CN105128698B - A kind of electric automobile continuation of the journey control system - Google Patents
A kind of electric automobile continuation of the journey control system Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
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- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The present invention discloses a kind of electric automobile continuation of the journey control system and comprises controller, motor and signal analyzer, and described motor, controller, signal analyzer connect by CAN bus; Control decision module is connected with pid control module, and pid control module and control decision module are connected to CAN bus link block; Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road network matching module, obliquity sensor, gradient computing module, CAN bus link block and wireless communication module; Data acquisition module, resistance degree computing module, road network matching module are connected with CAN bus link block respectively, and filtering computing module is connected in data acquisition module and resistance degree computing module. The present invention can effectively extend the course continuation mileage of electric automobile.
Description
Technical field
The present invention relates to electric automobile field, particularly relate to a kind of electric automobile continuation of the journey control system.
Background technology
Electric automobile is more and more universal now, but battery continuation of the journey problem is the maximum meeting with in electric automobile popularizationHindering, is also that domestic electric vehicle engineering difficulty has large breakthrough. Electric automobile has a set of work to motorThe controller of controlling as state, this controller is that electricity is controlled in the operation of trampling footfeed according to driverThe speed that motivation is rotated. And battery is the power source that motor rotates, but the voltage attenuation of battery is to beNonlinear, in the time that battery is full of electricity, voltage slowly reduces, after the electric quantity consumption part of battery,Voltage attenuation is more and more faster. Course continuation mileage is to weigh the important symbol of electric vehicle performance, and the filling of electric automobilePower station is universal, and the course continuation mileage that therefore how to extend electric automobile just becomes everybody needs the problem of solution badly.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of electric automobile continuation of the journey control system, for extendingThe course continuation mileage of electric automobile.
The present invention is achieved in that
A kind of electric automobile continuation of the journey control system, comprises controller, motor and signal analyzer, described electricityMotivation, controller, signal analyzer connect by CAN bus;
Described controller comprises pid control module, control decision module and CAN bus link block, controlsDecision-making module is connected with pid control module, and pid control module and control decision module are connected to CANBus link block;
Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road networkJoin module, obliquity sensor, gradient computing module, CAN bus link block and wireless communication module;
Data acquisition module, resistance degree computing module, road network matching module respectively with CAN bus link blockConnect, filtering computing module is connected in data acquisition module and resistance degree computing module, described road network coupling mouldPiece comprises local road net data storehouse, locating module and MEMS sensor, described obliquity sensor, positioning modulePiece, data acquisition module and MEMS sensor are connected to gradient computing module;
Data acquisition module is for gathering real-time vehicle signal from CAN bus;
Filtering computing module comprises pie slice filter, acceleration wave filter and moment of torsion wave filter, and mould is calculated in filteringPiece is for carrying out filtering to the signals of vehicles of data collecting module collected;
Resistance when resistance degree computing module is used for calculating Vehicle Driving Cycle according to the output data of filtering computing modulePower;
Road network matching module is used for using Kalman Filter Technology, and in conjunction with locating module, this road net dataThe data of storehouse and MEMS sensor are carried out real-time line matching and are followed the tracks of;
Gradient computing module is for passing according to obliquity sensor, locating module, vehicle power data and MEMSThe detection data of sensor calculate the gradient of Vehicle Driving Cycle road, and will calculate by wireless communication moduleGradient is sent to server.
Further, resistance when described resistance degree computing module calculates Vehicle Driving Cycle is total by CANLine sends to control decision module, and whether control decision module opens or close energy-conservation according to described resistance decision-makingControl.
Further, the signals of vehicles that described filtering computing module collects data acquisition module carry out filtering,Difference, filtering operation again; In filter step, filtering computing module uses Digital Signal Processing to instituteState signals of vehicles and carry out power Spectral Estimation, obtain the cut-off frequency of signals of vehicles, and by setting filtering typeCarry out filtering with filtering exponent number, obtain smooth curve signal.
