Motor controller integrating intelligent driving redundancy, control method, and electric vehicle

Abstract

A motor controller integrating intelligent driving redundancy, configured to: control a driving motor of an electric vehicle to output torque so as to drive a wheel of the electric vehicle; in response to a human driving torque signal, control the driving motor to output a torque value indicated by the human driving torque signal, the torque value indicated by the human driving torque signal varying with an opening degree of an accelerator pedal operated by a user; and in response to an intelligent driving torque signal, control the driving motor to output a torque value indicated by the intelligent driving torque signal, the torque value indicated by the intelligent driving torque signal being adjusted by an intelligent driving controller of the electric vehicle on the basis of a sensing data signal indicated by a sensing system of the electric vehicle. The motor controller is further configured to receive the sensing data signal indicated by the sensing system of the electric vehicle, and on the basis of the sensing data signal, control the driving motor to regulate the torque output. The motor controller can provide a vehicle-level intelligent driving redundancy backup function for the vehicle, thereby improving the safety of the vehicle. In addition, the present application also relates to a control method and an electric vehicle.

Description

Intelligent driving redundant motor controller, control method and electric vehicle

[0001] This application claims priority to Chinese Patent Application No. 202411564666.X, filed on November 1, 2024, entitled "Intelligent Driving Redundant Motor Controller, Control Method and Electric Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of new energy vehicles, and more specifically, to a smart driving redundant motor controller, control method, and electric vehicle. Background Technology

[0003] As intelligent driving matures and driving convenience improves, safety issues are becoming increasingly prominent.

[0004] Currently, all functions of intelligent driving control are located in the intelligent driving controller. If the intelligent driving controller fails, crashes, degrades, or exits for various reasons during vehicle operation, the driver needs to take over quickly. However, driver takeover usually takes seconds. During the time between the intelligent driving controller failure and the driver's takeover, the entire vehicle may be in an uncontrollable state, affecting driving safety.

[0005] Therefore, improving the safety of intelligent driving is a problem that needs to be solved. Summary of the Invention

[0006] This application provides a redundant motor controller for intelligent driving, a control method, and an electric vehicle. By backing up the intelligent driving system in the motor controller and connecting relevant signals from the intelligent driving perception system to the motor controller, redundant intelligent driving functions are deployed in the electric drive system. In the process of intelligent driving control failure and human driver takeover, the vehicle continues to operate normally, providing a vehicle-level intelligent driving redundancy backup function and improving the safety of the entire vehicle.

[0007] In a first aspect, this application provides a redundant motor controller for intelligent driving, which controls the output torque of the drive motor of an electric vehicle to drive the wheels of the electric vehicle. The motor controller is used to control the drive motor to output a torque value indicated by a human driving torque signal, the torque value indicated by the human driving torque signal changing with the opening of the accelerator pedal operated by the user. In response to an intelligent driving torque signal, the motor controller controls the drive motor to output a torque value indicated by the intelligent driving torque signal, the torque value indicated by the intelligent driving torque signal being adjusted by the intelligent driving controller of the electric vehicle based on perception data signals indicated by the electric vehicle's perception system. The motor controller is also used to receive perception data signals indicated by the electric vehicle's perception system and control the drive motor to adjust the torque output based on the perception data signals.

[0008] This motor controller is suitable for electric or hybrid vehicles, which can be either distributed or centralized motor architectures with multiple drive motors and multiple motor controllers. The motor controller can be any one of these multiple controllers. The drive motor can be a wheel-side motor or a hub motor, and can independently drive one wheel of the electric vehicle. The motor controller can output three-phase AC power to the drive motor, thereby controlling the output torque of the drive motor.

[0009] The perception system of an electric vehicle can be used to detect the surrounding environment and the vehicle's operating status. This system can include sensors such as cameras, lidar, and millimeter-wave radar to perceive the surrounding environment and collect and process environmental and in-vehicle information, primarily involving technologies such as road boundary monitoring, vehicle detection, and pedestrian detection. The perception system may also include sensors such as vehicle speed sensors, acceleration sensors, and inertial measurement units to detect vehicle status and driving information.

[0010] Sensing data signals can include information such as relative distance, relative vehicle speed, relative acceleration, and lane information. Sensing signals can also include information such as electric vehicle speed, acceleration, roll angle, and yaw angle.

[0011] The intelligent driving controller in this application can be a domain controller used to realize functions such as perception, positioning, path planning, and decision control. The accelerator pedal in this application can also be called the electric throttle pedal or the power accelerator pedal. The opening degree of the accelerator pedal can indicate the driving force required by the user, i.e., the driver. The greater the opening degree of the accelerator pedal, the greater the driver's demand for driving, and the greater the torque required to be output by the drive motor.

[0012] The motor controller can operate in three modes. In human-driven mode, the electric vehicle is operated by the user (driver). When the user presses the accelerator pedal, the vehicle controller collects the pedal opening and generates a human-driven torque signal, which is sent to the motor controller. The motor controller then controls the drive motor to output the torque indicated by the accelerator pedal opening. The torque output by the motor controller changes with the accelerator pedal opening; a larger accelerator pedal opening results in a larger torque output, and a smaller accelerator pedal opening results in a smaller torque output.

[0013] When the motor controller is in intelligent driving mode, the electric vehicle's intelligent driving controller performs intelligent active driving or assists the user in driving. In intelligent driving mode, the electric vehicle can drive autonomously within a geographical area with minimal or no control input from the driver. That is, the user can operate the accelerator pedal, brake pedal, and steering wheel with minimal or no operation, while the intelligent driving controller receives perception data signals sent by the electric vehicle's sensing components, such as radar and cameras. The intelligent driving controller fuses the information perceived by various sensors and obtains the electric vehicle's driving status and lane information based on the perception data signals. By analyzing signals such as distance, speed, and acceleration, it obtains target acceleration and target speed, etc. Based on the fused information, it makes driving decisions / planning and issues operation commands to the vehicle controller. The vehicle controller then sends an intelligent driving torque signal to the motor controller, which in turn outputs the torque value indicated by the intelligent driving torque signal, thus completing intelligent driving.

[0014] When the motor controller is in redundant intelligent driving mode, it receives perception data signals from the electric vehicle's perception system. Based on these signals, it acquires the vehicle's driving status and lane information. By analyzing signals such as distance, speed, and acceleration, it obtains target acceleration and target speed. Based on this fused information, it makes driving decisions / planning and directly controls the drive motor to adjust its output torque. In this mode, the motor controller can perform the functions and operations of controlling the drive motor torque in intelligent driving mode.

[0015] According to the solution in this application, the motor controller of the electric vehicle integrates redundant intelligent driving functions, which can independently receive perception data signals and perform torque control based on the perception data signals, thereby improving the redundancy of intelligent driving control and enhancing the overall vehicle safety.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is specifically used to, during the process of controlling the output torque of the drive motor according to the intelligent driving torque signal, when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel, stop controlling the output torque of the drive motor according to the intelligent driving torque signal and control the drive motor to adjust the output torque according to the perception data signal.

[0017] During the operation of an electric vehicle in intelligent driving mode, the intelligent driving controller determines the driving torque of the electric vehicle based on perceived data signals. The motor controller then responds to the intelligent driving torque signal to control the output torque of the drive motor. When the intelligent driving controller crashes, degrades, or exits control due to various failures, it ceases operation, making it impossible to continue control in intelligent driving mode. In this situation, the driver needs to quickly take over, which typically takes seconds. Before the driver takes over, the electric vehicle may be in an uncontrollable state, affecting driving safety. The failure of the intelligent driving controller can be caused by hardware malfunctions or software malfunctions or crashes, leading to the controller's inability to continue intelligent driving control and its exit from the intelligent driving system. This application does not specifically limit the causes of intelligent driving controller failure.

