CN116278791A - Vehicle operation control method and device, vehicle and storage medium - Google Patents
Vehicle operation control method and device, vehicle and storage medium Download PDFInfo
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- CN116278791A CN116278791A CN202211722511.5A CN202211722511A CN116278791A CN 116278791 A CN116278791 A CN 116278791A CN 202211722511 A CN202211722511 A CN 202211722511A CN 116278791 A CN116278791 A CN 116278791A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000003213 activating effect Effects 0.000 claims abstract description 19
- 238000004590 computer program Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 6
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 238000012805 post-processing Methods 0.000 description 2
- 239000002243 precursor Substances 0.000 description 2
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- 238000013528 artificial neural network Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
- B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a vehicle operation control method, a device, a vehicle and a storage medium, wherein the vehicle operation control method is applied to a motor controller and comprises the following steps: judging whether the motor and other motors have faults or not; when the motor is not failed and the rest motors are failed and the vehicle can drive, acquiring the position condition of the failed motors and the number of the failed motors; and activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity. The invention has the beneficial effects that: the operation of the vehicle can be reasonably controlled when the motor of the vehicle fails, and the dangerous situation during driving is reduced.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle operation control method and apparatus, a vehicle, and a storage medium.
Background
The traditional front/back/four driving, for the safety of functions, is made the power supply of multilayer and carries out multilayer moment of torsion control and ensure functional safety, and to the driving system that needs to take into account longitudinal and horizontal control in the distributed vehicle, distributed electric drive's execution motor quantity is more, under this condition, driving system's fault probability also increases correspondingly to when this makes the system break down, be difficult to accomplish timely accurate fault handling, and then the dangerous condition such as unstability appears in driving easily.
Disclosure of Invention
The invention aims to solve the technical problems of reasonably controlling the running of the vehicle and reducing dangerous situations during driving when the motor of the vehicle fails at least to a certain extent.
The invention provides a vehicle operation control method, which is applied to a motor controller and comprises the following steps:
judging whether the motor and other motors have faults or not;
when the motor is not failed and the rest motors are failed and the vehicle can drive, acquiring the position condition of the failed motors and the number of the failed motors;
and activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity.
According to the vehicle operation control method, the motor controller can be used for determining fault-tolerant strategies to be executed by the motor more reasonably according to the position conditions and the number of the motors with other faults when the motor is not in fault and can normally operate, so that when the motor with the other faults is in fault, the current motor is subjected to fault-tolerant control, the distributed driving function is degraded, the torque of the current motor is reasonably controlled to form a reliable precursor or back-drive form, driving is continuously supported, driving safety is ensured, dangerous situations are reduced, meanwhile, the invention realizes decentralized control by implementing a certain degree of fault post-processing on the motor side, does not respond to central coordinated abnormal torque under abnormal conditions such as optimizing distribution algorithm or central controller coordinated control, and further can avoid dangerous situations such as instability.
Further, the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number comprises the steps of:
when the number is one and the fault motor and the motor are positioned at the coaxial position of the vehicle, judging whether the vehicle activates yaw stability control;
if yes, controlling the torque of the motor according to the slip condition of the vehicle.
Further, the controlling the torque of the motor according to the slip condition of the vehicle includes the steps of:
when the wheel with the different axle on the same side as the wheel is slipped, controlling the motor to increase a first preset torque, wherein the first preset torque is matched with the lost driving torque of the wheel with different axle;
when the axle where the wheel is positioned sideslips, controlling the torque of the motor to be reduced at a first preset torque limiting speed;
when the other axle shaft which is different from the own wheel slips, the own motor is controlled to increase a second preset torque, wherein the second preset torque is matched with the driving torque and the yaw torque which are lost by the other axle shaft.
Further, the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number comprises the steps of:
when the number is three or the number is two and the two fault motors are positioned at the same side position of the vehicle, controlling the torque of the motor to be reduced to a third preset torque at a second preset torque limiting speed.
Further, the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number comprises the steps of:
when the number is two and the two failed motors are located at diagonal positions of the vehicle, a control instruction for causing a central controller to coordinate output power is generated, and the present motor is controlled to maintain the current torque and to respond to part of the output power.
