CN112622630A - Motor control method and device for electric automobile - Google Patents
Motor control method and device for electric automobile Download PDFInfo
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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
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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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- 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
Abstract
The invention discloses a motor control method and a device of an electric automobile, wherein the motor control method comprises the following steps: acquiring current driving information and current road condition information of a vehicle; and responding to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller so as to control the output torque of the motor. The invention can effectively promote the reasonable torque distribution of motor control, and has a certain active safety function, thereby effectively promoting the motor control efficiency, promoting the safety of the electric automobile, effectively reducing the energy consumption of the electric automobile, and further promoting the endurance mileage of the electric automobile.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a motor control method and device of an electric automobile.
Background
The global automobile holding quantity is increased year by year, meanwhile, the environmental problems such as greenhouse effect and the like are increasingly highlighted, and in addition, the development of new energy automobiles represented by pure electric automobiles is the best choice in consideration of the increasing exhaustion of fossil energy. The pure electric vehicle has the advantages of no pollution, low noise and high efficiency, has wide and almost endless energy sources, and is one of important directions for the development of future vehicles.
Since the first pure electric automobile in the 90 s of the 19 th century comes out, the production peak is reached for the first time in the beginning of the 20 th century, and the pure electric automobile occupies about 40 percent of the automobile market. And then, the pure electric vehicle technology is not stopped due to a plurality of element reasons such as insufficient battery technology, power of the pure electric vehicle, high manufacturing cost of an electric transmission system, lack of the technology of electric and electronic devices of the vehicle and the like.
The development of the automobile power electronic technology, including the invention of a high-energy-density lithium ion storage battery, a lithium ion capacitor and the like, the development and the practicability of the electric wheel technology of a passenger car and the like, promotes the appearance of the second-generation pure electric automobile. Compared with the first-generation pure electric vehicle, the electric vehicle has great progress in the aspects of charging time, endurance mileage, dynamic property, rapid charging and discharging capacity and the like. However, the pure electric vehicle still has the bottlenecks and problems of energy-saving technologies such as high cost, short endurance mileage and the like in the aspect of commercial application.
The energy-saving technology of the pure electric vehicle mainly takes motor control research as a main part, and the motor control is mainly realized by a motor controller. The motor controller generally includes two parts, namely an inverter and a controller, wherein the inverter mainly drives the motor by converting direct current into alternating current, and the controller acquires signals such as motor rotating speed and feeds the signals back to the vehicle controller. When braking or accelerating action occurs, the controller controls the frequency of the frequency converter to rise and fall, so that the aim of accelerating or decelerating is fulfilled. The reasonable motor control strategy can be used for greatly improving the working efficiency and the energy utilization rate of the motor and achieving the purposes of energy conservation and environmental protection.
However, at present, a vehicle control unit of an electric vehicle generally acquires a driving demand torque of a driver by collecting a pedal signal, and the driver often performs operations such as rapid acceleration, rapid deceleration and the like in a complex road condition, so that an actual torque is far greater than the demand torque, and unnecessary energy consumption loss is caused. In addition, in the normal driving process, obstacles such as people or vehicles appear suddenly in front, and a driver cannot deal with the obstacles in time, so that the collision risk is generated.
Because there are more limitations to controlling the torque through the driver behavior, the change of the driving torque and the braking torque cannot be effectively controlled, so that the control efficiency of the motor is reduced, unnecessary energy consumption loss is caused, and a lot of unnecessary energy waste is caused particularly in the congested road conditions.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
The invention aims to overcome the defects of low motor control efficiency and unnecessary energy consumption loss of an electric automobile in the prior art, and provides a motor control method and a motor control device of the electric automobile.
The technical problem is solved by the following technical scheme:
a motor control method of an electric vehicle includes:
acquiring current driving information and current road condition information of a vehicle; and the number of the first and second groups,
and responding to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller so as to control the output torque of a motor.
Optionally, the method further comprises:
responding to the obstacle information detected from the current road condition information, determining a road condition mode according to the current driving information and the obstacle information, and defining different torque calculation conditions for different road condition modes;
and responding to the determined road condition mode, and calculating energy-saving driving torque information according to the current driving information and the obstacle information under the torque calculation condition defined in the road condition mode.
