CN119428225A

CN119428225A - Intelligent driving redundancy motor controller, control method and electric automobile

Info

Publication number: CN119428225A
Application number: CN202411564666.XA
Authority: CN
Inventors: 卢春宏; 沈天珉; 周爽
Original assignee: Huawei Digital Power Technologies Co Ltd
Current assignee: Huawei Digital Power Technologies Co Ltd
Priority date: 2024-11-01
Filing date: 2024-11-01
Publication date: 2025-02-14

Abstract

A motor controller with intelligent driving redundancy, a control method and an electric automobile relate to the field of new energy automobiles and can be applied to pure electric vehicles and hybrid vehicles. The motor controller is used for responding to the man-driving torque signal, controlling the driving motor to output a torque value indicated by the man-driving torque signal, and the torque value indicated by the man-driving torque signal changes along with the change of the opening degree of the accelerator pedal operated by a user. And responding to the intelligent driving torque signal, controlling the driving motor to output a torque value indicated by the intelligent driving torque signal, and adjusting the torque value indicated by the intelligent driving torque signal by an intelligent driving controller of the electric automobile according to a sensing data signal indicated by a sensing system of the electric automobile. The motor controller is also used for receiving a perception data signal indicated by a perception system of the electric automobile and controlling the driving motor to adjust torque output according to the perception data signal. According to the scheme, a whole-vehicle intelligent driving redundancy backup function is provided for the whole vehicle, and the safety of the whole vehicle is improved.

Description

Intelligent driving redundancy motor controller, control method and electric automobile

Technical Field

The application relates to the field of new energy automobiles, in particular to an intelligent driving redundant motor controller, a control method and an electric automobile.

Background

With the increasing maturity of intelligent driving, the safety problem is increasingly prominent while the driving convenience is improved.

All functions of the current intelligent driving control are located in the intelligent driving controller, if the intelligent driving controller is disabled, downed, degraded or withdrawn due to various reasons in the driving process of the vehicle, a driver is required to take over quickly, the driver takes over time of seconds, and the whole vehicle is possibly in an uncontrollable state in the time from the failure of the intelligent driving controller to the taking over of the driver, so that driving safety is affected.

Therefore, how to improve the safety of intelligent driving is a problem to be solved.

Disclosure of Invention

The application provides a intelligent driving redundant motor controller, a control method and an electric automobile, wherein related signals of an intelligent driving sensing system are connected into the motor controller by backing up the intelligent driving system in the motor controller, so that a redundant intelligent driving function is deployed in an electric driving system, the normal operation of the automobile is continuously controlled in the processes of intelligent driving control failure and human driving taking over, a whole-automobile-level intelligent driving redundant backup function is provided for the whole automobile, and the safety of the whole automobile is improved.

In a first aspect, the present application provides a redundant motor controller for intelligent driving for controlling a driving motor of an electric vehicle to output torque to drive wheels of the electric vehicle. The motor controller is used for responding to the man-driving torque signal, controlling the driving motor to output a torque value indicated by the man-driving torque signal, and the torque value indicated by the man-driving torque signal changes along with the change of the opening degree of the accelerator pedal operated by a user. And responding to the intelligent driving torque signal, controlling the driving motor to output a torque value indicated by the intelligent driving torque signal, and adjusting the torque value indicated by the intelligent driving torque signal by an intelligent driving controller of the electric automobile according to a sensing data signal indicated by a sensing system of the electric automobile. The motor controller is also used for receiving a perception data signal indicated by a perception system of the electric automobile and controlling the driving motor to adjust torque output according to the perception data signal.

The motor controller is suitable for an electric vehicle or a hybrid vehicle, the electric vehicle can be a distributed motor or a centralized motor architecture, and is provided with a plurality of driving motors and a plurality of motor controllers, and the motor controller can be any one of the plurality of motor controllers. The driving motor can be a wheel side motor or a wheel hub motor, and can independently drive one wheel of the electric automobile. The motor controller may output three-phase alternating current to the driving motor, thereby controlling the driving motor to output torque.

The sensing system of the electric automobile can be used for detecting the surrounding environment of the electric automobile and the running state information of the electric automobile. The sensing system can comprise a camera, a laser radar, a millimeter wave radar and other sensors which are used for sensing surrounding environment and collecting and processing environment information and in-vehicle information, and mainly relates to technologies such as road boundary monitoring, vehicle detection, pedestrian detection and the like. The sensing system can also comprise a vehicle speed sensor, an acceleration sensor, an inertia measuring unit and other sensors for detecting the state of the vehicle body and the running information of the electric vehicle.

The sensed data signals may include information such as relative distance, relative vehicle speed, relative acceleration, lane information, etc. The sensing signal can also comprise information such as speed, acceleration, roll angle, yaw angle and the like of the electric automobile.

The intelligent driving controller in the application can be a domain controller for realizing the functions of sensing, positioning, path planning, decision control and the like. The accelerator pedal in the present application may also be referred to as an electric pedal or an accelerator pedal. The opening degree of the accelerator pedal can indicate the driving force required by a user, namely a driver, and when the opening degree of the accelerator pedal is larger, the driving requirement of the driver is larger, and the corresponding torque required to be output by the driving motor is larger.

The motor controller may operate in three modes of operation, respectively. When the motor controller is in a man-driving mode, a user, namely a driver, operates the electric automobile at the moment, when the user presses the accelerator pedal, after the whole automobile controller collects the opening of the accelerator pedal, a man-driving torque signal is generated according to the opening of the accelerator pedal and is sent to the motor controller, so that the motor controller controls the driving motor to output torque indicated by the opening of the accelerator pedal according to the opening of the accelerator pedal, and the motor controller controls the driving motor to output torque to change according to the change of the opening of the accelerator pedal. The larger the opening of the accelerator pedal is, the larger the torque output by the driving motor is, and the smaller the opening of the accelerator pedal is, the smaller the torque output by the driving motor is.

When the motor controller is in a intelligent driving mode, the intelligent driving controller of the electric automobile performs intelligent active driving or assists a user to drive, in the intelligent driving mode, the electric automobile can autonomously drive in a geographic area with little or no control input from the driver, namely, the intelligent driving controller receives sensing data signals sent by sensing components of the electric automobile, such as a radar, a camera and the like, under the condition that the user can rarely or not operate an accelerator pedal, a brake pedal and a steering wheel. The intelligent driving controller fuses information sensed by various sensors, acquires the driving state and lane information of the electric automobile according to sensing data signals, obtains target acceleration, target speed and the like by analyzing signals such as distance, speed and acceleration, makes driving decision/programming based on the fused information, issues an operation command to the whole automobile controller, and sends intelligent driving torque signals to the motor controller, so that the motor controller outputs torque values indicated by the intelligent driving torque signals, and intelligent driving is completed.

When the motor controller is in a redundant intelligent driving mode, the motor controller receives a perception data signal indicated by a perception system of the electric automobile, acquires the running state and lane information of the electric automobile according to the perception data signal, obtains target acceleration, target speed and the like by analyzing signals such as distance, speed and acceleration, makes driving decision/planning based on the fused information, and directly controls the driving motor to adjust output torque. At the moment, the motor controller can complete the function and work of controlling the torque of the driving motor by the intelligent driving controller in the intelligent driving mode.

According to the scheme of the application, the motor controller of the electric automobile integrates a redundant intelligent driving function, can independently receive the sensing data signals and perform torque control according to the sensing data signals, so that the redundancy of intelligent driving control is improved, and the safety of the whole automobile is improved.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is specifically configured to stop controlling the output torque of the driving motor according to the intelligent driving torque signal and control the driving motor to adjust the output torque according to the sensing data signal when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal, or the rotation angle of the steering wheel.

