CN109910634B - A kind of control method, device and terminal equipment of electric vehicle accelerator - Google Patents

Abstract

The invention belongs to the technical field of automation, and provides a control method, device and terminal equipment for an electric vehicle accelerator. The method includes: obtaining a first voltage input by an electric vehicle accelerator; performing linear normalization calculation on the first voltage to obtain a first open voltage Find the interval range where the first opening is located in the preset correction table according to the size of the first opening; obtain the endpoint value of the interval where the first opening is located and the growth coefficient corresponding to the endpoint value; The end point value of the interval range where the opening degree is located and the growth coefficient corresponding to the end point value calculate the growth coefficient of the first opening degree; after correcting the first opening degree according to the growth coefficient of the first opening degree, the second opening degree is obtained ; control the output torque of the electric vehicle according to the second opening degree, and control the speed of the electric vehicle according to the output torque. The embodiments of the present invention make the driver feel easy to control, thereby improving driving experience and safety.

Description

A kind of control method, device and terminal equipment of electric vehicle accelerator

technical field

The invention belongs to the technical field of automation, and in particular relates to a control method, device and terminal equipment for an electric vehicle accelerator.

Background technique

The accelerator opening of the electric vehicle corresponds to different voltage signals, and according to the voltage signal, the motor is controlled to output the corresponding torque (voltage, current) to control the speed of the electric vehicle.

At present, when the driver needs to accelerate through the accelerator opening, the accelerator opening is directly increased, and the electric vehicle can be accelerated by controlling the motor to transmit the corresponding torque according to the voltage signal corresponding to the increased accelerator opening. However, the relationship between the existing throttle opening and the corresponding voltage signal to control the torque transmitted by the motor is a linear relationship. When the electric vehicle is at a low speed, the corresponding given torque value is small, that is, the intuitive feeling of the throttle response is relatively low. When the electric vehicle is at a high speed, the increase of the torque value corresponding to a given value is accelerated, which will make the driver feel that it is not easy to control, resulting in low driving experience and safety.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present invention provide a method, device and terminal device for controlling the accelerator of an electric vehicle, aiming to solve the problems of low driving experience and low safety of existing electric vehicles.

A first aspect of the embodiments of the present application provides a method for controlling an electric vehicle accelerator, including:

obtaining a first voltage input by the electric vehicle accelerator;

performing linear normalization calculation on the first voltage to obtain a first opening degree;

According to the size of the first opening degree, the interval range where the first opening degree is located is searched in a preset correction table; wherein, the preset correction table is based on the effective lower limit value of the first voltage and the first voltage in advance. After normalizing the effective upper limit value of , the normalized value interval is obtained, and the normalized value interval is divided into N interval ranges, and the endpoint value of each interval range is preset with a corresponding growth coefficient , and the endpoint value of the interval is inversely proportional to the corresponding growth coefficient value, and the N≧2 is an integer;

Obtain the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value;

Calculate the growth coefficient of the first opening degree according to the endpoint value of the interval where the first opening degree is located and the growth coefficient corresponding to the endpoint value;

After correcting the first opening degree according to the growth coefficient of the first opening degree, a second opening degree is obtained;

The electric vehicle output torque is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque.

In one embodiment, acquiring the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value, including:

Obtain the starting endpoint value and the endpoint endpoint value of the interval range where the first opening is located;

obtaining the first growth coefficient corresponding to the starting endpoint value;

A second growth factor corresponding to the endpoint endpoint value is obtained.

In one embodiment, calculating the growth coefficient of the first opening degree according to the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value, including:

Calculate the modified starting endpoint value according to the starting endpoint value and the first growth coefficient;

Calculate the modified endpoint endpoint value according to the endpoint endpoint value and the second growth factor;

According to the starting endpoint value, the ending endpoint value, the modified starting endpoint value and the modified ending endpoint value, the third and fourth increasing coefficients of the first opening degree are calculated.

In one embodiment, the second opening degree is obtained by correcting the first opening degree according to the growth coefficient of the first opening degree, including:

The second opening degree is obtained by correcting the first opening degree according to the third increasing coefficient and the fourth increasing coefficient.

