to an output terminal of the threshold comparison module; a data receiving module, the input end of which is connected to a first output end of the microcontroller unit 402, the output end of which is connected to an input end of the first data storage module, the first output end of which is connected to a second input end of the threshold comparison module, and the second output end of which is connected to a second input end of the second switch module; Includes.

[0095] In some embodiments, the microcontroller unit 402 a program storage module in which a computer program is stored; a program running module, a first input terminal of which is connected to an output terminal of the program storage module, configured to execute a computer program stored in the program storage module, and a first output terminal of which is connected to an input terminal of a data receiving module in the programming module 401; a second data storage module, the second data storage module being connected to the output end of the signal acquisition module, and the output end of the second data storage module being connected to the second input end of the program operation module; a plurality of first switch modules 403, one end of each of which is connected to the program operating module, the other end of each of which is connected to a power driving device 404, and the output end of a switch control module 405 is connected to the control end of each of the first switch modules 403; a switch control module 405 including an AND gate circuit, wherein output terminals of the plurality of second switch modules are connected to a plurality of input terminals of the AND gate circuit, and output terminals of the AND gate circuit are connected to a plurality of first switch modules 403; Includes.

[0096] The drive system further includes a power storage module, a motor module, and a reducer, wherein the power storage module is connected to the power drive module, the output end of the power drive module is connected to the input end of the motor module, and the output end of the motor module is connected to the reducer.

[0097] The microcontroller unit 402 includes multiple interfaces. For example, a first output terminal of the program running module is connected to input terminals of data receiving modules in the multiple programming modules 401 via interfaces A1, A2, and A3. The other terminal of the first switch module 403 is connected to a power driving device 404 via interfaces B1, B2, and B3, respectively. An output terminal of the switch control module 405 is connected to the multiple first switch modules 403 via interface C1.

[0098] It should be noted that in Fig. 5, only a driving system including three power driving devices 404 is used as an example. Accordingly, there are three programming modules 401. In the actual application process, the number of power driving devices 404 depends on the actual situation. However, the connection relationship between the microcontroller unit 402, the multiple power driving devices 404, and the multiple programming modules 401 is as shown in Fig. 5.

[0099] Specifically, for the structural example of the drive system described above, referring to the flowchart of the control method for another drive system shown in FIG. 6, the control method for the drive system includes:

[0100] S1: In the initialization stage, the microcontroller unit configures the interfaces A1, A2, A3 and the interfaces B1, B2, and B3 as outputs and configures the interface C1 as an input, transfers the computer program in the program storage module to the program running module for running, outputs the predetermined electrical signal threshold and the control logic to the data receiving module of the programming module, outputs the predetermined electrical signal threshold to the threshold comparison module through the first data storage module, and outputs the control logic through the first data storage module, so that the second switch module outputs a fault signal or a normal signal based on receiving the signal output by the threshold comparison module.

[0101] S2: Each signal conversion module outputs the electrical signal of the corresponding power-driven device to the corresponding threshold comparison module, which determines whether the electrical signal of the power-driven device is abnormal based on a predetermined electrical signal threshold and controls the second switch module to output a corresponding fault signal or normal signal.

[0102] S3: The AND gate circuit, based on the received fault signals or normal signals output by the plurality of second switch modules, executes step S4 if the signals output by the plurality of second switch modules include fault signals, and executes step S7 if the signals output by the plurality of second switch modules are all normal signals.

[0103] S4: The AND gate circuit controls the first switch modules to disconnect the paths between the first switch modules and the power drive modules, causing the motor modules connected to the power drive modules to stop operating, and the vehicle drive system to stop operating.

[0104] S5: Each signal conversion module acquires the electrical signal of the corresponding power-driven device. The signal acquisition module acquires the electrical signals of the multiple signal conversion modules and stores the electrical signals in a second data storage module of the microcontroller unit. The program operation module reads the electrical signals in the second data storage module and determines whether the number of faulty power-driven devices is greater than the predetermined number threshold. If the number of faulty power-driven devices is greater than the predetermined number threshold, step S4 is executed or no action is taken. If the number of faulty power-driven devices is equal to or less than the predetermined number threshold, step S6 is executed.

[0105] S6: The microcontroller unit outputs a control program for disabling the fault signal to the data receiving module of the programming module corresponding to the faulty power-driven device through the program running module, and the data receiving module transfers the control program to the first data storage module. Then, the second switch module disables the output abnormal signal according to the control program of the first data storage module and outputs a normal signal to the AND gate circuit to execute step S7.