[0018] Because the motor controller has redundant intelligent driving functionality, when the intelligent driving controller fails and the driver has not yet taken over (i.e., the user is not operating the accelerator pedal, brake pedal, or steering wheel), the motor controller cannot receive the intelligent driving torque signal. In this situation, the motor controller can switch to redundant intelligent driving mode, directly controlling the drive motor to adjust the output torque based on the sensed data signals. Before the driver takes over, the motor controller continues intelligent driving control, ensuring the driving safety of the electric vehicle.

[0019] It should be understood that in intelligent driving mode, the motor controller and the intelligent driving controller can synchronously receive perception data signals from the perception system. The motor controller receives signals such as distance, vehicle speed, acceleration, and lane information from the perception system in real time and calculates the drive motor torque in the background. When the motor controller switches from intelligent driving mode to redundant intelligent driving mode, it can immediately adjust the output torque of the drive motor based on the received perception data signals, thereby reducing torque calculation time.

[0020] According to the solution in this application, the electric vehicle's motor controller integrates redundant intelligent driving functionality, enabling it to independently receive sensing data signals and operate as a backup in the vehicle's intelligent driving mode. When the vehicle's intelligent driving controller fails, before human intervention, the motor controller can quickly switch to redundant intelligent driving mode takeover, reducing downtime, mitigating the risk of electric vehicle loss of control, and improving vehicle safety.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is used to stop controlling the drive motor to adjust the torque output according to the sensing data signal and control the drive motor to output the torque value indicated by the human driving torque signal when the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle changes during the process of controlling the output torque of the drive motor according to the sensing data signal.

[0022] When the motor controller is in redundant intelligent driving mode, it controls the drive motor to adjust torque output based on sensing data signals. At this time, the user has not yet taken over the control of the electric vehicle and has not operated the accelerator pedal, brake pedal, or steering wheel. If the driver intervenes and operates the accelerator pedal, brake pedal, or steering wheel, resulting in a change in the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel, it can be considered that the driver has taken over. The electric vehicle switches from redundant intelligent driving mode to human driving mode. The motor controller no longer controls the drive motor to adjust torque based on sensing data signals, but directly responds to the human driving torque signal based on the driver's control and outputs the torque indicated by the opening of the accelerator pedal.

[0023] It should be understood that electric vehicles typically prioritize human driving. When driver intervention is detected, the motor controller will respond to the driver's input torque output. When the intelligent driving controller fails, the electric vehicle will send a prompt message to the user. Upon receiving the prompt message, the user will take over, and the motor controller will respond to the driver's input, enter human driving mode, stop controlling the drive motor to adjust torque output based on the perceived data signals, and control the drive motor to output the torque value indicated by the human driving torque signal.

[0024] According to the solution in this application, after the intelligent driving controller fails and crashes, before the human driver takes over, the motor controller implements redundant intelligent driving functions to control the vehicle to continue running, avoiding loss of vehicle control. When the human driver takes over in time, the motor controller controls the vehicle according to the human driver's operation, thus improving vehicle safety.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is also used to control the steering system of the electric vehicle to adjust the driving direction of the electric vehicle based on the sensing data signal.

[0026] When an electric vehicle is driving in intelligent driving mode, the intelligent driving controller of the electric vehicle performs intelligent active driving or assists the user in driving. In intelligent driving mode, the electric vehicle can drive autonomously within a geographical area with minimal or no control input from the driver. That is, the user can operate the accelerator pedal, brake pedal, and steering wheel with minimal or no operation, while the intelligent driving controller receives perception data signals sent by the electric vehicle's sensing components, such as radar and cameras. The intelligent driving controller fuses the information perceived by various sensors and obtains the electric vehicle's driving status and lane information based on the perception data signals. By analyzing signals such as distance, speed, and acceleration, it obtains the target steering angle or steering assist torque, etc. Based on the fused information, it makes driving decisions / planning, issues operating commands to the steering system, and the steering system executes the steering commands to enable the vehicle to maintain the current lane or change lanes, thus completing intelligent driving.

[0027] When the motor controller is in redundant intelligent driving mode, it receives perception data signals from the electric vehicle's perception system. Based on these signals, it acquires the vehicle's driving status and lane information. By analyzing signals such as distance, speed, and acceleration, it obtains the target steering angle or steering assist torque. Based on this fused information, it makes driving decisions / planning and controls the steering system to adjust the electric vehicle's direction. In this mode, the motor controller can perform the steering control functions of the intelligent driving controller.

[0028] In some possible embodiments, the motor controller can be connected to the communication lines of the electric vehicle's chassis controller area network (CAN) or high-speed fault-tolerant network protocol (FlexRay), and send steering commands to the steering system via the bus.

[0029] In some other possible embodiments, the motor controller may first send the steering command to the vehicle controller, which then forwards it to the steering system via a bus.

[0030] According to the solution in this application, the motor controller of the electric vehicle integrates redundant intelligent driving functions, which can independently receive perception data signals and perform steering control based on the perception data signals, thereby improving the redundancy of intelligent driving control and enhancing the overall vehicle safety.

[0031] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is used to control the drive motor to adjust the torque output for a continuous preset duration in response to the perception data signal indicated by the electric vehicle's perception system, control the steering system to move the electric vehicle closer to one side of the driving direction, and control the drive motor to reduce the output torque to stop the electric vehicle.

[0032] When the motor controller is in redundant intelligent driving mode, it controls the drive motor to adjust torque output based on perception data signals. At this time, the user has not yet taken control of the electric vehicle and is not operating the accelerator pedal, brake pedal, or steering wheel. If the driver does not intervene for an extended period, and the accelerator pedal opening, brake pedal opening, or steering wheel angle remains unchanged within a preset time, the motor controller can generate a parking path under redundant intelligent driving functionality. Based on this path, it controls the torque output of the drive motor and the steering system to complete the parking process. The motor controller controls the steering system to move the electric vehicle closer to one side of the driving direction and controls the drive motor to reduce output torque to bring the electric vehicle to a stop.

[0033] It should be understood that the computing power of the motor controller may be lower than that of the intelligent driving controller. Therefore, after the intelligent driving controller fails, the motor controller can perform redundant intelligent driving control for a preset time period. The preset time period can be set according to the capabilities of the motor controller. If the driver does not take over within the preset time period, the motor controller can stop continuing to perform redundant intelligent driving, use the redundant intelligent driving function to generate a path for parking on the side of the road and control the electric vehicle to park.

[0034] According to the solution in this application, after the intelligent driving controller fails and crashes, and the human driver takes over for a long period of time, the motor controller controls the entire vehicle to pull over to the side of the road through the redundant intelligent driving function, so as to avoid loss of control of the entire vehicle and improve vehicle safety.

[0035] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is also used to control the vehicle's body indicator lights to issue a warning signal when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel during the process of controlling the output torque of the drive motor according to the intelligent driving torque signal.