Further, the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number comprises the steps of:
when the number is two and the two fault motors are located at the coaxial positions of the vehicle, a control command for enabling the central controller to coordinate output power and vehicle yaw torque is generated, and the current torque is kept by the fault motors.
Further, the vehicle operation control method further includes the steps of:
when the motor is judged to be faulty, determining the fault condition of the motor, and limiting the torque of the motor according to the fault condition; and/or
When the other motors are judged to be faulty and the vehicle cannot run, controlling the torque of the motor to be reduced to a third preset torque at a third preset torque limiting speed.
The invention also provides a vehicle operation control device, which comprises:
the judging module is used for judging whether the motor and other motors have faults or not;
the acquisition module is used for acquiring the position condition of the fault motor and the number of the fault motors when the motor is not faulty and the rest motors are faulty and the vehicle can drive;
and the processing module is used for activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity.
The vehicle operation control device of the present invention has similar technical effects to those of the above-described vehicle operation control method, and will not be described in detail herein.
The invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and operable on the processor, when the processor executes the computer program, the vehicle operation control method as described above is implemented.
The vehicle of the present invention has similar technical effects as the above-mentioned vehicle operation control method, and will not be described in detail herein.
The present invention also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle operation control method as described above.
The computer readable storage medium of the present invention has similar technical effects to those of the vehicle operation control method described above, and will not be described in detail herein.
Drawings
FIG. 1 is a flowchart of a vehicle operation control method according to an embodiment of the present invention;
FIG. 2 is a flow chart diagram of a vehicle operation control method according to an embodiment of the present invention;
fig. 3 is a communication architecture diagram of a motor MCU and a central controller according to an embodiment of the present invention;
fig. 4 is a block diagram showing a configuration of a vehicle running control apparatus according to an embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
In the description of the present specification, the descriptions of the terms "embodiment," "one embodiment," and the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or illustrated embodiment of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same examples or implementations. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or implementations.
Referring to fig. 1, an embodiment of the present invention provides a vehicle operation control method, which is applied to a motor controller, and includes the steps of:
judging whether the motor and other motors have faults or not;
in this embodiment, the motors, i.e. the motors of the wheels of the vehicle, control the wheels to run through the motors, each motor has a motor controller, specifically, as shown in fig. 3, an MCU (micro control unit) can be in communication connection with a central controller of the vehicle, so as to receive information such as operations and sensors, and is controlled by the central controller, and each MCU is in communication connection with each other, so as to monitor information of other motors, identify fault conditions, and the like, and the above vehicle running control method can be applied to one motor controller, so as to determine fault conditions of the motor and the other motors by acquiring information of the own motor (the motor) and information of other motor MCUs.
The method of the embodiment can be applied to a four-wheel drive vehicle, and correspondingly, the controller executing the method can acquire the fault information of the motor and the fault information of the other three motors.
The fault may be a hard fault which cannot be recovered in a short time in the vehicle, and for a soft fault which can be recovered in a short time such as over-temperature/under-voltage/over-current, the vehicle central controller performs coordinated control to recover to normal.
When the motor is not failed and the rest motors are failed and the vehicle can drive, acquiring the position condition of the failed motors and the number of the failed motors;
in this embodiment, the position condition may be determined by determining position pointers corresponding to the motor and the failed motor, where the position condition may be specific position information such as front left, front right, rear left, rear right, etc. for a four-wheel drive vehicle, or may be relative position information between the motor and the failed motor or several failed motors.
And activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity.
Therefore, in this embodiment, since the motor does not have a fault and can normally operate, when the motor and the motor fail, the fault-tolerant strategy to be executed by the motor is more reasonably determined by combining the position condition and the number of actual failed motors, therefore, when the motor of the vehicle has a wheel failure, the distributed driving function is degraded by performing fault-tolerant control on the current motor, the torque of the current motor is reasonably controlled to form a reliable precursor or a reliable backdriving form, driving is continuously supported, so that the driving safety is ensured, the occurrence of dangerous situations is reduced, meanwhile, the invention realizes the decentralization control by implementing a certain degree of fault post-processing on the motor side, and does not respond to the abnormal torque of central coordination under the abnormal situations such as optimizing the distribution algorithm or the coordination control of the central controller, so that the dangerous situations such as instability can be further avoided.