Further, described road network matching module is according to numerical map and framing signal location technology, and combinationThe bearing data that MEMS sensor detects, improves road matching precision.
Further, the signals of vehicles of described data collecting module collected comprises the speed of a motor vehicle, rotating speed, moment of torsion.
Further, the motor speed controlling value r (t) that described pid control module calculating is expected and motorThe difference e (t) of actual output speed c (t), passes through the ratio of described difference e (t) (P), integration (I) and differential (D)The controlled amount of linear combination, and control motor according to the controlled quentity controlled variable obtaining, the actual of motor turnedSpeed c (t) is close to motor speed controlling value r (t). In the time of Tuning PID Controller parameter, can be according to controlQualitative relationships between the parameter of device and dynamic performance and steady-state behaviour. In order to reduce the ginseng that need to adjustNumber, first can adopt PI controller. In order to ensure the safety of system, in the time that debugging starts, should arrange relatively and protectThe parameter of keeping, for example proportionality coefficient is not too big, and the time of integration is too not little, to avoid occurring system shakinessDetermine or the excessive abnormal conditions of overshoot. Provide a Step reference signal, according to the output waveform of controlled volumeCan obtain the information of systematic function, for example overshoot and adjusting time. Should be according to pid parameter and systematicnessCan relation, repeatedly regulate the parameter of PID. If the overshoot of step response is too large, through multiple oscillationCould stablize or unstable, should reduce proportionality coefficient, increase the time of integration. If step response does not haveHave overshoot, too slow but controlled volume rises, settling time is oversize, should adjust by contrary directionWhole parameter. If it is slower to eliminate the speed of error, can suitably reduce the time of integration, strengthen integral action.Repeatedly regulate proportionality coefficient and the time of integration, if overshoot is still larger, can add differential control, micro-Divide the time to increase gradually from 0, the parameter of the ratio of adjustment control, integration and differentiation part repeatedly.
Further, whether described control decision module opens or closes according to the speed of vehicle, the decision-making of resistance degreeClose Energy Saving Control;
The condition that Energy Saving Control starts is:
(1) 40km/h < car speed < 120km/h, and
(2) resistance degree absolute value < setting threshold;
Energy Saving Control stop condition:
(1) resistance degree absolute value > setting threshold;
(2) while brake driver signal being detected; Or
(3) when driver's accelerator open degree rate of change exceedes threshold value.
Further, described control decision module is also calculated for the power consumption economic zone of travelling, control decisionModule stores measure under unloaded, semi-load and full load condition, moment of torsion output when vehicle smooth-rideCurve, is divided into multiple continuous speed intervals by moment of torsion curve of output, and pre-according to current vehicle controlPhase speed, controls motor speed, and vehicle is travelled with the most energy-conservation speed in present speed interval.
Beneficial effect of the present invention is: electric automobile of the present invention continuation of the journey control system comprise motor, controller,Signal analyzer, controller comprises pid control module, control decision module and CAN bus link block,Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road network coupling mouldPiece, obliquity sensor, gradient computing module, CAN bus link block and wireless communication module; The present inventionControl and the economic zone of travelling in conjunction with the calculating of road network coupling, signal filtering, Energy Saving Control, gradient calculating, PIDBetween control technology, greatly extended the course continuation mileage of electric automobile.
Brief description of the drawings
Fig. 1 is the module frame chart of embodiment of the present invention electric automobile continuation of the journey control system;
Fig. 2 is the signals of vehicles before filtering in embodiment of the present invention;
Fig. 3 is the signal that shown in Fig. 2, signals of vehicles obtains after filtration module filtering;
Fig. 4 is the principle schematic of pid control module;
Vehicle load characteristic when Fig. 5 is flat pavement running.
Detailed description of the invention
By describing technology contents of the present invention, structural feature in detail, being realized object and effect, below in conjunction withEmbodiment also coordinates accompanying drawing to be explained in detail.
