CN115139797B

CN115139797B - Vehicle control method, vehicle and computer readable storage medium

Info

Publication number: CN115139797B
Application number: CN202110347928.7A
Authority: CN
Inventors: 凌和平; 黄伟; 刘海军; 武运峰; 谭鑫
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2024-09-10
Anticipated expiration: 2041-03-31
Also published as: CN115139797A

Abstract

The present disclosure relates to a vehicle control method, a vehicle, and a computer-readable storage medium, the method including: acquiring vehicle information of a target vehicle in the running process according to a preset frequency, wherein the vehicle information is information reflecting the running state of the target vehicle; determining whether the target vehicle has a motor unexpected direction driving fault according to the vehicle information; and under the condition that the target vehicle has a motor unexpected direction running fault, performing fault processing on the target vehicle.

Description

Vehicle control method, vehicle and computer readable storage medium

Technical Field

The embodiment of the disclosure relates to the technical field of vehicle control, and more particularly relates to a vehicle control method, a vehicle and a computer readable storage medium.

Background

With the increase of the electric automobile storage quantity, various small probability events occur in an automobile electronic system, and the occurrence probability of the problems is small, but the life safety of a user is threatened after the occurrence; the electric driving system serving as the core of the electric automobile is more similar, and the electric driving system runs safely and effectively, so that the safe running of the automobile is determined;

The motor control system can accelerate and decelerate according to the driving intention of the user, and the zero position of the motor is very important. The actual zero position of the motor and the zero position value used by the motor control system determine whether the motor capability can be exerted and whether the motor can run in the expected direction. The zero position used in the motor control system is calibrated when leaving the factory, and other personnel except manufacturers cannot change the value; the actual zero position of the motor may change for a number of reasons, such as a resolver fault for detecting the position of the motor.

If the motor zero position sampling value or the motor rotary transformer has a problem, the actual zero position of the motor is inconsistent with the zero position value stored in the motor control system. When the deviation between the actual zero position of the motor and the zero position value stored in the motor control system is large to a certain extent, the vehicle can be in a forward gear, but the working condition that the vehicle runs backwards seriously threatens the driving safety of a user.

Disclosure of Invention

An object of an embodiment of the present disclosure is to provide a technical solution for improving driving safety of a vehicle.

According to a first aspect of an embodiment of the present disclosure, there is provided a vehicle control method including:

Acquiring vehicle information of a target vehicle in the running process according to a preset frequency, wherein the vehicle information is information reflecting the running state of the target vehicle;

determining whether the target vehicle has a motor unexpected direction driving fault according to the vehicle information;

and under the condition that the target vehicle has a motor unexpected direction running fault, performing fault processing on the target vehicle.

Optionally, the vehicle information includes gear information of the target vehicle, motor rotation speed, and gradient information of the running ground,

The determining whether the target vehicle has a motor unexpected direction running fault according to the vehicle information comprises:

judging whether the current gradient of the running ground of the target vehicle is within a preset gradient range or not;

Determining a target torque of the target vehicle and a preset slope stabilizing torque of the target vehicle under the condition that the current slope is in a preset slope range;

judging whether the target torque is larger than the slope stabilizing torque or not, and comparing the current motor rotating speed of the target vehicle with a first rotating speed threshold corresponding to the current gear of the target vehicle;

and under the condition that the target torque is larger than the stable slope torque, determining whether the target vehicle has a motor unexpected direction driving fault or not according to the current gear and the comparison result.

Optionally, when the current gear is a forward gear, and when the target torque is greater than the steady slope torque, determining whether the target vehicle has a motor unexpected direction driving fault according to a comparison result includes:

and under the condition that the target torque is larger than the slope stabilizing torque, if the current motor rotating speed is smaller than a first rotating speed threshold corresponding to the forward gear and continuously exceeds a first set duration, determining that the target vehicle has a motor unexpected-direction running fault.

Optionally, in the case that the current gear is a forward gear, before the step of determining whether the current gradient is within a preset gradient range, the method further includes:

Judging whether the current motor rotating speed is larger than a preset second rotating speed threshold value or not;

And executing the step of judging whether the current gradient is within a preset gradient range or not under the condition that the current motor rotating speed is larger than the second rotating speed threshold value.

