CN115648968A - Control method, device, processor, storage medium and vehicle for preventing slope slipping - Google Patents
Control method, device, processor, storage medium and vehicle for preventing slope slipping Download PDFInfo
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Abstract
The embodiment of the application provides a control method, a control device, a processor, a storage medium and a vehicle for preventing slope slipping. The method comprises the following steps: acquiring a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time in the process that a target driving motor system loads torque to execute anti-slope-slipping operation; determining an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature; and under the condition that the system parameters of the target driving motor system meet preset conditions, controlling the alternative driving motor system to load torque, controlling the target driving motor system to unload torque, switching to the alternative driving motor system to execute the slope slipping prevention operation, and continuously switching the driving motor systems to maintain the continuous duration of the slope slipping prevention function and improve the driving safety.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a control method, a control device, a control processor, a storage medium and a vehicle for preventing a vehicle from sliding down a slope.
Background
The anti-slide function is to prevent the vehicle from sliding backwards when the vehicle starts on the slope, and a certain anti-slide torque can be applied through the driving motor, so that the vehicle can be ensured to slide backwards under the action of gravity when the brake pedal is released and the accelerator pedal is not stepped down at the moment of starting on the slope. In the prior art, the adopted anti-slope-slipping control scheme is generally as follows: the system recognizes that the vehicle is stopped on a slope, the vehicle is in a driving gear (D gear or R gear), a hand brake is put down (or an electronic parking brake is not pulled up), and the system automatically enters into a slope slipping prevention control function when a driver does not step on an accelerator pedal and a brake pedal. When the vehicle enters the anti-slide control, the vehicle or the vehicle requests the driving motor to load torque according to the gradient and the vehicle type information so as to apply force to ensure that the vehicle does not slide backwards along the slope; or the motor torque is directly adjusted according to the vehicle speed or the motor rotating speed signal so as to control the vehicle speed to be zero.
However, in the prior art, the motor is loaded with torque to a specified value, and the motor is in a locked-rotor state, under the working condition of large torque and zero speed, the electric energy of the driving motor is completely converted into heat energy, the temperature of the motor rapidly rises, and the temperature of the motor easily exceeds a preset maximum temperature value, so that the duration of the anti-slope-sliding function of the vehicle is short, and the safety of the vehicle is low.
Disclosure of Invention
An object of the embodiment of the application is to provide a control method, a control device, a processor, a storage medium and a vehicle for preventing slope slipping.
In order to achieve the above object, a first aspect of the present application provides a control method for preventing a vehicle from rolling off a slope, applied to a vehicle including a plurality of drive motor systems, each drive motor system including a motor and a motor controller that controls the motor, each drive motor system being capable of driving the vehicle to run individually, including:
acquiring a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time in the process that a target driving motor system loads torque to execute anti-creep operation;
determining an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature;
and under the condition that the system parameters of the target driving motor system meet preset conditions, controlling the alternative driving motor system to load torque, and controlling the target driving motor system to unload torque so as to switch to the alternative driving motor system to execute the slope slipping prevention operation.
In an embodiment of the present application, determining an alternative drive motor system from a plurality of drive motor systems according to a first real-time temperature and a second real-time temperature includes: determining a motor temperature gear corresponding to a first real-time temperature and a controller temperature gear corresponding to a second real-time temperature for each driving motor system; for each driving motor system, determining a system temperature gear corresponding to the driving motor system according to the motor temperature gear and the controller temperature gear; and determining the drive motor system with the lowest system temperature gear as the alternative drive motor system.
In an embodiment of the present application, determining the drive motor system with the lowest system temperature gear as the candidate drive motor system further includes: under the condition that a plurality of driving motor systems with the lowest system temperature gears exist, one driving motor system is selected from the driving motor systems with the lowest system temperature gears as a standby driving motor system, or the driving motor system with the lowest serial number of the driving motor system is selected from the driving motor systems with the lowest system temperature gears as the standby driving motor system, wherein each driving motor system has a preset serial number of the driving motor system.
In an embodiment of the present application, the motor temperature gear and the controller temperature gear are determined according to expression (1) and expression (2), respectively:
wherein S is M，i Is the motor temperature gear, T, corresponding to the motor of the ith driving motor system M，i Refers to the first real-time temperature, T, of the motor of the ith drive motor system M，i，1 Is the maximum temperature limit value, T, corresponding to the minimum temperature gear of the motor of the ith drive motor system M，i，k-1 The maximum temperature limit value, T, of the kth temperature gear, corresponding to the first real-time temperature of the ith drive motor system M，i，k Is the highest temperature limit value, T, of the kth temperature gear corresponding to the first real-time temperature of the ith drive motor system M，i，n Is the maximum temperature limit value corresponding to the maximum temperature gear of the motor of the ith drive motor system, n is the number of a first preset temperature value and a second preset temperature value, n is an integer greater than 1, k is an integer greater than or equal to 2 and less than or equal to n, S C，i Is the controller temperature gear, T, corresponding to the motor controller of the ith driving motor system C，i Is the second real-time temperature, T, of the motor controller of the ith drive motor system C，i，1 Is the maximum temperature limit value, T, corresponding to the minimum temperature gear of the motor controller of the ith drive motor system C，i，k-1 The maximum temperature limit value, T, of the kth temperature gear, corresponding to the second real-time temperature of the ith drive motor system C，i，k Is the highest temperature limit value, T, of the kth temperature gear corresponding to the second real-time temperature of the ith drive motor system C，i，n The maximum temperature limit value corresponding to the maximum temperature gear of the motor controller of the ith driving motor system is defined.