In the driving process of the electric automobile in the intelligent driving mode, the intelligent driving controller determines the driving torque of the electric automobile according to the sensing data signal, and accordingly the motor controller responds to the intelligent driving torque signal to control the driving motor to output torque. When the intelligent driving controller is down, downed or degraded or exits from control due to various failures, the intelligent driving controller can stop working, so that control in an intelligent driving mode cannot be continued, a driver is required to take over quickly, and the driver takes over time of seconds usually, before the driver takes over, the electric automobile can be in an uncontrollable state, and driving safety is affected. The reason for failure of the intelligent driving controller can be hardware failure, or software operation abnormality or breakdown, so that the intelligent driving controller cannot continue intelligent driving control to exit the intelligent driving system.

Because the motor controller has the redundant intelligent driving function, when the intelligent driving controller fails and a person drives the intelligent driving controller temporarily and does not take over, namely, the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel are not operated by the user, the motor controller cannot receive intelligent driving torque signals at the moment, the motor controller can be switched to a redundant intelligent driving mode, and the motor controller directly controls the driving motor to adjust output torque according to the sensing data signals. Before the person takes over driving, the motor controller takes over the intelligent driving controller to continue intelligent driving control, so that the driving safety of the electric automobile is ensured.

It should be understood that, in the intelligent driving mode, the motor controller and the intelligent driving controller can synchronously receive the sensing data signals indicated by the sensing system, and the motor controller receives the signals such as the distance, the vehicle speed, the acceleration, the lane information and the like issued by the sensing system in real time and calculates the torque of the driving motor in the background in real time. When the motor controller is switched from the intelligent driving mode to the redundant intelligent driving mode, the output torque of the driving motor can be immediately adjusted according to the received sensing data signal, so that the torque calculation time is reduced.

According to the scheme of the application, the motor controller of the electric automobile integrates a redundant intelligent driving function, can independently receive the sensing data signals, and can operate in a backup mode in the intelligent driving mode of the whole automobile. After the intelligent driving controller of the whole vehicle fails, before the intelligent driving controller is connected by a person, the motor controller can be switched rapidly, so that redundant intelligent driving mode connection is realized, downtime is reduced, the risk of out of control of the electric automobile is reduced, and vehicle safety is improved.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is configured to stop controlling the driving motor to adjust the torque output according to the sensing data signal and controlling the driving motor to output a torque value indicated by the human driving torque signal when an opening of an accelerator pedal, an opening of a brake pedal or a rotation angle of a steering wheel operated by a user changes during controlling the driving motor to output the torque according to the sensing data signal.

When the motor controller is in a redundant intelligent driving mode, the driving motor is controlled to adjust torque output according to the sensing data signal, and at the moment, a user does not take over the control of the electric automobile and does not operate the accelerator pedal, the brake pedal and the steering wheel. If the driver intervenes in the control, the accelerator pedal, the brake pedal or the steering wheel is controlled, so that the opening degree of the accelerator pedal, the opening degree of the brake pedal or the steering wheel operated by the user is changed, the driver can be considered to take over the driving, the electric automobile is switched from a redundant intelligent driving mode to a driving mode, the motor controller does not control the driving motor to adjust the torque according to the sensing data signal, and the torque indicated by the opening degree of the accelerator pedal is output in response to the driving torque signal directly according to the control of the driver.

It should be appreciated that electric vehicles are typically highest priority for human driving, and that when driver intervention control is detected, the motor controller outputs torque preferentially in response to the driver's operation. When the intelligent driving controller fails, the electric automobile can send prompt information to the user, and the user takes over after receiving the prompt information, so that the motor controller responds to the operation information of a driver and enters a man driving mode, and the driving motor is stopped to be controlled to adjust torque output according to the sensing data signal and control the driving motor to output a torque value indicated by the man driving torque signal.

According to the scheme of the application, after the intelligent driving controller fails and is down, before the intelligent driving controller takes over, the motor controller realizes the redundant intelligent driving function to control the whole vehicle to continue running, so that the whole vehicle is prevented from being out of control, when the intelligent driving controller takes over in time, the motor controller controls the vehicle according to the operation of the intelligent driving, and the safety of the vehicle is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the motor controller is further configured to control a steering system of the electric vehicle to adjust a driving direction of the electric vehicle according to the sensing data signal.

In the driving process of the electric automobile in the intelligent driving mode, the intelligent driving controller of the electric automobile performs intelligent active driving or assists a user to drive. In the intelligent drive mode, the electric vehicle may be autonomous in a geographic area with little or no control input from the driver, i.e., the user may receive sensory data signals transmitted by sensing elements of the electric vehicle, such as sensors, e.g., radar, cameras, etc., with little or no operation of the accelerator pedal, brake pedal, and steering wheel by the intelligent drive controller. The intelligent driving controller fuses information sensed by various sensors, acquires the running state and lane information of the electric automobile according to sensing data signals, obtains a target steering angle or steering power-assisted torque and the like by analyzing signals such as distance, speed and acceleration, makes driving decision/planning based on the fused information, issues an operation command steering system, executes a steering command by the steering system, realizes the function of maintaining the current lane or changing lanes of the whole automobile, and completes intelligent driving.

When the motor controller is in a redundant intelligent driving mode, the motor controller receives a perception data signal indicated by a perception system of the electric automobile, acquires the running state and lane information of the electric automobile according to the perception data signal, obtains a target steering angle or steering power-assisted torque and the like by analyzing signals such as distance, speed and acceleration, makes driving decision/planning based on the fused information, and controls the steering system to adjust the running direction of the electric automobile. At the moment, the motor controller can complete the steering control function and work of the intelligent driving controller in the intelligent driving mode.

In some possible embodiments, the motor controller may access a communication line such as a chassis controller area network bus (controller area network, CAN) or a high-speed fault-tolerant network protocol (FlexRay) of the electric vehicle, and send steering instructions to the steering system via the bus.

In other possible embodiments, the motor controller may send the steering command to the vehicle controller first, and then the vehicle controller forwards the steering command to the steering system via the bus.

According to the scheme of the application, the motor controller of the electric automobile integrates a redundant intelligent driving function, can independently receive the sensing data signals and perform steering control according to the sensing data signals, so that the redundancy of intelligent driving control is improved, and the safety of the whole automobile is improved.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is configured to control the driving motor to adjust the torque output for a preset duration in response to a sensing data signal indicated by a sensing system of the electric vehicle, control the steering system to approach the electric vehicle to one side in the driving direction, and control the driving motor to reduce the output torque so as to stop the electric vehicle.

When the motor controller is in a redundant intelligent driving mode, the driving motor is controlled to adjust torque output according to the sensing data signal, and at the moment, a user does not take over the control of the electric automobile and does not operate the accelerator pedal, the brake pedal and the steering wheel. If the driver does not intervene in control for a long time, the opening of an accelerator pedal, the opening of a brake pedal or the rotation angle of a steering wheel operated by the user changes within a preset time period, the motor controller can generate a path for stopping by the side under the redundant intelligent driving function, and the torque output by the driving motor and the steering system are controlled according to the generated path to finish the process of stopping by the side. The motor controller controls the steering system to enable the electric automobile to approach to one side of the running direction and controls the driving motor to reduce the output torque so as to stop the electric automobile.

It should be understood that the calculation power of the motor controller may be lower than that of the intelligent driving controller, so after the intelligent driving controller fails, the motor controller may perform redundant intelligent driving control within a preset time period, the preset time period may be set according to the capability of the motor controller, if no person driving within the preset time period takes over, the motor controller may stop continuing the redundant intelligent driving, and generate a path for stopping by-edge and control the electric automobile to stop by using the redundant intelligent driving function.