Refer to Fig. 1, electric automobile continuation of the journey control system of the present invention comprises controller, motor and signal analysisDevice, described motor, controller, signal analyzer connect by CAN bus;
Described controller comprises pid control module, control decision module and CAN bus link block, controlsDecision-making module is connected with pid control module, and pid control module and control decision module are connected to CANBus link block;
Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road networkJoin module, obliquity sensor, gradient computing module, CAN bus link block and wireless communication module (2G, 3G module in figure);
Data acquisition module, resistance degree computing module, road network matching module respectively with CAN bus link blockConnect, filtering computing module is connected in data acquisition module and resistance degree computing module, described road network coupling mouldPiece comprises local road net data storehouse, locating module and MEMS sensor, described obliquity sensor, positioning modulePiece, data acquisition module and MEMS sensor are connected to gradient computing module.
The function of the each module of electric automobile continuation of the journey control system refers to table one:
Table one
One, signal analyzer implementation:
Resistance degree calculates
Resistance degree calculates for when starting energy-saving control of decision-making, when needs to close Energy Saving Control. Work as automobileStarting energy-saving control under smooth-ride state, stable at motoring condition, more than therefore can trying one's bestControl battery output and do not affect driver's operation; Be the opportunity of closing Energy Saving Control: 1, in the time of the gradientCarve, at this time driver often needs to lower category and draws high rotary speed and ensures the upward slope moment of vehicle, if carried outEnergy Saving Control can navigate, and vehicle driving up is unable even cannot go up a slope; 2, the brake moment, now need to be complete by driverComplete leading dynamical system, can not additionally intervene otherwise can cause safety problem; 3, the idling descending moment,Now additionally control power saving on the contrary.
Vehicle drag degree definition, refer to automobile zero load do not have resistance (do not have rolling, the gradient, skid resistance,Air drag and other resistance) acceleration of straight-line travelling and automobile actual acceleration is poor in situation. CarResistance degree effect is can concentrated expression integrated car load weight, road grade and running resistance, can be according to vehicleResistance degree carries out energy saving motor control.
Filtering is calculated
In resistance degree computing module, speed, acceleration, the torque signal used all need carry out filtering placeReason. Because conventionally there is speed probe on the output shaft of automobile, what can be collected easily turnsIf speed signal is converted into the speed of a motor vehicle of automobile. to GES direct differential, although can obtain adding of automobileSpeed, but because the acceleration signal noise obtaining is like this very large, be difficult to be applied to the control system of automobile.As shown in Figure 2, be original vehicle signal. Need to carry out filtering, difference, the side of filtering again to GESMethod obtains the automobile longitudinal acceleration of good real-time and precision. Filtering algorithm module need to be by data signalProcessing Algorithm, first carries out signals of vehicles power Spectral Estimation, obtains cut-off frequency, and designs corresponding filteringType, filtering exponent number. It is that the floating-point multiplication of a long sequence is asked and closed computing that wave filter calculates essence, therefore existsWhen product design type selecting, should be noted that the floating-point operation ability of core processor. Ideal treatment effect after calculatingIt in situation, should be a smooth curve. Be illustrated in figure 3 the signals of vehicles obtaining after filtering is calculated. In like manner,Also need the signals such as moment of torsion to carry out filtering processing, obtain signal after treatment and send into again resistance degree computing moduleIn.
Map match is calculated
Can accurately distinguish high speed, state's provincial highway, urban district, other road. This will relate to locating information and groundFigure matching technique, need to utilize map datum and some direction sensing amounts to realize high accuracy road coupling. ExpectionThe correlation function that reaches project requires as follows:
(1) perpendicular to road error lower than 5% (being that road matching accuracy rate is more than 95%). May existDifficulty is can reach ideal effect to the processing of parallel road.
(2) realize estimation and the maintenance of framing signal inactive area site of road.
The high accuracy matching feature of this respect need to be by direction and acceleration transducer, merge position location andMap road network is realized. Its concrete technology is to utilize Kalman filtering, carries out data fusion, high-precision to realizeDegree location. Concrete blending algorithm also under study for action.
