CN109228887A - Electric automobile and control method and device thereof - Google Patents
Electric automobile and control method and device thereof Download PDFInfo
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- CN109228887A CN109228887A CN201811161769.6A CN201811161769A CN109228887A CN 109228887 A CN109228887 A CN 109228887A CN 201811161769 A CN201811161769 A CN 201811161769A CN 109228887 A CN109228887 A CN 109228887A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000001133 acceleration Effects 0.000 claims abstract description 83
- 230000007613 environmental effect Effects 0.000 claims abstract description 12
- 230000006870 function Effects 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 5
- 230000001537 neural effect Effects 0.000 claims 2
- 125000002015 acyclic group Chemical group 0.000 claims 1
- 238000013528 artificial neural network Methods 0.000 description 9
- 230000005611 electricity Effects 0.000 description 4
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- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000004134 energy conservation Methods 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/642—Slope of road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/60—Navigation input
- B60L2240/66—Ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides an electric automobile and a control method and a control device thereof, wherein the method comprises the following steps: acquiring the current actual acceleration of the electric automobile; acquiring the expected acceleration of the electric automobile; wherein the expected acceleration is the acceleration of the electric vehicle under the condition of no influence of environmental factors; calculating the current environmental impact parameters of the electric automobile according to the actual acceleration and the expected acceleration; and adjusting the actual power output of the electric automobile according to the current environment influence parameters, controlling the electric automobile to run according to the adjusted actual power output, and controlling the electric automobile by acquiring the current environment influence parameters of the electric automobile, so that the electric automobile is finely and intelligently controlled.
Description
Technical field
The present invention relates to electric vehicle engineering field more particularly to a kind of electric car and its control method and devices.
Background technique
It is usually connected by single reduction gear between the driving motor and driving wheel of pure electric automobile, due to single reduction gear
Belong to the biggish transmission system of rigidity, during entire drive system steady operation, its elastic deformation can be ignored, system is made
At influence.Therefore, when driving, the output power of drive system will bear directly against driving wheel to pure electric automobile.But
It is, due to the gearshift for not having to be similar in conventional fuel oil car in power drive system, to cause because environmental factor is to vehicle
Influence will be embodied directly in the variation of vehicle power, this since environmental factor makes the dynamic property of vehicle that unexpected change occur
Change the driving experience that can not only destroy driver to a certain extent, while traffic safety can also be impacted.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose be to propose a kind of control method of electric car, by obtain the current environment affecting parameters of electric car come
Electric car is controlled, to realize the fining to electric car and intelligentized control method.
Second object of the present invention is to propose a kind of control device of electric car.
Third object of the present invention is to propose a kind of electric car.
Fourth object of the present invention is to propose a kind of electronic equipment.
5th purpose of the invention is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, first aspect present invention embodiment proposes a kind of control method of electric car, including with
Lower step: the currently practical acceleration of electric car is obtained；Obtain the expection acceleration of the electric car；Wherein, the expection
Acceleration is the acceleration of electric car under conditions of no such environmental effects；According to the actual acceleration with it is described
It is expected that acceleration, calculates the current environment affecting parameters of the electric car；According to the current environment affecting parameters, to described
The practical power output of electric car is adjusted, and controls the electric car according to practical power output row adjusted
It sails.
According to one embodiment of present invention, described according to the actual acceleration and the expected acceleration, calculate institute
The current environment affecting parameters for stating electric car, using following formula:
Kc=(Av-Ae)/(| Av |+| Ae |)
Wherein, Kc is environment affecting parameters, and Av is the actual acceleration, and Ae is the expected acceleration.
According to one embodiment of present invention, the expection acceleration for obtaining electric car, specifically includes: described in acquisition
Current motor output torque, speed, driving wheel slip rate and the wheel of electric car are averaged tire pressure；The motor is exported and is turned round
Square, speed, driving wheel slip rate and wheel are averaged tire pressure, are input in radial basis function neural network, obtain the expection
Acceleration.
According to one embodiment of present invention, described according to the current environment affecting parameters, to the electric car
Practical power output is adjusted, and is controlled the electric car and travelled according to practical power output adjusted, is specifically included:
Identify whether the current environment affecting parameters are zero；If the current environment affecting parameters are zero, electric car is controlled
Continue to travel according to currently practical power output；If the current environment affecting parameters are not zero, to the electric car
Practical power output compensate, and control electric car and continue to travel according to the compensated practical power output.