According to the scheme of the application, after the intelligent driving controller fails and is down, the man-driven connecting pipe does not have the connecting pipe for a long time, and the motor controller controls the whole vehicle to stop by the side through the redundant intelligent driving function, so that the whole vehicle is prevented from being out of control, and the safety of the vehicle is improved.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is further configured to control a body signal lamp of the electric automobile to send out a warning signal when the intelligent driving controller fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the rotation angle of the steering wheel in a process of controlling the driving motor to output torque according to the intelligent driving torque signal.

In the driving process of the electric automobile in the intelligent driving mode, when the intelligent driving controller is down, degraded or exits from control due to various failures, the intelligent driving controller can stop working, so that the control in the intelligent driving mode cannot be continued, a driver is required to take over quickly, the driver takes over time of seconds usually, and the electric automobile can be in an uncontrollable state before the driver takes over, so that driving safety is affected. The motor controller enters a redundant intelligent driving mode, and the motor controller can control the body signal lamp to send out an alarm signal, so that the electric automobile is reminded of entering an abnormal state.

In some possible embodiments, the motor controller may access a communication line such as a body controller area network (lan) bus of the electric vehicle or a high-speed fault-tolerant network protocol FlexRay, and send an instruction to a body signal lamp through the bus.

In other possible embodiments, the motor controller may send the warning command to the vehicle controller first, and then the warning command is forwarded to the body signal lamp by the vehicle controller through the bus.

According to the scheme of the application, after the intelligent driving controller fails and is down, before a person takes over, the motor controller realizes that the redundant intelligent driving function controls the whole vehicle to continue running, and meanwhile, the vehicle body signal lamp sends out warning information to remind other vehicles, so that the driving risk is reduced, and the safety of the vehicle is improved.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is further configured to, in controlling the body signal of the electric automobile to send the warning signal, control the body signal of the electric automobile to stop sending the warning signal in response to a change in the intelligent driving torque signal or an opening of an accelerator pedal operated by a user, an opening of a brake pedal, or a rotation angle of a steering wheel.

When the electric automobile runs in the redundant intelligent driving mode, if the intelligent driving controller resumes operation or a person drives to take over, the electric automobile can be switched from the redundant intelligent driving mode to the intelligent driving mode or the person driving mode, the motor controller controls and eliminates the automobile body signal lamp, the electric automobile is recovered to be in a normal state or taken over by a driver, and warning is not needed.

According to the scheme of the application, after the intelligent driving controller fails and is down, before the intelligent driving controller takes over, the motor controller realizes that the redundant intelligent driving function controls the whole vehicle to continue running, meanwhile, warning information is sent out through the vehicle body signal lamp to remind other vehicles, and when the intelligent driving controller recovers or the intelligent driving controller takes over, the vehicle body signal lamp is eliminated, the driving risk is reduced, and the safety of the vehicle is improved.

With reference to the first aspect, in certain implementation manners of the first aspect, the motor controller is further configured to, in a process of controlling the output torque of the driving motor according to the sensing data signal, control the output torque of the driving motor to change to the torque indicated by the intelligent driving torque signal at a preset rate of change in response to the intelligent driving torque signal.

When the motor controller is switched from the redundant intelligent driving mode to the intelligent driving mode, the torque output of the driving motor is controlled to smoothly transition to the torque indicated by the intelligent driving torque signal. The preset rate of change may be calibrated according to the vehicle.

According to the scheme of the application, after the intelligent driving controller fails and is down, before a person takes over, the motor controller realizes that the redundant intelligent driving function controls the whole vehicle to continue to run, when the intelligent driving controller recovers and takes over, the motor controller controls the torque output by the driving motor to be smoothly switched to an intelligent driving control system instruction, thereby avoiding the frustration of switching between different modes and improving the comfort in the running process of the electric vehicle.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is configured to control, in a process of controlling the driving motor to output the torque according to the sensing data signal, when an opening of an accelerator pedal operated by a user, an opening of a brake pedal, or a rotation angle of a steering wheel changes, to control the torque output by the driving motor to change from the torque adjusted to be output according to the sensing data signal to the torque indicated by the driving torque signal according to a preset rate of change.

When the motor controller is switched from the redundant intelligent driving mode to the man driving mode, the torque output of the driving motor is controlled to smoothly transition to the torque indicated by the man driving torque signal. The preset rate of change may be calibrated according to the vehicle.

According to the scheme of the application, after the intelligent driving controller fails and is down, before the intelligent driving controller takes over, the motor controller realizes that the redundant intelligent driving function controls the whole vehicle to continue to run, when the intelligent driving controller takes over in time, the motor controller controls the torque output by the driving motor to be smoothly switched to the control of a driver, thereby avoiding the frustration of switching between different modes and improving the comfort of the electric vehicle in the running process.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is further configured to control the driving motor to output a torque value indicated by the man-driving torque signal in response to a change in an opening of an accelerator pedal, an opening of a brake pedal, or a rotation angle of a steering wheel operated by a user in a process of controlling the steering system to approach the electric vehicle to one side in a driving direction and controlling the driving motor to reduce the output torque so as to stop the electric vehicle.

When the motor controller is in the redundant intelligent driving mode, the driving motor is controlled to adjust torque output according to the sensing data signal, if the driver does not intervene in control for a long time, the opening of an accelerator pedal, the opening of a brake pedal or the rotation angle of a steering wheel operated by the user is changed within a preset time period, the motor controller can generate a path for stopping by the side under the redundant intelligent driving function, and the torque output by the driving motor and the steering system are controlled according to the generated path to finish the process of stopping by the side. In the process that the motor controller controls the electric automobile to stop by the side, when the driver intervenes in control, the driver is controlled by a driving instruction preferentially, and the path indication of stopping by the side is terminated.

According to the scheme of the application, in the process that the motor controller is stopped by the side through the redundant intelligent driving function, when a person is involved in driving, the driving instruction is preferentially executed to control the electric automobile, so that the safety of the automobile is improved.

With reference to the first aspect, in some implementations of the first aspect, the motor controller is configured to stop controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle when the opening of the accelerator pedal, the opening of the brake pedal, or the rotation angle of the steering wheel operated by the user changes during controlling the steering system of the electric vehicle to adjust the driving direction of the electric vehicle according to the sensing data signal.

When the motor controller is in a redundant intelligent driving mode, the motor controller receives a perception data signal indicated by a perception system of the electric automobile, acquires the running state and lane information of the electric automobile according to the perception data signal, obtains a target steering angle or steering power-assisted torque and the like by analyzing signals such as distance, speed and acceleration, makes driving decision/planning based on the fused information, and controls the steering system to adjust the running direction of the electric automobile. After the intervention control of the driving, the steering system responds to the instruction of the driving again to control the driving direction of the electric automobile.

It should be understood that when the electric vehicle is in the intelligent driving mode or the redundant intelligent driving mode, the steering wheel rotates along with the steering angle determined by the intelligent driving controller or the motor controller, so that the steering angle of the steering wheel is changed in the intelligent driving mode or the redundant intelligent driving mode, and the user is required to operate the steering wheel by the human driving instruction. The change of the steering wheel angle operated by the user refers to the change of the steering angle caused by the control of the steering wheel rotation by the driver, and is not the change of the steering angle when the steering wheel automatically rotates. The electric automobile can detect whether the steering wheel rotation angle change is caused by user operation according to the moment received by the sensor on the steering wheel, and the electric automobile can also be detected in other modes, and the application is not limited to the detection.

According to the scheme of the application, in the process that the motor controller controls the running direction of the electric automobile through the redundant intelligent driving function, when a person is involved in driving, the driving instruction is executed preferentially to control the electric automobile, so that the safety of the automobile is improved.

