CN108001291B

CN108001291B - Vehicle control method and device and automobile

Info

Publication number: CN108001291B
Application number: CN201711217131.5A
Authority: CN
Inventors: 李玮; 刘超; 代康伟; 范江楠
Original assignee: Beijing Electric Vehicle Co Ltd
Current assignee: Beijing Electric Vehicle Co Ltd
Priority date: 2017-11-28
Filing date: 2017-11-28
Publication date: 2020-03-24
Anticipated expiration: 2037-11-28
Also published as: CN108001291A

Abstract

The invention provides a vehicle control method, a vehicle control device and an automobile, wherein the vehicle control method comprises the following steps: acquiring a first control instruction of a vehicle for requesting to enter a driving torque mode; acquiring a first real-time working state of the vehicle according to the first control instruction; and if the first real-time working state represents that the condition of entering the driving torque mode is met currently, controlling the vehicle to enter the driving torque mode according to the first control instruction. According to the embodiment of the invention, when a control instruction requesting to enter a certain mode is received, the real-time working state of the vehicle is firstly obtained, whether the current state meets the condition of entering the mode is judged according to the real-time working state of the vehicle, and the vehicle is controlled to enter when the current state meets the condition, so that the mode switching conforms to the actual condition of the vehicle, and the control reliability is improved.

Description

Vehicle control method and device and automobile

Technical Field

The invention relates to the technical field of automobiles, in particular to a vehicle control method and device and an automobile.

Background

In the face of increasingly severe energy and environmental problems, energy-saving and new energy automobiles are hot spots of current research of all countries, governments of main countries in the world invest a large amount of manpower and material resources to develop related research and development work, and the vigorous development of the energy-saving and new energy automobiles has important significance for realizing global sustainable development and protecting the global environment on which human beings live. In China, energy-saving and new energy automobiles are highly valued by governments and industries and are considered as one of strategic emerging industries. The development of energy-saving and new energy automobiles, particularly pure electric automobiles with zero pollution and zero emission, has great significance for energy safety and environmental protection in China, and is a trend for future development of the automobile field in China.

The pure electric vehicle drives the wheels through the motor to realize vehicle running, and the motor driving and controlling have great influence on the performance of the whole vehicle, so that the pure electric vehicle becomes a key point for research of various large pure electric vehicle manufacturers at home and abroad. With the development of permanent magnet materials, power electronic technology, control theory, motor manufacturing and signal processing hardware, the permanent magnet synchronous motor PMSM is generally applied, and the permanent magnet synchronous motor has the advantages of high efficiency, high output torque, high power density, good dynamic performance and the like, so that the permanent magnet synchronous motor is currently the mainstream of a pure electric vehicle driving system, and under the background, a pure electric vehicle motor controller for the permanent magnet synchronous motor becomes a current research hotspot. The motor controller needs to adopt different control methods aiming at different working condition states in the working process so as to adapt to various conditions possibly encountered in the driving process, wherein the state management is the basis for normally realizing various functions of the motor controller, different control methods are needed to correspond to different working modes, and various functions of the motor controller are finally realized to achieve the design goal. Therefore, a set of reasonable state management mechanism is the premise of realizing various functions of the motor controller and is the basic guarantee for the whole driving system to reliably and effectively carry out work.

However, in the existing electric vehicle, the division of the working modes is rough, and the command is executed when the corresponding entering command is received, so that the actual situation of the vehicle may not be met during actual control, and the reliability of the control system is reduced.

Disclosure of Invention

The technical problem to be solved by the embodiment of the invention is to provide a vehicle control method, a vehicle control device and an automobile, which are used for reliably realizing the switching of the working modes of a controller.

In order to solve the above technical problem, an embodiment of the present invention provides a control method for a vehicle, including:

acquiring a first control instruction of a vehicle for requesting to enter a driving torque mode;

acquiring a first real-time working state of the vehicle according to the first control instruction;

and if the first real-time working state represents that the condition of entering the driving torque mode is met currently, controlling the vehicle to enter the driving torque mode according to the first control instruction.