In an embodiment of the present application, T is determined according to equation (3) M，i，k And T C，i，k ：
In an embodiment of the application, the control method further comprises: aiming at the situation that the set number n of first preset temperature values and/or second preset temperature values of a motor and/or a motor controller is 1Under the condition, the duration of each driving motor system from the moment of starting to load the torque to the moment of unloading the torque is obtained, so as to determine the total duration t of all the driving motor systems 1 Controlling the driving motor system to start unloading the torque under the condition that the temperature of the motor of the driving motor system reaches a first preset temperature value and/or the temperature of the motor controller reaches a second preset temperature value, and indicating that the unloading of the torque is finished when the torque is zero; n is sequentially and progressively increased, and the total duration t of all the drive motor systems is obtained n (ii) a Comparing the total duration t corresponding to each set number n n At the first time t is obtained k+1 ＜t k ，k∈[1，n]The value of the set number n of first preset temperature values and/or second preset temperature values for the motor and/or the motor controller is determined as k.
In an embodiment of the present application, for each driving motor system, determining a system temperature gear corresponding to the driving motor system for a motor temperature gear and a controller temperature gear includes: and determining the maximum gear value in the motor temperature gears and the controller temperature gears as the system temperature gears corresponding to the driving motor system for each driving motor system.
In an embodiment of the application, the system parameters include a temperature of the motor and a temperature of a motor controller, and the control method further includes: acquiring a first initial temperature and a second initial temperature of a motor and a motor controller of a target drive motor system when starting to load torque; determining a motor temperature gear corresponding to a first initial temperature and a controller temperature gear corresponding to a second initial temperature; and determining that the system parameters of the target drive motor system meet preset conditions under the condition that the temperature of the motor of the target drive motor system is increased to the maximum temperature limit value of the motor temperature gear corresponding to the first initial temperature, and/or the temperature of the motor controller of the target drive motor system is increased to the maximum temperature limit value of the controller temperature gear corresponding to the second initial temperature.
In an embodiment of the present application, the system parameter comprises a duration of the loading torque, and the control method further comprises: and determining that the system parameters of the target driving motor system meet preset conditions under the condition that the duration of the torque loading of the target driving motor system reaches preset duration.
In an embodiment of the present application, controlling the alternative drive motor system to load torque and controlling the target drive motor system to unload torque further comprises: determining the required torque of the alternative driving motor system according to the current vehicle parameters of the vehicle; and controlling the alternative driving motor system to load the torque to the required torque within a preset loading time period, and simultaneously controlling the target driving motor system to unload the torque to zero within the preset loading time period.
In an embodiment of the present application, the control method further includes: after the alternative driving motor system is switched to execute the slope slipping prevention operation, determining the alternative driving motor system as a new target driving motor system; and returning to the step of acquiring the first real-time temperature of the motor of each driving motor system and the second real-time temperature of the motor controller in real time in the process of loading the torque on the target driving motor system to execute the slope slipping prevention operation, and exiting the slope slipping prevention operation until the motor temperature of all the driving motor systems in the plurality of driving motor systems is greater than or equal to the maximum limit value of the motor temperature and/or the motor controller temperature is greater than or equal to the maximum limit value of the controller temperature.
In an embodiment of the present application, the control method further includes: controlling the target drive motor system to load torque to perform the anti-creep operation if all of the following conditions are satisfied: the accelerator and brake pedals of the vehicle are not activated, and the handbrake of the vehicle is not activated; the driving gear of the vehicle is a forward gear and the vehicle is currently in a climbing state, or the driving gear of the vehicle is a reverse gear and the vehicle is currently in an ascending state; the gradient of the road surface where the vehicle is currently located is larger than a preset gradient threshold value; the multiple driving motor systems are in a state of loading torque normally; the current vehicle speed of the vehicle is less than or equal to a preset speed threshold.
A second aspect of the present application provides a processor configured to execute the control method for landslide prevention described above.
A third aspect of the present application provides a control device for preventing a slide, including:
the temperature acquisition module is used for acquiring a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time in the process that a target driving motor system loads torque to execute anti-slope-slipping operation;
the system screening module is used for determining an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature;
and the torque control module is used for controlling the alternative driving motor system to load torque and controlling the target driving motor system to unload torque under the condition that the system parameters of the target driving motor system meet preset conditions so as to switch to the alternative driving motor system to execute the slope slipping prevention operation.
A fourth aspect of the present application provides a vehicle comprising:
each driving motor system comprises a motor and a motor controller for controlling the motor, and each driving motor system can independently drive the vehicle to run; and
the control device for preventing the slope from sliding off is described above.
A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform the above-described control method for landslide prevention.
In the technical scheme, the vehicle comprises a plurality of driving motor systems, each driving motor system can independently drive the vehicle to run, under the condition that the system parameters of the target driving motor system currently executing the slope slipping prevention operation meet preset conditions, the next alternative driving motor system executing the slope slipping prevention operation can be selected from other driving motor systems, the continuous duration of the slope slipping prevention function can be maintained by continuously switching the driving motor systems, and the driving safety is improved.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the detailed description serve to explain the embodiments of the application and not to limit the embodiments of the application. In the drawings:
fig. 1 schematically shows a flow chart of a control method for landslide prevention according to an embodiment of the present application;
FIG. 2 schematically illustrates an example diagram of a vehicle;
FIG. 3 schematically illustrates an example diagram of another vehicle;
FIG. 4 schematically illustrates a schematic of torque loading during a drive motor system shift;
fig. 5 schematically shows an application environment diagram of the control method for preventing a slope from slipping according to an embodiment of the present application;
fig. 6 is a block diagram schematically showing the structure of a control device for preventing a slope from slipping according to an embodiment of the present application;
fig. 7 schematically shows an internal structure diagram of a computer device according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 schematically shows a flow chart of a control method for preventing landslide according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, there is provided a control method for preventing a slope from slipping, which is applied to a vehicle including a plurality of driving motor systems, each of which includes a motor and a motor controller for controlling the motor, and each of which can individually drive the vehicle to run, including the steps of:
step 101, acquiring a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time in the process that a target driving motor system loads torque to execute the anti-slope-slipping operation.