According to one embodiment of present invention, the practical power output to the electric car compensates, specifically
It include: then to control the practical power output for increasing the electric car when the current environment affecting parameters are less than zero；Work as institute
When stating current environment affecting parameters greater than zero, then the practical power output for reducing the electric car is controlled.
The control method of electric car according to an embodiment of the present invention, by obtain the currently practical acceleration of electric car and
It is expected that acceleration, to calculate the current environment affecting parameters of electric car, and then according to current environment affecting parameters to electronic vapour
The practical power output of vehicle is adjusted, and is controlled electric car and travelled according to practical power output adjusted.This hair as a result,
The control method of bright embodiment can determine the current working of electric car by current environment affecting parameters, by current
The drive demand of operating mode's switch driver improves the driving experience of driver to improve, to realize the fining control of electric car
System；Meanwhile discrepant control is implemented to vehicle by current environment affecting parameters, to realize the intelligent control of electric car
System effectively improves driving efficiency, promotes user experience under the premise of guaranteeing traffic safety.
In order to achieve the above object, second aspect of the present invention embodiment proposes a kind of control device of electric car, comprising: the
One obtains module, for obtaining the currently practical acceleration of electric car；Second obtains module, for obtaining the electric car
It is expected that acceleration；Wherein, the expected acceleration is the acceleration of electric car under conditions of no such environmental effects；
Computing module, for calculating the current environment shadow of the electric car according to the actual acceleration and the expected acceleration
Ring parameter；Control module, for being carried out to the practical power output of the electric car according to the current environment affecting parameters
Adjustment, and control the electric car and travelled according to practical power output adjusted.
According to one embodiment of present invention, the computing module, is specifically used for:
Kc=(Av-Ae)/(| Av |+| Ae |)
Wherein, Kc is environment affecting parameters, and Av is the actual acceleration, and Ae is the expected acceleration.
According to one embodiment of present invention, described second module is obtained, is specifically used for: obtains working as the electric car
Front motor output torque, speed, driving wheel slip rate and wheel are averaged tire pressure；By the motor output torque, speed, driving
Wheel slip rate and wheel are averaged tire pressure, are input in radial basis function neural network, obtain the expected acceleration.
According to one embodiment of present invention, the control module, is specifically used for: identifying the current environment affecting parameters
It whether is zero；If the current environment affecting parameters are zero, control electric car and continue according to currently practical power output
Traveling；If the current environment affecting parameters are not zero, the practical power output of the electric car is compensated, and
Control electric car continues to travel according to the compensated practical power output.
According to one embodiment of present invention, it when the current environment affecting parameters are less than zero, then controls described in increase
The practical power output of electric car；When the current environment affecting parameters are greater than zero, then controlling reduces the electric car
Practical power output.
The control device of electric car according to an embodiment of the present invention, by obtain the currently practical acceleration of electric car and
It is expected that acceleration, to calculate the current environment affecting parameters of electric car, and then according to current environment affecting parameters to electronic vapour
The practical power output of vehicle is adjusted, and is controlled electric car and travelled according to practical power output adjusted.This hair as a result,
The control method of bright embodiment can determine the current working of electric car by current environment affecting parameters, by current
The drive demand of operating mode's switch driver improves the driving experience of driver to improve, to realize the fining control of electric car
System；Meanwhile discrepant control is implemented to vehicle by current environment affecting parameters, to realize the intelligent control of electric car
System effectively improves driving efficiency, promotes user experience under the premise of guaranteeing traffic safety.
In order to achieve the above object, third aspect present invention embodiment proposes a kind of electric car, including such as claim 6-
The control device of electric car described in any one of 10.
To achieve the goals above, fourth aspect present invention embodiment proposes a kind of electronic equipment, including memory, place
The computer program managing device and storage on a memory and can running on a processor, when the processor executes described program,
Realize the control method of the electric car.
