CN111267634A - Vehicle control method and system, electronic device and computer storage medium - Google Patents

Abstract

A vehicle control method, system, electronic device, and storage medium. The method of one embodiment includes: when the vehicle is in the ON gear and a limp mode on signal is received, entering the vehicle limp mode; in the vehicle limp mode, performing pure electric drive, and obtain the vehicle working state signal; determine the motor request operation mode based on the vehicle work state signal, and determine the motor request output torque based on the motor request operation mode and the limp vehicle speed threshold; send a first control signal to the motor controller, the first The control signal includes the motor request operation mode and the motor request output torque, and the first control signal is used to control the motor controller to control the motor controller in the motor request operation mode. The electric transaxle of the steered wheel outputs the motor request output torque so that the vehicle travels in a state where the vehicle speed does not exceed the limp vehicle speed threshold. The solution of this embodiment can provide convenience for maintenance when the vehicle fails.

Description

Vehicle control method and system, electronic device and computer storage medium

technical field

The present application relates to the technical field of vehicles, and in particular, to a vehicle control method, a vehicle control system, an electronic device and a computer storage medium.

Background technique

At present, most of the heavy-duty trucks or special-purpose vehicles on the market use traditional engines as traction. When the spark plug, high-pressure oil pump, or starter of the engine fails, or the transmission TCU (Transmission Control Unit, automatic transmission control unit) cannot be replaced When the vehicle is blocked, it is easy to cause the vehicle to break down, and it is impossible to drive away from the main traffic road, causing serious traffic jams, and it is impossible to reach the maintenance point, which brings great difficulties to after-sales maintenance.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a vehicle control method, a vehicle control system, an electronic device and a computer storage medium, so as to enable the vehicle to drive the vehicle away from the main traffic road when a fault occurs, so as to facilitate driving to the maintenance service station, so as to provide a better service for the vehicle when a fault occurs. maintenance is facilitated.

A vehicle control method, the method comprising:

When the vehicle is in the ON gear and the limp mode on signal is received, the vehicle enters the limp mode;

In the vehicle limp mode, the pure electric drive is performed to obtain the vehicle working state signal; the motor requested operation mode is determined based on the vehicle working state signal, and the motor requested output torque is determined based on the motor requested operation mode and the limp vehicle speed threshold;

Send a first control signal to the motor controller, the first control signal includes the motor request operation mode and the motor request output torque, the first control signal is used to control the motor controller in the motor In the request operation mode, the motor request output torque is output to the electric drive axles provided on the non-main driving wheels and the non-steering wheels, so that the vehicle travels in a state where the vehicle speed does not exceed the limp speed threshold.

A vehicle control system, the system comprises: a vehicle controller, a motor controller and a limp mode switch connected to the vehicle controller, and an electric drive axle connected to the motor controller, the electric drive axle being arranged in a non- main drive wheels and non-steering wheels;

The vehicle controller enters the vehicle limp mode when the vehicle is in the ON gear and receives the limp mode on signal sent by the limp mode switch; in the vehicle limp mode, it performs pure electric driving to obtain the vehicle working state signal; Determine the motor requested operating mode based on the vehicle operating state signal, determine the motor requested output torque based on the motor requested operating mode and the limp vehicle speed threshold, and send a control signal to the motor controller, the control signal including the motor requested operating mode and all The motor requests output torque, the motor controller receives the control signal, and in the motor request operation mode, outputs the motor request output torque to the electric drive axles arranged on the non-main driving wheels and the non-steering wheels , so that the vehicle runs in a state where the vehicle speed does not exceed the limp vehicle speed threshold.

An electronic device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

A computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implements the steps of the method as described above.

The vehicle control method, electronic device and computer storage medium in the above-mentioned embodiments can enable the limp mode function when the vehicle fails, perform pure electric driving in the vehicle limp mode, and start the motor to activate the limp function, so that the limp function is activated. The vehicle is driven in a state where the vehicle speed does not exceed the limping speed threshold value, so that the vehicle in failure can slowly leave the traffic artery and drive to the maintenance service station, so that the road can be cleared and repaired in time as soon as possible. maintenance is facilitated.

Description of drawings

FIG. 1 is a schematic flowchart of a vehicle control method in one embodiment;

2 is a schematic diagram of a module structure of a vehicle control system in one embodiment;

FIG. 3 is a schematic flow chart of the principle of determining the operation mode of the motor according to an application example;

FIG. 4 is a schematic diagram of the principle of determining the motor drive request torque in one embodiment;

FIG. 5 is a schematic diagram of the principle of determining the motor braking request torque in one embodiment;

FIG. 6 is an internal structure diagram of an electronic device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

Referring to FIG. 1 , a vehicle control method in one embodiment includes the following steps S101 to S103 , and the method can be executed by a vehicle controller in a vehicle control system, such as the vehicle controller shown in FIG. 2 . VCU.

