CN110525234B - Control method and device for motor output torque and vehicle control unit - Google Patents
Control method and device for motor output torque and vehicle control unit Download PDFInfo
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- CN110525234B CN110525234B CN201910950032.0A CN201910950032A CN110525234B CN 110525234 B CN110525234 B CN 110525234B CN 201910950032 A CN201910950032 A CN 201910950032A CN 110525234 B CN110525234 B CN 110525234B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention discloses a control method and device for motor output torque and a vehicle controller, relates to the technical field of electric vehicles, and aims to request a motor to output a torque value meeting the real requirement of a driver when the driver firstly steps on a brake pedal of the electric vehicle, keeps stepping on the brake pedal and then steps on an accelerator pedal of the electric vehicle. The method of the invention comprises the following steps: when the vehicle control unit collects a brake pedal stepping signal firstly, and collects an accelerator pedal stepping signal while keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current speed of the electric vehicle and the stepping depth of the accelerator pedal; the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth; when the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque. The method is suitable for the process that the vehicle control unit requests the motor to output the torque value meeting the requirement of the driver.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method and a device for controlling output torque of a motor and a vehicle control unit.
Background
With the continuous development of society, the living standard of people is continuously improved, the demand of people for automobiles is also increased, and the automobiles become an essential part of daily life of people. For a conventional automobile, the conventional automobile can only send a driving request to an engine, that is, only the engine can be requested to output positive torque, and in some specific cases, when a driver presses a brake pedal first and keeps pressing the brake pedal, and then presses an accelerator pedal, the conventional automobile can control the output torque of a motor (positive torque) based on the pressing depth of the accelerator pedal, then multiplies the required torque by a coefficient smaller than 1, and finally requests the engine to output the required torque multiplied by the coefficient.
Different from a traditional automobile, an electric automobile can send a driving request to a motor and can also send a braking request to the motor according to different stepping depths of an accelerator pedal, namely the electric automobile can request the motor to output positive torque and can also request the motor to output negative torque, therefore, when a driver presses the brake pedal first and keeps pressing the brake pedal and presses the accelerator pedal again, if the stepping depth of the accelerator pedal is small, the driver expects to send the braking request to the motor, namely requests the motor to output negative torque, at the moment, if the motor is requested to output a negative torque multiplied by a coefficient according to a processing scheme of the traditional automobile, the deceleration effect of the electric automobile is different from the deceleration effect expected by the driver, and the driving feeling and the safety of the driver are affected. Therefore, for the electric vehicle, when the driver presses the brake pedal first, and keeps pressing the brake pedal, and presses the accelerator pedal again, how to request the motor to output a torque value that meets the real requirement of the driver is a problem that needs to be solved.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for controlling output torque of a motor, and a vehicle controller, and mainly aims to request the motor to output a torque value that meets the real requirement of a driver when the driver steps on a brake pedal of an electric vehicle, keeps stepping on the brake pedal, and then steps on an accelerator pedal of the electric vehicle.
In order to achieve the above purpose, the present invention mainly provides the following technical solutions:
in a first aspect, the present invention provides a method of controlling output torque of an electric motor, the method comprising:
when a vehicle control unit collects a brake pedal stepping signal firstly, and collects an accelerator pedal stepping signal while keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal;
the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth;
when the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque.
Optionally, the method further includes:
when the first required torque is positive torque, the vehicle control unit multiplies the first required torque by a preset coefficient to obtain a second required torque;
the vehicle control unit requests the motor to output the second required torque.
Optionally, the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth, including:
and the vehicle controller searches the first required torque in a preset data table according to the current vehicle speed and the stepping depth, wherein torque values corresponding to different stepping depths of an accelerator pedal at different vehicle speeds are recorded in the preset data table.
Optionally, the preset data table is an accelerator characteristic data table petal Map, and torque values corresponding to different stepping depths of an accelerator Pedal at different vehicle speeds are recorded in the accelerator characteristic data table.
In a second aspect, the present invention also provides a control apparatus for an output torque of a motor, the apparatus comprising:
the acquisition unit is used for acquiring the current speed corresponding to the electric automobile and the stepping depth corresponding to the accelerator pedal when the vehicle controller firstly acquires a brake pedal stepping signal, keeps acquiring the brake pedal stepping signal and simultaneously acquires the accelerator pedal stepping signal;
the determining unit is used for determining a first required torque corresponding to the electric automobile according to the current speed and the stepping depth;
a first request unit configured to request the motor to output the first required torque when the first required torque is a negative torque.