Further, if the first real-time operating state indicates that a condition for entering the driving torque mode is currently satisfied, the step of controlling the vehicle to enter the driving torque mode according to the first control instruction includes:

if the first real-time working state indicates that the vehicle is currently in a first preset working state, the driving system does not have a first type of fault and the driving system does not have a second type of fault, controlling the vehicle to enter the driving torque mode according to the first control instruction;

the first preset working state is a state that the whole vehicle is electrified, meets driving conditions and is in a driving mode, the first type of fault is a fault needing to close driving output, and the second type of fault is a fault needing to output a first preset torque.

Further, the control method of the vehicle further includes:

acquiring a second real-time working state of the vehicle in the driving torque mode;

and if the second real-time working state represents that the condition of exiting the driving torque mode is met currently, controlling the vehicle to exit the driving torque mode.

Further, if the second real-time operating state indicates that a condition for exiting the driving torque mode is currently satisfied, the step of controlling the vehicle to exit the driving torque mode includes:

if the second real-time working state indicates that the vehicle is currently in a second preset working state and/or a first type of fault occurs in a driving system, controlling the vehicle to exit the driving torque mode;

the second preset working state is a working state that the whole vehicle is not in a driving mode, the driving system does not generate the second type of fault and the requirement for entering the preset safety state is not received.

Further, the control method of the vehicle further includes:

if a second control instruction requesting to enter a preset safety state is received in the driving torque mode and the first type fault does not occur, controlling the vehicle to enter the preset safety state mode according to the second control instruction, wherein in the preset safety state mode, the driving output of the vehicle is in a closed state;

the second control instruction requesting to enter the preset safety state is an instruction sent by the driving system when the output torque of the driving motor is out of control, the rotating speed of the driving motor is greater than the first preset rotating speed and/or the temperature of the driving system is greater than the first preset temperature.

Further, the control method of the vehicle further includes:

acquiring a third real-time working state of the vehicle in the preset safety state mode;

and if the third real-time working state indicates that the vehicle is in a driving mode at present, the driving system does not have the first type of fault and does not receive an instruction for requesting to enter a preset safety state, controlling the vehicle to enter the driving torque mode.

Further, the control method of the vehicle further includes:

acquiring a fourth real-time working state of the vehicle in the preset safety state mode;

and if the fourth real-time working state indicates that the vehicle is not in a driving mode currently and/or a first type of fault occurs in a driving system, controlling the vehicle to exit the preset safe state mode.

Further, the control method of the vehicle further includes:

acquiring a fifth time working state of the vehicle in the driving torque mode;

if the fifth working state indicates that the current driving system has a second type fault, does not have the first type fault and does not receive an instruction for requesting to enter a preset safety state, controlling the vehicle to enter the preset torque mode;

wherein in the preset torque mode, an output torque of a vehicle motor is a first preset torque.

Further, the control method of the vehicle further includes:

acquiring a sixth real-time working state of the vehicle in the preset torque mode;

and if the sixth real-time working state indicates that the current vehicle is in a driving mode, the driving system does not have the first type of fault, the driving system does not have the second type of fault and an instruction for requesting to enter a preset safety state is not received, controlling the vehicle to enter the driving torque mode.

Further, the control method of the vehicle further includes:

and if a third control instruction requesting to enter a preset safety state is received in the preset torque mode and the first type of fault does not occur, controlling the vehicle to enter the preset safety state mode according to the third control instruction.

Further, the control method of the vehicle further includes:

acquiring a seventh real-time working state of the vehicle in the preset torque mode;

if the seventh real-time working state indicates that the current vehicle is in a third preset working state or a first type of fault occurs in a driving system, controlling the vehicle to exit the preset torque mode;

the third preset working state is a working state that the vehicle is not in a driving mode and does not receive an instruction of requesting to enter a preset safety state.

According to another aspect of the present invention, there is also provided a control apparatus of a vehicle, including:

the system comprises a first obtaining module, a second obtaining module and a control module, wherein the first obtaining module is used for obtaining a first control instruction that a vehicle requests to enter a driving torque mode;

the second acquisition module is used for acquiring a first real-time working state of the vehicle according to the first control instruction;

and the first control module is used for controlling the vehicle to enter the driving torque mode according to the first control instruction if the first real-time working state indicates that the current state meets the condition of entering the driving torque mode.

According to another aspect of the present invention, the embodiment of the present invention further provides an automobile, which includes the control device of the vehicle, and further includes a driving system connected to the control device.

