CN112498121A - Control method of electric automobile and electric automobile - Google Patents
Control method of electric automobile and electric automobile Download PDFInfo
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- CN112498121A CN112498121A CN201910869963.8A CN201910869963A CN112498121A CN 112498121 A CN112498121 A CN 112498121A CN 201910869963 A CN201910869963 A CN 201910869963A CN 112498121 A CN112498121 A CN 112498121A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a control method of an electric automobile and the electric automobile, and the method comprises the following steps: under the condition that the current output torque of the electric automobile is negative torque, receiving first brake operation of a driver on a brake pedal; and controlling the negative torque output by the electric vehicle to be reduced or kept unchanged in response to the first braking operation. Therefore, when the electric automobile is simultaneously stepped on the accelerator pedal and the brake pedal and outputs negative torque, the braking performance of the electric automobile can be prevented from being reduced, and the safety of the electric automobile is improved.
Description
Technical Field
The invention relates to the technical field of electric automobile manufacturing, in particular to a control method of an electric automobile and the electric automobile.
Background
With the development of automobile manufacturing technology and the improvement of life quality of people, automobiles become main transportation tools in daily life of people. The electric automobile has the advantages of energy conservation, environmental protection and the like, and gradually replaces the traditional fuel automobile, so that the link energy pressure can be realized, and the environmental pollution can be reduced.
The electric automobile can control the motor to output positive torque or negative torque according to the depth of an accelerator pedal in the running process, and when the motor outputs the positive torque, the electric automobile is accelerated to run; and when the motor outputs negative torque, the electric automobile decelerates to run and realizes energy recovery. However, in the case that the accelerator pedal of the conventional electric vehicle is in a press-fit state (for example, the driver presses the accelerator pedal, or the accelerator pedal is stuck when the accelerator depth is greater than zero) and simultaneously presses the brake pedal, the braking performance of the electric vehicle may be reduced, which may reduce the safety of the electric vehicle.
Therefore, the current electric automobile has the problem of low safety performance.
Disclosure of Invention
The invention provides a control method of an electric automobile and the electric automobile, and aims to solve the problem that the conventional electric automobile is low in safety performance.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, the present invention provides a method for controlling an electric vehicle, including:
under the condition that the current output torque of the electric automobile is negative torque, receiving first brake operation of a driver on a brake pedal;
and controlling the negative torque output by the electric vehicle to be reduced or kept unchanged in response to the first braking operation.
Optionally, the control method of the electric vehicle further includes:
receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
and controlling the positive torque output by the electric vehicle to be adjusted to zero torque in response to the second braking operation.
Optionally, before receiving a first braking operation of a brake pedal by a driver when the current output torque of the electric vehicle is a negative torque, the method further includes:
acquiring a current first depth of the accelerator pedal and a current speed of the electric automobile;
and determining the current output torque of the electric automobile to be negative torque or positive torque according to the first depth and the current speed.
Optionally, the determining, according to the first depth and the current vehicle speed, that the current output torque of the electric vehicle is a negative torque or a positive torque includes:
determining the output torque corresponding to the first depth and the current vehicle speed in an output torque table as the current output torque of the electric vehicle, wherein the output torque table is preset with the corresponding relation between the depth of the accelerator pedal, the vehicle speed and the output torque;
and determining the current output torque of the electric automobile as negative torque or positive torque.
Optionally, the controlling the negative torque output by the electric vehicle to be reduced includes:
acquiring a current second depth of the brake pedal;
determining a target output negative torque based on the second depth;
and adjusting the negative torque output by the electric automobile to a target output negative torque, wherein the target output negative torque is smaller than the negative torque currently output by the electric automobile.
Optionally, the determining a target output negative torque based on the second depth comprises:
determining a target adjusting value corresponding to the second depth according to a preset corresponding relation between the braking depth and the adjusting value;
and acquiring the target output negative torque according to the current output torque of the electric automobile and the target adjusting value.
Optionally, the obtaining the target output negative torque according to the current output torque of the electric vehicle and the target adjustment value includes:
and determining the difference value or the product of the negative torque currently output by the electric automobile and the target adjusting value as the target adjusting value.
In a second aspect, the present invention also provides an electric vehicle, including:
the first receiving module is used for receiving a first braking operation of a driver on a brake pedal under the condition that the current output torque of the electric automobile is negative torque;
and the first control module is used for responding to the first brake operation and controlling the negative torque output by the electric automobile to be reduced or kept unchanged.