Optionally, the road condition mode includes a long-distance mode, a long-distance approach mode, a short-distance away mode, or a short-distance mode;
the torque calculation conditions defined in the remote mode include no drive torque limit and the presence of a first level of regenerative braking;
the torque calculation conditions defined in the far approach mode include no drive torque limit and the presence of a second level of regenerative braking;
the torque calculation conditions defined in the close-range away mode include the presence of a drive torque limit and the presence of a third level regenerative braking;
the torque calculation conditions defined in the near range mode include the presence of a drive torque limit and the presence of a fourth level of regenerative braking.
Optionally, the step of obtaining the current traffic information includes:
and acquiring the current road condition information through a binocular camera or a monocular camera.
Optionally, after calculating the energy-saving driving torque information, the motor control method further includes:
in response to receiving the driver required torque information, a vector of a torque in the driver required torque information and a torque in the energy-saving driving torque information is set to a small value, and the torque information set to the small value is output to the motor controller.
Optionally, after calculating the energy-saving driving torque information, the method further includes:
and controlling the change rate of the torque in the energy-saving driving torque information so that the change rate is limited within a preset range.
Optionally, the current driving information includes any one or more of a throttle signal, a brake signal, a gear signal and a current vehicle speed.
Optionally, the obstacle information includes any one or more of a lane correspondence relationship, a vehicle turning angle, a Time To Collision (TTC), a relative distance between the vehicle and the obstacle, and a relative speed.
Optionally, the electric vehicle comprises a pure electric vehicle.
A computer readable medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the motor control method of an electric vehicle as described above.
A motor control device of an electric automobile comprises a processor and a memory which is in communication connection with the processor;
the processor is configured to:
acquiring current driving information and current road condition information of a vehicle;
and responding to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller so as to control the output torque of a motor.
Optionally, the processor is further configured to:
responding to the obstacle information detected from the current road condition information, determining a road condition mode according to the current driving information and the obstacle information, and defining different torque calculation conditions for different road condition modes;
and responding to the determined road condition mode, and calculating energy-saving driving torque information according to the current driving information and the obstacle information under the torque calculation condition defined in the road condition mode.
Optionally, the road condition mode includes a long-distance mode, a long-distance approach mode, a short-distance away mode, or a short-distance mode;
the torque calculation conditions defined in the remote mode include no drive torque limit and the presence of a first level of regenerative braking;
the torque calculation conditions defined in the far approach mode include no drive torque limit and the presence of a second level of regenerative braking;
the torque calculation conditions defined in the close-range away mode include the presence of a drive torque limit and the presence of a third level regenerative braking;
the torque calculation conditions defined in the near range mode include the presence of a drive torque limit and the presence of a fourth level of regenerative braking.
Optionally, the processor is configured to:
and acquiring the current road condition information through a binocular camera or a monocular camera.
Optionally, the processor is configured to:
after the energy-saving driving torque information is calculated, in response to receiving driver required torque information, a vector of a torque in the driver required torque information and a torque in the energy-saving driving torque information is set to a small value, and the torque information set to the small value is output to the motor controller.
Optionally, the processor is configured to:
after the energy-saving driving torque information is calculated, the change rate of the torque in the energy-saving driving torque information is controlled so that the change rate is limited within a preset range.
Optionally, the current driving information includes any one or more of a throttle signal, a brake signal, a gear signal and a current vehicle speed.
Optionally, the obstacle information includes any one or more of a lane correspondence, a vehicle turning angle, a TTC, a relative distance between the vehicle and the obstacle, and a relative speed.
Optionally, the electric vehicle comprises a pure electric vehicle.
On the basis of the common knowledge in the field, the preferred conditions can be combined randomly to obtain the preferred embodiments of the invention.
The positive progress effects of the invention are as follows:
the motor control method and the motor control device for the electric automobile can effectively improve the reasonable torque distribution of motor control, and have a certain active safety function, so that the motor control efficiency is effectively improved, the safety of the electric automobile is improved, the energy consumption of the electric automobile is effectively reduced, and the endurance mileage of the electric automobile is further improved.
Drawings
The features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 is a flowchart illustrating a motor control method of an electric vehicle according to an embodiment of the invention.
Fig. 2 is a schematic structural diagram of a motor control system of an electric vehicle according to an embodiment of the invention.
Fig. 3 is a schematic diagram illustrating switching of road condition modes according to an embodiment of the invention.