In one embodiment, the third growth coefficient of the first opening degree and The calculation formula of the fourth growth coefficient is:

Wherein, the a1 is the third growth coefficient, the a2 is the fourth growth coefficient, the K _o1 is the starting endpoint value, K _o2 is the ending endpoint value, and K ₁ is the The corrected starting endpoint value, K ₂ is the corrected endpoint endpoint value.

In one embodiment, the calculation formula for obtaining the second opening degree after correcting the first opening degree according to the third growth coefficient and the fourth growth coefficient is:

K _th =a1×K _oth +a2;

Wherein, the K _th is the second opening degree, the K _oth is the first opening degree, the a1 is the third increasing coefficient, and the a2 is the fourth increasing coefficient.

In one embodiment, the calculation formula for obtaining the first opening degree by linearly normalizing the first voltage is:

Wherein, the K _oth is the first opening degree, the V _{th_in} is the first voltage, the V _{th_max} is the preset effective upper limit value of the first voltage, and the V _{th_min} is the preset first voltage Effective lower limit value.

A second aspect of the embodiments of the present application provides a control device for an electric vehicle accelerator, including:

a first obtaining module, configured to obtain a first voltage input by the electric vehicle accelerator;

a second obtaining module, configured to perform linear normalization calculation on the first voltage to obtain a first opening degree;

A search module, configured to search the interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree; wherein, the preset correction table is based on the effective lower limit of the first voltage in advance The value and the effective upper limit of the first voltage are normalized to obtain a normalized value interval, and the normalized value interval is divided into N interval ranges, and the endpoint value of each interval range is preset There is a corresponding growth coefficient, and the endpoint value of the interval is inversely proportional to the corresponding growth coefficient value, and the N≧2 is an integer;

The third acquisition module is used to acquire the endpoint value of the interval range where the first opening is located and the growth coefficient corresponding to the endpoint value;

a calculation module, configured to calculate the growth coefficient of the first opening according to the endpoint value of the interval range where the first opening is located and the growth coefficient corresponding to the endpoint value;

a correction module, configured to obtain a second opening degree after correcting the first opening degree according to the growth coefficient of the first opening degree;

The control module is configured to control the output torque of the electric vehicle according to the second opening degree, and control the speed of the electric vehicle according to the output torque.

A third aspect of the embodiments of the present invention provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, which is implemented when the processor executes the computer program steps of the above method.

A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the foregoing method are implemented.

In the embodiment of the present invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain a second opening degree; the output torque of the electric vehicle is controlled according to the second opening degree, and the output torque of the electric vehicle is controlled according to the The output torque controls the speed of the electric vehicle. Because the endpoint value of the interval range is inversely proportional to the corresponding growth coefficient value, that is, the smaller the endpoint value is, the larger the corresponding growth coefficient value is, and the larger the endpoint value is, the smaller the corresponding growth coefficient is. The second opening degree value obtained after the degree correction is large; in a large interval range, the second opening degree value obtained after the first opening degree correction is small. The output torque of the electric vehicle is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque, so that when the electric vehicle is at a low speed, the corresponding given torque value is larger, that is, the accelerator is intuitively felt. The response is fast, and the torque value corresponding to the given torque is small when the electric vehicle is at a high speed, which will make the driver feel easy to control, thereby improving the driving experience and safety.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic flowchart of a method for controlling an electric vehicle accelerator provided in Embodiment 1 of the present invention;

2 is a schematic flowchart of a method for controlling an electric vehicle accelerator according to Embodiment 2 of the present invention;

3 is a schematic flowchart of a method for controlling an electric vehicle accelerator provided in Embodiment 3 of the present invention;

3-1 is a schematic diagram of a coordinate system of a corrected throttle opening in a method for controlling an electric vehicle throttle provided in Embodiment 3 of the present invention;

4 is a schematic structural diagram of a control device for an electric vehicle accelerator provided in Embodiment 4 of the present invention;

FIG. 5 is a schematic structural diagram of a terminal device according to Embodiment 5 of the present invention.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are set forth in order to provide a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

It should be understood that the size of the sequence numbers of the steps in the following method embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of each embodiment. .

In order to illustrate the technical solutions of the present invention, the following specific embodiments are used for description.

Example 1

An embodiment of the present invention provides a control method for an electric vehicle accelerator, which can be applied to electric vehicles such as an electric motorcycle. As shown in FIG. 1 , the control method includes:

Step S101, obtaining a first voltage input by the electric vehicle accelerator;

In the embodiment of the present invention, the analog voltage input by the accelerator of the electric vehicle is obtained, and the analog voltage is used as the first voltage.