Optionally, the electric vehicle further includes:
the second receiving module is used for receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
and the second control module is used for responding to the second brake operation and controlling the positive torque output by the electric automobile to be adjusted to be zero torque.
Optionally, the electric vehicle further includes:
the acquisition module is used for acquiring the current first depth of the accelerator pedal and the current speed of the electric automobile;
and the torque determining module is used for determining the current output torque of the electric automobile to be negative torque or positive torque according to the first depth and the current speed.
Optionally, the torque determination module includes:
the first determining unit is used for determining that the output torque corresponding to the first depth and the current vehicle speed in an output torque table is the current output torque of the electric vehicle, wherein the output torque table is preset with the corresponding relation among the depth of the accelerator pedal, the vehicle speed and the output torque;
and the second determination unit is used for determining that the current output torque of the electric automobile is negative torque or positive torque.
Optionally, the first control module includes:
the depth acquisition unit is used for acquiring the current second depth of the brake pedal;
a third determination unit for determining a target output negative torque based on the second depth;
the torque adjusting unit is used for adjusting the negative torque output by the electric automobile to a target output negative torque, wherein the target output negative torque is smaller than the negative torque currently output by the electric automobile.
Optionally, the third determining unit includes:
the adjusting value determining subunit is configured to determine, according to a preset correspondence between the braking depth and the adjusting value, a target adjusting value having a correspondence with the second depth;
and the negative torque obtaining subunit is used for obtaining the target output negative torque according to the current output torque of the electric automobile and the target adjusting value.
Optionally, the negative torque obtaining subunit is specifically configured to:
and determining the difference value or the product of the negative torque currently output by the electric automobile and the target adjusting value as the target adjusting value.
In the invention, under the condition that the current output torque of the electric automobile is negative torque, a first brake operation of a driver on a brake pedal is received; and controlling the negative torque output by the electric vehicle to be reduced or kept unchanged in response to the first braking operation. Therefore, when the electric automobile is simultaneously stepped on the accelerator pedal and the brake pedal and outputs negative torque, the braking performance of the electric automobile can be prevented from being reduced, and the safety of the electric automobile is improved.
Drawings
Fig. 1 is a schematic flowchart of a control method of an electric vehicle according to a first embodiment;
FIG. 2 is a schematic structural diagram of an electric vehicle according to a second embodiment;
fig. 3 is a schematic structural diagram of an electric vehicle according to a second embodiment;
fig. 4 is a third schematic structural diagram of an electric vehicle according to a second embodiment;
FIG. 5 is a schematic structural diagram of a torque determination module provided in a second embodiment;
FIG. 6a is a schematic structural diagram of a first control module according to a second embodiment;
fig. 6b is a schematic structural diagram of a third determining unit provided in the second embodiment;
fig. 7 is a schematic structural diagram of an electric vehicle according to a third embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
First embodiment
Referring to fig. 1, fig. 1 is a schematic flow chart of a control method of an electric vehicle according to the present embodiment, and as shown in fig. 1, the method includes the following steps:
and 101, receiving a first brake operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is negative torque.
In this embodiment, when the electric vehicle is running and the current output torque of the electric vehicle is a negative torque, if the driver needs to control the electric vehicle to decelerate, the driver may input the first braking operation to the brake pedal of the electric vehicle, that is, the driver may depress the brake pedal, and the electric vehicle may receive the first braking operation input by the driver.
The current output torque of the electric vehicle is a negative torque, which may be understood as that the output torque of the driving motor of the electric vehicle is a negative torque, and in the case that the current output torque of the electric vehicle is a negative torque, the electric vehicle may determine that the current output torque is a positive torque or a negative torque before receiving the first braking operation of the brake pedal by the driver.
The electric vehicle may be provided with a torque detection device, and the torque detection device may detect that the currently output torque is a positive torque or a negative torque.
In some embodiments, before step 101, the method further includes:
acquiring a current first depth of the accelerator pedal and a current speed of the electric automobile;
and determining the current output torque of the electric automobile to be negative torque or positive torque according to the first depth and the current speed.
Here, the electric vehicle may determine its current output torque as a negative torque or a positive torque according to the current depth (i.e., the first depth) of the accelerator pedal and the current vehicle speed of the electric vehicle, so that it may be accurately determined that its current output torque is a negative torque or a positive torque without providing an additional torque detection device.