The geographical gradient is calculated
Merge position location, obliquity sensor, automobile power DATA REASONING road grade, follow at present according to automobileThe method of the dynamic date measurement road gradient is as follows:
The vehicle electric motor general power Pe at the uniform velocity travelling consumes: resistance to rolling consumed power Pf; Grade resistanceConsumed power Pi; Windage consumed power Pw. Other: air-conditioning and vehicle mounted electrical apparatus wasted work rate Pk. Due to air-conditioningLess with respect to resistance to rolling, windage, slope resistance with appliance power consumption, therefore considering to affect Vehicle Driving CycleWhen principal element, can temporarily ignore, when constant-speed driving, rating formula principle is as follows:
Press formula calculate automobile at the uniform velocity power when smooth-ride change. Wherein G=mg is gravity, and f is road surfaceCoefficient of friction (or claiming coefficient of rolling resistance), ua is present speed, and CD is air resistance coefficient, and A is that vehicle is metWind area, ηTFor mechanical efficiency of power transmission. From a shorter time window, the automobile at the uniform velocity travellingResistance to rolling, windage, air-conditioning consumed power approximately constant, and total power consumption depends primarily on road gradeSize.
Under current conditions, can not a car remain at the uniform velocity and travel. Therefore need the row of many vehiclesSail data and excavate, the at the uniform velocity fragment from each car through stretch line, excavate the gradient of whole circuitChange curve. Again according to data cleansing, the poly-slope change curve of excavating whole section of overall fusion step.
The data that retain after data cleansing are the approximate fragments of at the uniform velocity travelling of all vehicles, and the object of doing is like thisGet rid of the impact that acceleration changes power, and due to the speed mass conservation of vehicle in fragment at the uniform velocity because ofThis road frictional resistance consumed power equates, windage consumed power approximately equal, and power of vehicle changes main like thisAffected by gradient factor.
The present invention only need be to carrying out the demarcation of load-carrying and power consumption as initial reference Segment A car, and do not need itThe concrete load-carrying data of its vehicle, can estimate to be merged and obtained whole section by data cleansing and centre dataSlope change data.
Therefore while selecting initial reference fragment, need to demarcate A car, this in actual development project process also(for example A car being carried out to weight demarcation, or allow the unloaded load-carrying of A car be exactly standard car load matter of easily realizingAmount). Utilizing the travel power consumption of calibration vehicle on level road, counter to push away relative slope change sequence be absolute slope change orderBe listed as, utilize the car cluster center of big data quantity, in conjunction with some calibration measurements, expectation can be carried out on a large scaleReason gradient environment measurement, sets up complete geographical Gradient storehouse.
Two, controller is realized technology
PID controls
In actual motor control, in order to make vehicle electric motor reach the requirement of speed of a motor vehicle control, need basisPractical operation situation is carried out dynamic PID control with the difference of controlling expection, and it is that one is more common that PID controlsControl method, in the industries such as metallurgy, machinery, chemical industry, obtain extensive use. Conventional PID controls systemSystem theory diagram as shown in Figure 4.
Control system is made up of analog pid controller and controlled device, and PID controller is a kind of Linear ControlDevice, the motor speed controlling value that it expect according to set-point r (t) and real output value c (t) be i.e. turning of realitySpeed value forms control deviation
e(t)＝r(t)-c(t)
The ratio of deviation (P), integration (I) and differential (D) are formed to controlled quentity controlled variable by linear combination, by controlled deviceControl, make actual result constantly control result to expection close, therefore claim PID controller.
The decision-making of Energy Saving Control on off control
Energy Saving Control entry condition is:
(1) 40km/h < car speed < 120km/h, now thinks that automobile can smooth ride, meets and opensEnergy Saving Control condition.
(2) resistance degree absolute value < setting threshold, now thinks that automobile environment of living in is steady, without go up a slope, underSlope, the anxious application conditions accelerating, meet starting energy-saving controlled condition.
Above two conditions must meet simultaneously, just can starting energy-saving control function.