And 102, determining an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature.
And 103, controlling the alternative driving motor system to load torque and controlling the target driving motor system to unload torque under the condition that the system parameters of the target driving motor system meet preset conditions so as to switch to the alternative driving motor system to execute the slope slipping prevention operation.
The vehicle can be a pure electric vehicle, and can also be a gasoline-electric hybrid vehicle. The pure electric vehicle can be a vehicle which uses a vehicle-mounted power supply as a power source and drives wheels to run by using a motor. The gasoline-electric hybrid vehicle may refer to a vehicle that uses a conventional internal combustion engine and an electric motor as power sources. The vehicle may include a plurality of drive motor systems. Each drive motor system may include a motor and a motor controller that controls the motor. Wherein, every driving motor system can drive the vehicle to travel alone.
For example, as shown in FIG. 2, an exemplary diagram of a vehicle is provided. Two drive motor systems are included in the vehicle. Each drive motor system may include a drive motor and a motor controller that controls the motor. A gearbox may be included on each drive shaft for each drive shaft of the vehicle. The gearbox can be connected with a driving motor in the driving motor system, the driving motor can be connected with the motor controller, and a direct current power supply can be connected between the driving motor and the motor controller. The motor controllers in the two driving motor systems CAN be connected with a first end of a vehicle controller of the vehicle through a CAN communication line, and a second end of the vehicle controller CAN be in communication connection with a brake pedal, an accelerator pedal, a gear shift lever, a gradient sensor and a vehicle weight sensor of the vehicle. Further, the vehicle control unit can control a brake pedal and an accelerator pedal according to the opening degree signal, can control a gear level through a gear signal, can control a gradient sensor through a gradient signal, and can control a vehicle weight sensor through a vehicle weight signal.
For example, as shown in FIG. 3, an illustration of another vehicle is provided. The left side and the right side of an upper driving shaft of the vehicle are respectively connected with a gearbox, and each gearbox is connected with a driving motor and a motor controller. Although the left side and the right side of the vehicle respectively comprise one driving motor system, the driving motor systems on the left side and the right side on the same driving shaft cannot be used as the driving force for the vehicle to run independently, and cannot be used for driving the vehicle to run independently. In this case, it can be considered that the vehicle includes only one driving motor system which can drive the vehicle to run alone. If a drive motor system such as the upper drive shaft is also provided on the lower drive shaft of the vehicle, the vehicle includes two drive motor systems that can drive the vehicle to travel independently. At this time, the processor may control the driving motor system of the vehicle, thereby implementing the anti-creep control of the vehicle.
Downhill may refer to a phenomenon in which a vehicle on a slope slips back because a brake pedal is released and an accelerator pedal is not depressed. To prevent the vehicle from rolling downhill, the processor may obtain a first real-time temperature of the motor of each drive motor system and a second real-time temperature of the motor controller in real time during the loading of the target drive motor system with torque to perform the anti-roll operation. The processor may then further determine an alternative drive motor system from the plurality of drive motor systems based on the first real-time temperature and the second real-time temperature. The torque may refer to a torque output from a crankshaft end of the motor. The torque may affect the grade climbing performance of the vehicle. Therefore, under the condition that the system parameters of the target driving motor system meet the preset conditions, the processor can control the alternative driving motor system to load the torque and control the target driving motor system to unload the torque so as to switch to the alternative driving motor system to execute the slope slipping prevention operation. The system parameters may include, among other things, the temperature of the motor and the temperature of the motor controller.
In the technical scheme, the vehicle comprises a plurality of driving motor systems, each driving motor system can independently drive the vehicle to run, under the condition that the system parameters of the target driving motor system which is currently executing the slope slipping prevention operation meet the preset conditions, the next alternative driving motor system which executes the slope slipping prevention operation can be selected from other driving motor systems, and the continuous duration of the slope slipping prevention function can be maintained through continuously switching the driving motor systems, so that the driving safety is improved.
In one embodiment, the control method further comprises: in the case where it is determined that the start of the anti-creep function is permitted, arbitrarily selecting one drive motor system from the plurality of drive motor systems as a target drive motor system; and determining a target torque of the target driving motor system according to the current vehicle parameters of the vehicle, and controlling the target driving motor system to load the torque to the target torque so as to execute the slope slipping prevention operation.
In the case where it is determined that the start of the anti-creep function is permitted, the processor may arbitrarily select one drive motor system from the plurality of drive motor systems as the target drive motor system. The processor may then determine a target torque for the target drive motor system based on current vehicle parameters of the vehicle and may control the target drive motor system to load torque to the target torque to perform the anti-creep operation. The current vehicle parameters may include the weight of the vehicle and the grade value of the road surface on which the vehicle is currently located.
In one embodiment, the control method further comprises: controlling the target drive motor system to load torque to perform the anti-creep operation if all of the following conditions are satisfied: the accelerator and brake pedals of the vehicle are not activated, and the handbrake of the vehicle is not activated; the driving gear of the vehicle is a forward gear and the vehicle is currently in a climbing state, or the driving gear of the vehicle is a reverse gear and the vehicle is currently in an ascending state; the gradient of the road surface where the vehicle is currently located is larger than a preset gradient threshold value; the multiple driving motor systems are in a state of loading torque normally; the current vehicle speed of the vehicle is less than or equal to a preset speed threshold.