The obtaining of the current first depth of the accelerator pedal may be a depth value of the accelerator pedal of the electric vehicle, which is detected by a sensor of the accelerator pedal, and is currently stepped on by a driver; the current speed of the electric vehicle can be detected by a speed sensor (such as a sensor for detecting the rotational speed of the wheel or a positioning sensor) installed on the electric vehicle.
In addition, the determining that the current output torque of the electric vehicle is a negative torque or a positive torque according to the first depth and the current vehicle speed may be performed by presetting a torque calculation formula in the electric vehicle, wherein the torque is a dependent variable, and the depth and the vehicle speed are independent variables, and outputting the current output torque of the electric vehicle through the torque calculation formula by using the current first depth of an accelerator pedal of the electric vehicle and the current vehicle speed as inputs, and determining that the calculated output torque is a positive torque or a negative torque.
In some embodiments, the determining that the current output torque of the electric vehicle is a negative torque or a positive torque according to the first depth and the current vehicle speed includes:
determining the output torque corresponding to the first depth and the current vehicle speed in an output torque table as the current output torque of the electric vehicle, wherein the output torque table is preset with the corresponding relation between the depth of the accelerator pedal, the vehicle speed and the output torque;
and determining the current output torque of the electric automobile as negative torque or positive torque.
Here, the electric automobile can search the current output torque of the electric automobile through the torque output table, so that the efficiency of determining the current output torque of the electric automobile is higher and more accurate, the response speed and the control accuracy of the electric automobile are improved, and the safety of the electric automobile is further improved.
The output torque table is provided in the electric vehicle, and the correspondence relationship between the depth of the accelerator pedal, the vehicle speed, and the output torque is preset, and for example, the output torque table may be a two-dimensional table in which the depth of the accelerator pedal and the vehicle speed are set as a row value and a column value, respectively, and one output torque is provided in a cell formed by intersecting the row and the column.
And 102, responding to the first brake operation, and controlling the negative torque output by the electric automobile to be reduced or kept unchanged.
In this embodiment, in the case that the electric vehicle receives the first braking operation input by the driver, the electric vehicle may control the negative torque output by the electric vehicle to decrease or remain unchanged in response to the first braking operation, wherein the negative torque output by the electric vehicle is controlled to remain unchanged, and the decrease of the braking effect due to acceleration caused by the increase of the negative torque may be avoided; the output negative torque is controlled to be reduced, the speed reduction effect of the electric automobile can be improved by reducing the negative torque output by the motor, and the braking performance of the electric automobile is further improved, so that the safety of the electric automobile in the scene of outputting the negative torque (namely, the accelerator pedal is stepped on) and simultaneously stepping on the braking pedal for braking is improved.
For example, if the negative torque currently output by the electric vehicle is-T1, the electric vehicle adjusts the negative torque currently output by the electric vehicle to be-T2, where T2 is greater than T1, and T1 and T2 are both positive numbers.
In addition, the negative torque reduction for controlling the electric vehicle may be that the current negative torque is reduced according to a fixed value, that is, the adjusted negative torque is a difference value between the current negative torque and the fixed value; alternatively, the negative torque of the electric vehicle may be proportionally reduced, for example, the preset proportional value is greater than 1, and the adjusted negative torque is the product of the current negative torque and the preset proportional value, and so on.
In some embodiments, the above controlling the negative torque reduction output by the electric vehicle comprises:
acquiring a current second depth of the brake pedal;
determining a target output negative torque based on the second depth;
and adjusting the negative torque output by the electric automobile to a target output negative torque, wherein the target output negative torque is smaller than the negative torque currently output by the electric automobile.
Here, the electric automobile can adjust the negative torque of its output according to brake pedal's brake depth and reduce, further promotes the braking effect, and then promotes electric automobile's security.
In the present embodiment, the step of obtaining the current second depth of the brake pedal may be a step of detecting, by a brake pedal sensor, a depth at which the driver currently depresses the brake pedal as the second depth when the driver depresses the brake pedal.
In addition, the target output negative torque determined based on the second depth may be a calculation formula between the braking depth and the negative torque preset in the electric vehicle, the braking depth is used as an input quantity of the calculation formula, the negative torque is used as an output quantity of the calculation formula, and the target output negative torque corresponding to the second depth is calculated through the calculation formula.