Compared with the prior art, the vehicle control method, the vehicle control device and the vehicle provided by the embodiment of the invention at least have the following beneficial effects:

according to the embodiment of the invention, when a control instruction requesting to enter a certain mode is received, the real-time working state of the vehicle is firstly obtained, whether the current state meets the condition of entering the mode is judged according to the real-time working state of the vehicle, and the vehicle is controlled to enter when the current state meets the condition, so that the mode switching conforms to the actual condition of the vehicle, and the control reliability is improved.

Drawings

Fig. 1 is one of flowcharts of a control method of a vehicle of the embodiment of the invention;

FIG. 2 is a second flowchart of a control method for a vehicle according to an embodiment of the present invention;

fig. 3 is a third flowchart of a control method of a vehicle according to an embodiment of the present invention;

FIG. 4 is a fourth flowchart of a control method of a vehicle according to an embodiment of the present invention;

FIG. 5 is a fifth flowchart of a control method of a vehicle according to an embodiment of the present invention;

FIG. 6 is a sixth flowchart of a control method of a vehicle according to an embodiment of the present invention;

fig. 7 is a seventh flowchart of a control method of a vehicle according to the embodiment of the invention;

fig. 8 is a schematic configuration diagram of a control apparatus of a vehicle according to an embodiment of the invention;

FIG. 9 is a schematic structural diagram of an automobile according to an embodiment of the present invention;

fig. 10 is a schematic diagram of mode switching of an automobile according to an embodiment of the invention.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the full understanding of the embodiments of the present invention. Thus, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Referring to fig. 1, an embodiment of the present invention provides a control method of a vehicle, including:

step 101, acquiring a first control instruction of a vehicle for requesting to enter a driving torque mode;

102, acquiring a first real-time working state of the vehicle according to the first control instruction;

and 103, if the first real-time working state indicates that the condition for entering the driving torque mode is currently met, controlling the vehicle to enter the driving torque mode according to the first control instruction.

The first control instruction may be issued when a torque output is required, such as when the accelerator pedal is depressed.

Before the step of obtaining a first control command that the vehicle requests to enter the driving torque mode, the method further comprises the following steps: after the motor controller is powered on, the vehicle enters an initialization mode, and in the initialization mode, the controller controls the vehicle to perform first preset operation so that the vehicle enters a pipe closing mode. The first preset operation can comprise low-voltage power-on self-test, data loading, controller hardware state detection and fault detection.

The driving torque mode is a mode for performing torque output in normal running in which the first type fault and the second type fault do not occur.

Step 103, if the first real-time operating state indicates that a condition for entering the driving torque mode is currently satisfied, controlling the vehicle to enter the driving torque mode according to the first control instruction includes:

the first preset working state is a state that the whole vehicle is electrified, meets driving conditions and is in a driving mode, the first type of fault is a fault needing to close driving output, and the second type of fault is a fault needing to output a first preset torque. Wherein the first type of fault may be a pipe-shut type fault as referred to hereinafter and the second type of fault may be a 0-torque type fault as referred to hereinafter.

The invention will now be further illustrated by way of example with reference to figure 10. Embodiments of the present invention divide the operating state of a motor controller into an initialization mode, a pipe-off mode, a driving torque mode, a safe state mode, and a preset torque mode, wherein the 0 torque mode mentioned hereinafter may be the preset torque mode. Before this, a preliminary description of the failure level of the drive system is provided to better understand the present disclosure. The invention divides the driving system faults into five categories, which are respectively as follows: the method comprises the following steps of managing faults, safety state faults, 0 torque faults, power limiting faults and reporting only to not process the faults. The damage degree of the shutdown fault is maximum, and after the fault occurs, the driving system needs to be protected by closing the PWM output of the motor controller; the safety state fault damage degree is the second, and the driving system is protected by entering the safety state after the fault occurs; the harm degree of the 0-torque type fault is ranked third, and after the fault occurs, the driving motor outputs 0 torque to protect the vehicle; wherein, the power output of the vehicle can be interrupted after the first three kinds of faults occur, so as to protect the driving safety. The hazard degree of the power limiting fault is ranked fourth, the basic driving function of the vehicle can be realized after the fault occurs, but the power output is limited; and finally, reporting the damage degree of the non-processing type fault only, and not processing the fault after the fault occurs.