The processor may control the target drive motor system to load torque to perform the anti-creep operation. Specifically, all conditions to be met by the processor to control the target drive motor system to load torque to perform the anti-creep operation may include: the accelerator and brake pedals of the vehicle are not started, and the handbrake of the vehicle is not started; the driving gear of the vehicle is a forward gear and the vehicle is currently in a climbing state, or the driving gear of the vehicle is a reverse gear and the vehicle is currently in an ascending state; the gradient of the road surface where the vehicle is currently located is larger than a preset gradient threshold value; the multiple driving motor systems are in a state of loading torque normally; the current speed of the vehicle is less than or equal to a preset speed threshold. The preset gradient threshold may be 3% of the gradient of the road surface on which the vehicle is currently located. The preset speed threshold may be 0.2km/h.
In one embodiment, determining an alternative drive motor system from the plurality of drive motor systems based on the first real-time temperature and the second real-time temperature comprises: determining a motor temperature gear corresponding to a first real-time temperature and a controller temperature gear corresponding to a second real-time temperature for each driving motor system; for each driving motor system, determining a system temperature gear corresponding to the driving motor system according to the motor temperature gear and the controller temperature gear; and determining the drive motor system with the lowest system temperature gear as the alternative drive motor system.
For each drive motor system, the processor may determine a motor temperature gear corresponding to the first real-time temperature and a controller temperature gear corresponding to the second real-time temperature. The processor can further determine a motor temperature gear and a controller temperature gear to determine a system temperature gear corresponding to the drive motor system. Under the condition that the system temperature gear corresponding to each driving motor system is determined, the processor may compare the system temperature gears of each driving motor system to determine the driving motor system with the lowest system temperature gear. The processor may determine the drive motor system with the lowest system temperature gear as the alternate drive motor system.
In one embodiment, determining the drive motor system with the lowest system temperature gear as the candidate drive motor system further comprises: under the condition that a plurality of driving motor systems with the lowest system temperature gears exist, one driving motor system is selected from the driving motor systems with the lowest system temperature gears as a standby driving motor system, or the driving motor system with the lowest serial number of the driving motor system is selected from the driving motor systems with the lowest system temperature gears as the standby driving motor system, wherein each driving motor system has a preset serial number of the driving motor system.
And if the system temperature gears of each driving motor system are compared, determining that the driving motor system with the lowest system temperature gear comprises a plurality of driving motor systems. And each driving motor system with the lowest system temperature gear can have a preset serial number of the driving motor system. In the case that there are a plurality of drive motor systems with the lowest system temperature gears, the processor may arbitrarily select one drive motor system from the plurality of drive motor systems with the lowest system temperature gears as the candidate drive motor system. Under the condition that a plurality of driving motor systems with the lowest system temperature gears exist, the processor can also obtain the serial number of the driving motor system with the lowest system temperature gear firstly. The processor may then select the drive motor system with the lowest drive motor system serial number from the plurality of drive motor systems with the lowest system temperature gear as the candidate drive motor system.
Before determining the motor temperature gear and the controller temperature gear, the processor may first obtain a plurality of first preset temperature values and a plurality of second preset temperature values set for the motor and the controller, respectively, and may arrange the plurality of first preset temperature values and the plurality of second preset temperature values in a descending order, respectively. The processor may further determine a plurality of motor temperature intervals for the motor according to the first preset temperature values after arrangement, and may determine a plurality of controller temperature intervals for the motor controller according to the second preset temperature values after arrangement. Each temperature interval corresponds to one temperature gear, and the lower the temperature gear is, the smaller the highest value of the corresponding temperature interval is. Further, the temperature intervals corresponding to each gear can be distributed in an unequal distance. Under the condition that the plurality of motor temperature intervals and the plurality of controller temperature intervals are determined, the processor can determine a motor temperature gear corresponding to the motor according to the motor temperature interval where the first real-time temperature is located, and can determine a controller temperature gear corresponding to the motor controller according to the controller temperature interval where the second real-time temperature is located.
Specifically, in one embodiment, the motor temperature range and the controller temperature range are determined according to expression (1) and expression (2), respectively:
wherein S is M，i Is the motor temperature gear, T, corresponding to the motor of the ith driving motor system M，i Refers to the first real-time temperature, T, of the motor of the ith drive motor system M，i，1 Is the maximum temperature limit value, T, corresponding to the minimum temperature gear of the motor of the ith drive motor system M，i，k-1 The maximum temperature limit value T of the kth-1 temperature gear corresponding to the first real-time temperature of the ith driving motor system M，i，k Is the maximum temperature limit value, T, of the kth temperature gear corresponding to the first real-time temperature of the ith driving motor system M，i，n Is the maximum temperature limit value corresponding to the maximum temperature gear of the motor of the ith drive motor system, n is the number of a first preset temperature value and a second preset temperature value, n is an integer greater than 1, k is an integer greater than or equal to 2 and less than or equal to n, S C，i Is the controller temperature gear, T, corresponding to the motor controller of the ith driving motor system C，i Is the second real-time temperature, T, of the motor controller of the ith drive motor system C，i，1 Is the maximum temperature limit value, T, corresponding to the minimum temperature gear of the motor controller of the ith drive motor system C，i，k-1 The maximum temperature limit value T of the kth-1 temperature gear corresponding to the second real-time temperature of the ith driving motor system C，i，k The maximum temperature of the kth temperature gear corresponding to the second real-time temperature of the ith driving motor systemDegree limit value, T C，i，n The maximum temperature limit value corresponding to the maximum temperature gear of the motor controller of the ith driving motor system is defined.
Wherein each temperature interval corresponds to one temperature gear. The maximum temperature limit value corresponding to the minimum temperature gear may refer to a maximum preset temperature value in a temperature interval corresponding to the minimum temperature gear, and the maximum preset temperature value is a minimum value compared with any preset temperature value in temperature intervals corresponding to other temperature gears. For example, if the temperature range corresponding to temperature range a is gear 1, the temperature range corresponding to temperature range B is gear 2, the temperature range corresponding to temperature range C is gear 3, and the gears are in the order from high to low: gear 1, gear 2, and gear 3. Then, the maximum temperature limit value in the temperature interval C corresponding to the gear 3 is Cn, which is smaller than any preset temperature value in the temperature interval a and/or the temperature interval B.