To achieve the goals above, fifth aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium is stored thereon with computer program, and the control method of the electric car is realized when which is executed by processor.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 be the embodiment of the present invention based on control system；
Fig. 2 is the flow chart of the control method of the electric car of the embodiment of the present invention；
Fig. 3 is the flow chart of the control method of the electric car of one embodiment of the invention；
Fig. 4 is the block diagram of the control device of the electric car of the embodiment of the present invention；
Fig. 5 is the block diagram of the electric car of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In face of increasingly severe energy and environment problem, energy conservation is just becoming the heat of current various countries' research with new-energy automobile
Point, the government of Main Countries have all put into a large amount of manpower and material resources and have carried out relevant R&D work, greatly develop energy saving and new
Energy automobile is for realizing that Global Sustainable Development, protection earth environment for the survival of mankind are of great significance.In China,
Energy conservation one of has obtained the great attention of government and industry, and has been located strategic emerging industries with new-energy automobile.Hair
Exhibition energy conservation and new-energy automobile, the especially pure electric automobile with no pollution, zero-emission, not only to Chinese energy safety, ring
Border protection is of great significance, while being also the trend of China's automotive field Future Development.
Pure electric automobile realizes vehicle driving, core component pair of the motor as pure electric automobile by motor driven wheel
Vehicle performance influences great, wherein permanent magnet synchronous motor (PMSM) is due to high efficiency, high output torque, high power density
And the advantages that good dynamic property, become the mainstream of pure electric automobile drive system at present.For driving experience, pure electricity
Electrical automobile is good due to having the characteristics that the following permanent torque output of base speed and dynamic response, brings to driver and fires than tradition
The more excellent driving experience of oily vehicle.Simultaneously as the driving motor of pure electric automobile not only has electric functions, also have
Generating function, therefore in vehicle sliding or braking process, it can be provided by the way that motor is switched to generating state for vehicle
Certain brake force, and the utilization efficiency of energy is improved by carrying out energy regenerating.
For small-sized electric vehicle, the driving impression for how promoting passengers inside the car becomes current major automobile research and development and production
The focus on research direction of mechanism.It has been investigated that environmental factor is huge on the influence of the riding experience of vehicle, for example, in ring with the wind
Under border, vehicle drive system can bring better accelerating ability with certain power output to vehicle, and then be able to ascend driving
The driving experience of member, on the contrary, vehicle drive system can make the acceleration of vehicle again under contrary wind environment with identical power output
Lower than expection, to influence the driving experience of driver.To sum up, it can be seen that need in Control of Electric Vehicles by appropriate
Drive system output power is compensated come the driving experience of the traffic safety and driver that guarantee vehicle, realize vehicle
Fining and intelligentized control method.
The control method of the electric car of the embodiment of the present invention is based on control system as shown in Figure 1, wherein motor control
Device acquires the gear information before and after accelerator pedal, brake pedal and electric car, then according to accelerator pedal, brake pedal and shelves
The driving intention and corresponding demand torque of position acquisition of information driver, the entire car controller of electric machine controller combination later, electricity
The state of pond management system feedback limits the demand torque, and electric machine controller, which calculates, obtains final command torque, so
Driving motor is controlled according to certain control logic afterwards, makes driving motor according to torque command output torque, it is final real
Existing vehicle driving.
Below with reference to the accompanying drawings the electric car and its control method and device of the embodiment of the present invention described.
Fig. 2 is the flow chart of the control method of the electric car of the embodiment of the present invention.As shown in Figure 1, the embodiment of the present invention
Electric car control method, comprising the following steps:
S101: the currently practical acceleration of electric car is obtained.
Wherein, can variable quantity according to the current vehicle speed of electric car in the unit time, obtain the current reality of electric car
Border acceleration.
S102: the expection acceleration of electric car is obtained.
Wherein, it is contemplated that acceleration is the acceleration of electric car under conditions of no such environmental effects, concretely electric
Electrical automobile is travelled in straight, dry paved road without the gradient, and ambient wind is lower than the condition of second level.
