CN109910634B - Control method and device for accelerator of electric vehicle and terminal equipment - Google Patents
Control method and device for accelerator of electric vehicle and terminal equipment Download PDFInfo
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Abstract
The invention belongs to the technical field of automation, and provides a control method, a control device and a control terminal device for an electric vehicle accelerator, wherein the method comprises the following steps: acquiring a first voltage input by an accelerator of the electric vehicle; performing linear normalization calculation on the first voltage to obtain a first opening degree; searching an interval range where the first opening is located in a preset correction table according to the size of the first opening; acquiring an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value; calculating an increasing coefficient of the first opening degree according to an end point value of an interval range where the first opening degree is located and an increasing coefficient corresponding to the end point value; correcting the first opening degree according to the increase coefficient of the first opening degree to obtain a second opening degree; and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque. The embodiment of the invention enables the driver to feel easy to control, thereby improving the driving experience and safety.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a control method and device for an accelerator of an electric vehicle and terminal equipment.
Background
The accelerator opening of the electric vehicle corresponds to different voltage signals, and the motor is controlled to output corresponding torque (voltage and current) according to the voltage signals to control the speed of the electric vehicle.
At present, when a driver needs to accelerate through the opening degree of an accelerator, the opening degree of the accelerator is directly increased, and the motor is controlled to transmit corresponding torque according to a voltage signal corresponding to the increased opening degree of the accelerator, so that the electric vehicle can be controlled to accelerate. However, the existing relationship between the throttle opening and the corresponding voltage signal to control the motor to transmit the corresponding torque is a linear relationship, when the electric vehicle is at a low speed, the corresponding given torque value is small, i.e. the throttle response is intuitively felt to be slow, and when the electric vehicle is at a high speed, the corresponding given torque value is increased quickly, so that a driver feels uneasy to control, thereby causing low driving experience and safety.
Disclosure of Invention
In view of this, the embodiment of the invention provides a method and a device for controlling an accelerator of an electric vehicle and a terminal device, and aims to solve the problems of low driving experience and low safety of the existing electric vehicle.
A first aspect of an embodiment of the present application provides a method for controlling an accelerator of an electric vehicle, including:
acquiring a first voltage input by a throttle of the electric vehicle;
performing linear normalization calculation on the first voltage to obtain a first opening degree;
searching an interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree; the preset correction table is obtained by normalizing according to an effective lower limit value of a first voltage and an effective upper limit value of the first voltage in advance to obtain a normalized value range, the normalized value range is divided into N range ranges, a corresponding growth coefficient is preset at an end point value of each range, the end point value of each range and the corresponding growth coefficient value form an inverse proportion relation, and N is not less than 2 and is an integer;
acquiring an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
calculating an increase coefficient of the first opening degree according to an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
correcting the first opening degree according to the increasing coefficient of the first opening degree to obtain a second opening degree;
and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque.
In one embodiment, acquiring an endpoint value of an interval range where the first opening degree is located and an increase coefficient corresponding to the endpoint value includes:
acquiring a starting end point value and a finishing end point value of an interval range in which the first opening degree is positioned;
acquiring a first growth coefficient corresponding to the starting endpoint value;
a second growth coefficient corresponding to the endpoint value is obtained.
In one embodiment, calculating the increase coefficient of the first opening degree according to the endpoint value of the range of the first opening degree and the increase coefficient corresponding to the endpoint value comprises:
calculating a corrected initial endpoint value according to the initial endpoint value and the first growth coefficient;
calculating a corrected endpoint value according to the endpoint value and the second growth coefficient;
and calculating a third increase coefficient and a fourth increase coefficient of the first opening degree according to the starting endpoint value, the end endpoint value, the corrected starting endpoint value and the corrected end endpoint value.
In one embodiment, the correcting the first opening degree according to the increasing coefficient of the first opening degree to obtain the second opening degree comprises:
and correcting the first opening degree according to the third and fourth increasing coefficients to obtain a second opening degree.
In one embodiment, the calculation formula for calculating the third and fourth growth coefficients of the first opening degree according to the start end point value, the end point value, the modified start end point value and the modified end point value is:
wherein a1 is the third growth coefficient, a2 is the fourth growth coefficient, and Ko1Is the starting endpoint value, Ko2To the endpoint value, K1For the corrected start endpoint value, K2Is the corrected endpoint value.