Step S102, performing linear normalization calculation on the first voltage to obtain a first opening degree;

In the embodiment of the present invention, the above-mentioned linear normalization calculation of the first voltage to obtain the first opening degree may be obtained by linearly corresponding to the first voltage to a number between 0 and 1 to obtain the first opening degree, and the first opening degree is obtained by linearly corresponding to the first voltage. The first opening is the original opening of the accelerator of the electric vehicle.

In one embodiment, the calculation formula for obtaining the first opening degree by linearly normalizing the first voltage is:

Wherein, the K _oth is the first opening degree, the V _{th_in} is the first voltage, the V _{th_max} is the preset effective upper limit value of the first voltage, and the V _{th_min} is the preset first voltage Effective lower limit value. The first valid upper limit value of the voltage and the first valid lower limit value of the voltage may be preset according to the maximum voltage and the minimum voltage of the electric vehicle in practical applications, which are not limited here.

Step S103, searching for the interval range where the first opening is located in a preset correction table according to the size of the first opening;

In the embodiment of the present invention, the preset correction table is a normalized value interval obtained by pre-normalizing according to the effective lower limit value of the first voltage and the effective upper limit value of the first voltage, The normalized value interval is divided into N interval ranges, the endpoint value of each interval range is preset with a corresponding growth coefficient, and the endpoint value of the interval range is inversely proportional to the corresponding growth coefficient value, and the N ≧2 and is an integer. The normalized value interval obtained by normalizing the effective lower limit value of the first voltage and the effective upper limit value of the first voltage can be understood as linearly corresponding to the effective lower limit value of the first voltage to 0, The effective upper limit value of the first voltage linearly corresponds to 1, that is, the value range of the original opening degree can be preset between 0 and 1. And the normalized value interval (that is, the original opening value range between 0 and 1) is divided into N interval ranges, and the endpoint value of each interval range is preset with a corresponding growth coefficient, and the endpoint of the interval range. The value is inversely proportional to the corresponding growth coefficient value, that is, the smaller the endpoint value is, the larger the corresponding growth coefficient value is, and the larger the endpoint value is, the smaller the corresponding growth coefficient is. The larger the second opening degree value obtained after the correction is, the smaller the second opening degree value obtained after correcting the first opening degree in the interval where the original opening degree value is large. Therefore, when the electric vehicle is at a low speed, the corresponding given torque value is larger, that is, it intuitively feels that the throttle response is faster, and when the electric vehicle is at a high speed, the corresponding given torque value is smaller, which will make the driver feel easy to control, thereby improving the performance of the electric vehicle. driving experience and safety.

Step S104, obtaining the endpoint value of the interval range where the first opening is located and the growth coefficient corresponding to the endpoint value;

In the embodiment of the present invention, according to the obtained interval range of the first opening degree in the prediction correction table, the endpoint value of the interval range where the first opening degree is located, and the preset corresponding growth coefficient of the endpoint value are obtained.

Step S105, calculating the growth coefficient of the first opening degree according to the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value;

In the embodiment of the present invention, the coefficient of increase corresponding to the first opening degree within the interval is calculated according to the end point value of the interval in which the first degree of opening is located and the increase coefficient corresponding to the end point value.

In one embodiment, the slope growth coefficient and the translational growth coefficient corresponding to the first opening degree within the interval are calculated according to the endpoint value of the interval in which the first opening degree is located and the growth coefficient corresponding to the endpoint value.

Step S106, obtaining a second opening degree after correcting the first opening degree according to the growth coefficient of the first opening degree;

In the embodiment of the present invention, after correcting the first opening degree according to the increase coefficient of the first opening degree to obtain the second opening degree, the first opening degree value may be increased to the second opening degree according to the increase coefficient of the first opening degree. Spend.

In one embodiment, the second opening degree is obtained by modifying the first opening degree according to the growth coefficient of the first opening degree, including: modifying the first opening degree according to the slope growth coefficient and the translational growth coefficient. After the degree is corrected, the second opening degree is obtained.

Step S107: Control the output torque of the electric vehicle according to the second opening degree, and control the speed of the electric vehicle according to the output torque.