Optionally, before the step of determining whether the current gradient is within a preset gradient range, the method further includes:

And under the condition that the current motor rotating speed is smaller than or equal to the second rotating speed threshold value, comparing the current motor rotating speed with a preset third rotating speed threshold value until the current motor rotating speed is larger than or equal to the third rotating speed threshold value, and executing the step of judging whether the current gradient is within a preset gradient range.

Optionally, when the current gear is a reverse gear, and when the target torque is greater than the steady slope torque, determining whether the target vehicle has a motor unexpected direction driving fault according to a comparison result includes:

And under the condition that the target torque is larger than the slope stabilizing torque, if the current motor rotating speed is larger than a first rotating speed threshold corresponding to the reverse gear and continuously exceeds a second set duration, determining that the target vehicle has a motor unexpected-direction running fault.

Optionally, in the case that the current gear is a reverse gear, before the step of determining whether the current gradient is within a preset gradient range, the method further includes:

Judging whether the current motor rotating speed is smaller than a preset fourth rotating speed threshold value or not;

And executing the step of judging whether the current gradient is within a preset gradient range or not under the condition that the current motor rotating speed is smaller than the fourth rotating speed threshold value.

And under the condition that the current motor rotating speed is greater than or equal to the fourth rotating speed threshold, comparing the current motor rotating speed with a preset fifth rotating speed threshold until the current motor rotating speed is less than or equal to the fifth rotating speed threshold, and executing the step of judging whether the current gradient is within a preset gradient range.

Optionally, the fault handling of the target vehicle at least includes:

controlling a motor of the target vehicle to output preset torque; and/or the number of the groups of groups,

And sending out a fault prompt.

Optionally, the vehicle information further includes a vehicle speed;

the fault handling of the target vehicle includes:

judging whether the absolute value of the current speed of the target vehicle is smaller than or equal to a preset speed threshold value;

and controlling the target vehicle to pull up the electronic parking brake system under the condition that the absolute value of the current vehicle speed is smaller than or equal to the vehicle speed threshold value.

Optionally, the fault handling of the target vehicle further includes:

Acquiring the speed of the target vehicle as a reference speed under the condition that the target vehicle is determined to have a motor unexpected direction running fault;

judging whether the absolute value of the current vehicle speed is larger than the reference vehicle speed or not and whether a brake pedal of the target vehicle is not stepped on or not according to a preset frequency under the condition that the absolute value of the current vehicle speed of the target vehicle is larger than the vehicle speed threshold;

And controlling the target vehicle to decelerate and brake in the case that the absolute value of the current vehicle speed is greater than the reference vehicle speed and the brake pedal of the target vehicle is not depressed.

According to a second aspect of the present disclosure there is provided a vehicle comprising a main controller and a memory for storing a computer program, the main controller being for controlling the vehicle to perform a method according to the first aspect of the present disclosure under control of the computer program.

According to a third aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method according to the first aspect of the present disclosure.

The method and the device for judging the motor unexpected direction running fault of the target vehicle have the advantages that whether the motor unexpected direction running fault of the target vehicle occurs is judged according to the vehicle information of the target vehicle in the running process, and under the condition that the motor unexpected direction running fault of the target vehicle occurs, the target vehicle is subjected to fault processing, so that whether the motor unexpected direction running fault of the target vehicle occurs can be accurately identified, and the driving safety of a user is ensured.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a schematic structural diagram of a vehicle capable of implementing one embodiment of the present disclosure;

FIG. 2 is a flow chart diagram of a vehicle control method according to one embodiment of the present disclosure;

FIG. 3 is a flow diagram of a fault identification step according to one embodiment of the present disclosure

FIG. 4 is a flow chart of a fault identification step according to one example of the present disclosure;

FIG. 5 is a flow chart of fault handling steps according to one example of the present disclosure;

FIG. 6 is a schematic illustration of a vehicle according to one embodiment of the present disclosure.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

< Hardware configuration >

FIG. 1 is a schematic structural diagram of a vehicle that may be used to implement embodiments of the present disclosure.

As shown in fig. 1, a vehicle 1000 may include a vehicle control system 1100, a motor control system 1200, a motor 1300, a vehicle information acquisition system 1400, an electronic parking brake system 1500, and an intelligent in-vehicle system 1600.