In one embodiment, T is determined according to equation (3) M，i，k And T C，i，k ：
Wherein, T C，i，n The maximum temperature limit value is the maximum temperature limit value corresponding to the maximum temperature gear of the motor controller of the ith driving motor system, and the maximum temperature limit value can be defined by users according to actual conditions. T is a unit of C，i，1 The maximum temperature limit value is the maximum temperature limit value corresponding to the minimum temperature gear of the motor controller of the ith driving motor system, and the maximum temperature limit value can be customized according to the actual situation.
In one embodiment, the control method further comprises: under the condition that the set number n of first preset temperature values and/or second preset temperature values of a motor and/or a motor controller is 1, the duration of each driving motor system from the moment when the loading torque starts to the moment when the unloading torque is finished is obtained, so that the total duration t of all the driving motor systems is determined 1 Wherein, when the temperature of the motor of the driving motor system reaches a first preset temperature value and/or the temperature of the motor controller reaches a second preset temperature valueUnder the condition, the driving motor system is controlled to start unloading the torque until the torque is zero, and the unloading of the torque is finished; n is sequentially increased in number, and the total duration t of all the drive motor systems is obtained n (ii) a The total duration t corresponding to each set number n is compared n At the first time t is obtained k+1 ＜t k ，k∈[1，n]The value of the set number n of first preset temperature values and/or second preset temperature values for the motor and/or the motor controller is determined as k.
If the set number n of the first preset temperature values and/or the second preset temperature values of the motor and/or the motor controller is 1, the number of corresponding motor temperature gears is 1, and the number of corresponding controller temperature gears is 1. Under the condition that the set number n of the first preset temperature values and/or the second preset temperature values of the motor and/or the motor controller is 1, the processor can acquire the duration of each driving motor system from the moment of starting to load the torque to the moment of finishing unloading the torque so as to determine the total duration t of all the driving motor systems 1 . The processor can control the driving motor system to start unloading the torque until the torque is zero, and the unloading of the torque is finished when the temperature of the motor of the driving motor system reaches a first preset temperature value and/or the temperature of the motor controller reaches a second preset temperature value.
Obtaining the total duration t of all the drive motor systems corresponding to the value of n being 1 1 In this case, the processor may further sequentially increment the value of n, and may obtain the duration of each driving motor system from the beginning of the loading torque to the end of the unloading torque, so as to determine the total duration t of all the driving motor systems n . The processor may then compare the total duration t corresponding to each set number n n . At the first time t is obtained k+1 ＜t k ，k∈[1，n]The processor may determine the value of the set number n of first and/or second preset temperature values for the motor and/or the motor controller as k. For example, the total duration when n has a value of 1 is t 1 N has a value of 2 and has a total duration t 2 In the case ofIf at this time t 1 ＞t 2 The processor may again obtain a total duration t when n has a value of 3 3 And can be represented by 2 And t 3 A comparison was made. If t 2 Greater than t 3 That is, when n is 2, the duration of each driving motor system from the start of loading the torque to the end of unloading the torque is long, and the processor may determine the value of the set number n to be 2, i.e., k =2.
By continuously acquiring and comparing the total duration of all the driving motor systems in different set quantities, the set quantities of the first preset temperature value and/or the second preset temperature value of the motor and/or the motor controller can be rationalized, the duration of controlling the vehicle to slide down the slope can be further prolonged, and the advantages of the vehicle comprising a plurality of driving motor systems can be exerted to a greater extent.
In one embodiment, for each drive motor system, determining a system temperature gear corresponding to the drive motor system for the motor temperature gear and the controller temperature gear comprises: and determining the maximum gear value in the motor temperature gears and the controller temperature gears as the system temperature gears corresponding to the driving motor system for each driving motor system.
For each drive motor system, the processor may be according to S i ＝max{S M，i ，S C，i And determining a system temperature gear corresponding to the driving motor system. That is, the processor may determine a maximum gear of the motor temperature gears and the controller temperature gears as a system temperature gear corresponding to the drive motor system.
In one embodiment, the system parameters include a temperature of the motor and a temperature of a motor controller, the control method further comprising: acquiring a first initial temperature and a second initial temperature of a motor and a motor controller of a target drive motor system when starting to load torque; determining a motor temperature gear corresponding to the first initial temperature and a controller temperature gear corresponding to the second initial temperature; and determining that the system parameters of the target drive motor system meet preset conditions under the condition that the temperature of the motor of the target drive motor system is increased to the maximum temperature limit value of the motor temperature gear corresponding to the first initial temperature, and/or the temperature of the motor controller of the target drive motor system is increased to the maximum temperature limit value of the controller temperature gear corresponding to the second initial temperature.
The system parameters may include, among other things, the temperature of the motor and the temperature of the motor controller. The processor may obtain a first initial temperature and a second initial temperature of a motor and a motor controller of the target drive motor system at the time of starting to load the torque, and may determine a motor temperature step corresponding to the first initial temperature and a controller temperature step corresponding to the second initial temperature. The processor may determine that the system parameter of the target drive motor system satisfies a preset condition when the temperature of the motor of the target drive motor system increases to a maximum temperature limit of a motor temperature gear corresponding to the first initial temperature, and/or when the temperature of the motor controller of the target drive motor system increases to a maximum temperature limit of a controller temperature gear corresponding to the second initial temperature. At the moment, the processor can timely switch the driving motor system, so that the motor is effectively prevented from generating over-temperature faults, and the service life of the vehicle is further prolonged.