Step S101 : when the vehicle is in the ON gear and a limp mode on signal is received, enter the vehicle limp mode.

Among them, the ON gear refers to the gear that can connect the circuit of the whole vehicle, and there is no need to start the engine at this time. The limp mode on signal can be sent out through a limp mode switch. The limp mode switch can be a button independently set in the vehicle, or can be shared with other knobs, and the corresponding gear is set for the knob to correspond to the limp mode.

Step S102 : in the vehicle limp mode, perform pure electric driving, and obtain the vehicle working state signal; determine the motor request operation mode based on the vehicle work state signal, and determine the motor request output torque based on the motor request operation mode and the limp vehicle speed threshold.

In the vehicle limp mode, the power battery provides power, and the power battery is connected to the battery through the DCDC module to provide DC power for the air pump and hydraulic pump to maintain the normal operation of the steering system and braking system.

Wherein, the vehicle working state signal may include signals such as gear signal, accelerator pedal signal, handbrake switch signal, power battery SOC value, and brake pedal signal. When determining the motor request operation mode based on the vehicle working state signal, there may be different ways based on the difference of the obtained vehicle working state signal.

Wherein, when the vehicle working state signal includes a gear position signal, and the gear position signal is the N gear or the P gear, it is determined that the operation mode requested by the motor is the stop mode. At this time, in the stop mode, the motor does not work. Among them, the N gear refers to the neutral gear, and the P gear refers to the parking gear.

When the vehicle working state signal includes the gear signal and the accelerator pedal signal, if the accelerator pedal signal is received and the gear signal is the D gear or the R gear, it is determined that the motor requested operation mode is the motor drive mode. In the motor drive mode, the power battery connected to the motor controller provides the DC power to the motor controller. Among them, the D gear refers to the forward gear, and the R gear refers to the reverse gear.

When the vehicle working state signal includes the gear signal, the accelerator pedal signal and the handbrake switch signal, if the accelerator pedal signal is received, the gear signal is the D gear or the R gear, and the handbrake switch signal is invalid, it is determined that the motor request operation mode is the motor drive mode.

When the vehicle working state signal includes the gear signal, the accelerator pedal signal and the power battery SOC value, if the accelerator pedal signal is received, the gear signal is the D gear or the R gear, and the power battery SOC value is greater than or equal to the state of charge driving threshold value , then it is determined that the motor request operation mode is the motor drive mode. The specific size of the state-of-charge driving threshold may be set in combination with actual technical needs. The SOC value of the power battery can be provided by the battery management system BMS connected to the vehicle controller VCU, or it can be obtained by reverse inference based on the battery voltage value. The state of charge driving threshold can be set according to actual technical needs.

The vehicle working status signal includes gear signal, accelerator pedal signal, handbrake switch signal and power battery SOC value; when receiving the accelerator pedal signal, if the gear signal is D or R gear, the handbrake switch signal is invalid, and the power battery When the SOC value is greater than or equal to the state-of-charge driving threshold, it is determined that the motor-requested operation mode is the motor-driving mode.

When the vehicle working state signal includes a gear position signal and a brake pedal signal, if a brake pedal signal is received, and the gear position signal is a non-P gear (such as D gear or R gear), it is determined that the motor requested operation mode is the motor mechanism motion mode. In the motor braking mode, the motor controller recovers the energy generated in the braking process through the electric drive axle, and stores the recovered energy to the power battery. Therefore, the excess heat energy released during the braking process of the vehicle can be converted into mechanical energy, and further converted into electrical energy and stored in the power battery. The process of braking energy recovery is not specifically limited in the embodiments of the present application.

When the vehicle working state signal includes gear signal, brake pedal signal and handbrake switch signal, if the brake pedal signal is received, the gear signal is not P gear (such as D gear or R gear), and the handbrake switch signal is invalid, Then, it is determined that the motor request operation mode is the motor braking mode.

When the vehicle working state signal includes the gear position signal, the brake pedal signal and the power battery SOC value, if the brake pedal signal is received, the gear position signal is a non-P gear (such as D gear or R gear), and the power battery SOC If the value is less than the state-of-charge braking threshold, it is determined that the motor requested operation mode is the motor braking mode.