[0036] When an electric vehicle is operating in intelligent driving mode, if the intelligent driving controller malfunctions, crashes, degrades, or exits control due to various failures, it will stop working, making it impossible to continue control in intelligent driving mode. In this situation, the driver needs to quickly take over, which typically takes seconds. Before the driver takes over, the electric vehicle may be in an uncontrollable state, affecting driving safety. The motor controller then enters a redundant intelligent driving mode, controlling the vehicle's indicator lights to issue warning signals, thus alerting the electric vehicle to an abnormal state.

[0037] In some possible embodiments, the motor controller can be connected to the electric vehicle's body controller area network bus CAN or high-speed fault-tolerant network protocol FlexRay, and send commands to the vehicle's signal lights via the bus.

[0038] In some other possible embodiments, the motor controller may first send the warning command to the vehicle controller, which then forwards it to the vehicle signal lights via the bus.

[0039] According to the solution in this application, after the intelligent driving controller fails and crashes, before the human driver takes over, the motor controller implements redundant intelligent driving functions to control the vehicle to continue operating. At the same time, it sends warning information through the vehicle's signal lights to remind other vehicles, thereby reducing driving risks and improving vehicle safety.

[0040] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is also used to control the electric vehicle's body lights to stop emitting warning signals in response to changes in the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle operated by the user during the process of controlling the electric vehicle's body lights to emit warning signals.

[0041] When an electric vehicle is driving in redundant intelligent driving mode, if the intelligent driving controller resumes operation or the driver takes over, the electric vehicle will switch from redundant intelligent driving mode to intelligent driving mode or human driving mode. The motor controller will then turn off the vehicle's indicator lights, indicating that the electric vehicle has returned to normal or has been taken over by the driver, and no further warnings are needed.

[0042] According to the solution in this application, after the intelligent driving controller fails and crashes, before the human driver takes over, the motor controller implements redundant intelligent driving functions to control the vehicle to continue running. At the same time, it sends warning information through the vehicle's signal lights to remind other vehicles. When the intelligent driving controller recovers or the human driver takes over, the vehicle's signal lights are cleared, reducing driving risks and improving vehicle safety.

[0043] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is also used to, in the process of controlling the output torque of the drive motor according to the sensing data signal, respond to the intelligent driving torque signal and control the output torque of the drive motor to change to the torque indicated by the intelligent driving torque signal according to a preset rate of change.

[0044] When the motor controller switches from redundant intelligent driving mode to intelligent driving mode, the torque output of the control drive motor smoothly transitions to the torque indicated by the intelligent driving torque signal. The preset rate of change can be based on the vehicle calibration.

[0045] According to the solution in this application, after the intelligent driving controller fails and crashes, before the human driver takes over, the motor controller implements redundant intelligent driving functions to control the vehicle to continue running. When the intelligent driving controller recovers and takes over, the motor controller controls the torque output of the drive motor to smoothly switch to the instructions of the intelligent driving control system, avoiding the jerkiness between different modes and improving the comfort of electric vehicles during driving.

[0046] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is used to control the output torque of the drive motor to change from the torque adjusted according to the sensing data signal to the torque indicated by the human driving torque signal when the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user changes, in the process of controlling the output torque of the drive motor according to the sensing data signal.

[0047] When the motor controller switches from redundant intelligent driving mode to human driving mode, the torque output of the control drive motor smoothly transitions to the torque indicated by the human driving torque signal. The preset rate of change can be based on the vehicle calibration.

[0048] According to the solution in this application, after the intelligent driving controller fails and crashes, before the human driver takes over, the motor controller implements redundant intelligent driving functions to control the vehicle to continue running. When the human driver takes over in time, the motor controller controls the torque output of the drive motor to smoothly switch to the driver's control, avoiding the jerky feeling when switching between different modes and improving the comfort of electric vehicles during driving.

[0049] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is also used to control the drive motor to output the torque value indicated by the driver torque signal in response to changes in the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel operated by the user, during the process of controlling the steering system to move the electric vehicle closer to one side of the driving direction and controlling the drive motor to reduce the output torque to stop the electric vehicle.

[0050] When the motor controller is in redundant intelligent driving mode, it adjusts the torque output of the drive motor based on the perceived data signals. If the driver does not intervene for an extended period, and the accelerator pedal opening, brake pedal opening, or steering wheel angle remains unchanged within a preset time, the motor controller can generate a parking path under redundant intelligent driving function. Based on this path, it controls the torque output of the drive motor and the steering system to complete the parking process. During the process of the motor controller controlling the electric vehicle to park, if the driver intervenes, human driving commands take precedence, and the parking path indication is terminated.

[0051] According to the solution in this application, during the process of the motor controller pulling over to the side of the road using the redundant intelligent driving function, when human intervention occurs, the human driving command is executed first to control the electric vehicle, thereby improving vehicle safety.

[0052] In conjunction with the first aspect, in some implementations of the first aspect, the motor controller is used to stop controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle when the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel operated by the user changes during the process of controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle based on the sensing data signal.

[0053] When the motor controller is in redundant intelligent driving mode, it receives perception data signals from the electric vehicle's perception system. Based on these signals, the motor controller acquires the electric vehicle's driving status and lane information. By analyzing signals such as distance, speed, and acceleration, it obtains the target steering angle or steering assist torque. Based on the fused information, it makes driving decisions / planning and controls the steering system to adjust the electric vehicle's direction. When the driver intervenes, the steering system responds to the driver's commands and controls the electric vehicle's direction again.

[0054] It should be understood that when an electric vehicle is in intelligent driving mode or redundant intelligent driving mode, the steering wheel will rotate according to the steering angle determined by the intelligent driving controller or motor controller. Therefore, the steering wheel angle will change in intelligent driving mode or redundant intelligent driving mode, and human driving commands require the user to operate the steering wheel. In this application, the change in steering wheel angle operated by the user refers to the change in steering wheel angle caused by the driver controlling the steering wheel rotation, not the change in steering wheel angle when the steering wheel rotates automatically. Electric vehicles can detect whether the change in steering wheel angle is caused by user operation by detecting the torque received on the steering wheel by sensors. Electric vehicles can also detect this in other ways, which are not limited in this application.

[0055] According to the solution in this application, when the motor controller controls the driving direction of the electric vehicle through the redundant intelligent driving function, when the human driver intervenes, the human driver's instructions are executed first to control the electric vehicle, thereby improving the vehicle's safety.

[0056] Secondly, this application provides a control method for an electric vehicle with redundant intelligent driving functionality. The method includes: at a first moment, in response to a human-driven torque signal, controlling the drive motor of the electric vehicle to output a torque value indicated by the human-driven torque signal, the torque value indicated by the human-driven torque signal changing with the opening degree of the accelerator pedal operated by the user. At a second moment after the first moment, in response to the human-driven torque signal switching to an intelligent driving torque signal, controlling the drive motor to output a torque value indicated by the intelligent driving torque signal, the torque value indicated by the intelligent driving torque signal being adjusted by the intelligent driving controller of the electric vehicle based on perception data signals indicated by the electric vehicle's perception system. At a third moment after the second moment, when receiving the intelligent driving torque signal stops and the user does not operate the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle, controlling the drive motor to adjust the torque output based on the perception data signals.

[0057] In conjunction with the second aspect, in some implementations of the second aspect, the control method further includes, at a fourth time after the third time, when the user operates the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle changes, stopping the control of the drive motor to adjust the torque output based on the sensing data signal and controlling the drive motor of the electric vehicle to output the torque value indicated by the driver torque signal.