In one embodiment, the system parameter comprises a duration of loading the torque, and the control method further comprises: and determining that the system parameters of the target driving motor system meet preset conditions under the condition that the duration of the torque loading of the target driving motor system reaches preset duration.
Among other things, the system parameters may include a duration of loading torque. In the event that an alternate drive motor system is determined, the processor may obtain a length of time that the target drive motor system is loaded with torque. Under the condition that the duration of the torque loading required by the target motor drive reaches the preset duration, the processor can determine that the system parameters of the target drive motor system meet the preset conditions. At the moment, the processor can timely switch the driving motor system, so that the motor is effectively prevented from generating an over-temperature fault, and the service life of the vehicle is further prolonged.
In one embodiment, controlling the alternate drive motor system to load torque and controlling the target drive motor system to unload torque further comprises: determining the required torque of the alternative driving motor system according to the current vehicle parameters of the vehicle; and controlling the alternative driving motor system to load the torque to the required torque within a preset loading time period, and simultaneously controlling the target driving motor system to unload the torque to zero within the preset loading time period.
The processor may control the alternate drive motor system to load torque and may control the target drive motor system to unload torque. Specifically, the processor may determine the required torque of the alternative drive motor system based on current vehicle parameters of the vehicle. After determining the required torque, the processor may control the alternative driving motor system to load the torque to the required torque within a preset loading time period, and may simultaneously control the target driving motor system to unload the torque to zero within the preset loading time period to switch to the alternative driving motor system to perform the anti-creep operation.
As shown in fig. 4, a schematic of torque loading during a drive motor system switch is provided. When the temperature of the motor or the motor controller which loads the torque currently exceeds the temperature limit value of the current temperature limit gear of the current driving motor system, the processor can control the current driving motor system to unload the torque to zero within a preset loading time period. Meanwhile, the processor can determine the driving motor system with the lowest temperature limit value gear as the alternative driving motor system and can control the alternative driving motor system to load the torque to the required torque within the preset loading time. Wherein the required torque of the alternative system may be greater than the torque loaded by the current drive motor system before the alternative drive motor system is loaded with torque.
In one embodiment, the processor may determine a requested torque that the alternative drive motor system is required to load for a preset loading duration based on current vehicle parameters of the vehicle. Specifically, the processor may determine the required torque of the alternative drive motor system according to the following equation:
wherein m is the weight of the vehicle in kg, g is the acceleration of gravity, R i The unit of rolling radius of wheels driven by the alternative driving motor system is m (meter), theta is a gradient value of a road surface where the vehicle is located at present and is an angle of degree, and j is a reduction ratio of a gearbox connected with the alternative driving motor system.
In one embodiment, as shown in fig. 5, a schematic diagram of an environmental application of a control method for preventing landslide is provided. Wherein the vehicle comprises two drive motor systems. The vehicle may be equipped with a vehicle weight sensor and a gradient sensor. The weight m of the vehicle can be measured and determined by a vehicle weight sensor, and the gradient value theta of the current road surface can be measured and determined by a gradient sensor. M 1 May refer to the torque demand, M, of the 1 st alternative drive motor system 2 May refer to the torque demand of the 2 nd alternative drive motor system. The current vehicle parameters of the vehicle may include the weight of the vehicle and the grade value of the road surface on which the vehicle is currently located. The processor can pass
And determining the required torque which needs to be loaded by the alternative driving motor system within a preset loading time.
In one embodiment, the control method further comprises: after the alternative driving motor system is switched to execute the slope slipping prevention operation, determining the alternative driving motor system as a new target driving motor system; and returning to the step of acquiring the first real-time temperature of the motor of each driving motor system and the second real-time temperature of the motor controller in real time in the process of loading the torque on the target driving motor system to execute the slope slipping prevention operation, and exiting the slope slipping prevention operation until the motor temperature of all the driving motor systems in the plurality of driving motor systems is greater than or equal to the maximum limit value of the motor temperature and/or the motor controller temperature is greater than or equal to the maximum limit value of the controller temperature.
After switching to the alternate drive motor system to perform the anti-creep operation, the processor may determine the alternate drive motor system as the new target drive motor system. At this time, the processor may return to the step of acquiring the first real-time temperature of the motor and the second real-time temperature of the motor controller of each drive motor system in real time during the loading of the torque by the target drive motor system to perform the hill-drop prevention operation again until the motor temperatures of all of the plurality of drive motor systems are greater than or equal to the maximum limit value of the motor temperatures and/or the motor controller temperatures are greater than or equal to the maximum limit value of the controller temperatures, and then the processor may control the vehicle to exit the hill-drop prevention operation.
And when the motor temperature of all the driving motor systems in the plurality of driving motor systems is greater than or equal to the maximum limit value of the motor temperature and/or the motor controller temperature is greater than or equal to the maximum limit value of the controller temperature, the anti-slope-slipping operation is quitted, the continuous duration of the anti-slope-slipping operation can be fully prolonged within the temperature limit range, the vehicle is prevented from slipping backwards on the slope, and the safety of the vehicle in running on the slope is greatly improved. Meanwhile, the motor can be effectively prevented from generating an over-temperature fault when the vehicle is subjected to anti-slide control, and the service life of the vehicle is further prolonged.
In the technical scheme, the vehicle comprises a plurality of driving motor systems, each driving motor system can independently drive the vehicle to run, under the condition that the system parameters of the target driving motor system currently executing the slope slipping prevention operation meet preset conditions, the next alternative driving motor system executing the slope slipping prevention operation can be selected from other driving motor systems, the continuous duration of the slope slipping prevention function can be maintained by continuously switching the driving motor systems, and the driving safety is improved.
Fig. 1 is a schematic flow chart of a control method for preventing slope slipping in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 6, there is provided a control apparatus 600 for landslide prevention, comprising a temperature acquisition module 601, a system screening module 602, and a torque control module 603, wherein:
the temperature obtaining module 601 is configured to obtain a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time during a process that a target driving motor system loads a torque to perform an anti-creep operation.