Wherein the initialization mode is a first mode entered after the motor controller is powered on, and in the first mode, the motor controller needs to complete a series of initialization operations including low-voltage power-on self-test and data loading (e.g. from E)²The objective condition for jumping to other modes is only met after the motor controller is initialized, ① in fig. 10 is the condition that the motor controller jumps from the initialization mode to the shutdown mode, namely, the motor controller jumps from the initialization mode to the shutdown mode after the condition ① is met, and the specific content of the condition ① is that the motor controller is initialized (including low-voltage power-on completion, data loading completion, and fault detection, and the condition for completing initialization).

After the motor controller is powered on, initializing a condition, that is, after the condition ① is met, entering a shutdown mode, in which the motor controller firstly makes a PWM driving module of the permanent magnet synchronous motor in a shutdown state to ensure safety of the vehicle and the driving system (taking the motor controller using an IGBT as a core power module as an example, in which both an upper arm and a lower arm U, V, W of the IGBT module are in a shutdown state), according to fig. 10, judging a condition ② in the mode, and if the condition ② is met, jumping from the shutdown mode to a driving torque mode by the motor controller.

The details of condition ② are as follows:

a. the whole vehicle is in a Ready state (the Ready state indicates that the pure electric vehicle is completely electrified and has driving conditions, and most of the existing pure electric vehicles are provided with Ready indicator lamps in instruments to prompt drivers);

b. the method comprises the following steps that a vehicle is in a driving mode, wherein the driving mode is sent by a vehicle controller, namely a VCU, the VCU judges according to the state of the whole vehicle, such as gears, faults and the like, and the vehicle runs a mode command, wherein the vehicle running mode command can comprise four modes, namely a driving mode, a charging mode, a remote control mode and a program flashing mode;

c. the driving system does not have pipe closing faults and 0 torque faults;

when all of the above conditions a, b, and c are satisfied, the condition ② is satisfied.

When a drive system fails off, it means that the motor controller does not have an on-pipe condition, and therefore it is reasonable that no mode switching is allowed when the system fails. Similarly, if a 0-torque fault occurs, indicating that power take-off needs to be disabled at this time, the fault level of the 0-torque fault is not high for a class of shutdown faults (a class of shutdown fault is the most severe fault in the drive system), but if the fault occurs in the class of shutdown mode, indicating that the drive system does not have a condition for normal operation, then it is equally reasonable to not allow mode switching.

Referring to fig. 2, the control method of the vehicle may further include:

step 201, acquiring a second real-time working state of the vehicle in the driving torque mode;

and step 202, if the second real-time working state represents that the condition for exiting the driving torque mode is met currently, controlling the vehicle to exit the driving torque mode.

Wherein, in step 202, if the second real-time operating state indicates that a condition for exiting the driving torque mode is currently satisfied, controlling the vehicle to exit the driving torque mode includes:

Wherein exiting the drive torque mode may be entering a pipe close mode. The exit from the safe state mode, referred to hereinafter, may also be the entry into the shut-off mode, and the exit from the preset torque mode may also be the entry into the shut-off mode.

Continuing with the above example, the motor controller continues to make the condition determination after the transition from the off-pipe mode to the drive torque mode, wherein the motor controller transitions from the current drive torque mode to the off-pipe mode when condition ③ in FIG. 10 is satisfied.

The details of condition ③ are as follows:

a. the whole vehicle is not in a driving mode, no 0-torque fault occurs in a driving system, and no safety state requirement is met;

b. and a drive system has a shutdown fault.

The condition ③ holds when either of the above a, b conditions is satisfied.

The condition ③ considers two situations, a is a normal situation, such as when the vehicle is normally powered off or parked to charge the vehicle, and the entire vehicle is not in a driving mode, and in this situation, the gating mode conforms to a normal control logic, and the safety of the driving system can be ensured at the same time, the condition a also refers to a condition of 0 torque fault and a safety state requirement, and the condition a has a sufficient condition only when the driving system has no 0 torque fault and enters the safety state requirement, because if the above condition has a special mode corresponding to the special mode, taking the 0 torque fault as an example, if the fault occurs at this time (other conditions in the condition a are all met), the condition a switches to the 0 torque mode, and the specific process will be explained specifically in the following text, the condition b refers to the gating fault, and the highest fault level of the gating fault is considered, and therefore, it is reasonable to enter the gating mode after the fault occurs.