It should be noted that can be generally included: pavement behavior to the environmental factor that electric automobile during traveling affects
Three kinds of factors such as (coefficient of friction), road gradient and ambient wind.For example, the driving on sand ground and hard top face is experienced
Be it is visibly different, go up a slope can be brought from the drive system of electric car during descending with identical power output it is different
Dynamic response is also (with the wind or against the wind) in ambient wind variation such.In addition, since the tire pressure of electric car is also shadow
An important factor for ringing vehicle power output therefore, can also be simultaneously by the shadow of the tire pressure of electric car when calculating expected acceleration
Sound excludes together, to improve the accuracy of expected acceleration.
Specifically, it as shown in figure 3, obtaining the expection acceleration of electric car, specifically includes:
S201: current motor output torque, speed, driving pulley shifting rate and the wheel for obtaining electric car are averaged tire
Pressure.
S202: motor output torque, speed, driving pulley shifting rate and wheel are averaged tire pressure, radial base letter is input to
In number neural network, expected acceleration is obtained.
Wherein, radial basis function neural network may include input layer, hidden layer and output layer, motor output torque Tq, speed
V, driving pulley shifting rate T and wheel be averaged tire pressure P be input layer input vector.Hidden layer uses radial basis function, specifically:
Wherein, x is input vector, i.e. x=[TqV T P], y (x, w) is radial basis function neural network output, that is, is counted
Obtained expection acceleration；wiFor weight；L is hidden neuron quantity, can there is l=9 in embodiments of the present invention；ciFor in
Heart vector；||x-ci| | for the distance of input vector to center vector；φ is radial basis function, radial in embodiments of the present invention
Basic function can be Gaussian radial basis function.
Above-mentioned radial basis function neural network is obtained, and it is trained.For example, (being not higher than two in calm or gentle breeze
Grade wind-force) under conditions of, a large amount of train experiment is carried out on paved road straight, without the gradient, it is defeated to simulate different motors
Torque T outq, the driving conditions that are averaged under tire pressure P of vehicle velocity V, driving pulley shifting rate T and wheel, and obtain corresponding vehicle
Acceleration information, which is then the expection acceleration under no environmental factor influence condition, then exports motor
Torque Tq, vehicle velocity V, driving pulley shifting rate T, wheel be averaged tire pressure P and acquisition expection acceleration to radial ba-sis function network
Network is trained.
Further, trained radial basis function neural network is obtained, in the actual operation process, it is only necessary to obtain
The motor output torque T of current electric carq, vehicle velocity V, driving pulley shifting rate T and wheel be averaged tire pressure P, diameter can be passed through
Current expection acceleration is obtained to the output layer of basis function neural network.
S103: according to actual acceleration and expected acceleration, the current environment affecting parameters of electric car are calculated.
Wherein, following formula can be used and calculate current environment affecting parameters:
Kc=(Av-Ae)/(| Av |+| Ae |)
Wherein, Kc is environment affecting parameters, and Av is actual acceleration, and Ae is expected acceleration.
S104: according to current environment affecting parameters, the practical power output of electric car is adjusted, and is controlled electronic
Automobile is travelled according to practical power output adjusted.
It should be noted that the acquisition formula based on above-mentioned current environment affecting parameters is it is found that current environment affecting parameters
It can be regarded as:
That is, according to the actual acceleration A of electric carvWith expected acceleration AeDifference, current environment influence ginseng
Number KcThe case where being divided into equal to zero and being not equal to.As current environment affecting parameters KcWhen being zero, show current environment factor to electricity
The normally travel of electrical automobile is without influence, as current environment affecting parameters KcWhen being not zero, show current environment factor to electronic vapour
The normally travel of vehicle is generated advantageous or is improperly influenced, at this time, it may be necessary to which the practical power output to electric car compensates, is protected
It demonstrate,proves the safety traffic of vehicle or improves the driving experience of driver.
Specifically, in current environment affecting parameters KcWhen greater than zero, it is pre- to indicate that the current dynamic response of electric car is higher than
Phase, electric car may travel in descending, the operating conditions such as with the wind, at this point, if electric car is still according to current practical power output
Continue to travel, then it is very fast to will lead to electric car speed, in addition cause with the traffic accidents such as front truck knocks into the back, therefore, it is necessary to working as
Preceding practical power output compensates, i.e. the practical power output of control reduction electric car, so that compensated reality is dynamic
Power output is less than the practical power output before compensation, so that the current vehicle speed of electric car be effectively reduced, guarantees that electric car exists
Current environment affecting parameters KcDriving safety when greater than zero.