In an alternative embodiment of the invention, said activating a fault tolerant strategy for controlling the torque of said present motor in dependence of said position condition and said number comprises:
when the number is one and the fault motor and the motor are positioned at the coaxial position of the vehicle, judging whether the vehicle activates yaw stability control;
if yes, controlling the torque of the motor according to the slip condition of the vehicle.
Referring to fig. 2, in this embodiment, when the motor on the other side coaxial with the motor fails, both wheels of the other axle can normally operate at this time, and it is further determined whether the yaw stability control is activated or not, if not, it indicates that the vehicle has no slip, so that under the condition that a plurality of wheels are normal, the wheels can be limited according to the driving stability principle, for example, the maximum torque limit (steady-state target output) of the wheels is slowly reduced, so as to ensure the stable operation of the vehicle.
When the yaw stability control is activated, the vehicle may slip, so in the embodiment of the invention, according to the slip condition of the vehicle, a target of a reference vehicle speed/steering angle is set to control the torque of the motor based on the principle of low-speed power/high-speed stability, and the target is used as a fault-tolerant strategy of the wheels to ensure the safety of the overall running of the vehicle.
Specifically, in this embodiment, the controlling the torque of the motor according to the slip condition of the vehicle includes:
when the wheel with the different axle on the same side as the wheel is slipped, controlling the motor to increase a first preset torque, wherein the first preset torque is matched with the lost driving torque of the wheel with different axle;
when the axle where the wheel is positioned sideslips, controlling the torque of the motor to be reduced at a first preset torque limiting speed;
when the other axle shaft which is different from the own wheel slips, the own motor is controlled to increase a second preset torque, wherein the second preset torque is matched with the driving torque and the yaw torque which are lost by the other axle shaft.
In this embodiment, taking the present wheel as the left front wheel as an example, the off-axis wheel on the same side of the present wheel is the left rear wheel, when TCS slipping (tracking control system) occurs on the left rear wheel, the left front wheel can bear the torque transferred from the driving force required by driving, at this time, the present motor is controlled to increase the torque, so as to realize the transfer and bearing of the driving torque, that is, increase the first preset torque, which is the driving torque lost by the off-axis wheel slipping, thereby ensuring the stable running of the vehicle.
When the front axle where the left front wheel is located is subjected to ESC (electronic stability system) sideslip, at this time, the front axle push torque is transferred to the rear axle, and due to the failure of the right front wheel, the front axle where the left front wheel is located needs to be subjected to torque reduction, so that the motor of the left front wheel is subjected to slow torque reduction control to limit the torque capacity, and the process can respond to the yaw torque distribution of the central controller, wherein the first preset torque limiting speed can be set according to the actual situation, and is not limited.
When ESC sideslip occurs to the other axle of the front left wheel heteroaxle, namely the rear axle, at the moment, the rear axle swings the tail, the driving torque is transferred forwards, the driving torque of the rear axle needs to be reduced, meanwhile, the differential torsion yaw moment generated by the left wheel and the right wheel is limited, so that the motor is controlled to increase the second preset torque, the second preset torque is matched with the driving torque and the yaw torque lost by the other axle, and therefore, the fact that new sideslip cannot occur is ensured, and the vehicle runs normally is ensured. For example, if the driver is driving the vehicle to turn right, i.e. the positive torque generated by the motor of the left front wheel satisfies the driving and right yaw moments, the torque capacity of the one-sided driving/braking is released at the moment of ESC activation, and the torque capacity of the one-sided driving/braking is responsive to the request torque of the central controller, thereby preventing the vehicle from sideslip and ensuring normal operation.
In an alternative embodiment of the invention, said activating a fault tolerant strategy for controlling the torque of said present motor in dependence of said position condition and said number comprises:
when the number is three or the number is two and the two fault motors are positioned at the same side position of the vehicle, controlling the torque of the motor to be reduced to a third preset torque at a second preset torque limiting speed.