The vehicle information acquisition system 1400 may acquire vehicle information of a vehicle during traveling, wherein the vehicle information is information reflecting a traveling state of a target vehicle. The vehicle information may include gear information, vehicle speed, rotational speed of the motor 1300, and gradient information of the ground on which the vehicle is traveling. In one example, the vehicle information acquisition system 1400 may acquire corresponding vehicle information according to a predetermined acquisition frequency. The frequency and timing of the acquisition of each type of vehicle information may be the same or different, and are not limited herein.

The vehicle control system 1100 may acquire the vehicle information acquired by the vehicle information acquisition system 1400, determine whether the vehicle has a motor unexpected direction running fault according to the vehicle information, and send a preset torque to the motor control system 1200 when the vehicle has the motor unexpected direction running fault, so that the motor control system 1200 controls the motor 1300 to output the preset torque. In one example, the preset torque may be 0.

Further, the vehicle control system 1100 may also send a fault alert through the intelligent vehicle-mounted system 1600 when the vehicle fails in a direction that is not expected to be driven by the motor. The manner of issuing the fault alert may include at least one of text, speech, vibration, lights, etc.

Still further, the vehicle control system 1100 may further pull up the electronic parking brake system 1500 to reduce the vehicle speed in the case that the vehicle fails in a direction that is not expected to run by the motor.

< Method example >

Fig. 2 shows a vehicle control method of an embodiment. In one embodiment, the method may be implemented by a vehicle control system. In one example, the processor may be the vehicle control system 1100 shown in FIG. 1.

As shown in fig. 2, the vehicle control method of the embodiment may include the following steps S201 to S203:

Step S201, acquiring vehicle information of a target vehicle in a driving process according to a preset frequency.

In the present embodiment, the vehicle information may be information reflecting a running state of the target vehicle. Specifically, the vehicle information may include motor rotation speed, gear information, and gradient information of the running ground.

In this embodiment, step S201 may be performed at a preset frequency. The preset frequency may be preset according to an application scenario or specific requirements. For example, the preset frequency may be the same as any kind of vehicle information acquisition frequency.

Step S202, whether the target vehicle has a motor unexpected direction running fault or not is determined according to the vehicle information.

In one embodiment of the present disclosure, determining whether the target vehicle has a motor unintended direction travel fault according to the vehicle information may include steps S301 to S304 as shown in fig. 3:

in step S301, it is determined whether the current gradient of the target vehicle running ground is within a preset gradient range.

In the present embodiment, the acceleration data of the target vehicle may be acquired by an acceleration sensor provided on the target vehicle, and the current gradient of the ground on which the target vehicle travels may be calculated from the acceleration data.

The preset gradient range in the present embodiment may be set in advance according to the application scenario or specific requirements, for example, in the case where only an ascending slope is considered, the preset gradient range may be [0, 10% ]; the preset gradient range may also be [ -10%,10% ] with both uphill and downhill considered.

Under the condition that the current gradient of the target vehicle is within the preset gradient range, the target vehicle can be ensured to stably stop on the ramp without sliding. In one example, the absolute values of the maximum value and the minimum value of the preset gradient range may be equal.

In one example, in the case where the target vehicle running ground is an upward slope, the current gradient of the target vehicle running ground may be a positive number; in the case where the target vehicle running ground is a downhill slope, the current gradient of the target vehicle may be negative.

Specifically, the absolute value of the current gradient may be an acute angle between the running ground of the target vehicle and the horizontal plane, and in the case that the head of the target vehicle faces upward, it may be determined that the current gradient of the running ground of the target vehicle is equal to the acute angle; with the head of the target vehicle facing downward, it may be determined that the current slope of the target vehicle running surface is equal to the negative of the acute angle.

Since the motor unexpected direction running failure easily occurs when the vehicle is on an ascending slope, it is possible to determine whether the motor unexpected direction running failure occurs to the target vehicle only when the target vehicle is on an ascending slope. Correspondingly, the preset gradient range may be a positive number range.

In step S302, in the case where the current gradient of the target vehicle is within the preset gradient range, the target torque of the target vehicle and the preset steady-gradient torque of the target vehicle are determined.

In the present embodiment, the target torque of the target vehicle may be determined by the actual vehicle condition of the target vehicle. Specifically, the target torque may be obtained from a maximum discharge power of a battery of the target vehicle, a maximum allowable output torque of the motor, a current accelerator depth of the target vehicle, and a current gradient of the target vehicle.