In a second aspect, the present application provides a control method for an electric vehicle having a redundant intelligent driving function, where the control method includes controlling a driving motor of the electric vehicle to output a torque value indicated by a driving torque signal in response to the driving torque signal at a first time, the torque value indicated by the driving torque signal varying with a variation in an opening degree of an accelerator pedal of the electric vehicle operated by a user. At a second moment after the first moment, responding to the switching of the human driving torque signal into the intelligent driving torque signal, controlling the driving motor to output a torque value indicated by the intelligent driving torque signal, and adjusting the torque value indicated by the intelligent driving torque signal by an intelligent driving controller of the electric automobile according to a sensing data signal indicated by a sensing system of the electric automobile. And at a third moment after the second moment, when the intelligent driving torque signal is stopped being received and the user does not operate the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel, controlling the driving motor to adjust the torque output according to the sensing data signal.

With reference to the second aspect, in some implementations of the second aspect, the control method further includes stopping controlling the driving motor to adjust the torque output according to the sensing data signal and controlling the driving motor of the electric vehicle to output a torque value indicated by the driving torque signal when the opening degree of the accelerator pedal, the opening degree of the brake pedal or the steering wheel is changed at a fourth time after the third time.

With reference to the second aspect, in some implementations of the second aspect, the control method further includes controlling the driving motor to adjust the duration of the torque output for a preset period of time after the third time in response to a sensing data signal indicated by a sensing system of the electric vehicle, controlling the steering system to approach the electric vehicle to one side in the driving direction, and controlling the driving motor to reduce the output torque so as to stop the electric vehicle.

With reference to the second aspect, in some implementations of the second aspect, the control method further includes controlling a body signal lamp of the electric automobile to send out an alarm signal at a third time to a fourth time. And at the fourth moment, controlling a body signal lamp of the electric automobile to stop sending out the warning signal.

In a third aspect, the present application provides an electric vehicle, which includes a whole vehicle controller, a intelligent driving controller and a motor controller as described in the first aspect and various implementations thereof, where the intelligent driving controller is configured to send an intelligent driving torque signal to the motor controller according to a sensing data signal indicated by a sensing system of the electric vehicle. The whole vehicle controller is used for sending intelligent driving failure signals to the motor controller when the intelligent driving controller fails, and the intelligent driving failure signals are used for indicating the intelligent driving controller to fail.

Other advantages of the first aspect may be referred to as the advantages described in the first aspect, and will not be described here again.

Drawings

FIG. 1 is a schematic diagram of intelligent driving control provided by an embodiment of the present application;

fig. 2 is a schematic diagram of an electric vehicle according to an embodiment of the present application;

fig. 3 is a schematic diagram of an architecture of an electric vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a motor controller provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a signal connection of a motor controller provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of a redundant intelligent driving function of a motor controller according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a redundant intelligent driving process of a motor controller according to an embodiment of the present application;

Fig. 8 is a schematic diagram of a redundant intelligent driving process according to an embodiment of the present application.

Detailed Description

The technical scheme of the application will be described below with reference to the accompanying drawings. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the application and are not intended to limit the scope of the application, i.e., the application is not limited to the embodiments described.

In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B, and "and/or" herein is merely an association relationship describing an association object, and means that there may be three relationships, for example, a and/or B, and that there may be three cases where a exists alone, while a and B exist together, and B exists alone.

In the embodiment of the application, prefix words such as "first" and "second" are adopted, and only for distinguishing different description objects, no limitation is imposed on the position, sequence, priority, quantity or content of the described objects. The use of ordinal words and the like in embodiments of the present application to distinguish between the prefix words used to describe an object does not limit the described object, and statements of the described object are to be read in the claims or in the context of the embodiments and should not constitute unnecessary limitations due to the use of such prefix words. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "a plurality" is two or more.

Reference in the specification to "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment" or the like in various places throughout this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

With the increasing maturity of intelligent driving, the safety problem is increasingly prominent while the driving convenience is improved. Typical intelligent driving scene control process is shown in fig. 1, and the intelligent driving controller needs to control the longitudinal direction and the transverse direction of the whole vehicle. In the longitudinal direction, the intelligent driving controller obtains signals of target longitudinal distance, speed, acceleration and the like analyzed by a whole vehicle sensing component (radar, camera and the like), obtains self target acceleration or target speed according to the state of the vehicle, obtains whole vehicle target torque through a vehicle longitudinal control module (vehicle longitudinal control, VLC), converts the target torque into motor torque and then sends the motor torque to the motor controller. In the transverse direction, the intelligent driving controller acquires lane information analyzed by the whole vehicle sensing component, obtains a target steering angle or steering power torque according to the state of the vehicle, and sends the target steering angle or steering power torque to the steering system, so that functions of maintaining a current lane of the whole vehicle, such as lane centering control (LANE CENTER control, LCC) or lane keeping assist (LANE KEEPING ASSIST, LKA), or performing lane changing, such as automatic LANE CHANGE, ALC and the like, are realized.

The application of intelligent drive controller redundancy in autopilot is one of the key technologies to ensure system safety.

In one possible implementation, all of the functions of current intelligent drive control are located in the intelligent drive controller, and the electric drive system only acts as an actuator for torque control.

It should be appreciated that when the intelligent driving controller fails to crash, degrade or exit for various reasons, a driver is required to take over quickly, and the driver takes over usually a second-level time, and the whole vehicle may be in an uncontrollable state in the time before the driver takes over, which affects driving safety.

Based on the problems, the application provides a intelligent driving redundant motor controller, a control method and an electric automobile, wherein related signals of an intelligent driving sensing system are connected into the motor controller by backing up the intelligent driving system in the motor controller, so that a redundant intelligent driving function is deployed in the electric driving system, normal operation of the automobile is continuously controlled in the process of intelligent driving control failure and man driving take over, a whole-vehicle-level intelligent driving redundant backup function is provided for the whole automobile, and the safety of the whole automobile is improved.

Fig. 2 and 3 are schematic diagrams of an architecture of an electric vehicle 10 according to an embodiment of the present application.

As shown in fig. 2, the electric vehicle 10 includes a smart driver controller 20, a vehicle controller 30, a motor controller 40, a power battery (not shown), and a plurality of wheels. The motor controller 40 is used to output current to the driving motor 50 to control the driving motor 50 to output torque to drive the electric vehicle 10. The intelligent driving controller 20 is configured to send an intelligent driving torque signal to the motor controller 40 according to a sensing data signal indicated by a sensing system of the electric vehicle. The vehicle controller 30 is configured to send a smart driving failure signal to the motor controller 40 when the smart driving controller 20 fails, the smart driving failure signal being configured to indicate that the smart driving controller 20 fails.

It should be understood that the electric vehicle 10 in the embodiment of the present application may be any one of different types of vehicles, such as a car, a van, and a passenger car, and may be a passenger or cargo carrying transportation device, such as a tricycle, a two-wheel vehicle, and a train, or other types of vehicles driven by a power battery, which is not limited in this embodiment of the present application. Among them, vehicles include, but are not limited to, pure electric vehicles (pure ELECTRIC VEHICLE/battery ELECTRIC VEHICLE, pure EV/battery EV), hybrid vehicles (hybrid ELECTRIC VEHICLE, HEV), range Extended ELECTRIC VEHICLE (REEV), plug-in hybrid ELECTRIC VEHICLE (PHEV), new energy vehicles (NEW ENERGY VEHICLE, NEV), and the like.

It is understood that the power battery in the embodiment of the present application may be a lithium ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery, or a sodium ion battery, which is not limited in this regard. In terms of scale, the power battery in the embodiment of the application can be a battery cell unit, a battery module or a battery pack, and the application is not limited to this. The power battery can also supply power for other electric devices in the vehicle, such as an in-vehicle air conditioner, an in-vehicle player and the like.

The electric vehicle 10 may be a four-drive motor drive architecture with a drive motor 50 disposed on the driven wheel side, controlled by a separate motor controller 40. The electric vehicle 10 may also be a centralized driving motor driving architecture, in which two driving motors for driving two front wheels or two rear wheels are disposed together. The motor controller 40 may be one or a plurality of motor controllers. The motor controller 40 may be in one-to-one correspondence with the driving motors 50, and one motor controller 40 may be in correspondence with a plurality of driving motors 50. The motor controller 40 is used to control one or more drive motors 50 to output torque to drive the electric vehicle 10.