The control method of the vehicle may further include:

The driving motor is seriously overspeed when the rotating speed of the driving motor is greater than a first preset rotating speed, and the driving system is seriously overtemperature when the temperature of the driving system is greater than a first preset temperature, wherein the first preset rotating speed and the first preset temperature can be preset according to actual conditions.

Continuing with the above example, the motor controller proceeds with the conditional determination after transitioning from the off-mode to the drive torque mode, wherein the drive torque mode transitions to the safe state mode when condition ④ in FIG. 10 is satisfied.

The details of condition ④ are as follows:

condition ④ is satisfied when there is a need to enter a safe state for the drive system and no shutdown type fault has occurred.

The safe state is a special state of the driving system, and is used for ensuring the driving safety, if the driving system has faults of out-of-control output torque of the driving motor, serious overspeed of the driving motor, serious over-temperature of the driving system and the like, at the moment, a corresponding general fault handling mechanism can not meet the driving safety requirement, the driving system sends the requirement of entering the safe state under the condition, and then the driving safety is ensured by enabling the vehicle to enter a safe state mode.

In summary, the present invention provides that condition ④ is satisfied when there is a need to enter a safe state and no shutdown type failure has occurred, when a safe state mode is to be entered.

In an embodiment, taking a pure electric vehicle equipped with a permanent magnet synchronous motor as an example, the pure electric vehicle can enter a safe state by simultaneously turning on three-phase upper bridge arms or three-phase lower bridge arms of the motor controller IGBT module U, V, W, and at this time, the driving system can generate a certain braking torque, so that the driving system can be prevented from further losing control.

Referring to fig. 3, the control method of the vehicle may further include:

step 301, acquiring a third real-time working state of the vehicle in the preset safety state mode;

step 302, if the third real-time working state indicates that the vehicle is currently in a driving mode, the first type of fault does not occur in the driving system, and an instruction requesting to enter a preset safety state is not received, controlling the vehicle to enter the driving torque mode.

Continuing with the above example, the motor controller proceeds to condition determination after entering the safe-state mode, wherein the motor controller transitions from the current safe-state mode to the drive torque mode when condition ⑨ in FIG. 10 is satisfied.

The condition ⑨ is satisfied (satisfied) when all of the following conditions are satisfied.

a. The vehicle is in a driving mode;

b. no shutdown-type failure of the drive system occurs while there is no need to enter a safe state.

After the driving system enters the safe mode, if the safe state requirement disappears, the danger faced by the vehicle is reduced, and therefore the driving feeling of a driver is protected, when the condition ⑨ is met, the motor controller can be switched to the driving torque mode from the safe state mode, and considering that the driving torque mode is a mode in which the driving system normally works, the invention provides that the vehicle is allowed to jump (namely, the condition ⑨ is met) only when the vehicle is in a driving mode, the vehicle is not in a shutdown state fault, and the requirement for entering the safe state does not exist, the condition ⑨ does not judge the 0 torque fault as the condition, because the condition ⑨ is met, the motor controller is switched to the driving torque mode, and if the 0 torque fault exists, the vehicle continuously jumps to the 0 torque mode, so the invention does not judge the 0 torque fault in the condition ⑨.

Referring to fig. 4, the control method of the vehicle described therein may further include:

step 401, acquiring a fourth real-time working state of the vehicle in the preset safety state mode;

and 402, if the fourth real-time working state indicates that the vehicle is not in a driving mode currently and/or a first type of fault occurs in a driving system, controlling the vehicle to exit the preset safe state mode.

Continuing with the above example, the motor controller proceeds to condition determination after entering the safe state mode, wherein the safe state mode transitions to the off mode when condition ⑩ in FIG. 10 is satisfied.

The details of condition ⑩ are as follows:

a. the whole vehicle is not in a driving mode;

b. and a drive system has a shutdown fault.

The condition ⑩ holds when either of the above a, b conditions is satisfied.

Condition ⑩ is a condition for determining switching from the safe-state mode to the closed-tube mode, and in this case, condition ⑩ is satisfied in consideration of the fact that handling needs to be performed by entering the closed-tube mode when a failure of the closed-tube type occurs (condition b is satisfied). on the other hand, in the safe-state mode, if the entire vehicle is not in the drive mode, this means that the vehicle does not have a running condition, and in this case, it is reasonable to enter the motor controller into the closed-tube mode, so the present invention provides that condition ⑩ is also satisfied when condition a is satisfied.