[0058] In conjunction with the second aspect, in some implementations of the second aspect, the control method further includes, after the third moment, controlling the steering system to move the electric vehicle closer to one side of the driving direction and controlling the drive motor to reduce the output torque to stop the electric vehicle in response to a continuous preset duration of controlled drive motor torque adjustment based on the sensing data signal indicated by the electric vehicle's sensing system.

[0059] In conjunction with the second aspect, in some implementations of the second aspect, the control method further includes controlling the vehicle's body indicator lights to emit warning signals between the third and fourth time points. At the fourth time point, the vehicle's body indicator lights are controlled to stop emitting warning signals.

[0060] Thirdly, this application provides an electric vehicle, which includes a vehicle controller, a driving controller, and a motor controller as described in the first aspect and its various implementations. The driving controller is used to send a driving torque signal to the motor controller based on perception data signals indicated by the electric vehicle's perception system. The vehicle controller is used to send a driving failure signal to the motor controller when the driving controller fails, the driving failure signal indicating that the driving controller has failed.

[0061] Other beneficial effects can be found in the description of the first aspect, and will not be repeated here. Attached Figure Description

[0062] Figure 1 is a schematic diagram of intelligent driving control provided in an embodiment of this application;

[0063] Figure 2 is a schematic diagram of an electric vehicle provided in an embodiment of this application;

[0064] Figure 3 is a schematic diagram of the architecture of an electric vehicle provided in an embodiment of this application;

[0065] Figure 4 is a schematic diagram of the motor controller provided in an embodiment of this application;

[0066] Figure 5 is a schematic diagram of the signal connection of the motor controller provided in an embodiment of this application;

[0067] Figure 6 is a schematic diagram of the redundant intelligent driving function of the motor controller provided in the embodiment of this application;

[0068] Figure 7 is a schematic diagram of the redundant intelligent driving process of the motor controller provided in the embodiment of this application;

[0069] Figure 8 is a schematic diagram of the redundant intelligent driving process provided in the embodiments of this application. Detailed Implementation

[0070] The technical solutions in this application will now be described in conjunction with the accompanying drawings. The detailed descriptions and drawings of the following embodiments are used to exemplarily illustrate the principles of this application, but should not be used to limit the scope of this application; that is, this application is not limited to the described embodiments.

[0071] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.

[0072] The prefixes such as "first" and "second" used in this application embodiment are merely for distinguishing different descriptive objects and do not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes used to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is given in the claims or the context of the embodiments, and should not constitute unnecessary restrictions due to the use of such prefixes. Furthermore, in the description of this embodiment, unless otherwise stated, "multiple" means two or more.

[0073] References to “some embodiments” and the like in this specification mean that one or more embodiments of this application include a particular feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as “in one embodiment” appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean “one or more, but not all, embodiments”, unless otherwise specifically emphasized. The terms “comprising,” “including,” “having,” and variations thereof mean “including, but not limited to,” unless otherwise specifically emphasized.

[0074] As intelligent driving matures and driving convenience improves, safety issues become increasingly prominent. A typical intelligent driving scenario control process is shown in Figure 1. The intelligent driving controller needs to control the vehicle in both the longitudinal and lateral directions. In the longitudinal direction, the controller acquires signals such as target longitudinal distance, speed, and acceleration from the vehicle's sensing components (radar, cameras, etc.). Based on the vehicle's own state, it obtains its own target acceleration or speed, and through the vehicle longitudinal control module (VLC), it obtains the vehicle's target torque, converts it into motor torque, and sends it to the motor controller. In the lateral direction, the controller acquires lane information from the vehicle's sensing components. Based on the vehicle's own state, it obtains the target steering angle or steering assist torque and sends it to the steering system. This enables functions such as maintaining the current lane (e.g., lane center control (LCC) or lane keeping assist (LKA)) or changing lanes (e.g., automatic lane change (ALC)).

[0075] The application of redundancy in intelligent driving controllers is one of the key technologies to ensure system safety in autonomous driving.

[0076] In one possible implementation, all functions of the current intelligent driving control are located in the intelligent driving controller, and the electric drive system only acts as a torque actuator for torque control.

[0077] It should be understood that when the intelligent driving controller fails, crashes, degrades, or exits for various reasons, the driver needs to take over quickly. However, driver takeover usually takes a few seconds. During the time before the driver takes over, the vehicle may be in an uncontrollable state, affecting driving safety.

[0078] To address the aforementioned issues, this application provides a redundant intelligent driving motor controller, control method, and electric vehicle. By backing up the intelligent driving system in the motor controller and connecting relevant signals from the intelligent driving perception system to the motor controller, redundant intelligent driving functions are deployed in the electric drive system. This allows the vehicle to continue operating normally even when intelligent driving control fails or human intervention occurs, providing vehicle-level intelligent driving redundancy backup and enhancing overall vehicle safety.

[0079] Figures 2 and 3 are schematic diagrams of the electric vehicle 10 architecture provided in the embodiments of this application.

[0080] As shown in Figure 2, the electric vehicle 10 includes a driving controller 20, a vehicle controller 30, a motor controller 40, a power battery (not shown), and multiple wheels. The motor controller 40 outputs current to the drive motor 50 to control the drive motor 50 to output torque to drive the electric vehicle 10. The driving controller 20 sends a driving torque signal to the motor controller 40 based on the perception data signal indicated by the electric vehicle's perception system. The vehicle controller 30 sends a driving failure signal to the motor controller 40 when the driving controller 20 fails; the driving failure signal indicates that the driving controller 20 has failed.

[0081] Understandably, the electric vehicle 10 in this application embodiment can be any type of vehicle such as a sedan, truck, or passenger bus, or it can be a tricycle, two-wheeled vehicle, train, or other transportation device for carrying passengers or goods, or other types of vehicles powered by a power battery. This application embodiment does not limit this. The vehicle includes, but is not limited to, pure electric vehicles (pure EV / battery EV), hybrid electric vehicles (HEV), range-extended electric vehicles (REEV), plug-in hybrid electric vehicles (PHEV), and new energy vehicles (NEV).

[0082] It is understood that the power battery in the embodiments of this application can be a lithium-ion battery, lithium metal battery, lead-acid battery, nickel-cadmium battery, nickel-metal hydride battery, lithium-sulfur battery, lithium-air battery, or sodium-ion battery, etc., and this application does not limit this. In terms of scale, the power battery in the embodiments of this application can be a single cell, a battery module, or a battery pack, and this application does not limit this. The power battery can also supply power to other electrical devices in the vehicle, such as the in-vehicle air conditioner and in-vehicle media player.

[0083] The electric vehicle 10 can be a wheel-side four-motor drive architecture, with drive motors 50 mounted on the sides of the driving wheels and controlled by individual motor controllers 40. Alternatively, the electric vehicle 10 can be a centralized drive motor architecture, with two drive motors for driving the two front wheels or the two rear wheels mounted together. There can be one or more motor controllers 40. A one-to-one correspondence can exist between the motor controller 40 and the drive motors 50, or one motor controller 40 can correspond to multiple drive motors 50. The motor controller 40 controls the output torque of one or more drive motors 50 to drive the electric vehicle 10.

[0084] In one embodiment, as shown in FIG3(a), the electric vehicle 10 may be a wheel-side four-motor drive architecture, with the drive motors mounted on the sides of the driving wheels and controlled by separate motor controllers. The electric vehicle 10 may also be a centralized four-motor drive architecture, as shown in FIG3(b), where two drive motors for driving the two front wheels or the two rear wheels are mounted together.