Alternatively, in some embodiments, said determining a target output negative torque based on said second depth comprises:
determining a target adjusting value corresponding to the second depth according to a preset corresponding relation between the braking depth and the adjusting value;
and acquiring the target output negative torque according to the current output torque of the electric automobile and the target adjusting value.
Here, the electric automobile determines that the target is adjusted to the target according to the preset corresponding relation between the brake depth and the adjustment value, and adjusts to obtain the target output negative torque according to the current output torque and the target, so that the target output negative torque can be obtained more quickly, the response speed of the electric automobile is increased, and the adjustment of the negative torque is more accurate.
In some embodiments, the obtaining the target output negative torque according to the current output torque of the electric vehicle and the target adjustment value includes: and determining the difference value or the product of the negative torque currently output by the electric automobile and the target regulating value as the target regulating value, so that the method for acquiring the target output negative torque is more flexible.
In another embodiment of the present invention, the method may further include:
receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
and controlling the positive torque output by the electric vehicle to be adjusted to zero torque in response to the second braking operation.
Here, under the condition that the current output torque of the electric automobile is positive torque, the electric automobile can respond to the braking operation of a driver and control the current output positive torque of the electric automobile to be reduced or adjusted to be zero torque, so that a motor can be prevented from providing driving force for the electric automobile during braking, the braking of the electric automobile is ensured to be normal, and the safety of the electric automobile is improved; in addition, different control strategies are adopted when the electric automobile outputs positive torque and negative torque and receives braking operation, so that the safety of the electric automobile in a special scene can be ensured.
In the above-described aspect, when the current output torque of the electric vehicle is a negative torque, the first brake operation of the brake pedal by the driver is received; and receiving a second braking operation of the brake pedal by the driver when the current output torque of the electric automobile is positive torque, wherein the actual scene can be as follows:
under the condition that a driver inputs an operation of firstly stepping on an accelerator pedal, namely the accelerator depth is larger than zero, the electric automobile responds to the operation and controls the motor of the electric automobile to output torque, and the torque output by the electric automobile is positive torque or negative torque output according to the accelerator depth and the vehicle speed; the driver inputs the operation of depressing the brake pedal while inputting the operation of keeping the depression of the accelerator pedal (that is, the operation of depressing the brake pedal is the first brake operation when the output torque is a negative torque, and the operation of depressing the brake pedal is the second brake operation when the output torque is a positive torque), for example, the driver depresses the accelerator pedal with the right foot and then depresses the brake pedal with the left foot.
In the embodiment, a first braking operation of a brake pedal by a driver is received under the condition that the current output torque of the electric automobile is negative torque; and controlling the negative torque output by the electric vehicle to be reduced or kept unchanged in response to the first braking operation. Therefore, when the electric automobile is simultaneously stepped on the accelerator pedal and the brake pedal and outputs negative torque, the braking performance of the electric automobile can be prevented from being reduced, and the safety of the electric automobile is improved.
Second embodiment
Referring to fig. 2, it is a schematic structural diagram of an electric vehicle according to the present embodiment, and as shown in fig. 2, the electric vehicle 200 includes:
a first receiving module 201, configured to receive a first braking operation of a brake pedal by a driver when a current output torque of the electric vehicle is a negative torque;
a first control module 202 for controlling the negative torque output by the electric vehicle to decrease or remain constant in response to the first braking operation.
Optionally, as shown in fig. 3, the electric vehicle 200 further includes:
the second receiving module 203 is used for receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
a second control module 204 for controlling the adjustment of the positive torque output by the electric vehicle to zero torque in response to the second braking operation.
Optionally, as shown in fig. 4, the electric vehicle 200 further includes:
the obtaining module 205 is configured to obtain a current first depth of the accelerator pedal and a current speed of the electric vehicle;
and a torque determination module 206, configured to determine, according to the first depth and the current vehicle speed, that the current output torque of the electric vehicle is a negative torque or a positive torque.
Optionally, as shown in fig. 5, the torque determination module 206 includes:
a first determining unit 2061, configured to determine that an output torque corresponding to the first depth and the current vehicle speed in an output torque table is a current output torque of the electric vehicle, where a corresponding relationship between the depth of the accelerator pedal, the vehicle speed, and the output torque is preset in the output torque table;
a second determining unit 2062, configured to determine that the current output torque of the electric vehicle is a negative torque or a positive torque.