Referring to fig. 5, the control method of the vehicle may further include:

step 501, acquiring a fifth time working state of the vehicle in the driving torque mode;

step 502, if the fifth time working state indicates that the current driving system has a second type fault, does not have the first type fault, and does not receive an instruction requesting to enter a preset safety state, controlling the vehicle to enter the preset torque mode;

The second type of fault comprises an overheating fault of the driving system or an overspeed fault of the driving motor, the driving motor is subjected to overspeed when the rotating speed of the driving motor is greater than a second preset rotating speed, the driving system is overheated when the temperature of the driving system is greater than a second preset temperature, the second preset rotating speed is less than a first preset rotating speed, the second preset temperature is less than the first preset temperature, and the second preset rotating speed and the second preset temperature can be preset according to actual conditions.

Continuing with the above example, the motor controller proceeds with the conditional determination after the transition from the gate-off mode to the drive torque mode, wherein the transition from the drive torque mode to the 0 torque mode occurs when condition ⑤ in FIG. 10 is satisfied.

Condition ⑤:

condition ⑤ is satisfied when a 0 torque class fault occurs in the drive system but no shut down class fault occurs and there is no entry to a safe state requirement.

In the drive torque mode, if a 0-torque fault occurs (no shutdown fault occurs), the drive system enters the 0-torque mode to protect driving safety, and in the 0-torque mode, as the name suggests, the drive system is protected by enabling the drive motor to output 0 torque, which is generally applied to the handling of faults such as motor overspeed, over-temperature of the drive system, and over-current of the motor controller (all of the above faults are 0-torque faults).

Although both the 0-torque mode and the safe-state mode can provide protection for driving safety, the applied phases are different, generally, the 0-torque mode is applied to a phase in which a vehicle is not out of control, such as an overheating fault of a driving system or an overspeed fault of a driving motor, and at this time, a further increase of the driving safety hazard level due to the above faults (if the temperature of the driving system further increases, the rotation speed of the driving motor further increases) can be prevented by the control method in the 0-torque mode. However, if the temperature of the driving system further rises or the motor overspeed is increasingly severe after the vehicle enters the 0-torque mode, it indicates that the corresponding control method in the 0-torque mode has failed to ensure the driving safety, and at this time, a method for enabling the vehicle to enter the safety mode needs to be adopted to provide protection for the driving safety. It can be seen that the safe state mode provides a deeper level of protection for the vehicle than the 0-torque fault mode.

Referring to fig. 6, the control method of the vehicle may further include:

601, acquiring a sixth real-time working state of the vehicle in the preset torque mode;

step 602, if the sixth real-time working state indicates that the current vehicle is in a driving mode, the driving system has no first type of fault, the driving system has no second type of fault, and an instruction requesting to enter a preset safety state is not received, controlling the vehicle to enter the driving torque mode.

Continuing with the above example, the motor controller proceeds to the conditional determination after entering the 0 torque mode, wherein the motor controller transitions from the current 0 torque mode to the drive torque mode when condition ⑥ in FIG. 10 is satisfied.

The condition ⑥ is satisfied (satisfied) when all of the following conditions are satisfied.

a. The vehicle is in a driving mode;

b. the drive system does not have a shut-down type fault and a 0 torque fault, and the requirement of entering a safe state does not exist.

When the condition ⑥ is satisfied, the motor controller switches from the 0 torque mode to the drive torque mode, and considering that the drive torque mode is a mode in which the drive system normally operates, the above jump is allowed only when the vehicle is in the drive mode, no shutdown fault and no 0 torque fault occur, and there is no need to enter a safe state, that is, the condition ⑥ is satisfied.

The control method of the vehicle may further include:

Continuing with the above example, the motor controller proceeds to condition determination after entering the 0 torque mode, wherein the 0 torque mode transitions to the safe state mode when condition ⑦ in FIG. 10 is satisfied.

Condition ⑦:

condition ⑦ is satisfied when a drive system has not failed a shutdown, but there is a need to enter a safe state.

In the 0 torque mode, if a demand for entering the safe state occurs in the drive system, it means that the control measures in the 0 torque mode cannot meet the demand for driving safety, and at this time, the vehicle needs to enter the safe state mode for protection.