The slope stabilizing torque of the vehicle corresponds to the gradient range, and the slope stabilizing torque can be the minimum torque required by the fact that the preset target vehicle stably stops on the slope with the maximum value and the minimum value of the preset gradient range and cannot slide. Specifically, the slope stabilizing torque of the target vehicle in different gradient ranges can be determined through experiments in advance, different gradients correspond to different slope stabilizing torques, and in a preset gradient range, the controller can actively output the slope stabilizing torque corresponding to the gradient, so that the vehicle can be stably stopped on the slope without sliding under the condition that the brake and the accelerator are not stepped on under the current gradient.

Step S303, judging whether the target torque is larger than the slope stabilizing torque, and comparing the current motor rotating speed of the target vehicle with a first rotating speed threshold corresponding to the current gear.

In the present embodiment, the current gear of the target vehicle may be a forward gear or a reverse gear. Therefore, the first rotation speed threshold value corresponding to the forward gear and the first rotation speed threshold value corresponding to the reverse gear may be set in advance according to the application scenario or specific requirements, respectively.

In normal situations, the direction of rotation of the motor is opposite in the case of a forward gear as in the case of a reverse gear. Specifically, the motor may be rotated forward in the case of a forward gear and rotated backward in the case of a reverse gear. Therefore, in order to detect whether or not the target vehicle has a motor unexpected direction running failure, the first rotation speed threshold value corresponding to the forward gear may be set to be negative, and the first rotation speed threshold value corresponding to the reverse gear may be set to be positive. For example, the first rotation speed threshold value corresponding to the forward gear may be set to-100 rpm, and the first rotation speed threshold value corresponding to the reverse gear may be set to 100rpm.

Step S304, under the condition that the target torque is larger than the steady slope torque, determining that the target vehicle has a motor unexpected direction running fault according to the current gear of the target vehicle and the comparison result.

If the motor fails to output the target torque due to the limitation of the motor output capacity caused by the motor over-temperature and the like while the target vehicle is on the slope, the target vehicle may slip backward, but this cannot be interpreted as a failure of the target vehicle in the unexpected direction of the motor.

Therefore, under the condition that whether the target torque is larger than the stable slope torque or not, according to the comparison result of the current gear of the target vehicle, the current motor rotating speed and the first rotating speed threshold value corresponding to the current gear, the problem of misjudgment of unexpected direction running faults of the motor of the target vehicle caused by backward running of the target vehicle on the slope simply because the motor cannot output the target torque can be avoided.

In one embodiment of the present disclosure, the current gear of the target vehicle may be a forward gear. Then, in a case where the target torque is greater than the steady slope torque, determining that the target vehicle has a motor unexpected direction running failure according to the current gear of the target vehicle and the comparison result may include:

Judging whether the current motor speed of the target vehicle is smaller than a first rotation speed threshold corresponding to a forward gear and exceeds a first set duration under the condition that the target torque is larger than the slope stabilizing torque; and determining that the target vehicle runs in the unexpected direction of the motor under the condition that the target torque is larger than the slope stabilizing torque, the current motor rotating speed of the target vehicle is smaller than a first rotating speed threshold corresponding to the forward gear and exceeds a first set duration.

In this embodiment, the first set duration may be preset according to an application scenario or specific requirements, for example, the first set duration may be 500ms.

On the basis of the embodiment, if the target vehicle is switched from the reverse gear to the forward gear, but the motor of the target vehicle is still switched from the reverse gear to the forward gear, the situation that the target torque is greater than the steady slope torque, the current motor rotation speed of the target vehicle is less than the first rotation speed threshold corresponding to the forward gear and exceeds the first set time period may also occur.

Therefore, in order to avoid a situation in which there is a false determination of a motor unexpected direction running failure of the target vehicle, before executing the aforementioned step S301, the method may further include: judging whether the current motor rotating speed of the target vehicle is larger than a preset second rotating speed threshold value or not; executing step S301 under the condition that the current motor rotation speed is greater than a second rotation speed threshold value; in the case that the current motor rotation speed is less than or equal to the second rotation speed threshold, comparing the current motor rotation speed with a preset third rotation speed threshold until the current motor rotation speed is greater than or equal to the third rotation speed threshold, executing the aforementioned step S301.