[0085] For example, the electric vehicle 10 includes four motor controllers: motor controller 41, motor controller 42, motor controller 43, and motor controller 44. The four motors include drive motors 51, 52, 53, and 54. Motor controller 41 controls drive motor 51 to drive one wheel, motor controller 42 controls drive motor 52 to drive one wheel, motor controller 43 controls drive motor 53 to drive one wheel, and motor controller 44 controls drive motor 54 to drive one wheel.

[0086] In one embodiment, the electric vehicle 10 may also be as shown in Figure 3(c), with one drive motor driving the two front wheels of the electric vehicle 10 and two drive motors driving the two rear wheels of the electric vehicle 10 respectively.

[0087] In one embodiment, the various architectures mentioned above can also be combined, for example, the front drive adopts a wheel-side drive motor architecture, and the rear drive adopts a centralized drive motor architecture.

[0088] The motor controller provided in this application can be any one of multiple motor controllers. The following embodiment only uses one motor controller 40 as an example. The operation of other motor controllers can be understood similarly by referring to the description.

[0089] The electric vehicle 10 also includes an accelerator pedal, a brake pedal, and a steering wheel. The accelerator pedal is used to indicate the torque output to the wheels of the electric vehicle 10, and the brake pedal is used to indicate the braking force output to the multiple wheels of the electric vehicle 10.

[0090] In one embodiment, the motor controller 40 includes a signal interface, which connects the vehicle controller 30 and other motor controllers 40. The vehicle controller 30 is signal-connected to the accelerator pedal. The vehicle controller 30 calculates the vehicle torque demand based on the accelerator pedal opening during the driving of the electric vehicle 10, and sends a torque signal to the motor controllers 40 according to the vehicle torque demand. Each motor controller 40 controls the corresponding drive motor 50 to output torque to drive the corresponding wheel according to the torque signal indication.

[0091] In one embodiment, each motor controller 40 may also be directly connected to the accelerator pedal and control the corresponding motor output torque according to the torque signal output by the accelerator pedal.

[0092] The electric vehicle 10 also includes a steering system, which is used to control the direction of travel of the electric vehicle by controlling the orientation of the wheels.

[0093] In one embodiment, the motor controller 40 can connect to the sensing system, body control system, and chassis control system via a controller area network (CAN), FlexRay, or other connection methods. It acquires sensing data signals sent by the sensing system via the bus and sends steering commands to the steering system via the bus.

[0094] The functions of the redundant intelligent driving motor controller 40 provided in this application will be described below with reference to Figure 4.

[0095] The motor controller 40 can operate in multiple modes, including human driving mode, intelligent driving mode and redundant intelligent driving mode.

[0096] The motor controller 40 is used to respond to the human driving torque signal and control the drive motor 50 to output the torque value indicated by the human driving torque signal. The torque value indicated by the human driving torque signal changes with the opening degree of the accelerator pedal operated by the user.

[0097] When the motor controller 40 is in human-driven mode, the electric vehicle is operated by the user, i.e., the driver. When the user presses the accelerator pedal, the vehicle controller 30 collects the accelerator pedal opening and generates a human-driven torque signal based on the accelerator pedal opening, which is then sent to the motor controller 40. The motor controller 40 then controls the drive motor 50 to output the torque indicated by the accelerator pedal opening. The torque output by the drive motor 50 changes with the accelerator pedal opening. A larger accelerator pedal opening results in a larger torque output from the drive motor 50, and a smaller accelerator pedal opening results in a smaller torque output from the drive motor 50.

[0098] The motor controller 40 is used to respond to the intelligent driving torque signal and control the drive motor 50 to output the torque value indicated by the intelligent driving torque signal. The torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller 20 of the electric vehicle 10 according to the perception data signal indicated by the perception system of the electric vehicle 10.

[0099] When the motor controller 40 is in intelligent driving mode, the intelligent driving controller 20 of the electric vehicle 10 performs intelligent active driving or assists the user in driving. In intelligent driving mode, the electric vehicle 10 can drive autonomously within a geographical area with minimal or no control input from the driver. That is, the user can operate the accelerator pedal, brake pedal, and steering wheel with minimal or no operation, while the intelligent driving controller 20 receives perception data signals sent by the electric vehicle 10's sensing components, such as radar and cameras. The intelligent driving controller 20 fuses the information perceived by various sensors and obtains the driving status and lane information of the electric vehicle 10 based on the perception data signals. By analyzing signals such as distance, speed, and acceleration, it obtains target acceleration and target speed, etc. Based on the fused information, it makes driving decisions / planning and issues operation commands to the vehicle controller 30. The vehicle controller 30 then sends an intelligent driving torque signal to the motor controller 40, and the motor controller 40 outputs the torque value indicated by the intelligent driving torque signal, thus realizing intelligent driving.

[0100] Simultaneously, the intelligent driving controller 20 also controls the electric vehicle's steering system. The controller fuses information from various sensing systems and acquires the electric vehicle's driving status and lane information based on the sensing data signals. By analyzing signals such as distance, speed, and acceleration, it obtains the target steering angle or steering assist torque. Based on the fused information, it makes driving decisions / plans, issues operating commands to the steering system, and the steering system executes the steering commands to enable the vehicle to maintain its current lane or change lanes, thus achieving intelligent driving.

[0101] The motor controller 40 is also used to receive sensing data signals indicated by the sensing system of the electric vehicle 10 and control the drive motor 50 to adjust the torque output according to the sensing data signals.

[0102] When the motor controller 40 is in redundant intelligent driving mode, it receives perception data signals from the perception system of the electric vehicle 10. Based on these signals, the motor controller 40 obtains the driving status and lane information of the electric vehicle 10. By analyzing signals such as distance, speed, and acceleration, it obtains target acceleration and target speed. Based on the fused information, it makes driving decisions / planning and directly controls the drive motor 50 to adjust its output torque. In this mode, the motor controller 40 can perform the functions and operations of the intelligent driving controller 20 in controlling the torque of the drive motor.

[0103] According to the solution in this application, the motor controller of the electric vehicle integrates redundant intelligent driving functions, which can independently receive perception data signals and perform torque control based on the perception data signals, thereby improving the redundancy of intelligent driving control and enhancing the overall vehicle safety.

[0104] In one embodiment, the motor controller 40 is specifically used to, during the process of controlling the output torque of the drive motor 50 according to the intelligent driving torque signal, when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel, stop controlling the output torque of the drive motor 50 according to the intelligent driving torque signal and adjust the output torque of the drive motor 50 according to the perception data signal.

[0105] When the intelligent driving controller 20 crashes, degrades, or exits control due to various failures, it will stop working, making it impossible to continue control in intelligent driving mode. At this point, the driver needs to quickly take over, which typically takes seconds. Before the driver takes over, the electric vehicle 10 may be in an uncontrollable state, affecting driving safety. The failure of the intelligent driving controller 20 can be due to hardware malfunction, software malfunction, or crash, causing it to be unable to continue intelligent driving control and exit the intelligent driving system. This application does not specifically limit the causes of the intelligent driving controller 20's failure.

[0106] Because the motor controller 40 has redundant intelligent driving functionality, when the intelligent driving controller 20 fails and the driver has not yet taken over (i.e., the user does not operate the accelerator pedal, brake pedal, or steering wheel), the motor controller 40 cannot receive the intelligent driving torque signal. In this case, the motor controller 40 can switch to redundant intelligent driving mode, directly controlling the drive motor 50 to adjust its output torque based on the perceived data signals. Before the driver takes over, the motor controller 40 takes over from the intelligent driving controller 20 to continue intelligent driving control, ensuring the driving safety of the electric vehicle 10.