In the embodiment of the present invention, the torque is output according to the voltage signal corresponding to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque.

It can be seen that, in the embodiment of the present invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain a second opening degree; the output of the electric vehicle is controlled according to the second opening degree torque, and the speed of the electric vehicle is controlled according to the output torque. Because the endpoint value of the interval range is inversely proportional to the corresponding growth coefficient value, that is, the smaller the endpoint value is, the larger the corresponding growth coefficient value is, and the larger the endpoint value is, the smaller the corresponding growth coefficient is. The second opening degree value obtained after the degree correction is large; in a large interval range, the second opening degree value obtained after the first opening degree correction is small. The output torque of the electric vehicle is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque, so that the torque value corresponding to the electric vehicle at low speed is larger, that is, the accelerator response is intuitively felt It is faster, and when the electric vehicle is at a high speed, the corresponding given torque value is smaller, which will make the driver feel easy to control, thereby improving the driving experience and safety.

Embodiment 2

This embodiment is a further description of Embodiment 1. For details about the same or similar parts of this embodiment and Embodiment 1, please refer to the relevant description of Embodiment 1, which will not be repeated here. As shown in FIG. 2 , the above S104 further includes: :

Step S201 , acquiring the starting endpoint value and the ending endpoint value of the interval where the first opening degree is located.

In the embodiment of the present invention, the interval in which the first degree of opening is located has two endpoint values, namely the initial endpoint value and the end endpoint value of the interval in which the first degree of opening is located, and the initial endpoint value and Endpoint endpoint value.

Step S202: Obtain a first growth coefficient corresponding to the starting endpoint value.

In the embodiment of the present invention, there are growth coefficients corresponding to the endpoint values of each interval range in the preset correction table, and the growth coefficients corresponding to the starting endpoint values of the interval range where the first opening degree is located are obtained and used as the first growth coefficients.

Step S203: Obtain a second growth coefficient corresponding to the end point value.

In the embodiment of the present invention, there are growth coefficients corresponding to the endpoint values of each interval range in the preset correction table, and the growth coefficients corresponding to the endpoint endpoint values of the interval range where the first opening is located are obtained and used as the second growth coefficient.

It can be seen that, in the embodiment of the present invention, the first growth coefficient and the second growth coefficient can be calculated respectively according to the starting end point value and the end point end value of the interval range where the first opening degree is located, so that the first growth coefficient can be calculated according to the first growth coefficient. Calculate the growth coefficient of the first opening degree with the second growth coefficient, and obtain the second opening degree after correcting the first opening degree according to the growth coefficient of the first opening degree; control the said opening degree according to the second opening degree an output torque of the electric vehicle, the speed of the electric vehicle is controlled according to the output torque, the output torque of the electric vehicle is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque, When the electric vehicle is at a low speed, the corresponding given torque value is larger, that is, it intuitively feels that the throttle response is faster, and when the electric vehicle is at a high speed, the corresponding given torque value is smaller, which will make the driver feel easy to control, thus improving the Driving experience and safety.

Embodiment 3

This embodiment is a further description of Embodiment 1 or Embodiment 2. For the same or similar places between this embodiment and Embodiment 1 or Embodiment 2, reference may be made to the relevant description of Embodiment 1, which will not be repeated here. 3, the above S105 includes:

Step S301, according to the initial endpoint value and the first growth coefficient, calculate the modified initial endpoint value;

In this embodiment of the present invention, the modified initial endpoint value may be specifically calculated according to the product of the initial endpoint value and the first growth coefficient.

Step S302, calculate the modified end point value according to the end point value and the second growth coefficient;

In this embodiment of the present invention, the modified end point value may be calculated specifically according to the product of the end point end point value and the second growth coefficient.

Step S303, according to the starting endpoint value, the endpoint endpoint value, the corrected starting endpoint value and the corrected endpoint endpoint value, calculate the third increase coefficient and the fourth increase of the first opening degree. coefficient.

In this embodiment of the present invention, according to the starting endpoint value, the ending endpoint value, the corrected starting endpoint value, and the corrected endpoint endpoint value, it can be calculated that the first opening is at the first opening. The slope value is the abscissa and the corrected value is the slope growth coefficient and the translation growth coefficient in the coordinate system of the ordinate, the slope growth coefficient corresponds to the third growth coefficient representing the first opening, and the translation growth coefficient Corresponds to the fourth growth coefficient representing the first opening degree.