In one embodiment, the calculation formula of the second opening degree obtained by correcting the first opening degree according to the third and fourth increasing coefficients is as follows:
Kth＝a1×Koth+a2；
wherein, K isthFor the second opening, KothFor the first opening degree, the a1 is a third increase coefficient, and the a2 is a fourth increase coefficient.
In one embodiment, the calculation formula for obtaining the first opening degree by performing a linear normalization calculation on the first voltage is as follows:
wherein, K isothFor the first opening degree, the Vth_inIs the first voltage, the Vth_maxIs a preset first voltage effective upper limit value, Vth_minIs a preset first voltage effective lower limit value.
A second aspect of the embodiments of the present application provides a control device for an accelerator of an electric vehicle, including:
the first acquisition module is used for acquiring a first voltage input by the accelerator of the electric vehicle;
the second acquisition module is used for carrying out linear normalization calculation on the first voltage to obtain a first opening degree;
the searching module is used for searching an interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree; the preset correction table is obtained by normalizing according to an effective lower limit value of a first voltage and an effective upper limit value of the first voltage in advance to obtain a normalized value range, the normalized value range is divided into N range ranges, a corresponding growth coefficient is preset at an end point value of each range, the end point value of each range and the corresponding growth coefficient value form an inverse proportion relation, and N is not less than 2 and is an integer;
the third acquisition module is used for acquiring an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
the calculation module is used for calculating an increase coefficient of the first opening degree according to an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
the correction module is used for correcting the first opening degree according to the increase coefficient of the first opening degree to obtain a second opening degree;
and the control module is used for controlling the output torque of the electric vehicle according to the second opening degree and controlling 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, where the processor implements the steps of the method when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the steps of the above-described method.
In the embodiment of the invention, the first opening degree is corrected according to the increasing coefficient of the first opening degree to obtain a second opening degree; and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque. The end point values of the interval range and the corresponding growth coefficient values are in an inverse proportional relation, namely the smaller the end point values are, the larger the corresponding growth coefficient values are, the larger the end point values are, the smaller the corresponding growth coefficient values are, and therefore the second opening value obtained after the first opening degree is corrected is large in the interval range; in the case of a large interval range, the second opening value obtained after the first opening 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 corresponding given torque value is large when the electric vehicle is at a low speed, namely the accelerator is intuitively sensed to respond quickly, and the corresponding given torque value is small when the electric vehicle is at a high speed, so that a driver can sense to control easily, and the driving experience and the safety are improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for controlling a throttle of an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for controlling a throttle of an electric vehicle according to a second embodiment of the present invention;
FIG. 3 is a schematic flow chart of a control method of an accelerator of an electric vehicle according to a third embodiment of the invention;
FIG. 3-1 is a schematic coordinate system diagram of a corrected accelerator opening in a control method of an accelerator of an electric vehicle according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a control device of an electric vehicle throttle according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a terminal device according to a fifth embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from 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 sequence numbers of the steps in the method embodiments described below do not mean the execution sequence, and the execution sequence of each process should be determined by the function and the inherent logic of the process, and should not constitute any limitation on the implementation process of each embodiment.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
The embodiment of the invention provides a control method of an accelerator of an electric vehicle, which can be applied to electric vehicles such as an electric motorcycle and the like, and as shown in figure 1, the control method comprises the following steps:
step S101, acquiring a first voltage input by an accelerator of the electric vehicle;
in the embodiment of the invention, the analog voltage input by the accelerator of the electric vehicle is obtained and is taken as the first voltage.
Step S102, carrying out linear normalization calculation on the first voltage to obtain a first opening degree;
in the embodiment of the present invention, the linear normalization calculation of the first voltage to obtain the first opening degree may be to linearly correspond the first voltage to a number between 0 and 1 to obtain the first opening degree, where the first opening degree is an original opening degree of an accelerator of the electric vehicle.
In one embodiment, the calculation formula for obtaining the first opening degree by performing a linear normalization calculation on the first voltage is as follows:
wherein, K isothFor the first opening degree, the Vth_inIs the first voltage, the Vth_maxIs a preset first voltage effective upper limit value, Vth_minIs a preset first voltage effective lower limit value. The first voltage effective upper limit value and the first voltage effective lower limit value may be preset according to a maximum voltage and a minimum voltage of an electric vehicle in practical application, and are not limited herein.