[0107] According to the solution in this application, the electric vehicle's motor controller integrates redundant intelligent driving functionality, enabling it to independently receive sensing data signals and operate as a backup in the vehicle's intelligent driving mode. When the vehicle's intelligent driving controller fails, before human intervention, the motor controller can quickly switch to redundant intelligent driving mode takeover, reducing downtime, mitigating the risk of electric vehicle loss of control, and improving vehicle safety.

[0108] In one embodiment, the motor controller 40 is further configured to, during the process of controlling the output torque of the drive motor 50 according to the intelligent driving torque signal, when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel, control the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 according to the perception data signal.

[0109] When the motor controller 40 is in redundant intelligent driving mode, it receives perception data signals from the perception system of the electric vehicle 10. Based on these signals, the motor controller 40 obtains the driving status and lane information of the electric vehicle. By analyzing signals such as distance, speed, and acceleration, it obtains the target steering angle or steering assist torque. Based on the fused information, it makes driving decisions / planning and controls the steering system to adjust the driving direction of the electric vehicle 10. In this mode, the motor controller can perform the steering control functions of the intelligent driving controller in intelligent driving mode.

[0110] In intelligent driving mode, the motor controller 40 receives signals such as relative distance, relative speed, relative acceleration, and lane information from the perception system in real time. The motor controller 40 integrates redundant intelligent driving functions, providing vehicle-level redundancy backup for the intelligent driving controller 20. When the electric vehicle 10 is in intelligent driving mode, it calculates motor torque and steering commands in real time in the background. If the intelligent driving controller 20 fails and malfunctions, before human intervention, the redundant intelligent driving function module controls the vehicle to continue driving based on information from the perception system. The longitudinal torque command is switched from the longitudinal torque arbitration module to the output command of the redundant intelligent driving function, and the steering command is switched from the steering arbitration module to the output command of the redundant intelligent driving function module.

[0111] In one embodiment, the motor controller 40 is also configured to control the vehicle body lights of the electric vehicle 10 to issue a warning signal when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel during the process of controlling the output torque of the drive motor according to the intelligent driving torque signal.

[0112] When an electric vehicle is operating in intelligent driving mode, if the intelligent driving controller malfunctions, crashes, degrades, or exits control due to various failures, it will stop working, making it impossible to continue control in intelligent driving mode. In this situation, the driver needs to quickly take over, which typically takes seconds. Before the driver takes over, the electric vehicle may be in an uncontrollable state, affecting driving safety. The motor controller then enters a redundant intelligent driving mode, controlling the vehicle's indicator lights to issue warning signals, thus alerting the electric vehicle to an abnormal state.

[0113] In one embodiment, the motor controller 40 is configured to, during the process of controlling the output torque of the drive motor 50 according to the sensing data signal, when the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle operated by the user changes, stop controlling the drive motor 50 to adjust the torque output according to the sensing data signal and control the drive motor 50 to output the torque value indicated by the driver torque signal.

[0114] When the motor controller 40 is in redundant intelligent driving mode, it controls the drive motor to adjust the torque output based on the sensing data signal. At this time, the user has not yet taken over the control of the electric vehicle and has not operated the accelerator pedal, brake pedal, or steering wheel. If the driver intervenes in the control and operates the accelerator pedal, brake pedal, or steering wheel, thereby changing the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the angle of the steering wheel, it can be considered that the driver has taken over. The electric vehicle 10 switches from redundant intelligent driving mode to human driving mode. The motor controller 40 no longer controls the drive motor to adjust the torque based on the sensing data signal, but directly responds to the human driving torque signal based on the driver's control and outputs the torque indicated by the opening degree of the accelerator pedal.

[0115] In one embodiment, the motor controller 40 is configured to stop controlling the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 when the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel operated by the user changes during the process of controlling the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 based on the sensing data signal.

[0116] When the motor controller 40 is in redundant intelligent driving mode, it receives perception data signals from the electric vehicle's perception system and obtains the electric vehicle's driving status and lane information based on these signals. By analyzing signals such as distance, speed, and acceleration, it obtains the target steering angle or steering assist torque, and makes driving decisions / plans based on the fused information, controlling the steering system to adjust the electric vehicle's driving direction. When the driver intervenes, the steering system responds to the driver's commands again to control the electric vehicle's driving direction.

[0117] When the driver takes over, the torque arbitration module controls the motor torque command to smoothly transition to the driver mode, and at the same time the steering arbitration module controls the steering command to smoothly transition to the driver mode.

[0118] In one embodiment, the motor controller 40 is further configured to, during the process of controlling the vehicle body lights of the electric vehicle 10 to emit warning signals, respond to changes in the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle operated by the user, control the vehicle body lights of the electric vehicle 10 to stop emitting warning signals.

[0119] When the electric vehicle 10 is driving in the redundant intelligent driving mode, if the intelligent driving controller resumes operation or the driver takes over, the electric vehicle will switch from the redundant intelligent driving mode to the intelligent driving mode or the human driving mode. The motor controller 40 will control the elimination of the vehicle's signal lights, and the electric vehicle 10 has returned to normal or has been taken over by the driver, without the need for further warnings.

[0120] In one embodiment, the motor controller 40 is configured to control the drive motor 50 to adjust the torque output for a continuous preset duration in response to a perception data signal indicated by the perception system of the electric vehicle 10, control the steering system to move the electric vehicle 10 closer to one side of the driving direction, and control the drive motor 50 to reduce the output torque to stop the electric vehicle.

[0121] When the motor controller 40 is in redundant intelligent driving mode, it controls the drive motor to adjust torque output based on perception data signals. At this time, the user has not yet taken control of the electric vehicle and is not operating the accelerator pedal, brake pedal, or steering wheel. If the driver does not intervene for an extended period, and the accelerator pedal opening, brake pedal opening, or steering wheel angle remains unchanged within a preset time, the motor controller 40 can generate a parking path under redundant intelligent driving function. Based on the generated path, it controls the torque output of the drive motor and the steering system to complete the parking process. The motor controller 40 controls the steering system to move the electric vehicle closer to one side of the driving direction and controls the drive motor 50 to reduce output torque to bring the electric vehicle to a stop.

[0122] It should be understood that the computing power of the motor controller 40 may be lower than that of the intelligent driving controller. Therefore, after the intelligent driving controller 20 fails, the motor controller 40 can perform redundant intelligent driving control within a preset time period. The preset time period can be set according to the capabilities of the motor controller. If the human driver does not take over within the preset time period, the motor controller can stop continuing to perform redundant intelligent driving, use the redundant intelligent driving function to generate a path for parking on the side of the road and control the electric vehicle to park.

[0123] According to the solution in this application, after the intelligent driving controller fails and crashes, and the human driver takes over for a long period of time, the motor controller controls the entire vehicle to pull over to the side of the road through the redundant intelligent driving function, so as to avoid loss of control of the entire vehicle and improve vehicle safety.

[0124] In one embodiment, the motor controller 40 is further configured to control the drive motor 50 to output a torque value indicated by the driver torque signal in response to changes in the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle operated by the user during the process of controlling the steering system to move the electric vehicle 10 closer to one side of the driving direction and controlling the drive motor 50 to reduce the output torque to stop the electric vehicle 10.