In one embodiment, as shown in fig. 3 (a), the electric vehicle 10 may be a wheel-side four-drive motor drive architecture, with the drive motors disposed on the driven wheel sides, controlled by separate motor controllers. The electric vehicle 10 may also be a centralized four-motor drive architecture as shown in fig. 3 (b), in which two drive motors for driving two front wheels or two rear wheels are provided together.

Illustratively, the electric vehicle 10 includes four motor controllers including a motor controller 41, a motor controller 42, a motor controller 43, and a motor controller 44. The four motors include a drive motor 51, a drive motor 52, a drive motor 53, and a drive motor 54. The motor controller 41 controls the driving motor 51 for driving one wheel, the motor controller 42 controls the driving motor 52 for driving one wheel, the motor controller 43 controls the driving motor 53 for driving one wheel, and the motor controller 44 controls the driving motor 54 for driving one wheel.

In one embodiment, as shown in (c) of fig. 3, the electric vehicle 10 may further use one driving motor to drive two front wheels of the electric vehicle 10, and use two driving motors to respectively drive two rear wheels of the electric vehicle 10.

In one embodiment, the aforementioned various architectures may also be combined, for example, a front-drive employing a wheel-side drive motor architecture, and a rear-drive employing a centralized drive motor architecture.

The motor controller provided by the embodiment of the present application may be any one of a plurality of motor controllers, and the following embodiment is only performed by taking one motor controller 40 as an example, and the actions of other motor controllers may be similarly understood with reference to the description.

The electric vehicle 10 further includes an accelerator pedal, a brake pedal, and a steering wheel. The accelerator pedal is used to instruct output of torque to the wheels of the electric vehicle 10, and the brake pedal is used to instruct output of braking force to a plurality of wheels of the electric vehicle 10.

In one embodiment, the motor controller 40 includes a signal interface, and the motor controller 40 is connected to the vehicle controller 30 and other motor controllers 40 through the signal interface. The whole vehicle controller 30 is in signal connection with the accelerator pedal, the whole vehicle controller 30 calculates the whole vehicle torque demand according to the opening degree of the accelerator pedal in the running process of the electric vehicle 10, and sends a torque signal to the motor controllers 40 according to the whole vehicle torque demand, and each motor controller 40 controls the corresponding driving motor 50 to output torque according to the indication of the torque signal so as to drive the corresponding wheel.

In one embodiment, each motor controller 40 may also be directly coupled to the accelerator pedal and control the corresponding motor output torque based on the torque signal output by the accelerator pedal.

The electric vehicle 10 further includes a steering system for controlling the traveling direction of the electric vehicle by controlling the orientation of the wheels.

In one embodiment, the motor controller 40 may be coupled to the sensing system, the body control system, and the chassis control system via a controller area network bus (controller area network, CAN), a high-speed fault-tolerant network protocol (FlexRay), or other type of connection. And obtains the sensing data signal sent by the sensing system through the bus. And sends steering instructions to the steering system through the bus.

The function of the motor controller 40 with redundant intelligent driving provided by the present application is described below with reference to fig. 4.

The motor controller 40 may operate in a variety of operating modes, including a person driving mode, a rider driving mode, and a redundant rider driving mode, respectively.

The motor controller 40 is configured to control the driving motor 50 to output a torque value indicated by the man-driving torque signal in response to the man-driving torque signal, the torque value indicated by the man-driving torque signal varying with a variation in opening degree of the accelerator pedal operated by the user.

When the motor controller 40 is in the man-driving mode, the electric automobile is operated by a user, namely a driver, and when the user presses the accelerator pedal, the whole automobile controller 30 collects the opening of the accelerator pedal and generates a man-driving torque signal according to the opening of the accelerator pedal and sends the man-driving torque signal to the motor controller 40, so that the motor controller 40 controls the driving motor 50 to output the torque indicated by the opening of the accelerator pedal according to the opening of the accelerator pedal, and the motor controller 40 controls the change of the opening of the torque accelerator pedal output by the driving motor 50 to change. The larger the opening of the accelerator pedal, the larger the torque output by the drive motor 50, and the smaller the opening of the accelerator pedal, the smaller the torque output by the drive motor 50.

The motor controller 40 is configured to control the driving motor 50 to output a torque value indicated by the intelligent driving torque signal in response to the intelligent driving torque signal, where the torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller 20 of the electric vehicle 10 according to a sensing data signal indicated by a sensing system of the electric vehicle 10.

When the motor controller 40 is in the intelligent driving mode, the intelligent driving controller 20 of the electric vehicle 10 performs intelligent driving or assists the user to perform driving, in the intelligent driving mode, the electric vehicle 10 can autonomously drive over a geographic area with little or no control input from a driver, that is, the user can receive sensing data signals sent by sensing components of the electric vehicle 10, such as a radar, a camera, and the like, under the condition that the user can operate little or no accelerator pedal, brake pedal, and steering wheel. The intelligent driving controller 20 fuses information sensed by various sensors and obtains the running state and lane information of the electric automobile 10 according to sensed data signals, the target acceleration and the target speed are obtained by analyzing signals such as distance, speed and acceleration, driving decision/planning is made based on the fused information, an operation command is issued to the whole vehicle controller 30, a intelligent driving torque signal is sent to the motor controller 40 by the whole vehicle controller 30, and accordingly the motor controller 40 outputs a torque value indicated by the intelligent driving torque signal, and intelligent driving is achieved.

Meanwhile, the intelligent driving controller 20 also controls the steering system of the electric vehicle. The intelligent driving controller fuses the information sensed by various sensing systems, acquires the running state and lane information of the electric automobile according to the sensing data signals, obtains a target steering angle or steering power-assisted torque and the like by analyzing signals such as distance, speed and acceleration, makes driving decision/planning based on the fused information, issues an operation command steering system, executes a steering instruction by the steering system, realizes the function of maintaining the current lane or changing lanes of the whole automobile, and realizes intelligent driving.

The motor controller 40 is further configured to receive a sensing data signal indicated by a sensing system of the electric vehicle 10 and control the driving motor 50 to adjust the torque output according to the sensing data signal.

When the motor controller 40 is in the redundant intelligent driving mode, the motor controller 40 receives a sensing data signal indicated by a sensing system of the electric automobile 10, the motor controller 40 obtains the running state and lane information of the electric automobile 10 according to the sensing data signal, and the target acceleration, the target speed and the like are obtained by analyzing signals such as distance, speed and acceleration, driving decision/planning is made based on the fused information, and the driving motor 50 is directly controlled to adjust the output torque. The motor controller 40 is now able to perform the function and operation of the intelligent drive controller 20 to control the torque of the drive motor in the intelligent drive mode.

In one embodiment, the motor controller 40 is specifically configured to stop controlling the driving motor 50 to output torque according to the intelligent driving torque signal and control the driving motor 50 to adjust the output torque according to the sensing data signal when the intelligent driving controller 20 fails and the user does not operate the opening degree of the accelerator pedal, the opening degree of the brake pedal or the steering wheel rotation angle.

When the intelligent driving controller 20 is down, downgraded or exits from control due to various failures, the intelligent driving controller 20 stops working, so that control in the intelligent driving mode cannot be continued, a driver is required to take over quickly, and the driver takes over usually a second-level time, and before the driver takes over, the electric automobile 10 may be in an uncontrollable state, so that driving safety is affected. The reason for failure of the intelligent driving controller 20 may be that hardware fails, or that software runs abnormally or crashes, so that the intelligent driving controller 20 cannot continue to perform intelligent driving control to exit the intelligent driving system, and the reason for failure of the intelligent driving controller 20 is not particularly limited.