Step S103, searching an interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree;
in the embodiment of the present invention, the preset correction table is a normalized value range obtained by normalizing in advance according to the effective lower limit value of the first voltage and the effective upper limit value of the first voltage, the normalized value range is divided into N range ranges, the endpoint value of each range is preset with a corresponding growth coefficient, the endpoint value of each range and the corresponding growth coefficient value are in an inverse proportional relationship, and N is ≧ 2 and is an integer. The value interval obtained after normalization according to 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 the effective lower limit value of the first voltage to 0, and linearly corresponding the effective upper limit value of the first voltage to 1, that is, the value range of the original opening degree can be preset between 0 and 1. And dividing the normalized value range (namely the value range of the original opening degree between 0 and 1) into N range ranges, presetting a corresponding increase coefficient at the end point value of each range, wherein the end point value of each range and the corresponding increase coefficient value are in an inverse proportional relation, namely, the smaller the end point value is, the larger the corresponding increase coefficient value is, the larger the end point value is, the smaller the corresponding increase coefficient is, so that the larger the second opening degree value obtained after the first opening degree is corrected in the range with the smaller original opening degree value is, and the smaller the second opening degree value obtained after the first opening degree is corrected in the range with the larger original opening degree value is. Therefore, the corresponding given torque value is larger when the electric vehicle is at a low speed, namely the accelerator is intuitively sensed to have faster response, and the corresponding given torque value is smaller when the electric vehicle is at a high speed, so that a driver can feel easy to control, and the driving experience and the safety are improved.
Step S104, acquiring an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
in the embodiment of the invention, according to the obtained range of the first opening degree in the prediction correction table, the endpoint value of the range of the first opening degree is obtained, and the corresponding increase coefficient preset by the endpoint value is obtained.
Step S105, calculating an increase coefficient of the first opening degree according to an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
in the embodiment of the invention, the coefficient of the corresponding increase of the first opening degree in the interval range is calculated according to the endpoint value of the interval range in which the first opening degree is located and the increase coefficient corresponding to the endpoint value.
In one embodiment, the slope increase coefficient and the translation increase coefficient corresponding to the first opening degree in the interval range are calculated according to the endpoint value of the interval range in which the first opening degree is located and the increase coefficient corresponding to the endpoint value.
Step S106, correcting the first opening degree according to the increasing coefficient of the first opening degree to obtain a second opening degree;
in the embodiment of the present invention, the second opening degree obtained by correcting the first opening degree according to the increase coefficient of the first opening degree may be increased by a first opening degree value to the second opening degree according to the increase coefficient of the first opening degree.
In one embodiment, the correcting the first opening degree according to the increasing coefficient of the first opening degree to obtain the second opening degree comprises: and correcting the first opening according to the slope increasing coefficient and the translation increasing coefficient to obtain a second opening.
And S107, controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque.
In the embodiment of the 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.
Therefore, in the embodiment of the invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain the second opening degree; and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque. The end point values of the interval range and the corresponding growth coefficient values are in an inverse proportional relation, namely the smaller the end point values are, the larger the corresponding growth coefficient values are, the larger the end point values are, the smaller the corresponding growth coefficient values are, and therefore the second opening value obtained after the first opening degree is corrected is large in the interval range; in the case of a large interval range, the second opening value obtained after the first opening 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 given by the electric vehicle at a low speed is large, namely the accelerator is sensed intuitively to respond quickly, and the torque value given by the electric vehicle at a high speed is small, so that a driver can sense to control easily, and the driving experience and the safety are improved.
Example two
This embodiment is a further description of the first embodiment, and the same or similar places of this embodiment as the first embodiment may specifically refer to the related description of the first embodiment, and are not repeated here, as shown in fig. 2, the step S104 further includes:
step S201, a start end point value and an end point value of an interval range in which the first opening degree is located are obtained.
In the embodiment of the present invention, the interval range in which the first opening degree is located has two end point values, that is, a start end point value and an end point value of the interval range in which the first opening degree is located, and the start end point value and the end point value of the interval range in which the first opening degree is located are respectively obtained.
In step S202, a first growth coefficient corresponding to the starting endpoint value is obtained.
In the embodiment of the invention, the preset correction table has the growth coefficients corresponding to the end point values of each interval range, and the growth coefficient corresponding to the start end point value of the interval range where the first opening is located is obtained and used as the first growth coefficient.