In an embodiment, the second opening degree is obtained by modifying the first opening degree according to an increase coefficient of the first opening degree, including: adjusting the first opening degree according to the third increasing coefficient and the fourth increasing coefficient. After the first opening is corrected, the second opening is obtained.

In one embodiment, the third growth coefficient of the first opening degree and The calculation formula of the fourth growth coefficient is:

Wherein, the a1 is the third growth coefficient, the a2 is the fourth growth coefficient, the K _o1 is the starting endpoint value, K _o2 is the endpoint endpoint value, and K ₁ is the The corrected starting endpoint value, K ₂ is the corrected endpoint endpoint value.

In one embodiment, the calculation formula for obtaining the second opening degree after correcting the first opening degree according to the third growth coefficient and the fourth growth coefficient is:

K _th =a1×K _oth +a2;

Wherein, the K _th is the second opening degree, the K _oth is the first opening degree, the a1 is the third growth coefficient, and the a2 is the fourth growth coefficient.

In order to facilitate understanding, an example is given below, assuming that the preset correction table is shown in Table 1:

Table 1 Preset Correction Table

Among them, the second row in Table 1 represents each endpoint value after the interval is divided according to the value range of the first opening degree, and the third row represents the corresponding growth coefficient of each endpoint value. Multiply the corresponding growth coefficient according to the endpoint value in Table 1 The corrected throttle opening table can be obtained, and the corrected endpoint values of each endpoint can be obtained, as shown in Table 2:

Table 2 Revised throttle opening table

Among them, the second row in Table 2 represents each endpoint value after the interval is divided according to the value range of the first opening degree, and the third row represents the corrected endpoint value corresponding to each endpoint value, which is more intuitive, as shown in Figure 3-1 It is shown in Table 2 according to the coordinate system in which the first opening degree is taken as the abscissa and the corrected value is the ordinate. In addition, Table 1 is just an example, and the method is not limited to the numerical values in it, as long as the numerical values in Table 1 are obtained in Table 2 conforming to the finally obtained modified throttle opening endpoint values K _th and K _oth present an upwardly concave shape , that is, when K _oth is between 0 and 1, the corresponding corrected accelerator opening value K _th is larger than K _oth , and the starting point and the end point are kept at (0, 0) and (1, 1) respectively. This can ensure that the K _th rises rapidly in the initial stage of the accelerator opening, improving the response speed of the accelerator, and the rising speed of K _th gradually slows down in the latter stage, making it easier for the driver to manipulate the vehicle. The specific value needs to be in the actual vehicle. Confirm after testing and calibration.

Assuming that the first opening value obtained by calculation is 0.33, first find the interval range in Table 1. It can be known that the two ends of the interval range where the first opening degree is located are between 0.15 and 0.7. The starting point value, the ending point value, the corrected starting point value and the corrected terminal point value, the calculation formulas for calculating the third growth coefficient and the fourth growth coefficient of the first opening degree are:

Wherein, the a1 is the third growth coefficient, the a2 is the fourth growth coefficient, the K _o1 is the starting endpoint value, K _o2 is the endpoint endpoint value, and K ₁ is the The corrected starting endpoint value, K ₂ is the corrected endpoint endpoint value.

The calculation formula for obtaining the second opening degree after correcting the first opening degree according to the third growth coefficient and the fourth growth coefficient is:

K _th =a1×K _oth +a2;

Wherein, the K _th is the second opening degree, the K _oth is the first opening degree, the a1 is the third growth coefficient, and the a2 is the fourth growth coefficient.