FIG. 4 is a flow chart illustrating limiting a rate of change of torque according to an embodiment of the present invention.
FIG. 5 is a flow chart illustrating the output of the torque calculation according to an embodiment of the present invention.
Description of reference numerals:
a camera 1;
a vehicle control unit 21;
a vehicle body controller 22;
a motor control module 3;
a scene analysis module 31;
a mode switching module 32;
a torque control module 33;
a motor controller 4.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. It is noted that the aspects described below in connection with the figures and the specific embodiments are only exemplary and should not be construed as imposing any limitation on the scope of the present invention.
The following description is presented to enable any person skilled in the art to make and use the invention and is incorporated in the context of a particular application. Various modifications, as well as various uses in different applications will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to a wide range of embodiments. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In the following detailed description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. It will be apparent, however, to one skilled in the art that the practice of the invention may not necessarily be limited to these specific details. In other instances, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The energy-saving technology of the electric automobile mainly takes motor control research as a main part, and the motor control is mainly realized by a motor controller. The motor controller generally includes two parts, namely an inverter and a controller, wherein the inverter mainly drives the motor by converting direct current into alternating current, and the controller acquires signals such as motor rotating speed and feeds the signals back to the vehicle controller. When braking or accelerating action occurs, the controller controls the frequency of the frequency converter to rise and fall, so that the aim of accelerating or decelerating is fulfilled. The reasonable motor control strategy can be used for greatly improving the working efficiency and the energy utilization rate of the motor and achieving the purposes of energy conservation and environmental protection.
However, at present, a vehicle control unit of an electric vehicle generally acquires a driving demand torque of a driver by collecting a pedal signal, and the driver often performs operations such as rapid acceleration, rapid deceleration and the like in a complex road condition, so that an actual torque is far greater than the demand torque, and unnecessary energy consumption loss is caused. In addition, in the normal driving process, obstacles such as people or vehicles appear suddenly in front, and a driver cannot deal with the obstacles in time, so that the collision risk is generated.
Because there are more limitations to controlling the torque through the driver behavior, the change of the driving torque and the braking torque cannot be effectively controlled, so that the control efficiency of the motor is reduced, unnecessary energy consumption loss is caused, and a lot of unnecessary energy waste is caused particularly in the congested road conditions.
In order to overcome the above existing defects, the present embodiment provides a motor control method for an electric vehicle, where the motor control method includes the following steps: acquiring current driving information and current road condition information of a vehicle; and in response to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller to control the output torque of the motor.
In this embodiment, the electric vehicle is a pure electric vehicle, but the type of the electric vehicle is not particularly limited, and the electric vehicle may be selected accordingly according to actual requirements.
In this embodiment, the motor control method can effectively improve the torque reasonable distribution of motor control, and has a certain active safety function, so that the motor control efficiency is effectively improved, the safety of the electric automobile is improved, the energy consumption of the electric automobile is effectively reduced, and the endurance mileage of the electric automobile is further improved.
Specifically, as an embodiment, as shown in fig. 1, the motor control method includes the following steps:
Referring to fig. 2, the motor control system of the present embodiment mainly includes a camera 1, a Vehicle Control Unit (VCU)21, a vehicle Body Controller (BCM)22, a motor control module 3, and a Motor Controller (MCU)4, where the motor control module 3 mainly includes a scene analysis module 31, a mode switching module 32, and a torque control module 33.
In the present embodiment, the motor control module 3 is implemented by a processor executing a program, the processor may be separately provided, or the vehicle controller 21 or the vehicle body controller 22 may be directly utilized to implement a corresponding function.
In this step, the motor control module 3 acquires the current driving information of the vehicle in real time, and acquires the current road condition information of the vehicle through the camera 1.
Preferably, in this embodiment, the camera 1 is a binocular camera, or may be a monocular camera, but the type of the camera 1 is not particularly limited, and as long as the corresponding function can be realized, the corresponding selection and adjustment may be performed according to actual requirements.
The scene analysis module 31 selects a binocular camera scheme to realize scene analysis, the binocular camera detects the current road condition information of the vehicle in real time, converts the current road condition information into CAN network data and sends the CAN network data to the energy-saving control unit.
The vehicle control unit 21 of the pure electric vehicle reads the CAN network data transmitted by the binocular camera, and sends real-time control parameters to the CAN network after processing.