When the vehicle working state signal includes the gear signal, the brake pedal signal, the handbrake switch signal and the power battery SOC value, if the brake pedal signal is received, the gear signal is a non-P gear (such as D gear or R gear), and the handbrake When the switch signal is invalid, and the power battery SOC value is less than the state-of-charge braking threshold, it is determined that the motor requested operation mode is the motor braking mode.

When the vehicle working status signal includes gear position signal, accelerator pedal signal, brake pedal signal, handbrake switch signal and power battery SOC value, if the gear position signal is non-P gear (such as D gear or R gear), and no signal is received The accelerator pedal signal or brake pedal signal, or the handbrake switch signal is valid, or the SOC value of the power battery is less than the state of charge driving threshold when the accelerator pedal signal is received, or the SOC value of the power battery is greater than or equal to the charge when the brake pedal signal is received If the state braking threshold is set, the motor request operation mode is determined to be the stop mode.

Accordingly, referring to FIG. 3 , in one embodiment, if the gear position signal is D gear or R gear, the accelerator pedal signal is received, the handbrake switch signal is invalid, and the SOC value of the power battery is greater than or equal to the state-of-charge driving threshold, Then, it is determined that the motor request operation mode is the motor drive mode. If the gear position signal is D gear or R gear, the brake pedal signal is received, the handbrake switch signal is invalid, and the SOC value of the power battery is less than the state of charge braking threshold, it is determined that the motor requested operation mode is the motor braking mode.

Wherein, when determining the requested output torque of the motor, it may be determined separately in combination with whether the motor operating mode is the motor driving mode or the motor auxiliary braking mode.

In one embodiment, the vehicle working state signal includes: the current vehicle speed, the accelerator pedal position, and the current vehicle acceleration. Referring to FIG. 4 , when the motor operation mode is the motor drive mode, the motor request is determined based on the motor request operation mode and the limp vehicle speed threshold. The output torque includes steps A1 to A3.

Step A1: Determine the corresponding motor speed according to the current vehicle speed, and determine the first motor maximum torque corresponding to the motor speed; determine the accelerator pedal request torque according to the accelerator pedal position; determine the second motor maximum torque corresponding to the maximum output power of the battery .

Based on the current vehicle speed, the motor rotation speed corresponding to the current vehicle speed can be determined, and the motor maximum torque corresponding to the motor rotation speed (referred to as the first motor maximum torque in the embodiment of the present application) is determined based on the motor rotation speed. There may be various possible ways to determine the maximum torque of the motor, for example, the maximum torque corresponding to the rotation speed of the motor may be determined by looking up a table or the like.

According to the accelerator pedal position, when determining the accelerator pedal request torque, in some embodiments, different accelerator pedal positions may correspond to different torques. In some embodiments, accelerator pedal travel may be determined based on accelerator pedal position, and corresponding torque may be determined based on accelerator pedal travel.

In some embodiments, the maximum torque of the motor corresponding to the maximum output power of the power battery (referred to as the second maximum torque of the motor in this embodiment of the present application) may be determined based on the corresponding relationship between the battery power and the maximum torque of the motor. The corresponding relationship between the battery power and the maximum torque of the motor can be set in various possible ways.

In some embodiments, after determining the maximum torque of the first motor, the requested torque of the accelerator pedal, and the maximum torque of the second motor, the maximum torque of the first motor, the requested torque of the accelerator pedal, and the maximum torque of the second motor may be further determined according to the The maximum torque determines the pending drive request torque. In some embodiments, the pending drive request torque may be the smallest of the first electric machine maximum torque, the accelerator pedal request torque, and the second electric machine maximum torque.

Step A2: Determine the current vehicle acceleration, and predict the maximum vehicle speed based on the current vehicle speed and the current vehicle acceleration, and based on the maximum vehicle speed and the current vehicle acceleration, determine to gradually adjust the vehicle acceleration to 0, and the vehicle speed is less than or equal to the limp Limp Speed Threshold Torque for Vehicle Speed Threshold.

In some embodiments, the vehicle acceleration may be determined based on the current vehicle speed and the vehicle speed at one or more previous times. When the maximum vehicle speed is predicted based on the current vehicle speed and the current vehicle acceleration, the vehicle speed that can be reached when the vehicle is driven at the current vehicle acceleration at the current vehicle speed can be calculated. When it is determined to gradually adjust the vehicle acceleration to 0 based on the maximum vehicle speed and the current vehicle acceleration, and the vehicle speed is less than or equal to the limp vehicle speed threshold torque, the torque that can reduce the vehicle speed can be determined first, and the torque can be determined is the limp speed threshold torque.