Referring to fig. 2, in this embodiment, for a four-wheel drive vehicle, when all the remaining three motors fail, or there are two motor failures on the same side (for example, the motor is left front, and the other two motor failures on the same side are right front and right rear), the vehicle cannot keep running at this time, so that the motor can be controlled to quickly torque up to a third preset torque to prevent dangerous situations of the vehicle, where the third preset torque can be set to 0Nm, and the second preset torque limiting speed can be set according to actual situations, and is not limited herein.
In an alternative embodiment of the invention, said activating a fault tolerant strategy for controlling the torque of said present motor in dependence of said position condition and said number comprises:
when the number is two and the two failed motors are located at diagonal positions of the vehicle, a control instruction for causing a central controller to coordinate output power is generated, and the present motor is controlled to maintain the current torque and to respond to part of the output power.
The motor is taken as an example of a motor of a left front wheel of a vehicle, at the moment, the motor at a diagonal position is the motor of a right front wheel of the vehicle and the motor of a left rear wheel of the vehicle, when the two motors are in fault, the motor can not limit torque, namely keep the current torque, at the moment, the central controller coordinates and outputs power according to control requirements, and the motor responds to partial power to execute control, so that the stable running of the vehicle is ensured.
In an alternative embodiment of the invention, said activating a fault tolerant strategy for controlling the torque of said present motor in dependence of said position condition and said number comprises:
when the number is two and the two fault motors are located at the coaxial positions of the vehicle, a control command for enabling the central controller to coordinate output power and vehicle yaw torque is generated, and the current torque is kept by the fault motors.
In this embodiment, the fault motor is a left rear motor and a right rear motor of the rear axle of the vehicle, and both wheels of the front axle of the vehicle can normally run at the moment, so that the motor does not limit torque, and the central controller coordinates and outputs power and yaw torque of the vehicle, so that the vehicle maintains certain drivability.
In an alternative embodiment of the present invention, the vehicle operation control method further includes:
when the motor is judged to be faulty, determining the fault condition of the motor, and limiting the torque of the motor according to the fault condition; and/or
When the other motors are judged to be faulty and the vehicle cannot run, controlling the torque of the motor to be reduced to a third preset torque at a third preset torque limiting speed.
In this embodiment, when the motor fails, the torque is limited according to the failure of the body, and when the other motors fail, if the vehicle cannot drive, the torque can be limited to a third preset torque, such as slowly limited to 0Nm, so as to ensure reasonable control of the motor of the vehicle and prevent dangerous situations. The third preset torque limiting speed may be set according to practical situations, and is not limited herein.
Referring to fig. 4, a vehicle operation control apparatus according to another embodiment of the present invention includes:
the judging module is used for judging whether the motor and other motors have faults or not;
the acquisition module is used for acquiring the position condition of the fault motor and the number of the fault motors when the motor is not faulty and the rest motors are faulty and the vehicle can drive;
and the processing module is used for activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity.
The vehicle operation control device of the present invention has similar technical effects to those of the above-described vehicle operation control method, and will not be described in detail herein.
A vehicle of another embodiment of the present invention includes a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the vehicle operation control method as described above.
The vehicle of the present invention has similar technical effects as the above-mentioned vehicle operation control method, and will not be described in detail herein.
A computer-readable storage medium of another embodiment of the present invention has stored thereon a computer program which, when executed by a processor, implements the vehicle operation control method as described above.
The computer readable storage medium of the present invention has similar technical effects to those of the vehicle operation control method described above, and will not be described in detail herein.
In general, the computer instructions for carrying out the methods of the present invention may be carried in any combination of one or more computer-readable storage media. The non-transitory computer-readable storage medium may include any computer-readable medium, except the signal itself in temporary propagation.
The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" language or similar programming languages, and in particular, the Python language suitable for neural network computing and TensorFlow, pyTorch-based platform frameworks may be used. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Although the present disclosure is described above, the scope of protection of the present disclosure is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the scope of the invention.