Optionally, the apparatus further comprises:
an obtaining unit configured to multiply a preset coefficient by the first required torque to obtain a second required torque when the first required torque is a positive torque;
a second request unit for requesting the motor to output the second required torque.
Optionally, the determining unit includes:
and the searching module is used for searching the first required torque in a preset data table according to the current vehicle speed and the stepping depth, wherein torque values corresponding to different stepping depths of an accelerator pedal at different vehicle speeds are recorded in the preset data table.
Optionally, the preset data table is an accelerator characteristic data table petal Map, and torque values corresponding to different stepping depths of an accelerator Pedal at different vehicle speeds are recorded in the accelerator characteristic data table.
In a third aspect, an embodiment of the invention provides a vehicle control unit, which includes the device for controlling the output torque of the motor according to the second aspect.
In a fourth aspect, an embodiment of the present invention provides a storage medium including a stored program, wherein, when the program runs, an apparatus on which the storage medium is controlled performs the control method of the motor output torque according to the first aspect.
In a fifth aspect, embodiments of the present invention provide a vehicle control unit, including a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the method of controlling output torque of an electric machine of the first aspect.
By the technical scheme, the technical scheme provided by the invention at least has the following advantages:
the invention provides a control method and a control device for motor output torque and a vehicle control unit, which can firstly acquire a brake pedal treading signal at a VCU of the vehicle control unit, and when the brake pedal treading signal and the accelerator pedal treading signal are collected, the current speed of the electric automobile and the treading depth of the accelerator pedal are obtained by the VCU of the vehicle controller, and determining a first required torque corresponding to the electric automobile according to the current speed of the electric automobile and the stepping depth of the accelerator pedal (the first required torque is a torque value which is supposed to be output by a motor and obtained by the VCU according to the current speed and the stepping depth of the accelerator pedal on the assumption that the VCU only acquires a stepping signal of the accelerator pedal), when the first required torque is determined to be negative torque, the vehicle control unit VCU may directly request the electric machine to output the first required torque. Because the first required torque determined by the vehicle control unit VCU according to the current vehicle speed of the electric vehicle and the stepping depth of the accelerator pedal is a negative torque, the first required torque is a torque value actually required by the driver, and therefore, the vehicle control unit VCU directly requests the motor to output the first required torque, so that the deceleration effect (the braking force caused by the motor plus the braking force caused by the braking system) of the electric vehicle is the same as the deceleration effect expected by the driver, and the driving feeling and the safety of the driver can be ensured.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart illustrating a method for controlling output torque of a motor according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating another method for controlling output torque of an electric machine according to an embodiment of the present invention;
fig. 3 is a block diagram showing a control apparatus for an output torque of a motor according to an embodiment of the present invention;
fig. 4 is a block diagram showing another control apparatus for motor output torque according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
An embodiment of the present invention provides a method for controlling an output torque of a motor, as shown in fig. 1, the method includes:
101. when the vehicle control unit collects the brake pedal stepping signal firstly and collects the accelerator pedal stepping signal at the same time of keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current vehicle speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal.
In the embodiment of the invention, the execution subject in each step is a vehicle control unit VCU running in the electric vehicle. In the driving process of the electric automobile, a vehicle control unit VCU in the electric automobile can acquire and acquire signals corresponding to an accelerator pedal and signals corresponding to a brake pedal in real time: when a driver steps on the accelerator pedal, the VCU of the vehicle controller can acquire a stepping-on signal of the accelerator pedal, and when the driver steps on the brake pedal, the VCU of the vehicle controller can acquire a stepping-on signal of the brake pedal.
When the vehicle control unit VCU collects a brake pedal stepping signal first and collects an accelerator pedal stepping signal (i.e., a driver steps on the brake pedal first and keeps stepping on the brake pedal and then steps on the accelerator pedal), the vehicle control unit VCU needs to obtain a current speed of the electric vehicle and a stepping depth of the accelerator pedal, so as to determine a torque value meeting a real demand of the driver based on the current speed of the electric vehicle and the stepping depth of the accelerator pedal.