Step A3: According to the maximum torque of the first motor, the requested torque of the accelerator pedal, the maximum torque of the second motor, and the threshold torque of the limp vehicle speed, determine the motor drive request torque, and the motor request output The torque includes the motor drive request torque.

In some embodiments, when the pending drive request torque is determined above, the motor drive request torque is directly determined by combining the pending drive request torque with the limp vehicle speed threshold torque. In some embodiments, the motor drive request torque may be the difference between the pending drive request torque and the limp speed threshold torque, or the minimum of the two. Wherein, when the vehicle acceleration is 0, the limp vehicle speed threshold torque is 0.

In some embodiments, if the pending drive request torque is not determined, after the pending drive request torque is determined, the motor drive request torque is determined by combining the pending drive request torque with the limp vehicle speed threshold torque.

In one embodiment, the vehicle working status signal includes: the current vehicle speed and the position of the brake pedal. Referring to FIG. 5 , when the motor operating mode is the motor braking mode, the motor requested output speed is determined based on the motor requested operating mode and the limp vehicle speed threshold. moment, including steps B1 to B2.

Step B1: Determine the corresponding motor speed according to the current vehicle speed, and determine the maximum torque of the first motor corresponding to the motor speed; determine the brake pedal request torque according to the brake pedal position; determine the maximum battery charging power corresponding to the third motor maximum torque torque.

When determining the requested torque of the brake pedal according to the position of the brake pedal, in some embodiments, different positions of the brake pedal may correspond to different torques. In some embodiments, the brake pedal travel may be determined based on the brake pedal position, and the corresponding torque may be determined based on the brake pedal travel.

In some embodiments, based on the correspondence between the battery power and the maximum torque of the motor, the maximum torque of the motor corresponding to the maximum charging power of the battery of the power battery (referred to as the third maximum torque of the motor in the embodiments of the present application) can be determined. . The corresponding relationship between the battery power and the maximum torque of the motor can be set in various possible ways.

In some embodiments, after determining the maximum torque of the first motor, the requested torque of the brake pedal, and the maximum torque of the third motor, the maximum torque of the first motor, the requested torque of the brake pedal, and the The three-motor maximum torque determines the pending braking request torque. In some embodiments, the pending brake request torque may be the smallest of the first electric machine maximum torque, the brake pedal request torque, and the third electric machine maximum torque.

Step B2: Determine the motor braking request torque according to the first motor maximum torque, the brake pedal request torque, and the third motor maximum torque, where the motor request output torque includes the Motor braking request torque.

In some embodiments, when the pending braking request torque is determined as described above, the motor braking request torque is determined directly based on the combination of the pending braking request torque and the limp vehicle speed threshold torque. In some embodiments, the pending braking request torque may be directly used as the motor braking request torque. In some embodiments, the low-speed torque to be decelerated is determined when the current vehicle speed is less than a predetermined vehicle speed threshold. Then, the motor braking request torque is determined according to the to-be-braking request torque and the low-speed to-be-reduced torque. In some embodiments, the motor braking request torque may be the difference between the to-be-brake-request torque and the low-speed to-be-reduced torque, or the minimum value of the two.

Wherein, when determining the low-speed to-be-reduced torque, the determination can be performed in various ways, as long as the low-speed to-be-reduced torque can ultimately reduce the motor braking request torque finally output by the motor. In some embodiments, when the current vehicle speed is less than a predetermined vehicle speed threshold, the motor braking request torque finally output by the motor may be directly set to 0, and it may be considered that the above-mentioned low-speed to-be-reduced torque may be the above-mentioned to-be-brake request torque . Since the vehicle is already running at a low speed, setting the motor braking request torque to 0 can make the vehicle brake through friction and other processes. In some embodiments, in order to ensure the smoothness of the braking process, the low-speed to-be-reduced torque can also be set to other values. Can. In some embodiments, the predetermined vehicle speed threshold may include two thresholds: a first predetermined vehicle speed threshold and a second predetermined vehicle speed threshold, and the first predetermined vehicle speed threshold is greater than the second predetermined vehicle speed threshold, and the current vehicle speed is less than the first predetermined vehicle speed When the threshold value is greater than the second predetermined vehicle speed threshold value, the low-speed to-be-reduced torque is determined based on the first predetermined vehicle speed threshold value, so as to ensure the smoothness of the braking process. When the current vehicle speed is less than the second predetermined vehicle speed threshold, the motor braking request torque is set to 0 again. Similarly, multiple similar predetermined vehicle speed thresholds are also possible.