On the contrary, in current environment parameter KcWhen less than zero, indicates that the current dynamic response of electric car is lower than and be expected, it is electronic
Automobile may travel go up a slope, the operating conditions such as against the wind, at this point, if electric car is still according to current practical power output after continuing
It sails, then it is slower to will lead to electric car speed, or even the traffic accidents such as car rear-end occur, therefore, it is necessary to current reality
Output compensates, i.e. the practical power output of control increase electric car, mends so that compensated practical power output is greater than
Practical power output before repaying, to effectively improve the current vehicle speed of electric car, promote electric car influences in current environment
Parameter KcThe driving experience of driver when less than zero.
In conclusion the control method of the electric car of the embodiment of the present invention, by obtaining, electric car is currently practical to be added
Speed and expected acceleration, to calculate the current environment affecting parameters of electric car, and then according to current environment affecting parameters pair
The practical power output of electric car is adjusted, and is controlled electric car and travelled according to practical power output adjusted.By
This, the control method of the embodiment of the present invention can determine the current working of electric car by current environment affecting parameters, with logical
The drive demand of current operating mode's switch driver is crossed to improve the driving experience for improving driver, to realize the essence of electric car
Refinement control；Meanwhile discrepant control is implemented to vehicle by current environment affecting parameters, to realize the intelligence of electric car
Energyization control effectively improves driving efficiency, promotes user experience under the premise of guaranteeing traffic safety.
In order to realize above-described embodiment, the present invention also proposes a kind of control device of electric car.
Fig. 4 is the block diagram of the control device of the electric car of the embodiment of the present invention.As shown in figure 4, the present invention is real
The control device 100 for applying the electric car of example includes: the first acquisition module 10, and second obtains module 20, computing module 30 and control
Molding block 40.
Wherein: the first acquisition module 10 is for obtaining the currently practical acceleration of electric car；Second acquisition module 20 is used for
Obtain the expection acceleration of electric car；Wherein, it is contemplated that acceleration is electric car under conditions of no such environmental effects
Acceleration；The current environment that computing module 30 is used to calculate electric car according to actual acceleration and expected acceleration influences ginseng
Number；Control module 40 is used to be adjusted the practical power output of electric car, and control according to current environment affecting parameters
Electric car is travelled according to practical power output adjusted.
Further, computing module 30 are specifically used for:
Kc=(Av-Ae)/(| Av |+| Ae |)
Wherein, Kc is environment affecting parameters, and Av is actual acceleration, and Ae is expected acceleration.
Further, second obtain module 20, be specifically used for: obtain the current motor output torque of electric car, speed,
Driving wheel slip rate and wheel are averaged tire pressure；Motor output torque, speed, driving wheel slip rate and wheel are averaged tire
Pressure, is input in radial basis function neural network, obtains expected acceleration.
Further, control module 40 are specifically used for: whether identification current environment affecting parameters are zero；If working as front ring
Border affecting parameters are zero, then control electric car and continue to travel according to currently practical power output；If current environment influences ginseng
Number is not zero, then compensates to the practical power output of electric car, and it is dynamic according to compensated reality to control electric car
Power output continues to travel.
Further, control module 40 are also used to: when current environment affecting parameters are less than zero, then it is electronic to control increase
The practical power output of automobile；When current environment affecting parameters are greater than zero, then the practical power for controlling reduction electric car is defeated
Out.
It should be noted that the explanation of the aforementioned control method embodiment to electric car is also applied for the embodiment
Electric car control device, details are not described herein again.
In order to realize above-described embodiment, the present invention also proposes a kind of electric car, as shown in figure 5, electric car 200 includes
The control device 100. of electric car above-mentioned
In order to realize above-described embodiment, the present invention also proposes a kind of electronic equipment, including memory, processor and is stored in
On memory and the computer program that can run on a processor realizes electric car above-mentioned when processor executes program
Control method.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Computer program is contained, which realizes the control method of electric car above-mentioned when being executed by processor.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (13)
1. a kind of control method of electric car, which comprises the following steps:
Obtain the currently practical acceleration of electric car；
Obtain the expection acceleration of the electric car；Wherein, the expected acceleration is the condition in no such environmental effects
Under the electric car acceleration；
According to the actual acceleration and the expected acceleration, the current environment affecting parameters of the electric car are calculated；
According to the current environment affecting parameters, the practical power output of the electric car is adjusted, and described in control
Electric car is travelled according to practical power output adjusted.