And the system screening module 602 is configured to determine an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature.
And the torque control module 603 is configured to control the alternative driving motor system to load a torque and control the target driving motor system to unload the torque when the system parameter of the target driving motor system meets a preset condition, so as to switch to the alternative driving motor system to perform an anti-slope-slipping operation.
To prevent the vehicle from rolling downhill, the temperature acquisition module 601 may acquire a first real-time temperature of the motor of each drive motor system and a second real-time temperature of the motor controller in real time during the target drive motor system is loaded with torque to perform the anti-roll operation. Under the condition of obtaining the first real-time temperature of the motor of each driving motor system and the second real-time temperature of the motor controller, the system screening module 602 may further determine an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature. Under the condition that the system parameters of the target drive motor system meet preset conditions, the torque control module 603 may control the alternative drive motor system to load torque and control the target drive motor system to unload torque, so as to switch to the alternative drive motor system to execute the anti-slope-slipping operation. The system parameters may include, among other things, the temperature of the motor controller, and the duration of the applied torque. Torque may refer to torque output by the motor from the crankshaft end. The torque may affect the hill climbing performance of the vehicle.
The control device for preventing the slope from sliding comprises a processor and a memory, wherein the temperature acquisition module, the system screening module, the torque control module and the like are stored in the memory as program units, and the processor executes the program modules stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the control method for preventing the slope from sliding is realized by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip.
In one embodiment, there is provided a storage medium having a program stored thereon, the program implementing the control method for landslide prevention described above when executed by a processor.
In one embodiment, a processor is provided, and the processor is used for running a program, wherein the program is used for executing the control method for preventing slope slipping.
In one embodiment, a vehicle is provided, comprising: each driving motor system comprises a motor and a motor controller for controlling the motor, and each driving motor system can independently drive the vehicle to run; and the control device for preventing the slope from sliding.
In one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 7. The computer apparatus includes a processor a01, a network interface a02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Wherein the processor a01 of the computer device is arranged to provide computing and control capabilities. The memory of the computer apparatus includes an internal memory a03 and a nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory a03 provides an environment for running the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing data such as a first real-time temperature of the motor of each drive motor system and a second real-time temperature of the motor controller. The network interface a02 of the computer apparatus is used for communicating with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a control method for preventing a slope from slipping.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of the control method for preventing the slope slipping.
The present application also provides a computer program product adapted to perform a program for initializing steps of a control method for landslide prevention when executed on a data processing device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element described by the phrase "comprising a" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (16)
1. A control method for landslide prevention, applied to a vehicle including a plurality of drive motor systems, each drive motor system including a motor and a motor controller that controls the motor, each drive motor system being capable of driving the vehicle to travel individually, the control method comprising:
acquiring a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time in the process that a target driving motor system loads torque to execute anti-slope-slipping operation;
determining an alternative driving motor system from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature;
and under the condition that the system parameters of the target driving motor system meet preset conditions, controlling the alternative driving motor system to load torque, and controlling the target driving motor system to unload torque so as to switch to the alternative driving motor system to execute slope slipping prevention operation.
2. The control method for slope protection according to claim 1, wherein said determining an alternative drive motor system from said plurality of drive motor systems based on said first real-time temperature and said second real-time temperature comprises:
determining a motor temperature gear corresponding to a first real-time temperature and a controller temperature gear corresponding to a second real-time temperature for each driving motor system;
for each driving motor system, determining a system temperature gear corresponding to the driving motor system according to a motor temperature gear and a controller temperature gear;
and determining the drive motor system with the lowest system temperature gear as the alternative drive motor system.
3. The control method for landslide prevention according to claim 2, wherein said determining a drive motor system with the lowest system temperature gear as the alternative drive motor system further comprises:
in the case that there are a plurality of drive motor systems with the lowest system temperature gear, one drive motor system is arbitrarily selected from the plurality of drive motor systems with the lowest system temperature gear as the alternative drive motor system, or
And selecting the driving motor system with the smallest serial number of the driving motor system from the driving motor systems with the lowest system temperature gears as the alternative driving motor system, wherein each driving motor system has a preset serial number of the driving motor system.
4. The control method for landslide prevention according to claim 2, wherein the motor temperature step and the controller temperature step are determined according to expression (1) and expression (2), respectively:
wherein S is M,i Is the motor temperature gear, T, corresponding to the motor of the ith driving motor system M,i Refers to the first real-time temperature, T, of the motor of the ith drive motor system M,i,1 Is the maximum temperature limit value, T, corresponding to the minimum temperature gear of the motor of the ith drive motor system M,i,k-1 The maximum temperature limit value, T, of the kth temperature gear, corresponding to the first real-time temperature of the ith drive motor system M,i,k Is the maximum temperature limit value, T, of the kth temperature gear corresponding to the first real-time temperature of the ith driving motor system M,i,n Is the maximum temperature limit value corresponding to the maximum temperature gear of the motor of the ith drive motor system, n is the number of a first preset temperature value and a second preset temperature value, n is an integer greater than 1, k is an integer greater than or equal to 2 and less than or equal to n, S C,i Is the controller temperature gear, T, corresponding to the motor controller of the ith driving motor system C,i Is the second real-time temperature, T, of the motor controller of the ith drive motor system C,i,1 Is the maximum temperature limit value, T, corresponding to the minimum temperature gear of the motor controller of the ith drive motor system C,i,k-1 The maximum temperature limit value T of the kth-1 temperature gear corresponding to the second real-time temperature of the ith driving motor system C,i,k Refers to the second embodiment of the ith driving motor systemMaximum temperature limit value of the kth temperature gear corresponding to the hour temperature, T C,i,n The maximum temperature limit value corresponding to the maximum temperature gear of the motor controller of the ith driving motor system is referred to.