In this embodiment, the body controller 22 may be used as an energy-saving control unit, and is responsible for collecting and processing the road condition information, and analyzing the collision risk existing in front by combining with the driver operation information.
In this step, the motor control module 3 further identifies the information of the obstacles existing in front of the vehicle in real time according to the current road condition information.
In this step, in response to detecting the obstacle information from the current traffic information, the mode switching module 32 determines a traffic mode according to the current driving information and the obstacle information, and different traffic modes respectively define different torque calculation conditions.
In the present embodiment, referring to fig. 3, the road condition modes include a long distance mode, a long distance approaching mode, a short distance mode, or a short distance mode.
The torque calculation conditions defined in the remote mode include no drive torque limit and the presence of first level regenerative braking.
The torque calculation conditions defined in the remote approach mode include no drive torque limit and the presence of a second level of regenerative braking.
The torque calculation conditions defined in the close-range mode include the presence of a drive torque limit and the presence of a third level of regenerative braking.
The torque calculation conditions defined in the near range mode include the presence of a drive torque limit and the presence of a fourth level of regenerative braking.
In this embodiment, the regenerative braking amounts under the first level regenerative braking, the second level regenerative braking, the third level regenerative braking and the fourth level regenerative braking can be set according to actual requirements. Generally, the amount of regenerative braking under the fourth-level regenerative braking is the largest, and the amount of regenerative braking under the first-level regenerative braking is the smallest.
Preferably, the modes of this embodiment further include an exit mode and an interference mode.
Specifically, in the own lane, the absolute distance from the preceding vehicle (obstacle) recognized by the camera 1 is used as a determination condition for mode discrimination. The pattern recognition logic is shown in table 1 below.
Table 1:
the exit mode is mainly in response to the initiative intention of the driver, and exits the energy-saving driving function, namely exits the automatic motor control step of the embodiment, and at the moment, the driving torque is not limited.
The interference mode mainly responds to the complex road conditions that the road condition in front is turning and the like, in order not to influence the driving of the driver and quit the energy-saving driving function,
in this embodiment, the obstacle information includes perception information such as a lane correspondence, a vehicle turning angle, a TTC, a relative distance between the vehicle and the obstacle, and a relative speed, and may be any one or more of them, and may be selected and adjusted accordingly according to actual requirements.
Preferably, in this embodiment, referring to the information in table 2 below, the current driving information includes an accelerator signal, a brake signal, a gear signal, and a current vehicle speed, or any one or more of them, which may be selected and adjusted accordingly according to actual requirements. The energy-saving driving mode (ECO mode) refers to a vehicle driving mode implemented by using the motor control method of the present embodiment to improve driving experience.
Table 2:
and 103, responding to the determined road condition mode, and calculating energy-saving driving torque information.
In this step, in response to switching to the determined road condition mode, energy-saving driving torque information is calculated according to the current driving information and the obstacle information under a torque calculation condition defined in the road condition mode.
In this step, after the energy-saving driving torque information is calculated, the rate of change (the rate of increase and the rate of decrease) of the torque in the energy-saving driving torque information is controlled so that the rate of change is limited within a predetermined range.
In this embodiment, the preset range is not particularly limited, and the setting may be performed according to actual requirements.
Specifically, referring to fig. 4, the torque control module 33 receives the road condition mode, calculates the energy-saving driving torque in the corresponding mode, compares the torque output of the previous period, calculates the corresponding change rate control, and outputs the adjusted torque to the motor controller 4, thereby improving the driving comfort of the driver.
The motor controller 4 functions as a torque control output unit that executes the received torque.
According to the embodiment, the driving intention of the driver is optimized and corrected properly through collision risk calculation, the potential collision risk in the front is reduced, and the most reasonable torque under the current road condition is calculated.
The torque control module 33 integrates the perception information with the driver's intention, and needs to comprehensively analyze the following scenarios:
1) the following driving or traffic jam working condition needs to follow the front vehicle tightly. The vehicle speed is low, the collision loss is small, and therefore when the driver has a driving intention, the driver intention needs to be completely influenced.
2) The vehicle is separated from the congested road section, the speed of the vehicle is high, and the vehicle needs to keep a safe distance. If the relative vehicle speed or the vehicle speed is high and an obstacle exists in front of the vehicle, it is necessary to appropriately limit the driving intention of the driver.