102. The vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth.
It should be noted that the torque values corresponding to different depression depths of the accelerator pedal are different at different vehicle speeds. For an electric vehicle, at a certain speed, when the stepping depth of the accelerator pedal is small, the vehicle control unit VCU requests the motor to output a negative torque, and therefore, when the driver desires to decelerate the electric vehicle, the driver can slightly step on the accelerator pedal, so that the vehicle control unit VCU requests the motor to output a negative torque.
In the embodiment of the invention, after obtaining the current speed of the electric vehicle and the stepping depth of the accelerator pedal, the vehicle control unit VCU may determine a first required torque corresponding to the electric vehicle according to the current speed of the electric vehicle and the stepping depth of the accelerator pedal, where the first required torque is: assuming that the vehicle control unit VCU only acquires an accelerator pedal stepping signal, the vehicle control unit VCU acquires a current vehicle speed and an accelerator pedal stepping depth according to step 101, and requests a torque value output by a motor; the vehicle control unit VCU may request the motor to output a positive torque or a negative torque according to different vehicle speeds and different accelerator pedal depression depths, and thus the first required torque may be a positive torque or a negative torque.
103. When the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque.
In the embodiment of the invention, when a driver firstly treads a brake pedal, keeps treading the brake pedal and then treads the accelerator pedal, if the treading depth of the accelerator pedal is smaller, the driver expects the motor to output negative torque, so that the motor and the brake system simultaneously bring braking force to the electric vehicle to decelerate the electric vehicle, therefore, on the basis of simultaneously acquiring a brake pedal treading signal and the accelerator pedal treading signal when the vehicle control unit VCU firstly acquires the brake pedal treading signal, and the vehicle control unit VCU can directly request the motor to output the first required torque when the vehicle control unit VCU determines that the first required torque is the negative torque according to the current speed of the electric vehicle and the treading depth of the accelerator pedal. Because the first required torque determined by the vehicle control unit VCU according to the current vehicle speed of the electric vehicle and the stepping depth of the accelerator pedal is a negative torque, the first required torque is a torque value actually required by the driver, and therefore, the vehicle control unit VCU directly requests the motor to output the first required torque, so that the deceleration effect (the braking force caused by the motor plus the braking force caused by the braking system) of the electric vehicle is the same as the deceleration effect expected by the driver, and the driving feeling and the safety of the driver can be ensured.
The embodiment of the invention provides a control method of motor output torque, which can firstly acquire a brake pedal treading signal from a VCU of a vehicle control unit, and when the brake pedal treading signal and the accelerator pedal treading signal are collected, the current speed of the electric automobile and the treading depth of the accelerator pedal are obtained by the VCU of the vehicle controller, and determining a first required torque corresponding to the electric automobile according to the current speed of the electric automobile and the stepping depth of the accelerator pedal (the first required torque is a torque value which is supposed to be output by a motor and obtained by the VCU according to the current speed and the stepping depth of the accelerator pedal on the assumption that the VCU only acquires a stepping signal of the accelerator pedal), when the first required torque is determined to be negative torque, the vehicle control unit VCU may directly request the electric machine to output the first required torque. Because the first required torque determined by the vehicle control unit VCU according to the current vehicle speed of the electric vehicle and the stepping depth of the accelerator pedal is a negative torque, the first required torque is a torque value actually required by the driver, and therefore, the vehicle control unit VCU directly requests the motor to output the first required torque, so that the deceleration effect (the braking force caused by the motor plus the braking force caused by the braking system) of the electric vehicle is the same as the deceleration effect expected by the driver, and the driving feeling and the safety of the driver can be ensured.
For more detailed description, another method for controlling output torque of a motor is provided in an embodiment of the present invention, specifically as shown in fig. 2, where the method includes:
201. when the vehicle control unit collects the brake pedal stepping signal firstly and collects the accelerator pedal stepping signal at the same time of keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current vehicle speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal.
In step 201, when the vehicle controller first acquires the brake pedal stepping signal, keeps acquiring the brake pedal stepping signal, and simultaneously acquires the accelerator pedal stepping signal, the vehicle controller acquires the current vehicle speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal, which may refer to the description of the corresponding part in fig. 1, and the embodiment of the present invention will not be described herein again.