It can be deduced that the modified formula of the second opening degree is deformed as:

根据表2可知第一开度值为0.33，K_o1＝0.15，K_o2＝0.7，K₁＝0.4，K₂＝0.9因此，

According to Table 2, it can be known that the first opening value is 0.33, K _o1 =0.15, K _o2 =0.7, K ₁ =0.4, K ₂ =0.9 Therefore,

It can be seen that, in the embodiment of the present invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain a second opening degree; the output of the electric vehicle is controlled according to the second opening degree torque, and the speed of the electric vehicle is controlled according to the output torque. Because the endpoint value of the interval range is inversely proportional to the corresponding growth coefficient value, that is, the smaller the endpoint value is, the larger the corresponding growth coefficient value is, and the larger the endpoint value is, the smaller the corresponding growth coefficient is. The second opening degree value obtained after the degree correction is large; in a large interval range, the second opening degree value obtained after the first opening degree correction is small. The output torque of the electric vehicle is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque, so that when the electric vehicle is at a low speed, the corresponding given torque value is larger, that is, the accelerator is intuitively felt. The response is fast, and the torque value corresponding to the given torque is small when the electric vehicle is at a high speed, which will make the driver feel easy to control, thereby improving the driving experience and safety.

Embodiment 4

An embodiment of the present invention provides a control device for an electric vehicle accelerator, which can be integrated into an electric vehicle such as an electric motorcycle and used to execute the method steps in Embodiment 1, Embodiment 2 and/or Embodiment 3. For convenience of description, only As shown in the relevant part of the present invention, as shown in FIG. 4 , the control device 400 for the accelerator of the electric vehicle includes:

a first obtaining module 401, configured to obtain a first voltage input by the electric vehicle accelerator;

A second obtaining module 402, configured to perform linear normalization calculation on the first voltage to obtain a first opening degree;

In one embodiment, the calculation formula of the second obtaining module 402 is:

Wherein, the K _oth is the first opening degree, the V _{th_in} is the first voltage, the V _{th_max} is the preset effective upper limit value of the first voltage, and the V _{th_min} is the preset first voltage Effective lower limit value.

The search module 403 is configured to search the interval range where the first opening degree is located in the preset correction table according to the size of the first opening degree; wherein, the preset correction table is based on the effective lower voltage of the first voltage in advance. After the limit value and the effective upper limit value of the first voltage are normalized, the normalized value interval is obtained, and the normalized value interval is divided into N interval ranges, and the endpoint value of each interval range is predetermined. There is a corresponding growth coefficient, and the endpoint value of the interval is inversely proportional to the corresponding growth coefficient value, and the N≧2 is an integer;

The third obtaining module 404 is used to obtain the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value;

In one embodiment, the third obtaining module 404 includes:

A first obtaining unit, for obtaining the starting endpoint value and the endpoint endpoint value of the interval range where the first opening is located;

a second acquiring unit, configured to acquire the first growth coefficient corresponding to the starting endpoint value;

The third obtaining unit is configured to obtain the second growth coefficient corresponding to the end point value.

A calculation module 405, configured to calculate the growth coefficient of the first opening degree according to the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value;

In one embodiment, the computing module 405 includes:

A first calculating unit, for calculating the modified starting endpoint value according to the starting endpoint value and the first growth coefficient;

A second calculating unit, configured to calculate the modified end point value according to the end point value and the second growth coefficient;

A third calculating unit, configured to calculate the third growth coefficient of the first opening degree according to the starting endpoint value, the ending endpoint value, the corrected starting endpoint value and the corrected ending endpoint value and the fourth growth factor.

In one embodiment, the calculation formula of the third calculation unit is:

Wherein, the a1 is the third growth coefficient, the a2 is the fourth growth coefficient, the K _o1 is the starting endpoint value, K _o2 is the endpoint endpoint value, and K ₁ is the The corrected starting endpoint value, K ₂ is the corrected endpoint endpoint value.

A correction module 406, configured to obtain a second opening degree after correcting the first opening degree according to the growth coefficient of the first opening degree;

In one embodiment, the correction module 406 is specifically configured to obtain the second opening degree after correcting the first opening degree according to the third growth coefficient and the fourth growth coefficient.

In one embodiment, the calculation formula for obtaining the second opening degree after correcting the first opening degree according to the third growth coefficient and the fourth growth coefficient is:

K _th =a1×K _oth +a2;

Wherein, the K _th is the second opening degree, the K _oth is the first opening degree, the a1 is the third increasing coefficient, and the a2 is the fourth increasing coefficient.

The control module 407 is configured to control the output torque of the electric vehicle according to the second opening degree, and control the speed of the electric vehicle according to the output torque.