The second rotation speed threshold and the third rotation speed threshold in this embodiment may be set in advance according to the application scenario or specific requirements, respectively. In order to avoid a situation that the motor of the target vehicle has erroneous judgment due to unexpected direction running failure of the motor in the process of switching from reverse gear to forward gear, the second rotation speed threshold value may be set to a negative number greater than the first rotation speed threshold value corresponding to the forward gear, and the third rotation speed threshold value may be set to a non-negative number greater than the first rotation speed threshold value. For example, the second rotational speed threshold may be set to-50 rpm and the third rotational speed threshold may be set to 0rpm. Setting a third rotating speed threshold value of 0rpm, namely, after the rotating speed of the motor does not meet the condition that the rotating speed of the motor is greater than the second rotating speed threshold value, monitoring the motor again, and carrying out unexpected running fault judgment on the target vehicle only when the rotating speed of the motor is greater than or equal to 0rpm in a forward gear, so that the motor can be ensured to rotate forwards, and the running of the target vehicle is safer; moreover, the recognition result of the unexpected direction running of the motor of the target vehicle can be more accurate.

In the driving process of the target vehicle, the acquired vehicle information of the target vehicle is continuously updated according to the preset frequency.

After executing the judgment whether the current motor rotation speed is greater than the preset second rotation speed threshold, under the condition that the current motor rotation speed is determined to be greater than the second rotation speed threshold, a motor unexpected driving direction judgment flow can be entered, and steps S301 to S304 are executed. After the judgment of whether the current motor rotation speed is greater than the preset second rotation speed threshold is executed, under the condition that the current motor rotation speed is determined to be less than or equal to the second rotation speed threshold, the comparison between the current motor rotation speed and the third rotation speed threshold is required to be continuously carried out, namely whether the current motor rotation speed is greater than or equal to the third rotation speed threshold is judged. If the current motor rotation speed is greater than or equal to the third rotation speed threshold, a motor unintended driving direction determination process may be entered, and steps S301 to S304 may be executed. And under the condition that the current motor speed is smaller than the third speed threshold value, comparing the current motor speed with the third speed threshold value continuously.

By the method, whether the target vehicle has the motor unexpected direction running fault or not is determined, the efficiency of identifying the motor unexpected direction running fault of the target vehicle can be improved, the situation that a plurality of users normally operate but are possibly triggered by mistake can be avoided, and the identification result of the motor unexpected direction running fault of the target vehicle is more accurate.

In another embodiment of the present disclosure, the current gear of the target vehicle may be a reverse gear. Then, in a case where the target torque is greater than the steady slope torque, determining that the target vehicle has a motor unexpected direction running failure according to the current gear of the target vehicle and the comparison result may include:

Judging whether the current motor rotating speed of the target vehicle is larger than a first rotating speed threshold corresponding to a reverse gear and exceeds a second set duration under the condition that the target torque is larger than a stable slope torque; and determining that the target vehicle has a running fault in an unexpected direction of the motor under the condition that the target torque is larger than the slope stabilizing torque, the current motor rotating speed of the target vehicle is larger than a first rotating speed threshold corresponding to the reverse gear and exceeds a second set duration.

In this embodiment, the second set duration may be preset according to an application scenario or specific requirements, for example, the second set duration may be 500ms. The second set duration in this embodiment may be equal to or different from the first set duration in the foregoing embodiment, which is not limited herein.

On the basis of the embodiment, if the target vehicle is switched from the forward gear to the reverse gear, but the motor of the target vehicle is still switched from the forward gear to the reverse gear, the situation that the target torque is greater than the steady slope torque, and the current motor rotation speed of the target vehicle is greater than the first rotation speed threshold corresponding to the reverse gear and exceeds the second set time period may also occur.

Therefore, in order to avoid a situation in which there is a false determination of a motor unexpected direction running failure of the target vehicle, before executing the aforementioned step S301, the method may further include: judging whether the current motor rotating speed of the target vehicle is smaller than a preset fourth rotating speed threshold value or not; executing step S301 under the condition that the current motor rotation speed is smaller than a fourth rotation speed threshold value; in the case that the current motor rotation speed is greater than or equal to the fourth rotation speed threshold, comparing the current motor rotation speed with a preset fifth rotation speed threshold until the current motor rotation speed is less than or equal to the fifth rotation speed threshold, the aforementioned step S301 is performed.