Since the motor controller 40 has the redundant intelligent driving function, when the intelligent driving controller 20 fails and the person is not taking over temporarily, i.e. the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering angle of the steering wheel, the motor controller 40 cannot receive the intelligent driving torque signal at this time, the motor controller 40 can switch to the redundant intelligent driving mode, and the motor controller 40 directly controls the driving motor 50 to adjust the output torque according to the sensing data signal. Before the person takes over driving, the motor controller 40 takes over the intelligent driving controller 20 to continue intelligent driving control, so that the driving safety of the electric automobile 10 is ensured.

In one embodiment, the motor controller 40 is further configured to control the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 according to the sensing data signal when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering angle of the steering wheel during the process of controlling the driving motor 50 to output torque according to the intelligent driving torque signal.

When the motor controller 40 is in the redundant intelligent driving mode, the motor controller 40 receives a sensing data signal indicated by a sensing system of the electric automobile 10, the motor controller 40 obtains the running state and lane information of the electric automobile according to the sensing data signal, and the target steering angle or the steering power-assisted torque is obtained by analyzing signals such as distance, speed and acceleration, and the like, and a driving decision/plan is made based on the fused information, and the steering system is controlled to adjust the running direction of the electric automobile 10. At the moment, the motor controller can complete the steering control function and work of the intelligent driving controller in the intelligent driving mode.

In the intelligent driving mode, the motor controller 40 receives signals such as relative distance, relative vehicle speed, relative acceleration, lane information and the like sent by the sensing system in real time. The motor controller 40 integrates the redundant intelligent driving function, provides a complete vehicle-level redundant backup for the intelligent driving controller 20, and calculates motor torque instructions and steering instructions in real time in the background when the electric vehicle 10 is in the intelligent driving mode. When the intelligent driving controller 20 fails and is down, the redundant intelligent driving function module controls the vehicle to continue running according to the information of the sensing system before the person takes over, the longitudinal torque command is controlled by the longitudinal torque arbitration module to be switched to the output command of the redundant intelligent driving function, and the steering command is controlled by the steering arbitration module to be switched to the output command of the redundant intelligent driving function module.

In one embodiment, the motor controller 40 is further configured to control the body signal of the electric vehicle 10 to send out a warning signal when the intelligent driving controller 20 fails and the user does not operate the opening of the accelerator pedal, the opening of the brake pedal or the steering angle of the steering wheel during the process of controlling the output torque of the driving motor according to the intelligent driving torque signal.

In one embodiment, the motor controller 40 is configured to stop controlling the driving motor 50 to adjust the torque output according to the sensing data signal and control the driving motor 50 to output the torque value indicated by the human driving torque signal when the opening degree of the accelerator pedal, the opening degree of the brake pedal or the steering wheel angle operated by the user changes during controlling the driving motor 50 to output the torque according to the sensing data signal.

When the motor controller 40 is in the redundant intelligent driving mode, the driving motor is controlled to adjust the torque output according to the sensing data signal, and the user does not take over the control of the electric automobile at this time and does not operate the accelerator pedal, the brake pedal and the steering wheel. If the driver intervenes in the control, the accelerator pedal, the brake pedal or the steering wheel is manipulated, so that the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel operated by the user is changed, the driver can be considered to take over the driving, the electric automobile 10 is switched from the redundant intelligent driving mode to the driving mode, the motor controller 40 does not control the driving motor to adjust the torque according to the sensing data signal, but directly responds to the driving torque signal according to the control of the driver, and the torque indicated by the opening of the accelerator pedal is output.

In one embodiment, the motor controller 40 is configured to stop controlling the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 when the opening of the accelerator pedal, the opening of the brake pedal or the rotation angle of the steering wheel operated by the user changes during controlling the steering system of the electric vehicle 10 to adjust the driving direction of the electric vehicle 10 according to the sensing data signal.

When the motor controller 40 is in the redundant intelligent driving mode, the motor controller 40 receives a sensing data signal indicated by a sensing system of the electric automobile, the motor controller 40 acquires the running state and lane information of the electric automobile according to the sensing data signal, a target steering angle or steering power-assisted torque is obtained by analyzing signals such as distance, speed and acceleration, a driving decision/planning is made based on the fused information, and the steering system is controlled to adjust the running direction of the electric automobile. After the intervention control of the driver, the steering system responds to the instruction of the driver again to control the running direction of the electric automobile 10.

When the person takes over, the torque arbitration module controls the motor torque command to smoothly transition to the person driving mode, and meanwhile, the steering arbitration module controls the steering command to smoothly transition to the person driving mode.

In one embodiment, the motor controller 40 is further configured to control the body signal lamp of the electric automobile 10 to stop sending the warning signal in response to a change in the intelligent driving torque signal or the opening of the accelerator pedal operated by the user, the opening of the brake pedal, or the rotation angle of the steering wheel during the process of controlling the body signal lamp of the electric automobile 10 to send the warning signal.

When the electric vehicle 10 is in the driving process in the redundant intelligent driving mode, if the intelligent driving controller resumes operation or the driver takes over, the electric vehicle can be switched from the redundant intelligent driving mode to the intelligent driving mode or the driver driving mode, the motor controller 40 controls to eliminate the body signal lamp, and the electric vehicle 10 is recovered to be in a normal state or taken over by the driver without warning.

In one embodiment, the motor controller 40 is configured to control the driving motor 50 to adjust the torque output for a preset period of time in response to a sensing data signal according to a sensing system instruction of the electric vehicle 10, control the steering system to approach the electric vehicle 10 to one side in the driving direction, and control the driving motor 50 to reduce the output torque to stop the electric vehicle.

When the motor controller 40 is in the redundant intelligent driving mode, the driving motor is controlled to adjust the torque output according to the sensing data signal, and the user does not take over the control of the electric automobile at this time and does not operate the accelerator pedal, the brake pedal and the steering wheel. If the driver does not intervene in control for a long time, the opening of the accelerator pedal, the opening of the brake pedal or the rotation angle of the steering wheel operated by the user changes within a preset time period, the motor controller 40 can generate a path for stopping by the side under the redundant intelligent driving function, and the torque output by the driving motor and the steering system are controlled according to the generated path to finish the process of stopping by the side. The motor controller 40 controls the steering system to approach the electric vehicle to one side in the traveling direction and controls the driving motor 50 to reduce the output torque to stop the electric vehicle.

It should be appreciated that the power of the motor controller 40 may be lower than that of the intelligent driving controller, so after the intelligent driving controller 20 fails, the motor controller 40 may perform redundant intelligent driving control for a preset period of time, the preset period of time may be set according to the capability of the motor controller, if no person drives for the preset period of time, the motor controller may stop continuing the redundant intelligent driving, and generate a path for stopping the electric vehicle by using the redundant intelligent driving function and control the electric vehicle to stop.

In one embodiment, the motor controller 40 is further configured to control the driving motor 50 to output a torque value indicated by a man-driving torque signal in response to a change in an opening degree of an accelerator pedal, an opening degree of a brake pedal, or a rotation angle of a steering wheel operated by a user during controlling the steering system to approach the electric vehicle 10 to one side in the driving direction and controlling the driving motor 50 to reduce the output torque to stop the electric vehicle 10.

When the motor controller 40 is in the redundant intelligent driving mode, the driving motor 50 is controlled to adjust the torque output according to the sensing data signal, if the driver does not intervene in the control for a long time, the opening of the accelerator pedal, the opening of the brake pedal or the rotation angle of the steering wheel operated by the user is changed within the preset time, the motor controller 40 can generate a path for stopping by the side under the redundant intelligent driving function, and the torque output by the driving motor and the steering system are controlled according to the generated path to finish the process of stopping by the side. In the process of controlling the electric vehicle 10 to stop by the side by the motor controller 40, when the driver intervenes in the control, the control is preferentially performed by the driving instruction, and the path instruction of stopping by the side is terminated.