It can be seen that, in the embodiment of the present invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain a second opening degree; the output of the electric vehicle is controlled according to the second opening degree torque, and the speed of the electric vehicle is controlled according to the output torque. Because the endpoint value of the interval range is inversely proportional to the corresponding growth coefficient value, that is, the smaller the endpoint value is, the larger the corresponding growth coefficient value is, and the larger the endpoint value is, the smaller the corresponding growth coefficient is. The second opening degree value obtained after the degree correction is large; in a large interval range, the second opening degree value obtained after the first opening degree correction is small. The output torque of the electric vehicle is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque, so that when the electric vehicle is at a low speed, the corresponding given torque value is larger, that is, the accelerator is intuitively felt. The response is fast, and the torque value corresponding to the given torque is small when the electric vehicle is at a high speed, which will make the driver feel easy to control, thereby improving the driving experience and safety.

Embodiment 5

As shown in FIG. 5 , it is a schematic structural diagram of a terminal device provided by an embodiment of the present invention. The terminal device 500 includes: a processor 501 , a memory 502 , and a computer program 503 stored in the above-mentioned memory 502 and executable on the above-mentioned processor 501 . When the processor 501 executes the computer program 503, the steps in the above-mentioned embodiments of the electric vehicle throttle control method are implemented, for example, the method steps in the first embodiment, the method steps in the second embodiment and/or the third embodiment.

Exemplarily, the above-mentioned computer program 503 may be divided into one or more units/modules, and the above-mentioned one or more units/modules are stored in the above-mentioned memory 502 and executed by the above-mentioned processor 501 to complete the present invention. The above-mentioned one or more units/modules may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the above-mentioned computer program 503 in the above-mentioned terminal device 500 . For example, the above computer program 503 can be divided into a first acquisition module, a second acquisition module, a search module, a third acquisition module, a calculation module, a correction module, a control module and other modules, and the specific functions of each module are described in the fourth embodiment above. It has been described and will not be repeated here.

The above-mentioned terminal device 500 may be a computing device integrated in an electric vehicle such as an electric motorcycle. The above-mentioned terminal device 500 may include, but is not limited to, a processor 501 and a memory 502 . Those skilled in the art can understand that FIG. 5 is only an example of the terminal device 500, and does not constitute a limitation on the terminal device 500. It may include more or less components than the one shown, or combine some components, or different components For example, the above-mentioned terminal device 500 may further include an input and output device, a network access device, a bus, and the like.

The so-called processor 501 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The above-mentioned memory 502 may be an internal storage unit of the terminal device 500 , such as a hard disk or a memory of the terminal device 500 . The above-mentioned memory 502 may also be an external storage device of the above-mentioned terminal device 500, such as a plug-in hard disk equipped on the above-mentioned terminal device 500, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory Card (Flash Card) and so on. Further, the above-mentioned memory 502 may also include both an internal storage unit of the above-mentioned terminal device 500 and an external storage device. The above-mentioned memory 502 is used to store the above-mentioned computer program and other programs and data required by the above-mentioned terminal device 500 . The above-mentioned memory 502 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated to different functional units, Module completion, that is, dividing the internal structure of the above device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in one processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit, and the above-mentioned integrated units may adopt hardware. It can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working processes of the units and modules in the above-mentioned terminal equipment, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the above-mentioned division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined. Either it can be integrated into another system, or some features can be omitted, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described above as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solutions in the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

If the above-mentioned integrated units are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program. The above computer program can be stored in a computer-readable storage medium. When executed by a processor, the steps of each of the above method embodiments can be implemented. Wherein, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code may be in the form of source code, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random Access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the above-mentioned computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media does not Included are electrical carrier signals and telecommunication signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to implement the foregoing implementations. The technical solutions described in the examples are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the within the protection scope of the present invention.

Claims (10)