Optionally, as shown in fig. 6a, the first control module 202 includes:
a depth obtaining unit 2021, configured to obtain a current second depth of the brake pedal;
a third determining unit 2022 for determining a target output negative torque based on the second depth;
a torque adjusting unit 2023, configured to adjust the negative torque output by the electric vehicle to a target output negative torque, where the target output negative torque is smaller than the negative torque currently output by the electric vehicle.
Optionally, as shown in fig. 6b, the third determining unit 2022 includes:
an adjustment value determining subunit 20221, configured to determine, according to a preset correspondence between the braking depth and the adjustment value, a target adjustment value having a correspondence with the second depth;
the negative torque obtaining subunit 20222 is configured to obtain the target output negative torque according to the current output torque of the electric vehicle and the target adjustment value.
Optionally, the negative torque obtaining subunit 20222 is specifically configured to:
and determining the difference value or the product of the negative torque currently output by the electric automobile and the target adjusting value as the target adjusting value.
The electric vehicle 200 provided in the embodiment of the present invention can implement each process implemented by the electric vehicle in the method embodiment of fig. 1, and achieve the same beneficial effects, and for avoiding repetition, details are not described here again.
Third embodiment
Referring to fig. 7, an electric vehicle 700 includes a memory 701, a processor 702, and a computer program stored in the memory 701 and executable on the processor 702; the processor 702, when executing the program, implements:
under the condition that the current output torque of the electric automobile is negative torque, receiving first brake operation of a driver on a brake pedal;
and controlling the negative torque output by the electric vehicle to be reduced or kept unchanged in response to the first braking operation.
In FIG. 7, the bus architecture may include any number of interconnected buses and bridges, with one or more processors, represented by processor 702, and various circuits of memory, represented by memory 701, being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The processor 702 is responsible for managing the bus architecture and general processing, and the memory 701 may store data used by the processor 702 in performing operations.
Optionally, the processor 702 further performs:
receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
and controlling the positive torque output by the electric vehicle to be adjusted to zero torque in response to the second braking operation.
Optionally, before the processor 702 performs the first braking operation of the brake pedal by the driver when the current output torque of the electric vehicle is a negative torque, the method further includes:
acquiring a current first depth of the accelerator pedal and a current speed of the electric automobile;
and determining the current output torque of the electric automobile to be negative torque or positive torque according to the first depth and the current speed.
Optionally, the processor 702 executes the determining that the current output torque of the electric vehicle is a negative torque or a positive torque according to the first depth and the current vehicle speed, including:
determining the output torque corresponding to the first depth and the current vehicle speed in an output torque table as the current output torque of the electric vehicle, wherein the output torque table is preset with the corresponding relation between the depth of the accelerator pedal, the vehicle speed and the output torque;
and determining the current output torque of the electric automobile as negative torque or positive torque.
Optionally, the processor 702 performs the negative torque reduction for controlling the output of the electric vehicle, including:
acquiring a current second depth of the brake pedal;
determining a target output negative torque based on the second depth;
and adjusting the negative torque output by the electric automobile to a target output negative torque, wherein the target output negative torque is smaller than the negative torque currently output by the electric automobile.
Optionally, the determining a target output negative torque based on the second depth comprises:
determining a target adjusting value corresponding to the second depth according to a preset corresponding relation between the braking depth and the adjusting value;
and acquiring the target output negative torque according to the current output torque of the electric automobile and the target adjusting value.
Optionally, the obtaining the target output negative torque according to the current output torque of the electric vehicle and the target adjustment value includes:
and determining the difference value or the product of the negative torque currently output by the electric automobile and the target adjusting value as the target adjusting value.
In addition, the electric vehicle 700 further includes some functional modules that are not shown, and are not described herein.
The electric vehicle 700 provided in the embodiment of the present invention can implement each process implemented by the electric vehicle in the method embodiment of fig. 1, and achieve the same beneficial effects, and for avoiding repetition, the details are not repeated here.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the control method embodiment of the electric vehicle, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, 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 like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for causing an electric vehicle to perform the method according to the embodiments of the present invention.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (16)
1. A control method of an electric vehicle, characterized by comprising:
under the condition that the current output torque of the electric automobile is negative torque, receiving first brake operation of a driver on a brake pedal;
and controlling the negative torque output by the electric vehicle to be reduced or kept unchanged in response to the first braking operation.