5. The control method for landslide prevention according to claim 4, wherein T is determined according to equation (3) M,i,k And T C,i,k ：
6. The control method for slope protection according to claim 4, characterized by further comprising:
under the condition that the set number n of first preset temperature values and/or second preset temperature values of the motor and/or the motor controller is 1, the duration of each driving motor system from the moment of starting to load the torque to the moment of unloading the torque is obtained, so that the total duration t of all the driving motor systems is determined 1 Controlling the driving motor system to start unloading the torque under the condition that the temperature of the motor of the driving motor system reaches the first preset temperature value and/or the temperature of the motor controller reaches the second preset temperature value, and indicating that the unloading of the torque is finished when the torque is zero;
n is sequentially increased in number, and the total duration t of all the drive motor systems is obtained n ；
Comparing the total duration t corresponding to each set number n n At the first time t is obtained k+1 <t k ,k∈[1,n]The value of the set number n of first preset temperature values and/or second preset temperature values for the motor and/or the motor controller is determined as k.
7. The control method for slope slip prevention according to claim 2, wherein the determining, for each drive motor system, a system temperature gear corresponding to the drive motor system for a motor temperature gear and a controller temperature gear comprises:
and determining the maximum gear value in the motor temperature gears and the controller temperature gears as the system temperature gears corresponding to the driving motor systems for each driving motor system.
8. The control method for landslide prevention according to claim 2, wherein the system parameters include a temperature of a motor and a temperature of a motor controller, the control method further comprising:
acquiring a first initial temperature and a second initial temperature of a motor and a motor controller of the target drive motor system when starting to load torque;
determining a motor temperature gear corresponding to the first initial temperature and a controller temperature gear corresponding to the second initial temperature;
and determining that the system parameters of the target drive motor system meet preset conditions when the temperature of the motor of the target drive motor system is increased to the maximum temperature limit of the motor temperature gear corresponding to the first initial temperature, and/or when the temperature of the motor controller of the target drive motor system is increased to the maximum temperature limit of the controller temperature gear corresponding to the second initial temperature.
9. The control method for landslide prevention according to claim 1, wherein the system parameter comprises a duration of torque loading, the control method further comprising:
and determining that the system parameters of the target driving motor system meet preset conditions under the condition that the duration of the torque loading of the target driving motor system reaches preset duration.
10. The control method for landslide prevention according to claim 1, wherein said controlling said alternate drive motor system loading torque and controlling said target drive motor system unloading torque further comprises:
determining the required torque of the alternative driving motor system by a driving motor system according to the current vehicle parameters of the vehicle;
and controlling the alternative driving motor system to load the torque to the required torque within a preset loading time period, and simultaneously controlling the target driving motor system to unload the torque to the zero driving motor system within the preset loading time period.
11. The control method for landslide prevention according to claim 1, further comprising:
after the alternative driving motor system is switched to execute the slope slipping prevention operation, determining the alternative driving motor system as a new target driving motor system;
and returning to the step of acquiring the first real-time temperature of the motor of each driving motor system and the second real-time temperature of the motor controller in real time in the process of loading the torque on the target driving motor system to execute the slope slipping prevention operation, and exiting the slope slipping prevention operation until the motor temperature of all the driving motor systems in the plurality of driving motor systems is greater than or equal to the maximum limit value of the motor temperature and/or the motor controller temperature is greater than or equal to the maximum limit value of the controller temperature.
12. The control method for slope protection according to claim 1, characterized by further comprising:
controlling the target drive motor system to load torque to perform the anti-creep operation if all of the following conditions are satisfied:
the accelerator and brake pedals of the vehicle are not activated and the handbrake of the vehicle is not activated;
the driving gear of the vehicle is a forward gear and the vehicle is in a climbing state currently, or the driving gear of the vehicle is a reverse gear and the vehicle is in an ascending state currently;
the gradient of the road surface where the vehicle is located at present is larger than a preset gradient threshold value;
the multiple driving motor systems are in a state of being capable of normally loading torque;
the current speed of the vehicle is less than or equal to a preset speed threshold.
13. A processor characterized by being configured to execute the control method for landslide prevention according to any one of claims 1-12.
14. A control device for preventing a slide, comprising:
the temperature acquisition module is used for acquiring a first real-time temperature of a motor of each driving motor system and a second real-time temperature of a motor controller in real time in the process that a target driving motor system loads torque to execute anti-slope-slipping operation;
the system screening module is used for determining alternative driving motor systems from the plurality of driving motor systems according to the first real-time temperature and the second real-time temperature;
and the torque control module is used for controlling the alternative driving motor system to load torque and controlling the target driving motor system to unload torque under the condition that the system parameters of the target driving motor system meet preset conditions so as to switch to the alternative driving motor system to execute the slope slipping prevention operation.
15. A vehicle, characterized by comprising:
the system comprises a plurality of driving motor systems, a plurality of driving motor systems and a controller, wherein each driving motor system comprises a motor and a motor controller for controlling the motor, and each driving motor system can independently drive the vehicle to run; and
the control device for preventing landslide according to claim 14.
16. A machine-readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to execute the control method for landslide prevention according to any one of claims 1 to 12.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211394069.8A CN115648968A (en) | 2022-11-08 | 2022-11-08 | Control method, device, processor, storage medium and vehicle for preventing slope slipping |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211394069.8A CN115648968A (en) | 2022-11-08 | 2022-11-08 | Control method, device, processor, storage medium and vehicle for preventing slope slipping |
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| CN202211394069.8A Pending CN115648968A (en) | 2022-11-08 | 2022-11-08 | Control method, device, processor, storage medium and vehicle for preventing slope slipping |
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| CN (1) | CN115648968A (en) |
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