Referring to fig. 7, the control method of the vehicle described therein may further include:

step 701, acquiring a seventh real-time working state of the vehicle in the preset torque mode;

step 702, if the seventh real-time working state indicates that the current vehicle is in a third preset working state or a first type of fault occurs in a driving system, controlling the vehicle to exit the preset torque mode;

Continuing with the above example, the motor controller proceeds to condition determination after entering the 0 torque mode, wherein the 0 torque mode transitions to the off-pipe mode when condition ⑧ in FIG. 10 is satisfied.

Condition ⑧:

a. the whole vehicle is not in a driving mode, and a driving system does not have the requirement of entering a safe state;

b. and a drive system has a shutdown fault.

The condition ⑧ holds when either of the above a, b conditions is satisfied.

Condition ⑧ is a condition for determining the switch from the 0 torque mode to the shut-off mode, and it is therefore reasonable to have condition ⑧ satisfied in this case, considering that the shut-off mode needs to be entered for processing when a malfunction occurs in the shut-off mode (condition b is satisfied). on the other hand, in the 0 torque mode, if the entire vehicle is not in the drive mode and the drive system does not have a need to enter a safe state, it means that the vehicle does not have a running condition, and it is reasonable to have the motor controller enter the shut-off mode in this case, so the present invention provides that condition ⑧ is also satisfied when condition a is satisfied.

Referring to fig. 8, according to another aspect of the present invention, an embodiment of the present invention further provides a control apparatus of a vehicle, including:

a first obtaining module 801, configured to obtain a first control instruction that the vehicle requests to enter a driving torque mode;

a second obtaining module 802, configured to obtain a first real-time working state of the vehicle according to the first control instruction;

a first control module 803, configured to control the vehicle to enter the driving torque mode according to the first control instruction if the first real-time operating state indicates that the current state meets the condition for entering the driving torque mode.

Further, the first control module 803 is specifically configured to:

Further, the control device of the vehicle further includes:

the third acquisition module is used for acquiring a second real-time working state of the vehicle in the driving torque mode;

and the second control module is used for controlling the vehicle to exit the driving torque mode if the second real-time working state represents that the condition for exiting the driving torque mode is met currently.

Further, the second control module is specifically configured to:

Further, the control device of the vehicle further includes:

the third control module is used for controlling the vehicle to enter a preset safe state mode according to a second control instruction if the second control instruction requesting to enter the preset safe state is received and the first type fault does not occur in the driving torque mode, wherein the driving output of the vehicle is in a closed state in the preset safe state mode;

Further, the control device of the vehicle further includes:

the fourth acquisition module is used for acquiring a third real-time working state of the vehicle in the preset safety state mode;

and the fourth control module is used for controlling the vehicle to enter the driving torque mode if the third real-time working state indicates that the vehicle is in a driving mode at present, the driving system does not generate the first type of fault and an instruction for requesting to enter a preset safety state is not received.

Further, the control device of the vehicle further includes:

the fifth acquisition module is used for acquiring a fourth real-time working state of the vehicle in the preset safety state mode;

and the fifth control module is used for controlling the vehicle to exit the preset safe state mode if the fourth real-time working state indicates that the vehicle is not in the driving mode currently and/or the driving system has a first type of fault.

Further, the control device of the vehicle further includes:

the sixth acquisition module is used for acquiring a fifth time working state of the vehicle in the driving torque mode;

the sixth control module is used for controlling the vehicle to enter the preset torque mode if the fifth working state indicates that the current driving system has a second type fault, does not have the first type fault and does not receive an instruction for requesting to enter a preset safety state;

Further, the control device of the vehicle further includes:

the seventh obtaining module is used for obtaining a sixth real-time working state of the vehicle in the preset torque mode;

and the seventh control module is used for controlling the vehicle to enter the driving torque mode if the sixth real-time working state indicates that the current vehicle is in a driving mode, the driving system does not have the first type of fault, the driving system does not have the second type of fault and an instruction for requesting to enter a preset safety state is not received.

Further, the control device of the vehicle further includes:

and the eighth control module is used for controlling the vehicle to enter a preset safe state mode according to the third control instruction if the third control instruction requesting to enter the preset safe state is received in the preset torque mode and the first type of fault does not occur.