In some embodiments, when the pending braking request torque is not determined, the motor braking request torque is determined based on the pending braking request torque after the pending braking request torque is determined.

Step S103: Send a first control signal to the motor controller, where the first control signal includes the motor requested operation mode and the motor requested output torque, and the first control signal is used to control the motor controller to operate In the motor request operation mode, the motor request output torque is output to the electric drive axles provided on the non-main driving wheels and the non-steering wheels, so that the vehicle travels in a state where the vehicle speed does not exceed the limp speed threshold.

Therefore, when the motor operation mode is the motor drive mode, the power battery connected to the motor controller provides DC power to the motor controller, and the motor controller outputs the above-mentioned motor drive request torque to the electric drive bridge to assist the forward process. control. When the motor operation mode is the motor braking mode, the motor controller outputs the above-mentioned motor braking request torque to the electric drive axle, and also recovers the energy generated during the braking process through the electric drive axle, and stores the recovered energy. to the power battery for auxiliary control of the braking process.

Referring to FIG. 2 , a vehicle control system in an embodiment includes: a vehicle controller, a motor controller and a limp mode switch connected to the vehicle controller, and an electric drive axle connected to the motor controller, the The electric drive axle is arranged on the non-main driving wheel and the non-steering wheel.

The vehicle controller enters the vehicle limp mode when the vehicle is in the ON gear and receives the limp mode on signal sent by the limp mode switch; in the vehicle limp mode, it performs pure electric driving to obtain the vehicle working state signal; Determine the motor requested operating mode based on the vehicle operating state signal, determine the motor requested output torque based on the motor requested operating mode and the limp vehicle speed threshold, and send a control signal to the motor controller, the control signal including the motor requested operating mode and all The motor requests output torque, and the motor controller receives the control signal, and in the motor request operation mode, requests the output torque to the electric drive axle output motor provided on the non-main driving wheel and the non-steering wheel, so as to The vehicle is driven in a state where the vehicle speed does not exceed the limp vehicle speed threshold.

Wherein, the limp mode switch may be a key independently provided in the vehicle, or may be shared with other knobs, and the limp mode on signal is correspondingly issued by setting a corresponding gear for the knob.

In the vehicle limp mode, the power battery provides power, and the power battery is connected to the battery through the DC-DC module to provide DC power for the air pump and hydraulic pump to maintain the normal operation of the steering system and braking system.

Wherein, the vehicle working state signal may include signals such as gear signal, accelerator pedal signal, handbrake switch signal, power battery SOC value, and brake pedal signal. When determining the motor request operation mode based on the vehicle working state signal, there may be different ways based on the difference of the obtained vehicle working state signal. The specific manner of determining the requested operation mode of the motor may be the same as the manner in each of the above embodiments of the vehicle control method.

When the motor request output torque is determined based on the motor request operation mode and the limp vehicle speed threshold, the specific manner may be the same as that in each of the above embodiments of the vehicle control method.

Based on the above-mentioned embodiments, the following descriptions are given in conjunction with specific application examples.

In the solution of the embodiment of the present application, a motor drive system is added to the carriage or trailer part of heavy trucks, special vehicles, etc., and when the vehicle engine or gearbox fails, the motor is activated to drive the limp function (start the motor to drive the whole vehicle to the repair point) , let the motor-driven vehicle drive away from the main traffic road and slowly drive to the maintenance service station to avoid traffic jams and long-term after-sales maintenance. By arranging the electric drive axle on the non-main driving wheel and the non-steering wheel, and setting the limp mode switch, the vehicle controller of the vehicle is connected with the motor controller and the limp mode switch, and is connected with the electric drive axle through the motor controller.

Referring to FIG. 2 , the vehicle control system of the embodiment of the present application involves a vehicle controller VCU, a motor controller MCU connected to the vehicle controller VCU, an electronic power steering system EPS, a transmission controller TCU, and a key ON. gear, handbrake switch, limp mode switch, battery management system BMS, battery, DC-DC module and instrumentation.

The accelerator pedal can be connected to the vehicle controller VCU through a hard wire, and the accelerator pedal sends the accelerator pedal signal to the vehicle controller VCU through a hard wire.

After the brake pedal can be connected with the electronic brake controller EBS through hard wires, the electronic brake controller EBS is connected with the vehicle controller VCU through the CAN bus, and the electronic brake controller EBS obtains the brake pedal signal and transmits the brake pedal signal through the The CAN bus is sent to the vehicle controller VCU. Or the brake pedal can be connected with the vehicle controller VCU through a hard wire, and the brake pedal sends the brake pedal opening signal to the vehicle controller VCU through a hard wire.