As shown in fig. 5, the motor controller 40 is connected to the power CAN, the chassis CAN and the vehicle body CAN at the same time, wherein the MCU is connected to the chassis CAN to directly send a steering instruction to the steering system after the intelligent driving system fails and is down, and the MCU is connected to the vehicle body CAN to control the vehicle body related signals to send warning signals to surrounding vehicles after the intelligent driving system fails. Therefore, the redundant intelligent driving function can send a steering instruction to the steering system under the abnormal working condition, and the minimum system can warn surrounding vehicles through the vehicle body warning lamp under the abnormal working condition.

The motor controller 40 may obtain signals of relative distance, relative speed, etc. resolved by the sensing system (radar, camera) from a bus (CAN or FlexRay, etc.). And obtain the intelligent drive failure signal from the bus. The motor controller 40 may also send the current redundant intelligent drive function activation status, motor target torque, motor actual torque, etc. to a bus (CAN or FlexRay, etc.). And sending a steering instruction output by the redundant intelligent driving function to the bus. And sending a body signal lamp warning signal to the bus.

The motor controller 40 may send the signal lamp command or the steering command to the vehicle controller, and then the signal lamp command or the steering command is forwarded to the signal lamp and the steering system through the bus by the vehicle controller.

In one embodiment, the motor controller 40 is further configured to control the torque output by the driving motor 50 to change to the torque indicated by the intelligent driving torque signal at a preset rate of change in response to the intelligent driving torque signal in controlling the driving motor 50 to output the torque according to the sensed data signal.

In one embodiment, the motor controller 40 is configured to control the torque output by the driving motor 50 according to the sensing data signal to change from the torque adjusted to be output according to the sensing data signal to the torque indicated by the driving torque signal according to the preset rate of change when the opening of the accelerator pedal, the opening of the brake pedal or the steering wheel operated by the user changes.

When the motor controller is switched from the redundant intelligent driving mode to the intelligent driving mode or the human driving mode, the torque output of the driving motor is controlled to be smoothly transited to the torque indicated by the intelligent driving torque signal. The preset rate of change may be calibrated according to the vehicle.

In the switching process of the redundant intelligent driving function and the intelligent driving system output control signals or the intelligent driving system output control signals and the human driving control signals, smooth transition is carried out, the frustration feeling of switching between different modes is avoided, and the comfortableness of the electric automobile in the driving process is improved.

If the intelligent driving controller 20 resumes operation in a short time, the longitudinal torque arbitration module controls the smooth transition of the motor torque command to the intelligent driving system command of the whole vehicle, and the steering arbitration module controls the smooth transition of the steering command to the intelligent driving system command of the whole vehicle, and simultaneously eliminates the warning lights of the vehicle body.

If the condition of the person taking over exists in a short time, after the person takes over, the torque arbitration module controls the motor torque command to smoothly transition to the person driving mode, the steering arbitration module controls the steering command to smoothly transition to the person driving mode, and meanwhile, the car body warning lamp is eliminated.

If intelligent driving is not recovered and human driving is not intervening in a long time, the redundant intelligent driving function controls the whole vehicle to finish the side parking through a longitudinal system and a transverse system.

Illustratively, the redundant intelligent drive function of the motor controller 40 operates as shown in fig. 6 and 7.

First, after the electric vehicle 10 enters the intelligent driving mode, the redundant intelligent function module of the motor controller 40 receives the sensing data signal of the sensing system, where the sensing data signal may include the relative distance, the relative speed, the acceleration, the lane information, etc. of the electric vehicle 10. The motor controller 40 calculates the longitudinal torque and the transverse torque required for the whole vehicle in real time according to the sensing data signals.

The vehicle controller 30 judges whether the intelligent driving controller 20 fails and is down, if the intelligent driving controller 20 fails and is down, the longitudinal torque command is controlled by the longitudinal torque arbitration module to be switched to the output command of the redundant intelligent driving function, the transverse steering command is controlled by the steering arbitration module to be switched to the output command of the redundant intelligent driving function module, and meanwhile, the motor controller 40 controls the vehicle body warning lamp to send warning signals to surrounding vehicles.

When the intelligent driving controller 20 fails and is down, if the intelligent driving controller 20 resumes operation in a short time, the longitudinal torque arbitration module controls the motor torque command to smoothly transit to the intelligent driving controller 20 command, and the steering arbitration module controls the steering command to smoothly transit to the intelligent driving controller 20 command. Meanwhile, the car body warning lamp is eliminated.

If the intelligent driving controller cannot recover, judging whether the person drives to take over in the preset time period. If a person takes over in time within a preset time period, the whole vehicle control instruction is output by a redundant intelligent driving function module within the time period from failure downtime of the intelligent driving controller to taking over of the person, and after taking over of the person, the torque arbitration module controls the torque instruction of the driving motor to smoothly transition to the person driving mode, and the steering arbitration module controls the steering instruction to smoothly transition to the person driving mode, and meanwhile, the vehicle body warning lamp is eliminated.

If the person drives the car without taking over in the preset time, the redundant intelligent driving function of the motor controller 40 generates a path for stopping the car by the side, and the whole car is controlled to finish the process of stopping the car by the side.

According to the scheme of the application, a whole vehicle intelligent driving redundancy backup function is provided for the whole vehicle, and the safety of the whole vehicle is improved.

The application provides a control method of an electric automobile with a redundant intelligent driving function.

The method may be applied to the electric vehicle 10 described above.

The control method includes controlling a driving motor 50 of the electric vehicle to output a torque value indicated by a human driving torque signal in response to the human driving torque signal at a first moment, the torque value indicated by the human driving torque signal varying with a variation in an opening degree of an accelerator pedal of the electric vehicle operated by a user.

At a second time after the first time, in response to the switching of the human driving torque signal to the intelligent driving torque signal, the driving motor 50 is controlled to output a torque value indicated by the intelligent driving torque signal, and the torque value indicated by the intelligent driving torque signal is adjusted by the intelligent driving controller 20 of the electric automobile according to a sensing data signal indicated by a sensing system of the electric automobile.

At a third time after the second time, when the reception of the intelligent driving torque signal is stopped and the user does not operate the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel, the driving motor 50 is controlled to adjust the torque output according to the sensing data signal.

In one embodiment, the control method further includes stopping controlling the driving motor 50 to adjust the torque output according to the sensing data signal and controlling the driving motor 50 of the electric vehicle 10 to output the torque value indicated by the man-driving torque signal when the opening degree of the accelerator pedal, the opening degree of the brake pedal or the steering angle of the steering wheel is changed at a fourth time after the third time.

In one embodiment, the control method further includes controlling the body signal lamp of the electric automobile 10 to emit an alarm signal at the third time to the fourth time. At the fourth time, the body signal lamp of the electric automobile 10 is controlled to stop sending out the warning signal.

As shown in fig. 8 (a), the motor controller 40 is responsive to the human driving torque signal at the first time t1 to the second time t2, and the steering system is controlled by the user operating the steering wheel. At a second time t2, the electric vehicle 10 switches to the intelligent drive mode, and the motor controller 40 and the steering system are controlled by the intelligent drive command of the intelligent drive controller 20. At a third time t3, the intelligent drive controller 20 fails and the motor controller 40 enters a redundant intelligent drive mode to control the drive motor 50 output torque and the steering angle of the steering wheel. At a fourth time t4, the user intervenes in the control, and the motor controller 40 again responds to the human drive command for control. The motor controller 40 controls the body signal lamp to emit a warning signal during the period from the third time t3 to the fourth time t4, and the body signal lamp is turned off at the fourth time t 4.