202. And the vehicle control unit searches the first required torque in a preset data table according to the current vehicle speed and the stepping depth.
The preset data table may specifically be: an accelerator characteristic data table (Pedal Map) in which torque values corresponding to different stepping depths of an accelerator Pedal at different vehicle speeds are recorded, as shown in table 1:
TABLE 1
In the embodiment of the invention, after obtaining the current vehicle speed and the stepping depth of the accelerator pedal of the electric vehicle, the vehicle control unit VCU may search for a first required torque corresponding to the electric vehicle in a preset data table (accelerator characteristic data table) according to the current vehicle speed and the stepping depth of the accelerator pedal, for example, when the obtained current vehicle speed of the electric vehicle is 60km/h and the stepping depth of the accelerator pedal is 30%, the first required torque corresponding to the electric vehicle is-5 Nm according to the current vehicle speed of 60km/h and the stepping depth of the accelerator pedal in the accelerator characteristic data table; when the obtained current speed of the electric automobile is 120km/h and the stepping depth of the accelerator pedal is 80%, the first required torque corresponding to the electric automobile can be searched and obtained in the accelerator characteristic data table to be 20Nm according to the current speed of 120km/h and the stepping depth of the accelerator pedal being 80%.
203a, when the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque.
In the embodiment of the invention, when a driver firstly treads a brake pedal, keeps treading the brake pedal, and then treads an accelerator pedal, if the tread depth of the accelerator pedal is small, the driver expects a motor to output a negative torque, so that the motor and a brake system simultaneously bring a braking force to an electric vehicle to decelerate the electric vehicle, therefore, on the basis that a brake pedal treading signal is firstly acquired by a vehicle control unit VCU, and the brake pedal treading signal is kept acquired, and the accelerator pedal treading signal is acquired, when a first required torque determined by the vehicle control unit VCU according to the current speed of the electric vehicle and the tread depth of the accelerator pedal is the negative torque, the vehicle control unit VCU can directly request the motor to output the first required torque: the vehicle control unit VCU sends a braking request carrying the first required torque to a controller corresponding to the motor through a controller area network bus (CAN bus), so that the controller corresponding to the motor controls the motor to output the first required torque after receiving the braking request.
For the embodiment of the present invention, in step 203b, which is parallel to step 203a, when the first required torque is a positive torque, the vehicle controller multiplies the first required torque by a preset coefficient to obtain a second required torque.
Wherein the predetermined coefficient is a decimal less than 1, which may be but is not limited to: 0.3, 0.5, 0.7, etc.
In the embodiment of the invention, when a driver firstly presses a brake pedal and keeps pressing the brake pedal, and then presses an accelerator pedal, if the pressing depth of the accelerator pedal is large, the driver expects a motor to output positive torque, but does not want the motor to completely output driving force, so that on the basis that a brake pedal pressing signal is collected by a vehicle control unit VCU firstly, and the brake pedal pressing signal is collected and the accelerator pedal pressing signal is collected, when a first required torque determined by the vehicle control unit VCU according to the current speed of the electric vehicle and the pressing depth of the accelerator pedal is positive torque, the vehicle control unit VCU needs to multiply the first required torque by a preset coefficient, so as to obtain a second required torque.
204b, the vehicle control unit requests the motor to output a second required torque.
In the embodiment of the present invention, since the first required torque determined by the vehicle control unit VCU according to the current vehicle speed of the electric vehicle and the depression depth of the accelerator pedal is not a torque value actually required by the driver when the first required torque is a positive torque, the vehicle control unit VCU needs to multiply the first required torque by a preset coefficient less than 1 to obtain a torque value actually required by the driver (i.e., the second required torque) and request the motor to output the second required torque: the vehicle control unit VCU sends a driving request carrying the second required torque to a controller corresponding to the motor through a controller area network bus (CAN bus), so that the controller corresponding to the motor controls the motor to output the second required torque after receiving the driving request.
In order to achieve the above object, according to another aspect of the present invention, an embodiment of the present invention further provides a storage medium including a stored program, wherein when the program runs, a device on which the storage medium is controlled executes the above-mentioned control method for outputting torque of a motor.
In order to achieve the above object, according to another aspect of the present invention, an embodiment of the present invention further provides a vehicle control unit, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the method for controlling the output torque of the motor.