The electronic power steering system EPS is connected to the steering wheel through hard wires, and is connected to the vehicle controller VCU through the CAN bus. The electronic power steering system EPS obtains the steering wheel related signals. The steering wheel related signals include: steering wheel angle and angular acceleration, and pass the steering wheel related signals through The CAN bus is sent to the vehicle controller VCU.

The transmission controller TCU obtains the relevant signals of the transmission control. The relevant signals of the transmission control include: the target gear position, the current gear position, the shifting process, and the working state of the transmission system, and sends the relevant signals of the transmission control to the vehicle controller VCU through the CAN bus. .

The key ON gear, handbrake switch and limp mode switch are respectively connected to the vehicle controller VCU through hard wires, and the ON gear signal, handbrake switch signal and limp mode start signal are respectively transmitted to the vehicle controller VCU through hard wires.

The battery management system BMS is connected to the vehicle controller VCU through the CAN bus. The battery management system BMS obtains battery management information. The battery management information here can include: battery SOC value, battery voltage, maximum allowable charge and discharge current, and the battery management information. It is sent to the vehicle controller VCU through the CAN bus. The battery management system is connected with the power battery, and the power battery is connected with the motor controller MCU, so as to provide electric energy for the motor controller MCU, or store the electric energy in the braking process recovered by the motor controller MCU.

The battery and the DC-DC module are connected to the vehicle controller VCU, and the battery is connected to the power battery through the DC-DC module. The instrument is connected to the vehicle controller VCU through the CAN bus to display the information that needs to be displayed on the instrument.

In the process of vehicle driving, if the vehicle fails (such as vehicle engine or gearbox failure), the driver turns on the key ON gear, wakes up the vehicle controller, and provides low-voltage power through the battery (such as a 24V battery) to supply power to the low-voltage system. Then the driver sets the vehicle mode by operating the limp mode switch. If the normal mode is selected, the normal internal combustion engine power or hybrid control strategy is executed; if the limp mode is selected, the vehicle enters the limp pure electric drive control strategy and the vehicle enters the limp mode. At the same time, the transmission controller TCU sends the target gear to the vehicle controller VCU according to the driver's operation as the gear of the limp mode. The handbrake switch is directly connected to the vehicle controller VCU, and the vehicle controller VCU reads the status of the handbrake switch at all times, and judges whether the vehicle is in a parking state. In addition, the vehicle controller VCU directly reads the accelerator pedal position, and outputs the corresponding accelerator pedal request torque according to the position of the accelerator pedal. The vehicle controller VCU directly reads the brake pedal position, and outputs the corresponding brake pedal request torque according to the brake pedal position.

After the vehicle controller VCU obtains the above signal, according to the target gear input by the driver and the mode enable condition, the electric drive system enters the drive mode, the stop mode and the brake mode respectively. Among them, when the vehicle controller VCU receives the accelerator pedal signal (the accelerator pedal is valid), the handbrake switch signal is invalid, and the SOC value of the power battery is greater than or equal to the state-of-charge drive threshold, it enters the motor drive mode, and determines the limp vehicle speed threshold. The corresponding motor drives the requested torque. If the brake pedal signal is received (the brake pedal is valid), the handbrake switch signal is invalid, and the SOC value of the power battery is less than the state-of-charge braking threshold, the motor braking mode is entered, and the corresponding motor braking is determined in combination with the limp vehicle speed threshold. request torque. If the gearbox is in neutral or parking gear, or if the above conditions for entering the motor braking mode and the motor driving mode are not met, the motor stops mode is entered, the output torque is 0, and the motor does not work.

Subsequently, the vehicle controller VCU sends the determined motor operation mode and motor output torque to the motor controller MCU through the CAN bus. After the motor controller MCU receives it, it controls the electric drive system to operate in the corresponding motor operation mode. Output the corresponding motor request output torque, so that the vehicle speed does not exceed the limp speed threshold. The specific value of the limp speed threshold can be set according to actual technical needs, for example, it can be set to 20km/h to ensure that the vehicle runs at a low speed and ensures that The vehicle can ensure safety in the event that it has already broken down.