3) The driver has an active braking intention and responds to the braking intention of the driver preferentially.
4) When an obstacle exists in front of the vehicle, the vehicle speed is high and a driver has no driving intention or braking intention, corresponding feedback braking should be given to the vehicle, so that the collision risk is reduced.
5) When backing, the front-view camera is ineffective, so the energy-saving driving mode function is exited.
6) When the obstacle at the front side and the vehicle are not in the same lane or the vehicle changes the lane and overtakes, the driver needs to quit the energy-saving driving function in order not to influence the driving of the driver.
Preferably, as an embodiment, in this step, after the energy-saving driving torque information is calculated, in response to receiving the driver required torque information, a vector of the torque in the driver required torque information and the torque in the energy-saving driving torque information is set to a small value, and the torque information set to the small value is output to the motor controller.
Specifically, with respect to driving comfort, and as shown with reference to FIG. 5, the torque control module 33 receives two torque inputs: driver demand torque, energy-saving driving torque. The vector of these two torques is sent to the motor controller 4 after taking a small value. And the motor controller 4 executes the torque instruction after receiving the torque instruction, so that the driving comfort of a driver is improved.
The present embodiment also provides a computer readable medium, on which computer instructions are stored, which when executed by a processor implement the steps of the motor control method of the electric vehicle as described above.
The motor control method of the electric vehicle provided by the embodiment integrates the driving information, road condition information and the like of the vehicle, can reasonably limit the driving torque of the whole vehicle under various working conditions, thereby reducing unnecessary energy consumption loss, detects that an obstacle exists in the front when no driving and braking intention exists, gives appropriate braking feedback, thereby improving the braking recovery efficiency, realizing reasonable application and effective recovery of battery energy, having the energy saving rate more than 3%, correcting the bad driving behavior of a driver, and effectively reducing the front collision risk of the whole vehicle.
In order to overcome the above-mentioned drawbacks, the present embodiment further provides a motor control device for an electric vehicle, which utilizes the above-mentioned motor control method,
the motor control device comprises a processor and a memory which is in communication connection with the processor, wherein the memory is configured to store programs and data executed by the processor.
The processor is configured to: acquiring current driving information and current road condition information of a vehicle; and in response to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller so as to control the output torque of the motor.
In this embodiment, the electric vehicle is a pure electric vehicle, but the type of the electric vehicle is not particularly limited, and the electric vehicle may be selected accordingly according to actual requirements.
In this embodiment, the motor control method can effectively improve the torque reasonable distribution of motor control, and has a certain active safety function, so that the motor control efficiency is effectively improved, the safety of the electric automobile is improved, the energy consumption of the electric automobile is effectively reduced, and the endurance mileage of the electric automobile is further improved.
Specifically, as an embodiment, the processor is configured to acquire the current driving information of the vehicle in real time, and acquire the current road condition information of the vehicle through the camera.
Preferably, in this embodiment, the camera is a binocular camera, or may be a monocular camera, but the type of the camera is not particularly limited, and as long as the corresponding function can be realized, the corresponding selection and adjustment may be performed according to actual requirements.
In this step, the processor is further configured to identify the obstacle information existing in front of the vehicle in real time according to the current road condition information.
The processor is further configured to determine a road condition mode according to the current driving information and the obstacle information in response to detecting the obstacle information from the current road condition information, wherein different road condition modes respectively define different torque calculation conditions.
In the present embodiment, referring to fig. 3, the road condition modes include a long distance mode, a long distance approaching mode, a short distance mode, or a short distance mode.
The torque calculation conditions defined in the remote mode include no drive torque limit and the presence of first level regenerative braking.
The torque calculation conditions defined in the remote approach mode include no drive torque limit and the presence of a second level of regenerative braking.
The torque calculation conditions defined in the close-range mode include the presence of a drive torque limit and the presence of a third level of regenerative braking.
The torque calculation conditions defined in the near range mode include the presence of a drive torque limit and the presence of a fourth level of regenerative braking.
In this embodiment, the regenerative braking amounts under the first level regenerative braking, the second level regenerative braking, the third level regenerative braking and the fourth level regenerative braking can be set according to actual requirements. Generally, the amount of regenerative braking under the fourth-level regenerative braking is the largest, and the amount of regenerative braking under the first-level regenerative braking is the smallest.