Further, as an implementation of the method shown in fig. 1 and fig. 2, another embodiment of the present invention further provides a control device for output torque of a motor. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. The device is applied to when the driver steps on the brake pedal of electric automobile earlier, and when keeping stepping on brake pedal, when stepping on electric automobile's accelerator pedal again, requests motor output one and satisfies the real torque value of demand of driver, specifically as shown in fig. 3, the device includes:
the acquiring unit 31 is configured to acquire a current vehicle speed corresponding to the electric vehicle and a stepping depth corresponding to the accelerator pedal when the vehicle controller acquires a brake pedal stepping signal first, and acquires an accelerator pedal stepping signal while keeping acquiring the brake pedal stepping signal;
the determining unit 32 is configured to determine a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth;
a first request unit 33 for requesting the motor to output the first required torque when the first required torque is a negative torque.
Further, as shown in fig. 4, the apparatus further includes:
an obtaining unit 34 configured to, when the first required torque is a positive torque, multiply the first required torque by a preset coefficient to obtain a second required torque;
a second request unit 35 for requesting the motor to output the second required torque.
Further, as shown in fig. 4, the determination unit 32 includes:
the searching module 321 is configured to search the first required torque in a preset data table according to the current vehicle speed and the stepping depth, where torque values corresponding to different stepping depths of an accelerator pedal at different vehicle speeds are recorded in the preset data table.
Further, as shown in fig. 4, the preset data table is an accelerator characteristic data table petal Map, and torque values corresponding to different stepping depths of the accelerator Pedal at different vehicle speeds are recorded in the accelerator characteristic data table.
The embodiment of the invention also provides a vehicle control unit which comprises a control device for the output torque of the motor shown in fig. 3 or fig. 4.
The embodiment of the invention provides a control method and device for motor output torque and a vehicle control unit, wherein the embodiment of the invention can firstly acquire a brake pedal treading signal at the VCU of the vehicle control unit, and when the brake pedal treading signal and the accelerator pedal treading signal are collected, the current speed of the electric automobile and the treading depth of the accelerator pedal are obtained by the VCU of the vehicle controller, and determining a first required torque corresponding to the electric automobile according to the current speed of the electric automobile and the stepping depth of the accelerator pedal (the first required torque is a torque value which is supposed to be output by a motor and obtained by the VCU according to the current speed and the stepping depth of the accelerator pedal on the assumption that the VCU only acquires a stepping signal of the accelerator pedal), when the first required torque is determined to be negative torque, the vehicle control unit VCU may directly request the electric machine to output the first required torque. Because the first required torque determined by the vehicle control unit VCU according to the current vehicle speed of the electric vehicle and the stepping depth of the accelerator pedal is a negative torque, the first required torque is a torque value actually required by the driver, and therefore, the vehicle control unit VCU directly requests the motor to output the first required torque, so that the deceleration effect (the braking force caused by the motor plus the braking force caused by the braking system) of the electric vehicle is the same as the deceleration effect expected by the driver, and the driving feeling and the safety of the driver can be ensured.
The vehicle control unit comprises a processor and a memory, wherein the acquiring unit, the determining unit, the first requesting unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the kernel parameters are adjusted to request the motor to output a torque value meeting the real requirement of the driver when the driver firstly steps on the brake pedal of the electric automobile, keeps stepping on the brake pedal and then steps on the accelerator pedal of the electric automobile.
The embodiment of the invention provides a storage medium which comprises a stored program, wherein when the program runs, a device on which the storage medium is arranged is controlled to execute the control method for the output torque of the motor.
The storage medium may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the invention also provides a vehicle control unit, which comprises a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the method for controlling the output torque of the motor.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps:
when a vehicle control unit collects a brake pedal stepping signal firstly, and collects an accelerator pedal stepping signal while keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal;
the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth;
when the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque.
Further, the method further comprises:
when the first required torque is positive torque, the vehicle control unit multiplies the first required torque by a preset coefficient to obtain a second required torque;
the vehicle control unit requests the motor to output the second required torque.
Further, the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth, and includes:
and the vehicle controller searches the first required torque in a preset data table according to the current vehicle speed and the stepping depth, wherein torque values corresponding to different stepping depths of an accelerator pedal at different vehicle speeds are recorded in the preset data table.