When the motor is in the motor driving mode, the power battery connected to the motor controller provides DC power to the motor controller, and when the motor is in the motor braking mode, the motor controller recovers the braking process through the electric drive bridge The energy generated in the battery is stored and the recovered energy is stored in the power battery. The power battery is connected to the 24V battery through the DC-DC conversion module to provide electrical energy to hydraulic pumps, air pumps, etc., and to limit or close the output of power-consuming equipment such as air conditioners, and finally limp mode, vehicle speed, power battery SOC, cruising range, faults Information, motor DC side voltage, current and other information can be displayed on the instrument.

In some embodiments, when the entire vehicle is in the deep hybrid mode, the engine may be started, and the requested torque of the accelerator pedal or the requested torque of the brake pedal corresponding to the position of the accelerator pedal or the brake pedal is only output to the motor controller, Turn off the input of the engine, at this time the engine is in idle mode, and only provides driving force for the hydraulic steering system or hydraulic braking system.

In one embodiment, an electronic device is provided, and the electronic device is a device that can be applied in a vehicle to control the driving process of the vehicle. The internal structure diagram of the electronic device in one embodiment may be as shown in FIG. 6 . The electronic device includes a processor and a memory connected through a system bus, and may also include a network interface connected through the system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a vehicle control method.

Those skilled in the art can understand that the structure shown in FIG. 6 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may be Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

Accordingly, in one embodiment, an electronic device is also provided, comprising a memory and a processor, where a computer program is stored in the memory, and when the processor executes the computer program, the steps of the method in any of the above-mentioned embodiments are implemented .

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A vehicle control method, the method comprising:

when the vehicle is in an ON gear and a limp home mode starting signal is received, entering a limp home mode of the vehicle;

in a vehicle limp mode, carrying out pure electric drive to obtain a vehicle working state signal; determining a motor request operation mode based on the vehicle operating state signal, and determining a motor request output torque based on the motor request operation mode and a limp vehicle speed threshold;

sending a control signal to a motor controller, wherein the control signal comprises the motor request operation mode and the motor request output torque, and the control signal is used for controlling the motor controller to output the motor request output torque to an electric drive axle arranged on non-main drive wheels and non-steering wheels in the motor request operation mode so that the vehicle runs in a state that the vehicle speed does not exceed the limp vehicle speed threshold value.

2. The method of claim 1, comprising at least one of:

the first item:

the motor operation modes include: a motor drive mode;

in the motor driving mode, a power battery connected with the motor controller provides direct current electric energy for the motor controller;

the second term is:

the motor operation modes include: a motor braking mode;

in the motor braking mode, the motor controller recovers energy generated during braking through the electric drive axle and stores the recovered energy to a power battery.

3. The method of claim 1, wherein determining the motor request operating mode based on the vehicle operating condition signal comprises at least one of:

the first item: the vehicle working state signal comprises a gear signal, and when the gear signal is an N gear or a P gear, the motor request operation mode is determined to be a shutdown mode;

the second term is: the vehicle working state signal comprises a gear signal and an accelerator pedal signal, and when the gear signal is a D gear or an R gear and the accelerator pedal signal is received, the motor request operation mode is determined to be a motor driving mode;

the third item: the vehicle working state signal comprises a gear signal, an accelerator pedal signal and a hand brake switch signal; when the gear signal is D gear or R gear, the accelerator pedal signal is received, and the hand brake switch signal is invalid, the motor request operation mode is determined to be a motor driving mode;

the fourth item: the vehicle working state signal comprises a gear signal, an accelerator pedal signal and a power battery SOC value, and when the gear signal is a D gear or an R gear, the accelerator pedal signal is received, and the power battery SOC value is greater than or equal to a charge state driving threshold value, the motor request operation mode is determined to be a motor driving mode;

the fifth item: the vehicle working state signal comprises a gear signal, an accelerator pedal signal, a hand brake switch signal and a power battery SOC value; when the gear signal is D gear or R gear, the accelerator pedal signal is received, the hand brake switch signal is invalid, and the SOC value of the power battery is greater than or equal to the SOC driving threshold, the motor request operation mode is determined to be a motor driving mode;

the sixth item: the vehicle working state signal comprises a gear signal and a brake pedal signal, and when the gear signal is not a P gear, the brake pedal signal is received, and the motor request operation mode is determined to be a motor braking mode;

the seventh item: the vehicle working state signal comprises a gear signal, a brake pedal signal and a hand brake switch signal; when the gear signal is a non-P gear, the brake pedal signal is received, and the hand brake switch signal is invalid, the motor request operation mode is determined to be a motor braking mode;

the eighth item: the vehicle working state signal comprises a gear signal, a brake pedal signal and a power battery SOC value, and when the gear signal is in a non-P gear, the brake pedal signal is received, and the power battery SOC value is smaller than a charge state braking threshold value, the motor request operation mode is determined to be a motor braking mode;