Step S203, a second growth coefficient corresponding to the endpoint value is obtained.
In the embodiment of the invention, the preset correction table has the growth coefficients corresponding to the end point values of the range of each interval, and the growth coefficient corresponding to the end point value of the range of the interval where the first opening is located is obtained and used as the second growth coefficient.
Therefore, in the embodiment of the invention, a first increase coefficient and a second increase coefficient can be respectively calculated according to a starting end point value and an end point value of an interval range where a first opening degree is located, so that the increase coefficient of the first opening degree can be calculated according to the first increase coefficient and the second increase coefficient, and the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain the second opening degree; according to the second opening degree, the output torque of the electric vehicle is controlled, 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, the speed of the electric vehicle is controlled according to the output torque, the electric vehicle is enabled to correspond to a given torque value when the electric vehicle is at a low speed, namely, the accelerator is enabled to respond faster visually, and the given torque value when the electric vehicle is at a high speed is enabled to be smaller, so that a driver can feel easy to control, and driving experience and safety are improved.
EXAMPLE III
This embodiment is a further description of the first embodiment or the second embodiment, and the same or similar places of this embodiment as those of the first embodiment or the second embodiment may specifically refer to the related description of the first embodiment, and are not repeated here, as shown in fig. 3, the above-mentioned S105 includes:
step S301, calculating a corrected initial endpoint value according to the initial endpoint value and the first growth coefficient;
in an embodiment of the present invention, the modified start endpoint value may be specifically calculated according to a product of the start endpoint value and the first growth coefficient.
Step S302, calculating a corrected end point value according to the end point value and the second growth coefficient;
in an embodiment of the present invention, the modified endpoint value may be specifically calculated according to a product of the endpoint value and the second growth coefficient.
Step S303, calculating a third growth coefficient and a fourth growth coefficient of the first opening degree according to the start endpoint value, the end endpoint value, the corrected start endpoint value, and the corrected end endpoint value.
In the embodiment of the present invention, according to the start end point value, the corrected start end point value, and the corrected end point value, a slope increase coefficient and a translation increase coefficient of the first opening in a coordinate system with a value of the first opening as an abscissa and a value after correction as an ordinate may be calculated, where the slope increase coefficient corresponds to a third increase coefficient representing the first opening, and the translation increase coefficient corresponds to a fourth increase coefficient representing the first opening.
In one embodiment, the correcting the first opening degree according to the increasing coefficient of the first opening degree to obtain the second opening degree comprises: and correcting the first opening degree according to the third and fourth increasing coefficients to obtain a second opening degree.
In one embodiment, the calculation formula for calculating the third and fourth growth coefficients of the first opening degree according to the start end point value, the end point value, the modified start end point value and the modified end point value is:
wherein a1 is the third growth coefficient, a2 is the fourth growth coefficient, and Ko1Is the starting endpoint value, Ko2To the endpoint value, K1For the corrected start endpoint value, K2Is the corrected endpoint value.
In one embodiment, the calculation formula of the second opening degree obtained by correcting the first opening degree according to the third and fourth increasing coefficients is as follows:
Kth＝a1×Koth+a2；
wherein, K isthFor the second opening, KothFor the first opening degree, the a1 is a third increase coefficient, and the a2 is a fourth increase coefficient.
For convenience of understanding, the following description will be made by way of example, assuming that the preset correction table is shown in table 1:
TABLE 1 Preset correction Table
Wherein, the second row in table 1 represents each endpoint value after dividing the interval according to the value range of first aperture, and the third row represents the increase coefficient that each endpoint value corresponds, can obtain the throttle aperture table after the correction according to the corresponding increase coefficient of the endpoint value multiplication in table 1, can obtain each endpoint value after the correction, as shown in table 2:
TABLE 2 corrected Accelerator opening degree Table
The second row in table 2 represents each endpoint value after dividing the interval according to the value range of the first opening degree, the third row represents the corrected endpoint value corresponding to each endpoint value, and the method is more intuitive, and as shown in fig. 3-1, the method is based on a coordinate system in which the first opening degree value is taken as an abscissa and the corrected value is taken as an ordinate in table 2. Further, table 1 is merely an example and the method is not limited to the values therein, as long as the values in table 1 result in table 2 that corresponds to the resulting corrected accelerator opening end point value KthAnd KothIn a concave shape, i.e. KothBetween 0 and 1, corresponding corrected throttle opening value KthAre all greater than KothAnd the start point and the end point are maintained as (0, 0) and (1, 1), respectively. Thus, the initial section K of the opening degree of the accelerator can be ensuredthQuickly rises to improve the response speed of the accelerator, and is arranged at the rear section KthThe ascending speed is gradually reduced, so that the driver can more easily manipulate the characteristic of the vehicle, and the specific value needs to be determined after test calibration is carried out on an actual vehicle.