2. control method according to claim 1, which is characterized in that described according to the actual acceleration and the expection
Acceleration calculates the current environment affecting parameters of the electric car, using following formula:
Kc=(Av-Ae)/(| Av |+| Ae |)
Wherein, Kc is environment affecting parameters, and Av is the actual acceleration, and Ae is the expected acceleration.
3. control method according to claim 1 or 2, which is characterized in that the expection acceleration for obtaining electric car,
It specifically includes:
Current motor output torque, speed, driving wheel slip rate and the wheel for obtaining the electric car are averaged tire pressure；
The motor output torque, speed, driving wheel slip rate and wheel are averaged tire pressure, Radial Basis Function neural is input to
In network, the expected acceleration is obtained.
4. control method according to claim 1, feature it is arrogant with, it is described according to the current environment affecting parameters,
The practical power output of the electric car is adjusted, and it is defeated according to practical power adjusted to control the electric car
It travels, specifically includes out:
Identify whether the current environment affecting parameters are zero；
If the current environment affecting parameters are zero, control electric car and continue to travel according to currently practical power output；
If the current environment affecting parameters are not zero, the practical power output of the electric car is compensated, and
Control electric car continues to travel according to the compensated practical power output.
5. control method according to claim 4, which is characterized in that the practical power output to the electric car
It compensates, specifically includes:
When the current environment affecting parameters are less than zero, then the practical power output for increasing the electric car is controlled；
When the current environment affecting parameters are greater than zero, then the practical power output for reducing the electric car is controlled.
6. a kind of control device of electric car characterized by comprising
First obtains module, for obtaining the currently practical acceleration of electric car；
Second obtains module, for obtaining the expection acceleration of the electric car；Wherein, the expected acceleration is acyclic
The acceleration of the electric car under conditions of border factor influences；
Computing module, for according to the actual acceleration and the expected acceleration, calculate the electric car to work as front ring
Border affecting parameters；
Control module, for being adjusted to the practical power output of the electric car according to the current environment affecting parameters
It is whole, and control the electric car and travelled according to practical power output adjusted.
7. control device according to claim 6, which is characterized in that the computing module is specifically used for:
Kc=(Av-Ae)/(| Av |+| Ae |)
Wherein, Kc is environment affecting parameters, and Av is the actual acceleration, and Ae is the expected acceleration.
8. control device according to claim 6 or 7, which is characterized in that described second obtains module, is specifically used for:
Current motor output torque, speed, driving wheel slip rate and the wheel for obtaining the electric car are averaged tire pressure；
The motor output torque, speed, driving wheel slip rate and wheel are averaged tire pressure, Radial Basis Function neural is input to
In network, the expected acceleration is obtained.
9. control device according to claim 6, which is characterized in that the control module is specifically used for:
Identify whether the current environment affecting parameters are zero；
If the current environment affecting parameters are zero, control electric car and continue to travel according to currently practical power output；
If the current environment affecting parameters are not zero, the practical power output of the electric car is compensated, and
Control electric car continues to travel according to the compensated practical power output.
10. control device according to claim 9, which is characterized in that the control module is also used to:
When the current environment affecting parameters are less than zero, then the practical power output for increasing the electric car is controlled；
When the current environment affecting parameters are greater than zero, then the practical power output for reducing the electric car is controlled.
11. a kind of electric car, which is characterized in that the control including the electric car as described in any one of claim 6-10
Device.
12. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that when the processor executes described program, realize as claimed in any one of claims 1 to 5 electronic
The control method of automobile.
13. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program
The control method such as electric car as claimed in any one of claims 1 to 5 is realized when being executed by processor.
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| CN201811161769.6A CN109228887A (en) | 2018-09-30 | 2018-09-30 | Electric automobile and control method and device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811161769.6A CN109228887A (en) | 2018-09-30 | 2018-09-30 | Electric automobile and control method and device thereof |
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Application publication date: 20190118 |