Energy Saving Control stop condition:
(1) resistance degree absolute value > setting threshold, now automobile may run into the special circumstances that need large power,As draw high abrupt slope on rotating speed, or run into large resistance Expenditure Levels, as driver brakes, or run into negativeResistance degree situation, uses motor anti-dragged brake during as the long descending of vehicle.
(2) while brake driver signal being detected.
(3) when driver's accelerator open degree rate of change exceedes threshold value.
Above three conditions meet one, will close energy-saving control function.
Between economic zone, calculate
First need to measure the fully loaded torque characteristics of sky of institute's control vehicle, as shown below, measure empty,The moment of torsion curve of output that under semi-load, full load condition, automobile balance travels:
Moment of torsion curve of output refers to when a certain automobile travels with certain load, certain gear, certain gradient, electricityThe M curve that motivation need to be exported. Moment of torsion curve of output example when Fig. 5 is flat pavement running.
Abscissa is motor speed, and ordinate is electricity output torque, I, II, III, IV, V, VI etc.Roman number represents 1,2,3,4 of manual gear, 5,6 grades; Solid line is fully loaded moment of torsion curve of output, horizontal strokeDotted line is moment of torsion curves of output semi-load, and pecked line is unloaded moment curve of output.
Gear is certain, and motor speed is certain, if skidding does not appear in wheel, that speed of a motor vehicle is certain.Because the speed of a motor vehicle is that in Vehicle Driving Cycle, the topmost operation factors of driver is also the principal element that determines running time,And therefore rate of fuel consumption parameter in the corresponding universal characteristic table of rotating speed draws the corresponding curve of speed of a motor vehicle rotating speed to adding up hundredKilometer oil consumption and control automobile duty are very important. Knowing Choosing of Main Gear Ration of The Motor Cars and gearratio ginsengThe relation curve that can calculate them in the situation of number, also can draw by actual measurement their song that is related toLine. In micro-cruising, according to setting velocity amplitude, on a minizone, save most past speed as far as possibleThe direction adjustment of energy. Change according to resistance degree, the empty full load condition of real-time estimation vehicle, switches in time simultaneouslyLoad curve, finds correct energy-conservation interval.
The present invention calculates the resistance degree of the middle vehicle that travels by described signal analyzer, front truck worked as in record simultaneouslyRoad net data, locating module obtains the elements of a fix when vehicle in front, passes by locating module and MEMSSensor combines and improves the accuracy of location, then mates local road net data according to the elements of a fix, and signal dividesParser obtains the resistance degree in this section according to road network coupling, pass to controller by CAN bus, controller knotClose resistance degree and road network matched data and formulate control decision, the rotating speed that controls to adjust motor by PID, makesThe finite energy that obtaining battery provides is effectively utilized.
The local road net data of signal analyzer can obtain data more from cloud service end by wireless communication moduleNewly. In addition, model analyzer can according to CAN data acquisition module, obliquity sensor, locating module,MEMS sensor carries out gradient calculating, is upgraded and improved the road network number of cloud service end by wireless communication moduleAccording to.