1. a control method of electric vehicle accelerator, is characterized in that, comprises: obtaining a first voltage input by the electric vehicle accelerator; performing linear normalization calculation on the first voltage to obtain a first opening degree; According to the size of the first opening degree, the interval range where the first opening degree is located is searched in a preset correction table; wherein, the preset correction table is based on the effective lower limit value of the first voltage and the first voltage in advance. After normalizing the effective upper limit value of , the normalized value interval is obtained, and the normalized value interval is divided into N interval ranges, and the endpoint value of each interval range is preset with a corresponding growth coefficient , and the endpoint value of the interval is inversely proportional to the corresponding growth coefficient value, and the N≧2 is an integer; Obtain the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value; Calculate the growth coefficient of the first opening degree according to the endpoint value of the interval where the first opening degree is located and the growth coefficient corresponding to the endpoint value; After correcting the first opening degree according to the growth coefficient of the first opening degree, a second opening degree is obtained; The electric vehicle output torque is controlled according to the second opening degree, and the speed of the electric vehicle is controlled according to the output torque. 2. The control method according to claim 1, wherein obtaining the endpoint value of the interval range where the first opening degree is located and the growth coefficient corresponding to the endpoint value, comprising: Obtain the starting endpoint value and the endpoint endpoint value of the interval range where the first opening is located; obtaining the first growth coefficient corresponding to the starting endpoint value; A second growth factor corresponding to the endpoint endpoint value is obtained. 3 . The control method according to claim 2 , wherein calculating the growth coefficient of the first opening degree according to the end point value of the interval range where the first opening degree is located and the growth coefficient corresponding to the end point value, comprising: 4 . : Calculate the modified starting endpoint value according to the starting endpoint value and the first growth coefficient; Calculate the modified endpoint endpoint value according to the endpoint endpoint value and the second growth factor; According to the starting endpoint value, the ending endpoint value, the modified starting endpoint value and the modified ending endpoint value, the third and fourth increasing coefficients of the first opening degree are calculated. 4 . The control method according to claim 3 , wherein the second opening degree is obtained after correcting the first opening degree according to the growth coefficient of the first opening degree, comprising: 5 . The second opening degree is obtained by correcting the first opening degree according to the third increasing coefficient and the fourth increasing coefficient. 5. control method according to claim 4 is characterized in that, according to described initial endpoint value, described endpoint endpoint value, described modified initial endpoint value and modified endpoint endpoint value, calculate the described The formulas for calculating the third growth factor and the fourth growth factor of the first opening are:

Wherein, the a1 is the third growth coefficient, the a2 is the fourth growth coefficient, the K _o1 is the starting endpoint value, K _o2 is the endpoint endpoint value, and K ₁ is the The corrected starting endpoint value, K ₂ is the corrected endpoint endpoint value. 6 . The control method according to claim 5 , wherein the calculation formula for obtaining the second opening degree after correcting the first opening degree according to the third growth coefficient and the fourth growth coefficient is: 6 . K _th =a1×K _oth +a2; Wherein, the K _th is the second opening degree, the K _oth is the first opening degree, the a1 is the third growth coefficient, and the a2 is the fourth growth coefficient. 7. The control method according to any one of claims 1 to 6, wherein the calculation formula for obtaining the first opening degree by linearly normalizing the first voltage is:

Wherein, the K _oth is the first opening degree, the V _{th_in} is the first voltage, the V _{th_max} is the preset effective upper limit value of the first voltage, and the V _{th_min} is the preset first voltage Effective lower limit value. 8. A control device for an electric vehicle accelerator, comprising: a first obtaining module, configured to obtain a first voltage input by the electric vehicle accelerator; a second obtaining module, configured to perform linear normalization calculation on the first voltage to obtain a first opening degree; A search module, configured to search the interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree; wherein, the preset correction table is based on the effective lower limit of the first voltage in advance The value and the effective upper limit of the first voltage are normalized to obtain a normalized value interval, and the normalized value interval is divided into N interval ranges, and the endpoint value of each interval range is preset There is a corresponding growth coefficient, and the endpoint value of the interval is inversely proportional to the corresponding growth coefficient value, and the N≧2 is an integer; The third acquisition module is used to acquire the endpoint value of the interval range where the first opening is located and the growth coefficient corresponding to the endpoint value; a calculation module, configured to calculate the growth coefficient of the first opening according to the endpoint value of the interval range where the first opening is located and the growth coefficient corresponding to the endpoint value; a correction module, configured to obtain a second opening degree after correcting the first opening degree according to the growth coefficient of the first opening degree; The control module is configured to control the output torque of the electric vehicle according to the second opening degree, and control the speed of the electric vehicle according to the output torque. 9. A terminal device, comprising a memory, a processor and a computer program stored in the memory and running on the processor, wherein the processor implements the computer program as claimed in the claims when executing the computer program The steps of any one of 1 to 7 of the method. 10. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented .

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