The fourth rotation speed threshold and the fifth rotation speed threshold in this embodiment may be set in advance according to the application scenario or specific requirements, respectively. In order to detect whether or not the target vehicle has a motor unexpected direction running failure, the fourth rotation speed threshold value may be set to a positive number smaller than the first rotation speed threshold value corresponding to the forward gear, and the fifth rotation speed threshold value may be set to a non-positive number smaller than the first rotation speed threshold value. For example, the fourth rotational speed threshold may be set to 50rpm and the fifth rotational speed threshold may be set to 0rpm.

After executing the judgment whether the current motor rotation speed is less than the preset fourth rotation speed threshold, if it is determined that the current motor rotation speed is less than the fourth rotation speed threshold, the unintended driving direction judgment flow of the motor may be entered, and steps S301 to S304 are executed. After the judgment of whether the current motor rotation speed is smaller than the preset fourth rotation speed threshold is executed, under the condition that the current motor rotation speed is determined to be larger than or equal to the fourth rotation speed threshold, the comparison between the current motor rotation speed and the fifth rotation speed threshold is needed to be continuously carried out, namely whether the current motor rotation speed is smaller than or equal to the fifth rotation speed threshold is judged. If the current motor rotation speed is less than or equal to the fifth rotation speed threshold, the unintended driving direction determination process of the motor may be entered, and steps S301 to S304 may be executed. And under the condition that the current motor speed is greater than the fifth speed threshold, comparing the current motor speed with the fifth speed threshold.

In step S203, in the case where the target vehicle has a motor unexpected direction running failure, the failure processing is performed on the target vehicle.

In one embodiment of the present disclosure, the manner of fault handling of the target vehicle may include: the motor of the control target vehicle outputs a preset torque.

Specifically, the whole vehicle control system of the target vehicle sends preset torque to the motor control system, and the motor control system controls the motor to output the preset torque.

The preset torque in this embodiment may be preset according to the application scenario or specific requirements, for example, the preset torque may be 0.

In another embodiment of the present disclosure, the method for performing fault handling on the target vehicle may further include: and sending out a fault prompt.

Specifically, the vehicle control system can send out fault reminding through the intelligent vehicle-mounted system so as to remind a user to repair the target vehicle. The manner of issuing the fault alert may include at least one of text, speech, vibration, lights, etc.

In one embodiment of the present disclosure, the vehicle information acquired in step S201 may further include a vehicle speed, and then the performing the fault processing on the target vehicle may further include:

Judging whether the absolute value of the current speed of the target vehicle is smaller than or equal to a preset speed threshold value; and controlling the target vehicle to pull up the electronic parking system under the condition that the absolute value of the current vehicle speed is smaller than or equal to the vehicle speed threshold value.

In this embodiment, the vehicle speed threshold may be set in advance according to an application scenario or specific requirements. In particular, the vehicle speed threshold may be a maximum vehicle speed at which the electronic parking brake system can be pulled up. For example, the vehicle speed threshold may be 6km/h.

Under the condition that the absolute value of the current speed of the target vehicle is smaller than or equal to the speed threshold value, the target vehicle can be stopped by controlling the target vehicle to pull up the electronic parking system, so that the driving safety of a user is ensured.

On the basis of the embodiment, the method can further comprise: the vehicle speed of the target vehicle in the case where it is determined that the target vehicle has a motor running failure in an unexpected direction is acquired as a reference vehicle speed. Then, if the absolute value of the current vehicle speed of the target vehicle is greater than the vehicle speed threshold value, judging whether the absolute value of the current vehicle speed which is acquired recently is greater than the reference vehicle speed and whether a brake pedal of the target vehicle is stepped on according to the preset frequency; in the case where the absolute value of the current vehicle speed is larger than the target vehicle speed and the brake pedal of the target vehicle is not depressed, the target vehicle is controlled to decelerate and brake.

The reference vehicle speed in this embodiment may be the vehicle speed of the target vehicle that is newly acquired when the result of the target vehicle having a motor unexpected direction running failure is obtained.

Under the condition that the absolute value of the current speed of the target vehicle is larger than the speed threshold, the target vehicle cannot be controlled to directly pull up the electronic parking brake system, but the deceleration brake of the target vehicle can be controlled by continuously requesting to pull up the electronic parking brake system, so that the current speed of the target vehicle is reduced, and the driving safety of a user is ensured.