Preferably, the modes of this embodiment further include an exit mode and an interference mode.
The exit mode is mainly in response to the initiative intention of the driver, and exits the energy-saving driving function, namely exits the automatic motor control step of the embodiment, and at the moment, the driving torque is not limited.
The interference mode mainly responds to the complex road conditions that the road condition in front is turning and the like, in order not to influence the driving of the driver and quit the energy-saving driving function,
in this embodiment, the obstacle information includes perception information such as a lane correspondence, a vehicle turning angle, a TTC, a relative distance between the vehicle and the obstacle, and a relative speed, and may be any one or more of them, and may be selected and adjusted accordingly according to actual requirements.
Preferably, in this embodiment, the current driving information includes an accelerator signal, a brake signal, a gear signal, and a current vehicle speed, and may be any one or more of them, and may be selected and adjusted according to actual requirements.
The processor is further configured to calculate energy-saving driving torque information according to the current driving information and the obstacle information under torque calculation conditions defined in the determined road condition mode in response to switching to the determined road condition mode.
The processor is further configured to, after calculating the energy-saving driving torque information, control a rate of change (a rate of increase and a rate of decrease) of the torque in the energy-saving driving torque information so that the rate of change is limited within a preset range.
In this embodiment, the preset range is not particularly limited, and the setting may be performed according to actual requirements.
Specifically, referring to fig. 4, the processor is configured to receive a road condition mode, calculate an energy-saving driving torque in a corresponding mode, compare a torque output of a previous cycle, calculate a corresponding change rate control, and output an adjusted torque to the motor controller, thereby improving driving comfort of a driver.
The motor controller functions as a torque control output unit that executes the received torque.
According to the embodiment, the driving intention of the driver is optimized and corrected properly through collision risk calculation, the potential collision risk in the front is reduced, and the most reasonable torque under the current road condition is calculated.
Preferably, as an embodiment, after calculating the energy saving driving torque information, the processor is configured to, in response to receiving the driver required torque information, take a small value for a vector of the torque in the driver required torque information and the torque in the energy saving driving torque information, and output the torque information after taking the small value to the motor controller.
Specifically, in view of driving comfort, the processor is configured to receive two torque inputs: driver demand torque, energy-saving driving torque. And after the vector of the two torques takes a small value, the small value is sent to a motor controller. And the motor controller executes the torque instruction after receiving the torque instruction, so that the driving comfort of a driver is improved.
The electric automobile's that this embodiment provided motor control device, synthesize the information of going and road conditions information etc. of vehicle, can rationally restrict the drive torque of whole car under various operating modes, thereby reduced unnecessary energy consumption loss, and when not having drive and braking intention, it has the barrier to detect the place ahead, give suitable braking repayment, thereby brake recovery efficiency has been improved, reasonable application and effective recovery of battery energy have been realized, the energy-saving rate is greater than 3%, rectify driver's bad driving action, the whole car place ahead collision risk has been reduced effectively simultaneously.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (19)
1. A motor control method of an electric vehicle is characterized by comprising the following steps:
acquiring current driving information and current road condition information of a vehicle; and the number of the first and second groups,
and responding to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller so as to control the output torque of a motor.
2. The motor control method of claim 1, further comprising:
responding to the obstacle information detected from the current road condition information, determining a road condition mode according to the current driving information and the obstacle information, and defining different torque calculation conditions for different road condition modes;
and responding to the determined road condition mode, and calculating energy-saving driving torque information according to the current driving information and the obstacle information under the torque calculation condition defined in the road condition mode.
3. The motor control method of claim 2, wherein the road condition mode comprises a long distance mode, a long distance approach mode, a short distance away mode or a short distance mode;
the torque calculation conditions defined in the remote mode include no drive torque limit and the presence of a first level of regenerative braking;
the torque calculation conditions defined in the far approach mode include no drive torque limit and the presence of a second level of regenerative braking;
the torque calculation conditions defined in the close-range away mode include the presence of a drive torque limit and the presence of a third level regenerative braking;
the torque calculation conditions defined in the near range mode include the presence of a drive torque limit and the presence of a fourth level of regenerative braking.
4. The motor control method according to claim 1, wherein the step of acquiring the current traffic information comprises:
and acquiring the current road condition information through a binocular camera or a monocular camera.