Claims (10)
1. A vehicle running control method applied to a motor controller, characterized by comprising:
judging whether the motor and other motors have faults or not;
when the motor is not failed and the rest motors are failed and the vehicle can drive, acquiring the position condition of the failed motors and the number of the failed motors;
and activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity.
2. The vehicle running control method according to claim 1, characterized in that the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number includes:
when the number is one and the fault motor and the motor are positioned at the coaxial position of the vehicle, judging whether the vehicle activates yaw stability control;
if yes, controlling the torque of the motor according to the slip condition of the vehicle.
3. The vehicle running control method according to claim 2, characterized in that the controlling the torque of the own motor according to the slip condition of the vehicle includes:
when the wheel with the different axle on the same side as the wheel is slipped, controlling the motor to increase a first preset torque, wherein the first preset torque is matched with the lost driving torque of the wheel with different axle;
when the axle where the wheel is positioned sideslips, controlling the torque of the motor to be reduced at a first preset torque limiting speed;
when the other axle shaft which is different from the own wheel slips, the own motor is controlled to increase a second preset torque, wherein the second preset torque is matched with the driving torque and the yaw torque which are lost by the other axle shaft.
4. The vehicle running control method according to claim 1, characterized in that the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number includes:
when the number is three or the number is two and the two fault motors are positioned at the same side position of the vehicle, controlling the torque of the motor to be reduced to a third preset torque at a second preset torque limiting speed.
5. The vehicle running control method according to claim 1, characterized in that the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number includes:
when the number is two and the two failed motors are located at diagonal positions of the vehicle, a control instruction for causing a central controller to coordinate output power is generated, and the present motor is controlled to maintain the current torque and to respond to part of the output power.
6. The vehicle running control method according to claim 1, characterized in that the activating a fault tolerant strategy for controlling the torque of the present motor according to the position condition and the number includes:
when the number is two and the two fault motors are located at the coaxial positions of the vehicle, a control command for enabling the central controller to coordinate output power and vehicle yaw torque is generated, and the current torque is kept by the fault motors.
7. The vehicle running control method according to claim 1, characterized by further comprising:
when the motor is judged to be faulty, determining the fault condition of the motor, and limiting the torque of the motor according to the fault condition; and/or
When the other motors are judged to be faulty and the vehicle cannot run, controlling the torque of the motor to be reduced to a third preset torque at a third preset torque limiting speed.
8. A vehicle running control apparatus characterized by comprising:
the judging module is used for judging whether the motor and other motors have faults or not;
the acquisition module is used for acquiring the position condition of the fault motor and the number of the fault motors when the motor is not faulty and the rest motors are faulty and the vehicle can drive;
and the processing module is used for activating a fault tolerance strategy for controlling the torque of the motor according to the position condition and the quantity.
9. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the vehicle operation control method according to any one of claims 1-7.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle operation control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211722511.5A CN116278791A (en) | 2022-12-30 | 2022-12-30 | Vehicle operation control method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211722511.5A CN116278791A (en) | 2022-12-30 | 2022-12-30 | Vehicle operation control method and device, vehicle and storage medium |
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| CN116278791A true CN116278791A (en) | 2023-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211722511.5A Pending CN116278791A (en) | 2022-12-30 | 2022-12-30 | Vehicle operation control method and device, vehicle and storage medium |
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| CN (1) | CN116278791A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116968760A (en) * | 2023-08-04 | 2023-10-31 | 比博斯特(上海)汽车电子有限公司 | Redundant control method and device for drive-by-wire chassis of unmanned vehicle |
-
2022
- 2022-12-30 CN CN202211722511.5A patent/CN116278791A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116968760A (en) * | 2023-08-04 | 2023-10-31 | 比博斯特(上海)汽车电子有限公司 | Redundant control method and device for drive-by-wire chassis of unmanned vehicle |
| CN116968760B (en) * | 2023-08-04 | 2024-04-23 | 比博斯特(上海)汽车电子有限公司 | Redundant control method and device for drive-by-wire chassis of unmanned vehicle |
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