the ninth item: the vehicle working state signal comprises a gear signal, a brake pedal signal, a hand brake switch signal and a power battery SOC value; when the gear signal is a non-P gear, the hand brake switch signal is invalid and the SOC value of the power battery is smaller than the SOC braking threshold value, the motor request operation mode is determined to be a motor braking mode;

the tenth item: the vehicle working state signal comprises a gear signal, an accelerator pedal signal, a brake pedal signal, a hand brake switch signal and a power battery SOC value; when the gear signal is in a non-P gear, and an accelerator pedal signal or a brake pedal signal is not received, or a hand brake switch signal is effective, or the SOC value of the power battery is smaller than a charge state driving threshold value when the accelerator pedal signal is received, or the SOC value of the power battery is larger than or equal to a charge state braking threshold value when the brake pedal signal is received, determining that the motor request operation mode is a shutdown mode.

4. The method of claim 1, wherein the vehicle operating condition signal comprises: determining a motor requested output torque based on the motor requested operating mode and a limp vehicle speed threshold when the motor operating mode is a motor drive mode, including:

determining a corresponding motor rotating speed according to the current vehicle speed, and determining a first motor maximum torque corresponding to the motor rotating speed; determining an accelerator pedal request torque based on the accelerator pedal position; determining the maximum torque of a second motor corresponding to the maximum output power of the battery;

predicting a maximum vehicle speed based on the current vehicle speed and the current vehicle acceleration, and determining a limp vehicle speed threshold torque, which gradually adjusts the vehicle acceleration to 0 and has a vehicle speed less than or equal to the limp vehicle speed threshold, based on the maximum vehicle speed and the current vehicle acceleration;

determining a motor drive request torque based on the first motor torque capacity, the accelerator pedal torque request, the second motor torque capacity, and the limp vehicle speed threshold torque, the motor requested output torque including the motor drive request torque.

5. The method of claim 1, wherein the vehicle operating condition signal comprises: a current vehicle speed, and a brake pedal position, when the motor operating mode is a motor braking mode, determining a motor requested output torque based on the motor requested operating mode and a limp vehicle speed threshold, comprising:

determining the corresponding motor rotating speed according to the current vehicle speed, and determining the first motor maximum torque corresponding to the motor rotating speed; determining a brake pedal request torque according to the brake pedal position; determining the maximum torque of a third motor corresponding to the maximum charging power of the battery;

determining a motor braking request torque based on the first motor torque capacity, the brake pedal request torque, and the third motor torque capacity, the motor requested output torque comprising the motor braking request torque.

6. The method of claim 4, wherein determining a motor drive request torque based on the first motor torque capacity, the accelerator pedal request torque, the second motor torque capacity, and the limp home speed threshold torque comprises:

determining a pending drive request torque according to the first motor maximum torque, the accelerator pedal request torque and the second motor maximum torque;

and determining the motor drive request torque according to the pending drive request torque and the limp vehicle speed threshold torque.

7. The method of claim 5, wherein determining a motor braking request torque based on the first motor torque capacity, the brake pedal request torque, and the third motor torque capacity comprises:

determining a pending braking request torque according to the first motor maximum torque, the braking pedal request torque and the third motor maximum torque;

when the current vehicle speed is less than a preset vehicle speed threshold value, determining low-speed torque to be reduced;

and determining the braking request torque of the motor according to the pending braking request torque and the low-speed torque to be reduced.

8. A vehicle control system, the system comprising: the electric vehicle comprises a vehicle control unit, a motor controller and a limp mode switch which are connected with the vehicle control unit, and an electric drive axle which is connected with the motor controller, wherein the electric drive axle is arranged on a non-main driving wheel and a non-steering wheel;

when the vehicle is in an ON gear and a limp mode starting signal sent by the limp mode switch is received, the vehicle controller enters a vehicle limp mode; in a vehicle limp mode, carrying out pure electric drive to obtain a vehicle working state signal; the method comprises the steps of determining a motor request operation mode based on a vehicle working state signal, determining a motor request output torque based on the motor request operation mode and a limp vehicle speed threshold value, and sending a control signal to a motor controller, wherein the control signal comprises the motor request operation mode and the motor request output torque, and the motor controller receives the control signal and outputs the motor request output torque to an electric drive axle arranged on non-main drive wheels and non-steering wheels in the motor request operation mode so that the vehicle runs in a state that the vehicle speed does not exceed the limp vehicle speed threshold value.

9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.

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