Assuming that the first opening value obtained by calculation is 0.33, the range of the interval to which the first opening belongs is found in table 1, and it can be known that the two end values of the range of the interval to which the first opening belongs are between 0.15 and 0.7, and according to the starting end point value, the ending end point value, the corrected starting end point value and the corrected ending end point value of the range to which the first opening belongs, the calculation formula for calculating the third growth coefficient and the fourth growth coefficient of the first opening is as follows:
wherein a1 is the third growth coefficient, a2 is the fourth growth coefficient, and Ko1Is the starting endpoint value, Ko2To the endpoint value, K1For the corrected start endpoint value, K2Is the corrected endpoint value.
And the calculation formula of the second opening degree obtained after the first opening degree is corrected according to the third and fourth increasing coefficients is as follows:
Kth＝a1×Koth+a2；
wherein, K isthFor the second opening, KothFor the first opening degree, the a1 is a third increase coefficient, and the a2 is a fourth increase coefficient.
The formula that can deduce the corrected second opening degree is modified as:
therefore, in the embodiment of the invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain the second opening degree; and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque. The end point values of the interval range and the corresponding growth coefficient values are in an inverse proportional relation, namely the smaller the end point values are, the larger the corresponding growth coefficient values are, the larger the end point values are, the smaller the corresponding growth coefficient values are, and therefore the second opening value obtained after the first opening degree is corrected is large in the interval range; in the case of a large interval range, the second opening value obtained after the first opening 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 corresponding given torque value is large when the electric vehicle is at a low speed, namely the accelerator is intuitively sensed to respond quickly, and the corresponding given torque value is small when the electric vehicle is at a high speed, so that a driver can sense to control easily, and the driving experience and the safety are improved.
Example four
The embodiment of the present invention provides a control device for an accelerator of an electric vehicle, which can be integrated into an electric vehicle such as an electric motorcycle, and is used to execute the method steps in the first embodiment, the second embodiment and/or the third embodiment, for convenience of description, only relevant parts of the present invention are shown, as shown in fig. 4, the control device 400 for an accelerator of an electric vehicle includes:
a first obtaining module 401, configured to obtain a first voltage input by a throttle of the electric vehicle;
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, K isothFor the first opening degree, the Vth_inIs the first voltage, the Vth_maxIs a preset first voltage effective upper limit value, Vth_minIs a preset first voltage effective lower limit value.
The searching module 403 is configured to search, according to the size of the first opening, an interval range where the first opening is located in a preset correction table; the preset correction table is obtained by normalizing according to an effective lower limit value of a first voltage and an effective upper limit value of the first voltage in advance to obtain a normalized value range, the normalized value range is divided into N range ranges, a corresponding growth coefficient is preset at an end point value of each range, the end point value of each range and the corresponding growth coefficient value form an inverse proportion relation, and N is not less than 2 and is an integer;
a third obtaining module 404, configured to obtain an endpoint value of an interval range where the first opening degree is located and an increase coefficient corresponding to the endpoint value;
in one embodiment, the third obtaining module 404 includes:
the first acquisition unit is used for acquiring a starting end point value and a finishing end point value of an interval range where the first opening degree is located;
a second obtaining unit configured to obtain a first growth coefficient corresponding to the starting endpoint value;
a third obtaining unit configured to obtain a second increase coefficient corresponding to the endpoint value.
A calculating module 405, configured to calculate an increase coefficient of the first opening degree according to an endpoint value of an interval range where the first opening degree is located and an increase coefficient corresponding to the endpoint value;
in one embodiment, the calculation module 405 includes:
the first calculation unit is used for calculating a corrected initial endpoint value according to the initial endpoint value and the first growth coefficient;
the second calculation unit is used for calculating a corrected endpoint value according to the endpoint value and the second growth coefficient;
and the third calculation unit is used for calculating a third growth coefficient and a fourth growth coefficient of the first opening according to the starting end point value, the corrected starting end point value and the corrected end point value.