[0125] When the motor controller 40 is in redundant intelligent driving mode, it controls the drive motor 50 to adjust the torque output based on the perceived data signals. If the driver does not intervene for a long time, and the accelerator pedal opening, brake pedal opening, or steering wheel angle operated by the user does not change within a preset time, the motor controller 40 can generate a parking path under the redundant intelligent driving function and control the torque output of the drive motor and the steering system according to the generated path to complete the parking process. During the process of the motor controller 40 controlling the electric vehicle 10 to park, if the driver intervenes, the driver's commands are given priority, and the parking path indication is terminated.

[0126] As shown in Figure 5, the motor controller 40 is simultaneously connected to the power CAN, chassis CAN, and body CAN. The MCU connected to the chassis CAN can directly send steering commands to the steering system after the intelligent driving system fails or crashes. Connected to the body CAN, it can control relevant body signals to issue warning signals to surrounding vehicles after the intelligent driving system fails. This enables redundant intelligent driving functions to send steering commands to the steering system under abnormal conditions, and also allows the minimum system to warn surrounding vehicles via body warning lights under abnormal conditions.

[0127] The motor controller 40 can acquire signals such as relative distance and relative speed from the perception system (radar, camera) via the bus (CAN or FlexRay, etc.). It can also acquire intelligent driving failure signals from the bus. The motor controller 40 can also send the current redundant intelligent driving function activation status, motor target torque, and actual motor torque to the bus (CAN or FlexRay, etc.). It can also send steering commands output by the redundant intelligent driving function to the bus and send vehicle indicator light warning signals to the bus.

[0128] The motor controller 40 can also send the body signal light command or steering command to the vehicle controller first, and then the vehicle controller forwards it to the body signal light and steering system via the bus.

[0129] In one embodiment, the motor controller 40 is further configured to, in response to the intelligent driving torque signal, control the torque output of the drive motor 50 to change to the torque indicated by the intelligent driving torque signal according to a preset rate of change during the process of controlling the output torque of the drive motor 50 based on the sensing data signal.

[0130] In one embodiment, the motor controller 40 is used to control the torque output of the drive motor 50 according to a preset rate of change when the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user changes during the process of controlling the output torque of the drive motor 50 based on the sensing data signal, so as to change the torque output from the torque adjusted according to the sensing data signal to the torque indicated by the human driving torque signal.

[0131] When the motor controller switches from redundant intelligent driving mode to intelligent driving mode or human driving mode, the torque output of the control drive motor smoothly transitions to the torque indicated by the intelligent driving torque signal. The preset rate of change can be based on the vehicle calibration.

[0132] The redundant intelligent driving function smoothly transitions between the output control signal of the intelligent driving system and the human driver control signal, avoiding the jarring feeling when switching between different modes and improving the comfort of electric vehicles during driving.

[0133] If the intelligent driving controller 20 resumes operation within a short period of time, the longitudinal torque arbitration module controls the motor torque command to smoothly transition to the vehicle intelligent driving system command, and the steering arbitration module controls the steering command to smoothly transition to the vehicle intelligent driving system command, while simultaneously eliminating the vehicle warning lights.

[0134] If a driver takes over in a short period of time, the torque arbitration module will smoothly transition the motor torque command to the driver mode, and the steering arbitration module will smoothly transition the steering command to the driver mode, while simultaneously extinguishing the vehicle warning lights.

[0135] If the intelligent driving function does not recover and the human driver does not intervene for an extended period of time, the redundant intelligent driving function will use longitudinal and lateral system control to complete the parallel parking maneuver.

[0136] For example, the operation of the redundant intelligent driving function of the motor controller 40 is shown in Figures 6 and 7.

[0137] First, after the electric vehicle 10 enters the intelligent driving mode, the redundant intelligent function module of the motor controller 40 receives the perception data signals from the perception system. The perception data signals may include the relative distance, relative speed, acceleration, lane information, etc. of the electric vehicle 10. The motor controller 40 calculates the longitudinal and lateral torque required by the vehicle in real time based on the perception data signals.

[0138] The vehicle controller 30 determines whether the intelligent driving controller 20 has failed or crashed. If the intelligent driving controller 20 fails or crashes, the longitudinal torque command is switched from the longitudinal torque arbitration module to the output command of the redundant intelligent driving function, and the lateral steering command is switched from the steering arbitration module to the output command of the redundant intelligent driving function module. At the same time, the motor controller 40 controls the vehicle body warning lights to issue warning signals to surrounding vehicles.

[0139] If the intelligent driving controller 20 fails and crashes, and then resumes operation within a short period of time, the longitudinal torque arbitration module will smoothly transition the motor torque command to the intelligent driving controller 20 command, and the steering arbitration module will smoothly transition the steering command to the intelligent driving controller 20 command. Simultaneously, the vehicle's warning lights will be deactivated.

[0140] If the intelligent driving controller fails to recover, it determines whether the driver should take over within a preset time period. If the driver takes over in time, during the period from the intelligent driving controller failure to the driver taking over, the vehicle control commands are the outputs of redundant intelligent driving function modules. After the driver takes over, the torque arbitration module controls the drive motor torque command to smoothly transition to the driver mode, the steering arbitration module controls the steering command to smoothly transition to the driver mode, and the vehicle warning lights are cleared.

[0141] If the driver does not take over within the preset time, the 40-redundant intelligent driving function of the motor controller will generate a parking path and control the vehicle to complete the parking process.

[0142] According to the solution proposed in this application, a vehicle-level intelligent driving redundancy backup function is provided for the entire vehicle, thereby improving the safety of the entire vehicle.

[0143] This application provides a control method for an electric vehicle with redundant intelligent driving functions.

[0144] This method can be applied to the electric vehicle 10 mentioned above.

[0145] The control method includes, at a first moment, in response to a human-driven torque signal, controlling the drive motor 50 of the electric vehicle to output the torque value indicated by the human-driven torque signal, the torque value indicated by the human-driven torque signal changing with the opening of the accelerator pedal of the electric vehicle operated by the user.

[0146] At the second moment after the first moment, in response to the switch from human driving torque signal to intelligent driving torque signal, the drive motor 50 is controlled to output the torque value indicated by the intelligent driving torque signal. The torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller 20 of the electric vehicle according to the perception data signal indicated by the perception system of the electric vehicle.

[0147] At the third moment after the second moment, when the intelligent driving torque signal is no longer received and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel, the drive motor 50 is controlled to adjust the torque output according to the perception data signal.

[0148] In one embodiment, the control method further includes, at a fourth time after the third time, when the user operates the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle changes, stopping the control of the drive motor 50 to adjust the torque output based on the sensing data signal and controlling the drive motor 50 of the electric vehicle 10 to output the torque value indicated by the driver torque signal.

[0149] In one embodiment, the control method further includes controlling the vehicle's signal lights to emit warning signals between a third and a fourth time point. At the fourth time point, the vehicle's signal lights to stop emitting warning signals.

[0150] As shown in Figure 8(a), from the first time t1 to the second time t2, the motor controller 40 responds to the driver's torque signal, and the steering system is controlled by the user's steering wheel operation. At the second time t2, the electric vehicle 10 switches to intelligent driving mode, and the motor controller 40 and the steering system are controlled by the intelligent driving controller 20's intelligent driving commands. At the third time t3, the intelligent driving controller 20 fails, and the motor controller 40 enters redundant intelligent driving mode, controlling the output torque of the drive motor 50 and the steering angle of the steering wheel. At the fourth time t4, the user intervenes in the control, and the motor controller 40 responds to the driver's commands again. During the period from the third time t3 to the fourth time t4, the motor controller 40 controls the vehicle's signal lights to emit warning signals; at the fourth time t4, the vehicle's signal lights turn off.