In the embodiment of the disclosure, whether the target vehicle has a motor unexpected direction running fault or not is judged according to the vehicle information of the target vehicle in the running process, and under the condition that the target vehicle has the motor unexpected direction running fault, the target vehicle is subjected to fault processing, so that whether the target vehicle has the motor unexpected direction running fault or not can be accurately identified, and the driving safety of a user is ensured. In addition, in at least one embodiment of the present disclosure, the possibility of misjudgment due to gradient and gear shifting can be avoided, so that the motor unexpected direction driving fault recognition result of the target vehicle is more accurate.

< Example 1>

Fig. 4 is a flow chart of steps for determining whether a target vehicle has failed in unintended direction travel of a motor in accordance with one example of the present disclosure.

As shown in fig. 4, the method includes:

Step S401, judging whether the current gear of the target vehicle is a forward gear, if yes, executing step S402; if not, step S409 is performed.

Step S402, judging whether the current motor rotation speed is larger than a second rotation speed threshold value; if yes, go to step S403; if not, executing step S408;

Step S403, determining whether the current gradient of the target vehicle is within the preset gradient range, if yes, executing step S404, and if no, continuing to execute step S403.

Step S404, determining a target torque of the target vehicle and a preset hill-holding torque of the target vehicle.

Step S405, determining whether the target torque is greater than the steady slope torque, and whether the current motor rotation speed of the target vehicle is less than a first rotation speed threshold corresponding to the forward gear and exceeds a first set duration, if yes, executing step S406, and if no, executing step S407.

In step S406, it is determined that the target vehicle has a motor unexpected direction running failure.

In step S407, it is determined that the target vehicle has not failed in traveling in the unintended direction of the motor.

Step S408, judging whether the current motor rotation speed is greater than or equal to a preset third rotation speed threshold, if yes, executing step S403; if not, then proceed to step S408.

Step S409, judging whether the current gear of the target vehicle is a reverse gear, if so, executing step S410; if not, step S407 is performed.

Step S410, judging whether the current motor speed of the target vehicle is smaller than a preset fourth speed threshold, if yes, executing step S411; if not, step S414 is performed.

Step S411, judging whether the current gradient of the target vehicle is within the preset gradient range, if so, executing step S412; if not, then step S411 is continued.

In step S412, the target torque of the target vehicle and the preset hill-holding torque of the target vehicle are determined.

Step S413, judging whether the target torque is larger than the slope stabilizing torque, whether the current motor rotating speed of the target vehicle is larger than a first rotating speed threshold corresponding to the reverse gear and exceeds a second set duration, if so, executing step S406; if not, step S407 is performed.

Step S414, judging whether the current motor rotation speed is less than or equal to a preset fifth rotation speed threshold, if yes, executing step S411; if not, then proceed to step S414.

In this embodiment, in the process of executing steps S401 to S414, the vehicle information of the target vehicle may be continuously acquired at the preset frequency. The current motor speed, the current gear and the current gradient involved in the above steps are the latest motor speed, gear and gradient obtained when the corresponding steps are executed.

< Example 2>

FIG. 5 is a flow chart of fault handling steps according to one example of the present disclosure.

As shown in fig. 5, the method includes:

Step S501, obtaining a vehicle speed of a target vehicle in a case where it is determined that the target vehicle has a motor unexpected direction running failure, as a reference vehicle speed.

Step S502, judging whether the absolute value of the current speed of the target vehicle is smaller than or equal to a preset speed threshold value, if yes, executing step S503; if not, step S504 is performed.

In step S503, the target vehicle is controlled to pull up the electronic parking system, the motor of the target vehicle is controlled to output a preset torque, and a fault reminder is sent out.

Step S504, controlling a motor of the target vehicle to output preset torque, and sending out fault reminding.

Step S505, judging whether the absolute value of the current vehicle speed acquired recently is larger than the reference vehicle speed and whether a brake pedal of the target vehicle is stepped on, if so, executing step S506; if not, the process continues to step S502.

In step S506, the target vehicle is controlled to decelerate and brake.

< Vehicle example >

Fig. 6 shows a schematic structural diagram of a vehicle that may be used to implement the vehicle control method of the embodiments of the present disclosure.

The vehicle 6000 shown in fig. 6 may include a main controller 6100 and a memory 6200, the memory 6200 being for storing a computer program, the main controller 6100 being for controlling the vehicle to perform the method of any of the embodiments of the present description under control of the computer program.