[0106] S7: If the signals output by the second switch modules are all normal, the AND gate circuit controls the first switch modules to turn on the path between the first switch module and the power drive module. In this case, the motor module connected to the power drive module can operate. The drive control strategy is executed through the program operation module. Therefore, the vehicle can operate normally.

[0107] 7 is a block diagram of a control device 100 for a drive system according to an exemplary embodiment. Referring to FIG. 7, the control device 100 for the drive system is applied to a microcontroller unit of the drive system and includes an acquisition module 121, a determination module 122, and a control module 123.

[0108] The acquisition module 121 is configured to acquire electrical signals corresponding to a plurality of power-driven devices in the drive system.

[0109] The determination module 122 is configured to determine the quantity of faulty power-driven devices based on the electrical signals.

[0110] The first control module 123 is configured to control the plurality of power-driven devices to output drive signals when the number of faulty power-driven devices is equal to or less than a predetermined number threshold.

[0111] In some embodiments, the controller 100 for the drive system includes: a second control module configured to control the plurality of power-driven devices to stop outputting drive signals when the number of faulty power-driven devices is greater than a predetermined number threshold; Further includes:

[0112] In some embodiments, the second control module: If the number of faulty power driving devices is greater than a predetermined number threshold, stop outputting control signals to the plurality of power driving devices to control the plurality of power driving devices to stop outputting drive signals. It is configured as follows.

[0113] In some embodiments, the first control module 123: If the number of faulty power-driven devices is equal to or less than a predetermined number threshold, sending control signals to the plurality of power-driven devices to control the plurality of power-driven devices to output drive signals. It is configured as follows.

[0114] In some embodiments, the acquisition module 121 a receiving sub-module configured to receive voltage signals generated by the plurality of programming modules based on current signals transmitted by the power-driven device; Includes:

[0115] In some embodiments, the controller 100 for the drive system includes: a fault signal receiving module configured to receive fault signals transmitted by the plurality of programming modules; a control output module configured to control the plurality of power drive devices to stop outputting drive signals based on the received fault signal; further comprising If the electrical signal of the power-driven device received by the programming module is not within a predetermined electrical signal threshold range, a fault signal is output by the programming module to the microcontroller unit.

[0116] In some embodiments, The first control module 123 a determining submodule configured to determine, when the number of faulty power-driven devices is equal to or less than a predetermined number threshold, a target programming module corresponding to the faulty power-driven device based on the electrical signal transmitted by each programming module; a control submodule configured to send a target control signal to the target programming module to control the plurality of power-driven devices to output drive signals, so that the target programming module stops outputting the fault signal and outputs a normal signal in response to the target control signal; Includes:

[0117] In some embodiments, the controller 100 for the drive system includes: a transmitting module configured to transmit a predetermined electrical signal threshold to the programming module; Further includes:

[0118] Regarding the control device 100 for a drive system in the above-described embodiment, the specific manner in which each module performs an operation is described in detail in the embodiment of the control method for a drive system, and will not be described in detail here.

[0119] To achieve the aforementioned object, one embodiment of the present disclosure further provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a first processor, cause steps of the aforementioned control method for a drive system to be performed.

[0120] In order to achieve the above object, one embodiment of the present disclosure comprises: Drive system according to an embodiment of the present disclosure The present invention further provides a vehicle including:

[0121] Referring to Figure 8, Figure 8 is a block diagram of a vehicle 600 according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0122] Vehicle 600 may include various subsystems, such as infotainment system 610, sensing system 620, decision control system 630, and drive system 640, as described above. Vehicle 600 may include more or fewer subsystems, and each subsystem may further include multiple components. Additionally, each subsystem and each component of vehicle 600 may be interconnected in a wired or wireless manner.

[0123] In some embodiments, the drive system 640 may include a microcontroller unit 402, a power drive module, a motor module, a reducer, and a wheel end, connected in series. The power drive module includes a plurality of power drive devices. The drive system 640 further includes a plurality of programming modules 401 and a power storage module. The power storage module is configured to provide power to the power drive module. A first signal input of the programming module 401 is connected to a first output of the microcontroller unit 402. A first signal output of the programming module 401 is connected to a signal input of the microcontroller unit 402. A second signal input of each programming module 401 is connected to a signal output of one of the power drive devices. The microcontroller unit 402, the plurality of power drive devices, and the plurality of programming modules 401 may implement a control method for the drive system described above.