2. The method of claim 1, further comprising:
receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
and controlling the positive torque output by the electric vehicle to be adjusted to zero torque in response to the second braking operation.
3. The method according to claim 1 or 2, wherein before receiving a first braking operation of a brake pedal by a driver in a case where the current output torque of the electric vehicle is a negative torque, the method further comprises:
acquiring a current first depth of an accelerator pedal and a current speed of the electric automobile;
and determining the current output torque of the electric automobile to be negative torque or positive torque according to the first depth and the current speed.
4. The method of claim 3, wherein determining whether the current output torque of the electric vehicle is a negative torque or a positive torque based on the first depth and the current vehicle speed comprises:
determining the output torque corresponding to the first depth and the current vehicle speed in an output torque table as the current output torque of the electric vehicle, wherein the output torque table is preset with the corresponding relation between the depth of the accelerator pedal, the vehicle speed and the output torque;
and determining the current output torque of the electric automobile as negative torque or positive torque.
5. The method of claim 1 or 2, wherein the controlling the negative torque reduction of the electric vehicle output comprises:
acquiring a current second depth of the brake pedal;
determining a target output negative torque based on the second depth;
and adjusting the negative torque output by the electric automobile to a target output negative torque, wherein the target output negative torque is smaller than the negative torque currently output by the electric automobile.
6. The method of claim 5, wherein said determining a target output negative torque based on said second depth comprises:
determining a target adjusting value corresponding to the second depth according to a preset corresponding relation between the braking depth and the adjusting value;
and acquiring the target output negative torque according to the current output torque of the electric automobile and the target adjusting value.
7. The method of claim 6, wherein said obtaining the target output negative torque based on the current output torque of the electric vehicle and the target adjustment value comprises:
and determining the difference value or the product of the negative torque currently output by the electric automobile and the target adjusting value as the target adjusting value.
8. An electric vehicle, comprising:
the first receiving module is used for receiving a first braking operation of a driver on a brake pedal under the condition that the current output torque of the electric automobile is negative torque;
and the first control module is used for responding to the first brake operation and controlling the negative torque output by the electric automobile to be reduced or kept unchanged.
9. The electric vehicle according to claim 8, further comprising:
the second receiving module is used for receiving a second braking operation of a brake pedal by a driver under the condition that the current output torque of the electric automobile is positive torque;
and the second control module is used for responding to the second brake operation and controlling the positive torque output by the electric automobile to be adjusted to be zero torque.
10. The electric vehicle according to claim 8 or 9, characterized by further comprising:
the acquisition module is used for acquiring the current first depth of an accelerator pedal and the current speed of the electric automobile;
and the torque determining module is used for determining the current output torque of the electric automobile to be negative torque or positive torque according to the first depth and the current speed.
11. The electric vehicle of claim 10, wherein the torque determination module comprises:
the first determining unit is used for determining that the output torque corresponding to the first depth and the current vehicle speed in an output torque table is the current output torque of the electric vehicle, wherein the output torque table is preset with the corresponding relation among the depth of the accelerator pedal, the vehicle speed and the output torque;
and the second determination unit is used for determining that the current output torque of the electric automobile is negative torque or positive torque.
12. The electric vehicle of claim 8 or 9, characterized in that the first control module comprises:
the depth acquisition unit is used for acquiring the current second depth of the brake pedal;
a third determination unit for determining a target output negative torque based on the second depth;
the torque adjusting unit is used for adjusting the negative torque output by the electric automobile to a target output negative torque, wherein the target output negative torque is smaller than the negative torque currently output by the electric automobile.
13. The electric vehicle according to claim 12, wherein the third determination unit includes:
the adjusting value determining subunit is configured to determine, according to a preset correspondence between the braking depth and the adjusting value, a target adjusting value having a correspondence with the second depth;
and the negative torque obtaining subunit is used for obtaining the target output negative torque according to the current output torque of the electric automobile and the target adjusting value.
14. The electric vehicle according to claim 13, characterized in that the negative torque acquisition subunit is specifically configured to:
and determining the difference value or the product of the negative torque currently output by the electric automobile and the target adjusting value as the target adjusting value.
15. An electric vehicle, characterized by comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the control method of the electric vehicle according to any one of claims 1 to 7.
16. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, implements the steps of the control method of an electric vehicle according to any one of claims 1 to 7.
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