In one embodiment, the calculation formula of the third calculation unit is:
wherein a1 is the third growth coefficient, a2 is the fourth growth coefficient, and Ko1Is the starting endpoint value, Ko2To the endpoint value, K1For the corrected start endpoint value, K2Is the corrected endpoint value.
The correcting module 406 is configured to correct the first opening degree according to an increase coefficient of the first opening degree to obtain a second opening degree;
in an embodiment, the modification module 406 is specifically configured to modify the first opening degree according to the third increase coefficient and a fourth increase coefficient to obtain a second opening degree.
In one embodiment, the calculation formula of the second opening degree obtained by correcting the first opening degree according to the third and fourth increasing coefficients is as follows:
Kth＝a1×Koth+a2；
wherein, K isthFor the second opening, KothFor the first opening degree, the a1 is a third increase coefficient, and the a2 is a fourth increase coefficient.
And 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.
Therefore, in the embodiment of the invention, the first opening degree is corrected according to the increase coefficient of the first opening degree to obtain the second opening degree; and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque. The end point values of the interval range and the corresponding growth coefficient values are in an inverse proportional relation, namely the smaller the end point values are, the larger the corresponding growth coefficient values are, the larger the end point values are, the smaller the corresponding growth coefficient values are, and therefore the second opening value obtained after the first opening degree is corrected is large in the interval range; in the case of a large interval range, the second opening value obtained after the first opening 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 corresponding given torque value is large when the electric vehicle is at a low speed, namely the accelerator is intuitively sensed to respond quickly, and the corresponding given torque value is small when the electric vehicle is at a high speed, so that a driver can sense to control easily, and the driving experience and the safety are improved.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a terminal device according to 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 memory 502 and executable on the processor 501. The processor 501 executes the computer program 503 to implement the steps of the method for controlling the accelerator of the electric vehicle, such as the method steps of the first embodiment, the method steps of the second embodiment and/or the method steps of the third embodiment.
Illustratively, the computer program 503 may be divided into one or more units/modules, which are stored in the memory 502 and executed by the processor 501 to implement the present invention. The one or more units/modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 503 in the terminal device 500. For example, the computer program 503 may be divided into a first obtaining module, a second obtaining module, a searching module, a third obtaining module, a calculating module, a modifying module, a controlling module, and the like, and specific functions of each module are described in the fourth embodiment, which is not described herein again.
The terminal device 500 may be a computing device integrated in an electric vehicle such as an electric motorcycle. The terminal device 500 may include, but is not limited to, a processor 501 and a memory 502. Those skilled in the art will appreciate that fig. 5 is only an example of the terminal device 500 and does not constitute a limitation to the terminal device 500, and may include more or less components than those shown, or combine some components, or different components, for example, the terminal device 500 may further include an input-output device, a network access device, a bus, etc.
The Processor 501 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 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 memory 502 may also be an external storage device of the terminal device 500, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 500. Further, the memory 502 may include both an internal storage unit and an external storage device of the terminal device 500. The memory 502 is used to store the computer programs and other programs and data required by the terminal device 500. The memory 502 described above may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the terminal device may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the above-described modules or units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the embodiments of the method when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable medium described above may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media excludes electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method of controlling a throttle of an electric vehicle, comprising:
acquiring a first voltage input by a throttle of the electric vehicle;
performing linear normalization calculation on the first voltage to obtain a first opening degree;
searching an interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree; the preset correction table is obtained by normalizing according to an effective lower limit value of a first voltage and an effective upper limit value of the first voltage in advance to obtain a normalized value range, the normalized value range is divided into N range ranges, a corresponding growth coefficient is preset at an end point value of each range, the end point value of each range and the corresponding growth coefficient value form an inverse proportion relation, and N is not less than 2 and is an integer;
acquiring an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
calculating an increase coefficient of the first opening degree according to an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
correcting the first opening degree according to the increasing coefficient of the first opening degree to obtain a second opening degree;
and controlling the output torque of the electric vehicle according to the second opening degree, and controlling the speed of the electric vehicle according to the output torque.