In one embodiment, the control method further includes controlling the driving motor 50 to adjust the torque output for a preset duration in response to a sensing data signal indicated by a sensing system of the electric vehicle 10 after the third time, controlling the steering system to approach the electric vehicle 10 to one side in the driving direction and controlling the driving motor 50 to reduce the output torque to stop the electric vehicle 10.

As shown in fig. 8 (b), the motor controller 40 is responsive to the human driving torque signal at the first time t1 to the second time t2, and the steering system is controlled by the user operating the steering wheel. At a second time t2, the electric vehicle 10 switches to the intelligent drive mode, and the motor controller 40 and the steering system are controlled by the intelligent drive command of the intelligent drive controller 20. At a third time t3, the intelligent drive controller 20 fails and the motor controller 40 enters a redundant intelligent drive mode to control the drive motor 50 output torque and the steering angle of the steering wheel. After a preset period of time, the driver is still not involved, and the motor controller 40 generates an approach parking path according to the sensing data signal and controls the electric automobile 10 to complete the approach parking process.

According to the scheme of the application, after the intelligent driving controller fails and is down, before a person drives the pipe, the motor controller realizes the redundant intelligent driving function to control the whole vehicle to continue running, so that the whole vehicle is prevented from being out of control, and the safety of the vehicle is improved.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The intelligent driving redundant motor controller is characterized by being used for controlling the output torque of a driving motor of an electric automobile to drive wheels of the electric automobile, and being used for:

responding to a man-driving torque signal, and controlling the driving motor to output a torque value indicated by the man-driving torque signal, wherein the torque value indicated by the man-driving torque signal changes along with the change of the opening degree of an accelerator pedal operated by a user;

responding to a intelligent driving torque signal, controlling the driving motor to output a torque value indicated by the intelligent driving torque signal, wherein the torque value indicated by the intelligent driving torque signal is adjusted by an intelligent driving controller of the electric automobile according to a sensing data signal indicated by a sensing system of the electric automobile;

The motor controller is further configured to:

and receiving a sensing data signal indicated by a sensing system of the electric automobile and controlling the driving motor to adjust torque output according to the sensing data signal.

2. The motor controller of claim 1, wherein the motor controller is specifically configured to:

And in the process of controlling the output torque of the driving motor according to the intelligent driving torque signal, when the intelligent driving controller fails and the user does not operate the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel, stopping controlling the output torque of the driving motor according to the intelligent driving torque signal and controlling the driving motor to adjust the output torque according to the sensing data signal.

3. The motor controller of claim 1, wherein the motor controller is configured to:

And in the process of controlling the driving motor to output torque according to the sensing data signal, when the opening of an accelerator pedal, the opening of a brake pedal or the rotation angle of a steering wheel operated by a user changes, stopping controlling the driving motor to adjust torque output according to the sensing data signal and controlling the driving motor to output a torque value indicated by a man-driving torque signal.

4. The motor controller of claim 1, wherein the motor controller is further configured to:

And controlling a steering system of the electric automobile to adjust the running direction of the electric automobile according to the sensing data signal.

5. The motor controller of claim 4, wherein the motor controller is configured to:

And responding to a sensing data signal indicated by a sensing system of the electric automobile, controlling the driving motor to adjust the continuous preset time length of torque output, controlling the steering system to enable one side of the electric automobile in the running direction to be close, and controlling the driving motor to reduce the output torque so as to enable the electric automobile to stop.

6. The motor controller of claim 1, wherein the motor controller is further configured to:

In the process of controlling the output torque of the driving motor according to the intelligent driving torque signal, when the intelligent driving controller fails and the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel is not operated by the user, a body signal lamp of the electric automobile is controlled to send out a warning signal.

7. The motor controller according to claim 6, the motor controller is characterized in that the motor controller is also used for:

in the process of controlling a body signal lamp of the electric automobile to send out a warning signal, responding to the intelligent driving torque signal or the opening degree of an accelerator pedal operated by a user, the opening degree of a brake pedal or the turning angle of a steering wheel to change, and controlling the body signal lamp of the electric automobile to stop sending out the warning signal.

8. The motor controller of claim 1, wherein the motor controller is further configured to:

And in the process of controlling the output torque of the driving motor according to the sensing data signal, responding to the intelligent driving torque signal, and controlling the torque output by the driving motor to change to the torque indicated by the intelligent driving torque signal according to a preset change rate.

9. A motor controller in accordance with claim 3, wherein said stopping controlling said drive motor to adjust torque output and controlling said drive motor to output a torque value indicated by a human torque signal in accordance with said sensed data signal comprises:

And controlling the torque output by the driving motor to change from the torque output according to the sensing data signal to the torque indicated by the driving torque signal according to the preset change rate.

10. The motor controller according to claim 5, the motor controller is characterized in that the motor controller is also used for:

And in the process of controlling the steering system to enable the electric automobile to approach to one side of the running direction and controlling the driving motor to reduce the output torque so as to stop the electric automobile, controlling the driving motor to output a torque value indicated by the man-driving torque signal in response to the change of the opening of an accelerator pedal, the opening of a brake pedal or the rotation angle of a steering wheel operated by a user.

11. The motor controller of claim 4, wherein the motor controller is configured to:

and in the process of controlling the steering system of the electric automobile to adjust the running direction of the electric automobile according to the sensing data signal, stopping controlling the steering system of the electric automobile to adjust the running direction of the electric automobile when the opening degree of an accelerator pedal, the opening degree of a brake pedal or the rotation angle of a steering wheel operated by a user changes.

12. The control method of the electric automobile with the redundant intelligent driving function is characterized by comprising the following steps of:

At a first moment, responding to a man-driving torque signal, and controlling a driving motor of the electric automobile to output a torque value indicated by the man-driving torque signal, wherein the torque value indicated by the man-driving torque signal changes along with the change of the opening degree of an accelerator pedal of the electric automobile operated by a user;

at a second moment after the first moment, responding to the switching of the human driving torque signal into a intelligent driving torque signal, controlling the driving motor to output a torque value indicated by the intelligent driving torque signal, and adjusting the torque value indicated by the intelligent driving torque signal by an intelligent driving controller of the electric automobile according to a sensing data signal indicated by a sensing system of the electric automobile;

and at a third moment after the second moment, when the intelligent driving torque signal is stopped to be received and the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel is not operated by a user, controlling the driving motor to adjust the torque output according to the sensing data signal.

13. The control method according to claim 12, characterized in that the control method further comprises:

and at a fourth moment after the third moment, when the opening degree of the accelerator pedal, the opening degree of the brake pedal or the rotation angle of the steering wheel is changed, stopping controlling the driving motor to adjust the torque output according to the sensing data signal and controlling the driving motor of the electric automobile to output the torque value indicated by the man-driving torque signal.

14. The control method according to claim 12, characterized in that the control method further comprises:

After the third moment, responding to a sensing data signal indicated by a sensing system of the electric automobile to control the driving motor to adjust the continuous preset time length of torque output, controlling a steering system to enable one side of the electric automobile in the running direction to be close, and controlling the driving motor to reduce the output torque so as to enable the electric automobile to stop.

15. The control method according to claim 13, characterized in that the control method further comprises:

controlling a body signal lamp of the electric automobile to send out a warning signal at the third time to the fourth time;

And at the fourth moment, controlling a body signal lamp of the electric automobile to stop sending out the warning signal.

16. The electric automobile is characterized by comprising a whole automobile controller, an intelligent driving controller and the motor controller according to any one of claims 1-11, wherein the intelligent driving controller is used for sending intelligent driving torque signals to the motor controller according to sensing data signals indicated by a sensing system of the electric automobile, and the whole automobile controller is used for:

and when the intelligent driving controller fails, sending an intelligent driving failure signal to the motor controller, wherein the intelligent driving failure signal is used for indicating that the intelligent driving controller fails.