The main controller 6100 serves as a main device of an electronic control unit (Electronic Control Unit, ECU) of the vehicle for executing a computer program which can be written in an instruction set of an architecture such as x67, arm, RISC, MIPS, SSE, etc.

The memory 6200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like for storing the above computer programs and the like.

In one example, the vehicle 1000 in the present embodiment may be a pure fuel vehicle or an electric vehicle provided with a power battery. The electric vehicle may be a pure electric vehicle or a hybrid vehicle.

In one example, the vehicle may have a vehicle 1000 as shown in FIG. 1, without limitation.

In one example, the vehicle may further have at least one of an engine, a motor control system, a vehicle information acquisition system, an input device, an interface device, an output device, a motor, a power battery, and other hardware structures, which are not limited herein.

The rear end of the engine (the end connected with the flywheel) can be connected with the input end of the speed reducer through the clutch, and the output end of the speed reducer is connected with the wheel shaft so as to drive the wheels to rotate through the engine.

The motor control system is used for controlling the motor to act according to the control command sent by the main controller 6100, for example, controlling the motor to output torque so as to drive the wheel shaft to rotate; for another example, the control motor feeds back electrical energy to the power cell, etc.

The vehicle information acquisition system may include various sensors and the like, including, for example, at least one of a rotation speed sensor, a posture sensor, a temperature sensor, a humidity sensor, a pressure sensor, and the like.

The vehicle information acquisition system can also acquire gear information, throttle information and brake information of the target vehicle.

The input device may include a key circuit, a touch screen, a microphone, a knob circuit, a throttle control device with a throttle pedal, a brake control device with a brake pedal, and the like.

The interface means may include a headset interface, a diagnostic interface of an on-board automatic diagnostic system (On Board Diagnostics, OBD), a charging interface, a USB interface, etc.

The output device may include a display screen, a speaker, various indicator lights, etc.

When the electric machine is used as an electric motor, a power battery may be used to provide electric energy to the electric machine.

< Storage Medium embodiment >

The present embodiment also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method as any of the embodiments of the present disclosure.

The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.

The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.

Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed 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). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.

Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, 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/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A vehicle control method characterized by comprising:

Under the condition that the target vehicle has a motor unexpected direction running fault, carrying out fault processing on the target vehicle; the vehicle information includes gear information of the target vehicle, motor rotation speed and gradient information of the running ground,

determining whether the target vehicle has a motor unexpected direction driving fault according to the current gear and the comparison result under the condition that the target torque is larger than the steady slope torque

In the case that the current gear is a forward gear, before the step of determining whether the current gradient of the target vehicle running ground is within a preset gradient range, the method further includes: judging whether the current motor rotating speed is larger than a preset second rotating speed threshold value or not; and under the condition that the current motor rotating speed is smaller than or equal to the second rotating speed threshold value, comparing the current motor rotating speed with a preset third rotating speed threshold value until the current motor rotating speed is larger than or equal to the third rotating speed threshold value, and executing the step of judging whether the current gradient of the running ground of the target vehicle is within a preset gradient range.

2. The method according to claim 1, wherein, in the case where the current gear is a forward gear, the determining whether the target vehicle has a motor unexpected direction running failure according to a comparison result in the case where the target torque is greater than the steady slope torque includes:

3. The method according to claim 1, wherein, in the case where the current gear is a reverse gear, the determining whether the target vehicle has a motor unexpected direction running failure according to a comparison result in the case where the target torque is greater than the steady slope torque includes:

4. The method according to claim 1, characterized in that, in the case where the current gear is a reverse gear, before the step of determining whether the current gradient is within a preset gradient range, the method further includes:

5. The method according to claim 4, characterized in that before the step of determining whether the current gradient is within a preset gradient range, the method further comprises:

6. The method of claim 1, wherein the fault handling of the target vehicle comprises at least:

And sending out a fault prompt.

7. The method of claim 1, wherein the vehicle information further comprises a vehicle speed;

the fault handling of the target vehicle includes:

8. The method of claim 7, wherein the fault handling of the target vehicle further comprises:

9. A vehicle comprising a main controller and a memory, the memory being for storing a computer program, the main controller being for controlling the vehicle to perform the method according to any one of claims 1 to 8 under control of the computer program.

10. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any of claims 1 to 8.