2. The control method according to claim 1, wherein obtaining an endpoint value of an interval range in which the first opening degree is located and an increase coefficient corresponding to the endpoint value comprises:
acquiring a starting end point value and a finishing end point value of an interval range in which the first opening degree is positioned;
acquiring a first growth coefficient corresponding to the starting endpoint value;
a second growth coefficient corresponding to the endpoint value is obtained.
3. The control method according to claim 2, wherein calculating the increase coefficient of the first opening degree according to an endpoint value of an interval range in which the first opening degree is located and an increase coefficient corresponding to the endpoint value comprises:
calculating a corrected initial endpoint value according to the initial endpoint value and the first growth coefficient;
calculating a corrected endpoint value according to the endpoint value and the second growth coefficient;
and calculating a third increase coefficient and a fourth increase coefficient of the first opening degree according to the starting endpoint value, the end endpoint value, the corrected starting endpoint value and the corrected end endpoint value.
4. The control method according to claim 3, wherein the correction of the first opening degree to obtain the second opening degree based on the increase coefficient of the first opening degree includes:
and correcting the first opening degree according to the third and fourth increasing coefficients to obtain a second opening degree.
5. The control method according to claim 4, characterized in that a calculation formula for calculating a third increase coefficient and a fourth increase coefficient of the first opening degree from the start end point value, the end point value, the corrected start end point value, and the corrected end point value is:
whereinThe a1 is the third growth coefficient, the a2 is the fourth growth coefficient, and the Ko1Is the starting endpoint value, Ko2To the endpoint value, K1For the corrected start endpoint value, K2Is the corrected endpoint value.
6. The control method according to claim 5, characterized in that the calculation formula of the second opening degree obtained by correcting the first opening degree according to the third and fourth increase coefficients is:
Kth＝a1×Koth+a2；
wherein, K isthFor the second opening, KothFor the first opening degree, the a1 is a third increase coefficient, and the a2 is a fourth increase coefficient.
7. The control method according to any one of claims 1 to 6, characterized in that the calculation formula for obtaining the first opening degree by the linear normalization calculation of the first voltage is:
wherein, K isothFor the first opening degree, the Vth_inIs the first voltage, the Vth_maxIs a preset first voltage effective upper limit value, Vth_minIs a preset first voltage effective lower limit value.
8. A control device for an electric vehicle throttle, comprising:
the first acquisition module is used for acquiring a first voltage input by the accelerator of the electric vehicle;
the second acquisition module is used for carrying out linear normalization calculation on the first voltage to obtain a first opening degree;
the searching module is used for searching an interval range where the first opening degree is located in a preset correction table according to the size of the first opening degree; the preset correction table is obtained by normalizing according to an effective lower limit value of a first voltage and an effective upper limit value of the first voltage in advance to obtain a normalized value range, the normalized value range is divided into N range ranges, a corresponding growth coefficient is preset at an end point value of each range, the end point value of each range and the corresponding growth coefficient value form an inverse proportion relation, and N is not less than 2 and is an integer;
the third acquisition module is used for acquiring an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
the calculation module is used for calculating an increase coefficient of the first opening degree according to an end point value of an interval range where the first opening degree is located and an increase coefficient corresponding to the end point value;
the correction module is used for correcting the first opening degree according to the increase coefficient of the first opening degree to obtain a second opening degree;
and the control module is used for controlling the output torque of the electric vehicle according to the second opening degree and controlling 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 executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS58206845A (en) * | 1982-05-26 | 1983-12-02 | Mikuni Kogyo Co Ltd | Electronically controlled fuel supply device |
| JPS62178748A (en) * | 1986-01-31 | 1987-08-05 | Nissan Motor Co Ltd | Throttle control device for vehicle |
| JP4446978B2 (en) * | 2006-04-28 | 2010-04-07 | トヨタ自動車株式会社 | Vehicle driving force control device |
| CN106080192B (en) * | 2016-08-30 | 2018-03-09 | 杭州衡源汽车科技有限公司 | Automobile electric gasoline throttle control method |
| CN106763724A (en) * | 2017-01-19 | 2017-05-31 | 西华大学 | The optimal Shift Strategy system of many performance synthesises of automobile geared automatic transmission |
| CN108715139B (en) * | 2018-05-30 | 2021-05-07 | 北京新能源汽车股份有限公司 | Torque control method, device and equipment for electric automobile |
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