[0124] Specifically, if all signals output by the multiple programming modules 401 are normal signals, a high level is output, and as a result, the microcontroller unit 402 controls the multiple power drive devices to output drive signals based on the received high level. The power storage module provides power to the multiple power drive devices. The multiple power drive devices control the actions of the motor modules. In this case, the motor modules drive the reducers to operate and the wheel ends to operate, so that the vehicle 600 can drive normally. If the signals output by the multiple programming modules 401 include fault signals, a low level is output, and as a result, the microcontroller unit 402 controls the multiple power drive devices to stop outputting drive signals based on the received low level, so that the motor modules are shut down and the vehicle mechanisms stop driving.

[0125] In some embodiments, infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.

[0126] The sensing system 620 may include several types of sensors for sensing information about the environment around the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, or may be a BeiDou system or other positioning system), an inertial measurement unit (IMU), laser radar, millimeter wave radar, ultrasonic radar, and a camera device.

[0127] The decision control system 630 may include a computing system, a vehicle control unit, a steering system, a throttle, and a braking system.

[0128] In another exemplary embodiment, a computer program product is further provided, the computer program product including a computer program executable by a programmable device, the computer program having code portions that, when executed by the programmable device, implements the control method for the drive system described above.

[0129] Those skilled in the art will readily conceive of other implementation solutions of the present disclosure from consideration of the specification and practice of the present disclosure. This is intended to cover any variations, applications, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common sense or conventional technical means in the technical field not disclosed herein. The specification and embodiments are considered to be exemplary only, with the true scope and spirit of the present disclosure being indicated by the appended claims.

[0130] It should be understood that the present disclosure is not limited to the exact construction already described above and illustrated in the drawings, and that various modifications and changes may be made thereto without departing from the scope of the present disclosure, which is limited only by the appended claims.

Claims

1. A control method for a drive system (640), applied to a microcontroller unit (402) of said drive system (640), comprising: Obtaining (S101) electrical signals corresponding to a plurality of power-driven devices (404) in the drive system (640); determining (S102) the number of faulty power-driven devices (404) based on the electrical signals; If the number of faulty power-driven devices (404) is equal to or less than a predetermined number threshold, controlling the plurality of power-driven devices (404) to output a drive signal (S103); A control method comprising:

2. The method comprises: If the number of faulty power driving devices (404) is greater than the predetermined number threshold, the power driving devices (404) are controlled to stop outputting drive signals. The method of claim 1 further comprising:

3. When the number of faulty power driving devices (404) is greater than the predetermined number threshold, controlling the plurality of power driving devices (404) to stop outputting the drive signals; If the number of faulty power driving devices (404) is greater than the predetermined number threshold, stopping the output of control signals to the plurality of power driving devices (404) to control the plurality of power driving devices (404) to stop outputting the drive signals. The method of claim 2 comprising:

4. controlling the plurality of power drive devices (404) to output the drive signal when the number of faulty power drive devices (404) is equal to or less than the predetermined number threshold; If the number of faulty power drive devices (404) is equal to or less than the predetermined number threshold, transmitting a control signal to the plurality of power drive devices (404) to control the plurality of power drive devices (404) to output the drive signal. The method of any one of claims 1 to 3, comprising:

5. obtaining the electrical signals corresponding to the plurality of power driven devices (404) in the drive system (640); receiving voltage signals generated by a plurality of programming modules (401) based on the current signals transmitted by the power driving device (404); The method of any one of claims 1 to 4, comprising:

6. The method comprises: receiving fault signals transmitted by a plurality of programming modules (401); controlling the plurality of power drive devices (404) to stop outputting the drive signals based on the received fault signal; Furthermore, 6. The method of claim 1, wherein if the electrical signal of the power-driven device (404) received by the programming module (401) is not within a predetermined electrical signal threshold range, the programming module (401) outputs the fault signal to the microcontroller unit (402).