Further, the control device of the vehicle further includes:

the eighth acquiring module is used for acquiring a seventh real-time working state of the vehicle in the preset torque mode;

the ninth control module is used for controlling the vehicle to exit the preset torque mode if the seventh real-time working state indicates that the current vehicle is in a third preset working state or a first type of fault occurs in a driving system;

The control device of the embodiment of the invention can realize each process in the method embodiments, has corresponding beneficial effects, and is not repeated here to avoid repetition.

Referring to fig. 9, according to another aspect of the present invention, an embodiment of the present invention further provides an automobile, including the control device of the vehicle as described above, and further including a drive system connected to the control device.

Wherein the control means may be a motor controller. Referring to fig. 9, wherein APS denotes an accelerator pedal system, BPS denotes a brake pedal system, GP denotes a shift position system, VCU denotes a vehicle controller, BMS denotes a battery management system, and Motor denotes a vehicle driving Motor. In the framework, a motor controller obtains the driving intention of a driver according to the current accelerator pedal, brake pedal and gear state of a vehicle, calculates to obtain the expected output torque of the driver, then carries out smoothing, limiting and other processing on the expected torque according to the current state of the vehicle (the fault state of the whole vehicle, the state of a power battery, the allowable power output limit and the like) to obtain a torque command, and controls a driving motor according to the torque command to realize the quick response of the driving motor to the torque command, thereby realizing the vehicle running function. In the system structure shown in fig. 9, the driving motor can directly drive the wheels to rotate through a single-stage speed reducer (simply referred to as "single reduction"), and a gear shifting mechanism is not arranged in the middle.

The embodiment of the invention can reasonably and effectively realize the switching among the working modes of the motor controller, has the advantages of reasonableness, high efficiency and reliability, realizes the coverage of all possible working modes of the motor controller under normal, abnormal and fault states, and lays a solid foundation for designing a corresponding control strategy according to the working modes of the controller in the follow-up process. In addition, the method provided by the invention has the characteristics of simplicity, convenience, practicability and easiness in implementation, does not involve hardware increase, and does not additionally increase the production cost of the vehicle, so that the method is convenient to popularize.

To sum up, in the embodiment of the present invention, when receiving a control instruction requesting to enter a certain mode, the real-time operating state of the vehicle is first obtained, and whether the current state meets the condition of entering the mode is judged according to the real-time operating state of the vehicle, and the vehicle is controlled to enter when the current state meets the condition, so that the mode switching conforms to the actual situation of the vehicle, and the control reliability is improved.

Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A control method of a vehicle, characterized by comprising:

if the first real-time working state represents that the condition of entering the driving torque mode is met currently, controlling the vehicle to enter the driving torque mode according to the first control instruction;

the method further comprises the following steps:

the second control instruction requesting to enter the preset safety state is an instruction sent by the driving system when the output torque of the driving motor is out of control, the rotating speed of the driving motor is greater than the first preset rotating speed and/or the temperature of the driving system is greater than the first preset temperature;

the first type of fault is a fault that requires the drive output to be shut down.

2. The method according to claim 1, wherein the step of controlling the vehicle to enter the drive torque mode according to the first control instruction if the first real-time operating state indicates that the condition for entering the drive torque mode is currently satisfied comprises:

the first preset working state is a state that the whole vehicle is electrified, meets driving conditions and is in a driving mode, and the second type fault is a fault needing to output a first preset torque.

3. The control method of a vehicle according to claim 1, characterized by further comprising:

4. The method of claim 3, wherein if the second real-time operating state indicates that a condition for exiting the motoring torque mode is currently satisfied, the step of controlling the vehicle to exit the motoring torque mode comprises:

5. The control method of a vehicle according to claim 1, characterized by further comprising:

6. The control method of a vehicle according to claim 1, characterized by further comprising:

7. The control method of a vehicle according to claim 2, characterized by further comprising:

acquiring a fifth time working state of the vehicle in the driving torque mode;

8. The control method of a vehicle according to claim 7, characterized by further comprising:

9. The control method of a vehicle according to claim 7, characterized by further comprising:

10. The control method of a vehicle according to claim 7, characterized by further comprising:

11. A control apparatus of a vehicle, characterized by comprising:

the first control module is used for controlling the vehicle to enter the driving torque mode according to the first control instruction if the first real-time working state indicates that the current state meets the condition of entering the driving torque mode;

the control device for a vehicle further includes:

12. An automobile comprising a control device of the vehicle according to claim 11, further comprising a drive system connected to the control device.