Signal analyzer passed through continuous autonomous learning, memory storage and accumulation optimization, can search outEnergy-conservation drive manner, the route on and off duty that for example car owner fixes satisfies the need by the signal analyzer of foregoing inventionAfter study, accumulation and the analysis in footpath, provide the most energy-conservation a kind of driving control method. Car owner takes this drivingSail control method and maloperation can be caused to unnecessary electric energy, for driving for more time, extends electric motor carCourse continuation mileage.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every profitThe equivalent structure of doing by description of the present invention and accompanying drawing content or the conversion of equivalent flow process, or directly or indirectly transportBe used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (8)
1. an electric automobile continuation of the journey control system, is characterized in that, comprises controller, motor and signalAnalyzer, described motor, controller, signal analyzer connect by CAN bus;
Described controller comprises pid control module, control decision module and CAN bus link block, controlsDecision-making module is connected with pid control module, and pid control module and control decision module are connected to CANBus link block;
Signal analyzer comprises data acquisition module, filtering computing module, resistance degree computing module, road networkJoin module, obliquity sensor, gradient computing module, CAN bus link block and wireless communication module;
Data acquisition module, resistance degree computing module, road network matching module respectively with CAN bus link blockConnect, filtering computing module is connected in data acquisition module and resistance degree computing module, described road network coupling mouldPiece comprises local road net data storehouse, locating module and MEMS sensor, described obliquity sensor, positioning modulePiece, data acquisition module and MEMS sensor are connected to gradient computing module;
Data acquisition module is for gathering real-time vehicle signal from CAN bus;
Filtering computing module comprises pie slice filter, acceleration wave filter and moment of torsion wave filter, and mould is calculated in filteringPiece is for carrying out filtering to the signals of vehicles of data collecting module collected;
Resistance when resistance degree computing module is used for calculating Vehicle Driving Cycle according to the output data of filtering computing modulePower;
Road network matching module is used for using Kalman Filter Technology, and in conjunction with locating module, local road net dataThe data of storehouse and MEMS sensor are carried out real-time line matching and are followed the tracks of;
Gradient computing module is for passing according to obliquity sensor, locating module, vehicle power data and MEMSThe detection data of sensor calculate the gradient of Vehicle Driving Cycle road, and will calculate by wireless communication moduleGradient is sent to server.
2. electric automobile continuation of the journey control system according to claim 1, is characterized in that described resistanceDegree computing module calculate Vehicle Driving Cycle time resistance send to control decision module by CAN bus,Energy Saving Control is opened or closed to control decision module whether according to described resistance decision-making.
3. electric automobile continuation of the journey control system according to claim 1, is characterized in that described filteringThe signals of vehicles that computing module collects data acquisition module is carried out filtering, difference, filtering operation again; ?In filter step, filtering computing module uses Digital Signal Processing to carry out power spectrum to described signals of vehiclesEstimate, obtain the cut-off frequency of signals of vehicles, and carry out filtering by setting filtering type and filtering exponent number,Obtain smooth curve signal.
4. electric automobile continuation of the journey control system according to claim 1, is characterized in that described road networkMatching module is according to numerical map and framing signal location technology, and the side detecting in conjunction with MEMS sensorBit data, improves road matching precision.
5. electric automobile continuation of the journey control system according to claim 1, is characterized in that described dataThe signals of vehicles of acquisition module collection comprises the speed of a motor vehicle, rotating speed, moment of torsion.
6. electric automobile continuation of the journey control system according to claim 1, is characterized in that described PIDControl module is calculated the difference of the motor speed controlling value r (t) of expection and the actual output speed c (t) of motorE (t), by the ratio of described difference e (t) (P), integration (I) and differential (D) by the controlled amount of linear combination, andControl motor according to the controlled quentity controlled variable obtaining, make the actual speed c (t) of motor to motor speed controlling valueR (t) is close.
7. electric automobile continuation of the journey control system according to claim 1, is characterized in that described controlEnergy Saving Control is opened or closed to decision-making module whether according to the speed of vehicle, the decision-making of resistance degree;
The condition that Energy Saving Control starts is:
(1) 40km/h < car speed < 120km/h, and
(2) resistance degree absolute value < setting threshold;
Energy Saving Control stop condition:
(1) resistance degree absolute value > setting threshold;
(2) while brake driver signal being detected; Or
(3) when driver's accelerator open degree rate of change exceedes threshold value.
8. electric automobile continuation of the journey control system according to claim 1, is characterized in that described controlDecision-making module also for travel power consumption economic zone calculate, control decision module stores measure at skyCarry, under semi-load and full load condition, moment of torsion curve of output when vehicle smooth-ride, draws moment of torsion curve of outputBe divided into multiple continuous speed intervals, and according to current vehicle control goal pace, control motor speed,Vehicle is travelled with the most energy-conservation speed in present speed interval.
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