Further, the preset data table is an accelerator characteristic data table petal Map, and torque values corresponding to different stepping depths of an accelerator Pedal at different vehicle speeds are recorded in the accelerator characteristic data table.
The present application further provides a computer program product adapted to perform program code for initializing the following method steps when executed on a data processing device: when a vehicle control unit collects a brake pedal stepping signal firstly, and collects an accelerator pedal stepping signal while keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal; the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth; when the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. A method of controlling output torque of a motor, comprising:
when a vehicle control unit collects a brake pedal stepping signal firstly, and collects an accelerator pedal stepping signal while keeping collecting the brake pedal stepping signal, the vehicle control unit obtains the current speed corresponding to the electric vehicle and the stepping depth corresponding to the accelerator pedal;
the vehicle control unit determines a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth;
when the first required torque is negative torque, the vehicle control unit requests the motor to output the first required torque;
when the first required torque is positive torque, the vehicle controller multiplies the first required torque by a preset coefficient to obtain a second required torque, wherein the preset coefficient is a decimal number smaller than 1;
the vehicle control unit requests the motor to output the second required torque.
2. The method according to claim 1, wherein the determining, by the vehicle control unit, a first required torque corresponding to the electric vehicle according to the current vehicle speed and the stepping depth comprises:
and the vehicle controller searches the first required torque in a preset data table according to the current vehicle speed and the stepping depth, wherein torque values corresponding to different stepping depths of an accelerator pedal at different vehicle speeds are recorded in the preset data table.
3. The method according to claim 2, characterized in that the preset data table is an accelerator characteristic data table Pedal Map, and torque values corresponding to different stepping depths of an accelerator Pedal at different vehicle speeds are recorded in the accelerator characteristic data table.
4. A control device of an output torque of a motor, characterized by comprising:
the acquisition unit is used for acquiring the current speed corresponding to the electric automobile and the stepping depth corresponding to the accelerator pedal when the vehicle controller firstly acquires a brake pedal stepping signal, keeps acquiring the brake pedal stepping signal and simultaneously acquires the accelerator pedal stepping signal;
the determining unit is used for determining a first required torque corresponding to the electric automobile according to the current speed and the stepping depth;
a first request unit configured to request the motor to output the first required torque when the first required torque is a negative torque;
an obtaining unit configured to multiply a preset coefficient by the first required torque to obtain a second required torque when the first required torque is a positive torque, wherein the preset coefficient is a decimal smaller than 1;
a second request unit for requesting the motor to output the second required torque.
5. The apparatus of claim 4, wherein the determining unit comprises:
and the searching module is used for searching the first required torque in a preset data table according to the current vehicle speed and the stepping depth, wherein torque values corresponding to different stepping depths of an accelerator pedal at different vehicle speeds are recorded in the preset data table.
6. A vehicle control unit, characterized in that it comprises a control device of the motor output torque according to any one of claims 4-5.
7. A storage medium characterized by comprising a stored program, wherein an apparatus in which the storage medium is stored is controlled to execute the control method of motor output torque according to any one of claims 1 to 3 when the program is executed.
8. A vehicle control unit, comprising a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform a method of controlling motor output torque according to any one of claims 1 to 3.
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| CN113492863B (en) * | 2020-03-18 | 2023-03-10 | 北京车和家信息技术有限公司 | Automatic driving control method and device |
| CN113442734B (en) * | 2020-03-27 | 2024-01-30 | 北京新能源汽车股份有限公司 | Braking control method and device and electric automobile |
| CN111976502B (en) * | 2020-07-31 | 2022-03-15 | 浙江飞碟汽车制造有限公司 | Pure electric vehicle speed limiting method based on dynamic calculation |
| CN114834475B (en) * | 2021-01-15 | 2024-05-31 | 宇通客车股份有限公司 | Vehicle output torque control method and device |
| CN113580952A (en) * | 2021-08-03 | 2021-11-02 | 山东临工工程机械有限公司 | Control method and device of electric vehicle and electric vehicle |
| CN114750606B (en) * | 2022-05-07 | 2024-09-13 | 中国第一汽车股份有限公司 | Vehicle torque control method and device and vehicle |
| CN116653634B (en) * | 2023-08-02 | 2023-10-24 | 江铃汽车股份有限公司 | Method and device for controlling motor torque of pure electric vehicle, vehicle and storage medium |
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