7. controlling the plurality of power drive devices (404) to output the drive signal when the number of faulty power drive devices (404) is equal to or less than the predetermined number threshold; If the number of faulty power-driven devices (404) is equal to or less than the predetermined number threshold, determining a target programming module corresponding to the faulty power-driven device (404) based on the electrical signal transmitted by each programming module (401); sending a target control signal to the target programming module to control the plurality of power driving devices (404) to output the driving signals, so that the target programming module stops outputting the fault signal and outputs a normal signal in response to the target control signal; The method of claim 6 , comprising:

8. The method comprises: transmitting said predetermined electrical signal threshold to said programming module (401); The method of claim 6 further comprising:

9. a plurality of power drive devices (404) configured to output drive signals; a plurality of programming modules (401), each of which is connected to a corresponding one of the power-driven devices (404), and each of which is configured to receive an electrical signal transmitted by the power-driven device (404) connected to said programming module; a microcontroller unit (402) configured to determine the number of faulty power drive devices (404) based on the electrical signals transmitted by the plurality of programming modules (401), and to control the plurality of power drive devices (404) to output drive signals when the number of faulty power drive devices (404) is equal to or less than a predetermined number threshold; A drive system (640) comprising:

10. The microcontroller unit (402) comprises a program operating module and a switch control module (405), the output terminal of the program operating module is connected to the input terminal of the switch control module (405), and the output terminal of the switch control module (405) is connected to the input terminals of the plurality of power driving devices (404); the program-operated module is configured to output a control signal, the control signal being used to enable the power drive device (404) to output the drive signal in response to the control signal; 10. The drive system (640) of claim 9, wherein the switch control module (405) is configured to control the connection / disconnection state of a path between the program operation module and the power drive device (404) and determine whether to transmit the control signal to the plurality of power drive devices (404) based on the connection / disconnection state.

11. A first signal input end of each programming module (401) is connected to a first output end of the program operating module, a first signal output end of each programming module (401) is connected to a signal input end of the microcontroller unit (402), a second signal input end of each programming module (401) is connected to a signal output end of one power driving device (404), and a second signal output end of each programming module (401) is connected to an input end of the switch control module (405); the programming module (401) is configured to output a fault signal when the electrical signal transmitted by the power-driven device (404) is not within a predetermined electrical signal threshold range; 11. The drive system (640) of claim 10, wherein the switch control module (405) is configured to disconnect the path between the program operation module and the power drive devices (404) to control the plurality of power drive devices (404) to stop outputting the drive signals when the fault signal output by at least one of the programming modules (401) is received.

12. The switch control module (405) comprises a plurality of first switch modules (403) and an AND gate circuit module, the input terminals of the plurality of first switch modules (403) are connected to the output terminal of the program operation module, the output terminal of each first switch module (403) is connected to the input terminal of one power driving device (404), the output terminal of the AND gate circuit module is connected to the control terminal of the plurality of first switch modules (403), and the input terminal of the AND gate circuit module is connected to the second signal output terminal of each programming module (401); 11. The drive system (640) of claim 10, wherein the AND gate circuit module is configured to control the first switch module (403) to disconnect the path between the program operation module and the power drive device (404) when a fault signal output by at least one of the programming modules (401) is received.

13. The programming module (401) comprises a signal conversion module and a threshold comparison module, the input end of the signal conversion module is connected to the signal output end of the power driving device (404), the output end of the signal conversion module is connected to the input end of the threshold comparison module, and the output end of the threshold comparison module is connected to the input end of the switch control module (405); the signal conversion module is configured to receive a current signal transmitted by the power driven device (404) and convert the current signal into a voltage signal; The drive system (640) of claim 11, wherein the threshold comparison module is configured to output the fault signal if the voltage signal is not within the predetermined electrical signal threshold range.

14. 14. The drive system (640) of claim 13, wherein the programming module (401) further comprises a second switch module, one end of the second switch module connected to the output end of the threshold comparison module and the other end of the second switch module connected to the input end of the switch control module (405).

15. 15. The drive system (640) of any one of claims 9 to 14, wherein the programming module (401) comprises a programmable chip.

16. 16. The drive system (640) of any one of claims 9 to 15, wherein there are three power drive devices (404), and the drive signals output by the three power drive devices (404) are used to drive a motor.

17. A control device (100) for a drive system (640), applied to a microcontroller unit (402) of said drive system, comprising: an acquisition module (121) configured to acquire electrical signals corresponding to a plurality of power-driven devices (404) in the drive system; a determination module (122) configured to determine the quantity of faulty power-driven devices (404) based on the electrical signal; a first control module (123) configured to control the plurality of power-driven devices (404) to output a drive signal when the number of faulty power-driven devices (404) is equal to or less than a predetermined number threshold; A control device (100) comprising:

18. 9. A computer-readable storage medium having stored thereon computer program instructions which, when executed by a first processor, cause the steps of the method of any one of claims 1 to 8 to be performed.

19. A vehicle comprising a drive system (640) according to any one of claims 9 to 16.

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