5. The motor control method according to claim 1, wherein after calculating the energy-saving driving torque information, the motor control method further comprises:
in response to receiving the driver required torque information, a vector of a torque in the driver required torque information and a torque in the energy-saving driving torque information is set to a small value, and the torque information set to the small value is output to the motor controller.
6. The motor control method according to claim 1, further comprising, after calculating the energy-saving driving torque information:
and controlling the change rate of the torque in the energy-saving driving torque information so that the change rate is limited within a preset range.
7. The motor control method according to any one of claims 1 to 6, wherein the current driving information includes any one or more of a throttle signal, a brake signal, a shift signal, and a current vehicle speed.
8. The motor control method according to any one of claims 1 to 6, wherein the obstacle information includes any one or more of a lane correspondence, a vehicle turning angle, a TTC, a relative distance between the vehicle and the obstacle, and a relative speed.
9. The motor control method according to any one of claims 1 to 6, wherein the electric vehicle comprises a pure electric vehicle.
10. A computer-readable medium, characterized in that computer instructions are stored thereon, which, when executed by a processor, implement the steps of the motor control method of an electric vehicle according to any one of claims 1 to 9.
11. The motor control device of the electric automobile is characterized by comprising a processor and a memory which is in communication connection with the processor;
the processor is configured to:
acquiring current driving information and current road condition information of a vehicle;
and responding to the obstacle information detected from the current road condition information, calculating energy-saving driving torque information according to the current driving information and the obstacle information, and outputting the energy-saving driving torque information to a motor controller so as to control the output torque of a motor.
12. The motor control apparatus of claim 11, wherein the processor is further configured to:
responding to the obstacle information detected from the current road condition information, determining a road condition mode according to the current driving information and the obstacle information, and defining different torque calculation conditions for different road condition modes;
and responding to the determined road condition mode, and calculating energy-saving driving torque information according to the current driving information and the obstacle information under the torque calculation condition defined in the road condition mode.
13. The motor control apparatus of claim 12, wherein the road condition mode comprises a long distance mode, a long distance approach mode, a short distance away mode, or a short distance mode;
the torque calculation conditions defined in the remote mode include no drive torque limit and the presence of a first level of regenerative braking;
the torque calculation conditions defined in the far approach mode include no drive torque limit and the presence of a second level of regenerative braking;
the torque calculation conditions defined in the close-range away mode include the presence of a drive torque limit and the presence of a third level regenerative braking;
the torque calculation conditions defined in the near range mode include the presence of a drive torque limit and the presence of a fourth level of regenerative braking.
14. The motor control apparatus of claim 11, wherein the processor is configured to:
and acquiring the current road condition information through a binocular camera or a monocular camera.
15. The motor control apparatus of claim 11, wherein the processor is configured to:
after the energy-saving driving torque information is calculated, in response to receiving driver required torque information, a vector of a torque in the driver required torque information and a torque in the energy-saving driving torque information is set to a small value, and the torque information set to the small value is output to the motor controller.
16. The motor control apparatus of claim 11, wherein the processor is configured to:
after the energy-saving driving torque information is calculated, the change rate of the torque in the energy-saving driving torque information is controlled so that the change rate is limited within a preset range.
17. The motor control device according to any one of claims 11 to 16, wherein the current driving information includes any one or more of a throttle signal, a brake signal, a shift position signal, and a current vehicle speed.
18. The motor control device according to any one of claims 11 to 16, wherein the obstacle information includes any one or more of a lane correspondence, a vehicle turning angle, a TTC, a relative distance between the vehicle and the obstacle, and a relative speed.
19. The motor control device according to any one of claims 11 to 16, wherein the electric vehicle includes a pure electric vehicle.
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Inventor after: Yang Jiejun Inventor after: Zheng Zhimin Inventor after: Xie Yongbo Inventor after: Wang Wenming Inventor after: Wen Jianfeng Inventor after: Sun Wei Inventor after: Mo Guanxu Inventor after: Yu Qinqiang Inventor before: Yu Qinqiang Inventor before: Yang Jiejun Inventor before: Zheng Zhimin Inventor before: Xie Yongbo Inventor before: Wang Wenming Inventor before: Wen Jianfeng Inventor before: Sun Wei Inventor before: Mo Guanxu |
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Application publication date: 20210409 |