[0151] In one embodiment, the control method further includes, after a third moment, controlling the steering system to move the electric vehicle 10 toward one side of the driving direction and controlling the drive motor 50 to reduce the output torque to stop the electric vehicle 10 in response to a continuous preset duration of controlling the drive motor 50 to adjust the torque output according to the sensing data signal indicated by the sensing system of the electric vehicle 10.

[0152] As shown in Figure 8(b), from the first time t1 to the second time t2, the motor controller 40 responds to the driver's torque signal, and the steering system is controlled by the user's steering wheel operation. At the second time t2, the electric vehicle 10 switches to intelligent driving mode, and the motor controller 40 and the steering system are controlled by the intelligent driving controller 20's intelligent driving commands. At the third time t3, the intelligent driving controller 20 fails, and the motor controller 40 enters redundant intelligent driving mode, controlling the drive motor 50 to output torque and the steering wheel's steering angle. After a preset time, if the driver still has not intervened, the motor controller 40 generates a parking path based on the perceived data signal and controls the electric vehicle 10 to complete the parking process.

[0153] According to the solution in this application, after the intelligent driving controller fails and crashes, before the human driver takes over, the motor controller implements redundant intelligent driving functions to control the vehicle to continue running, thereby avoiding loss of vehicle control and improving vehicle safety.

[0154] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0155] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0156] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0157] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A redundant motor controller for intelligent driving, characterized in that, The motor controller is used to control the output torque of the drive motor of the electric vehicle to drive the wheels of the electric vehicle; the motor controller is used for: In response to the driver's torque signal, the drive motor is controlled to output the torque value indicated by the driver's torque signal, and the torque value indicated by the driver's torque signal changes with the opening degree of the accelerator pedal operated by the user; In response to the intelligent driving torque signal, the drive motor is controlled to output the torque value indicated by the intelligent driving torque signal. The torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller of the electric vehicle according to the perception data signal indicated by the perception system of the electric vehicle. The motor controller is also used for: The system receives perception data signals from the electric vehicle's perception system and controls the drive motor to adjust its torque output based on the perception data signals.

2. The motor controller according to claim 1, characterized in that, The motor controller is specifically used for: During the process of controlling the output torque of the drive motor according to the intelligent driving torque signal, if the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle, the control of the output torque of the drive motor according to the intelligent driving torque signal is stopped, and the output torque of the drive motor is adjusted according to the sensing data signal.

3. The motor controller according to claim 1, characterized in that, The motor controller is used for: During the process of controlling the output torque of the drive motor according to the sensing data signal, when the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle operated by the user changes, the control of the drive motor to adjust the torque output according to the sensing data signal stops and the drive motor outputs the torque value indicated by the driver torque signal is controlled.

4. The motor controller according to claim 1, characterized in that, The motor controller is also used for: The steering system of the electric vehicle is controlled to adjust the driving direction of the electric vehicle based on the perceived data signals.

5. The motor controller according to claim 4, characterized in that, The motor controller is used for: In response to a preset duration of controlled torque output adjustment of the drive motor based on sensing data signals indicated by the electric vehicle's sensing system, the steering system is controlled to move the electric vehicle closer to one side of the driving direction and the drive motor is controlled to reduce the output torque to stop the electric vehicle.

6. The motor controller according to claim 1, characterized in that, The motor controller is also used for: During the process of controlling the output torque of the drive motor according to the intelligent driving torque signal, if the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle, the vehicle body indicator lights of the electric vehicle will be controlled to issue a warning signal.

7. The motor controller according to claim 6, characterized in that, The motor controller is also used for: During the process of controlling the vehicle's body lights to emit warning signals, in response to changes in the intelligent driving torque signal or the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user, the vehicle's body lights are controlled to stop emitting the warning signals.

8. The motor controller according to claim 1, characterized in that, The motor controller is also used for: During the process of controlling the output torque of the drive motor according to the perceived data signal, in response to the intelligent driving torque signal, the torque output of the drive motor is controlled to change to the torque indicated by the intelligent driving torque signal according to a preset rate of change.

9. The motor controller according to claim 3, characterized in that, The step of stopping the control of the drive motor to adjust torque output based on the sensed data signal and controlling the drive motor to output the torque value indicated by the driver torque signal includes: The torque output of the drive motor is controlled according to a preset rate of change, from the torque adjusted based on the sensing data signal to the torque indicated by the driver torque signal.

10. The motor controller according to claim 5, characterized in that, The motor controller is also used for: During the process of controlling the steering system to move the electric vehicle closer to one side of the driving direction and controlling the drive motor to reduce the output torque to stop the electric vehicle, in response to changes in the opening of the accelerator pedal, the opening of the brake pedal, or the steering wheel angle operated by the user, the drive motor is controlled to output the torque value indicated by the driver torque signal.

11. The motor controller according to claim 4, characterized in that, The motor controller is used for: During the process of controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle based on the perceived data signal, when the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel operated by the user changes, the control of the steering system to adjust the driving direction of the electric vehicle is stopped.

12. A control method for an electric vehicle with redundant intelligent driving function, characterized in that, The control method includes: At the first moment, in response to the human driving torque signal, the drive motor of the electric vehicle is controlled to output the torque value indicated by the human driving torque signal. The torque value indicated by the human driving torque signal changes with the opening degree of the accelerator pedal of the electric vehicle operated by the user. At the second moment after the first moment, in response to the switching of the human driving torque signal to the intelligent driving torque signal, the drive motor is controlled to output the torque value indicated by the intelligent driving torque signal. The torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller of the electric vehicle according to the perception data signal indicated by the perception system of the electric vehicle. At the third moment after the second moment, when receiving the intelligent driving torque signal stops and the user does not operate the opening degree of the accelerator pedal, the opening degree of the brake pedal, or the steering wheel angle, the drive motor is controlled to adjust the torque output according to the perception data signal.

13. The control method according to claim 12, characterized in that, The control method further includes: At the fourth moment following the third moment, when the user changes the opening of the accelerator pedal, the opening of the brake pedal, or the angle of the steering wheel, the control of the drive motor to adjust the torque output based on the sensing data signal is stopped, and the drive motor of the electric vehicle is controlled to output the torque value indicated by the human driving torque signal.

14. The control method according to claim 12, characterized in that, The control method further includes: After the third moment, in response to a preset duration of controlled torque output adjustment of the drive motor based on the sensing data signal indicated by the electric vehicle's sensing system, the steering system is controlled to move the electric vehicle closer to one side of the driving direction and the drive motor is controlled to reduce the output torque to stop the electric vehicle.

15. The control method according to claim 13, characterized in that, The control method further includes: During the third and fourth time points, the vehicle's body lights are controlled to emit warning signals. At the fourth moment, the vehicle's body lights are controlled to stop emitting the warning signal.

16. An electric vehicle, characterized in that, The electric vehicle includes a vehicle controller, an intelligent driving controller, and a motor controller according to any one of claims 1-11. The intelligent driving controller is used to send an intelligent driving torque signal to the motor controller based on the perception data signal indicated by the perception system of the electric vehicle; the vehicle controller is used to: When the intelligent driving controller fails, it sends an intelligent driving failure signal to the motor controller. The intelligent driving failure signal is used to indicate that the intelligent driving controller has failed.

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