CN113752855B - Electric vehicle control method, device, storage medium and electric vehicle controller - Google Patents

Electric vehicle control method, device, storage medium and electric vehicle controller Download PDF

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Publication number
CN113752855B
CN113752855B CN202111182902.8A CN202111182902A CN113752855B CN 113752855 B CN113752855 B CN 113752855B CN 202111182902 A CN202111182902 A CN 202111182902A CN 113752855 B CN113752855 B CN 113752855B
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electric vehicle
torque
vehicle
accelerator pedal
current
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CN113752855A (en
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牛高产
李立
刘日彬
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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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
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/14—Acceleration
    • 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
    • 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

Abstract

The invention provides an electric vehicle control method, a device, a storage medium and an electric vehicle controller, wherein the method comprises the following steps: acquiring the opening degree of an accelerator pedal of the electric vehicle to determine whether to enter a speed control mode according to the opening degree of the accelerator pedal; and if the speed control mode is determined to be entered, performing torque control based on the current acceleration of the electric vehicle. According to the scheme, the vehicle can be kept to run at a constant speed under the condition that the opening of the current accelerator pedal is unchanged, the continuous increase of the vehicle speed is avoided, the driving safety is ensured, and the driving experience is improved.

Description

Electric vehicle control method, device, storage medium and electric vehicle controller
Technical Field
The present invention relates to the field of control, and in particular, to a method and apparatus for controlling an electric vehicle, a storage medium, and an electric vehicle controller.
Background
Electric vehicles, such as new energy vehicles, mostly use a motor as a power source, which is different from the complex engine characteristics of the traditional fuel vehicles, and the new energy vehicles can finish driving the vehicles only by controlling the motor by torque or rotation speed. The motor has the characteristics of low speed, large torque, high speed and constant power, and has good economic efficiency on the driving capability of the vehicle.
In the related art, the torque control mode does not control the speed of the vehicle, continuously outputs the request torque under the condition of unchanged accelerator opening, and does not adjust according to the speed of the vehicle, so that the speed of the vehicle is always increased, the speed of the vehicle cannot be stabilized, and the running danger is caused.
Disclosure of Invention
The invention aims to overcome the defects of the related art and provide an electric vehicle control method, an electric vehicle control device, a storage medium and an electric vehicle controller, so as to solve the problem that the vehicle speed cannot be stabilized when a motor is subjected to torque control in the related art, and the driving danger is caused.
In one aspect, the present invention provides a control method for an electric vehicle, including: acquiring the opening degree of an accelerator pedal of the electric vehicle to determine whether to enter a speed control mode according to the opening degree of the accelerator pedal; and if the speed control mode is determined to be entered, torque control is performed based on the current acceleration of the electric vehicle, so that the electric vehicle keeps running at a constant speed under the current accelerator pedal opening.
Optionally, determining whether to enter a speed control mode according to the opening degree of the accelerator pedal includes: and determining to enter a speed control mode when the opening of the accelerator pedal is kept unchanged within a preset time.
Optionally, torque control is performed based on the current acceleration of the electric vehicle, including: judging whether the current acceleration of the electric vehicle is smaller than a preset threshold value or not; if the current acceleration of the electric vehicle is judged to be smaller than a preset threshold value, calculating the current target torque of the electric vehicle according to a preset torque distribution mode; and adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle.
Optionally, calculating the current target torque of the electric vehicle according to a preset torque distribution mode includes: calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle; determining the whole vehicle driving force for enabling the electric vehicle to travel at a constant speed according to the whole vehicle driving resistance; and calculating target torque for enabling the electric vehicle to keep constant-speed running under the current opening of the accelerator pedal according to the whole vehicle driving force.
Optionally, adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle includes: PI adjustment is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque of the electric vehicle so as to adjust the whole vehicle request torque to the target torque.
Another aspect of the present invention provides an electric vehicle control apparatus including: a determining unit, configured to obtain an accelerator pedal opening of the electric vehicle, so as to determine whether to enter a speed control mode according to the accelerator pedal opening; and the control unit is used for controlling the torque based on the current acceleration of the electric vehicle if the determining unit determines that the electric vehicle enters the speed control mode, so that the electric vehicle keeps running at a constant speed under the current accelerator pedal opening.
Optionally, the determining unit determines whether to enter a speed control mode according to the opening degree of the accelerator pedal, including: and determining to enter a speed control mode when the opening of the accelerator pedal is kept unchanged within a preset time.
Optionally, the control unit performs torque control based on a current acceleration of the electric vehicle, and includes: judging whether the current acceleration of the electric vehicle is smaller than a preset threshold value or not; if the current acceleration of the electric vehicle is judged to be smaller than a preset threshold value, calculating the current target torque of the electric vehicle according to a preset torque distribution mode; and adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle.
Optionally, the control unit calculates the current target torque of the electric vehicle according to a preset torque distribution mode, including: calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle; determining the whole vehicle driving force for enabling the electric vehicle to travel at a constant speed according to the whole vehicle driving resistance; and calculating target torque for enabling the electric vehicle to keep constant-speed running under the current opening of the accelerator pedal according to the whole vehicle driving force.
Optionally, the control unit adjusts the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle, including: PI adjustment is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque of the electric vehicle so as to adjust the whole vehicle request torque to the target torque.
In a further aspect the invention provides a storage medium having stored thereon a computer program which when executed by a processor performs the steps of any of the methods described above.
In a further aspect the invention provides an electric vehicle controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described hereinbefore when the program is executed.
In yet another aspect, the present invention provides an electric vehicle controller including any one of the electric vehicle control devices described above.
According to the technical scheme, whether the speed control mode is entered is determined according to the opening degree of the accelerator pedal of the electric vehicle, torque control is performed based on the current acceleration of the electric vehicle after the speed control mode is entered, so that the vehicle can keep constant-speed running under the condition that the current opening degree of the accelerator pedal is unchanged, the continuous increase of the vehicle speed is avoided, the driving safety is ensured, and the driving experience is improved. Calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle; and calculating a target torque for enabling the electric vehicle to keep constant-speed running under the current accelerator pedal opening according to the running resistance of the whole vehicle, enabling the vehicle to keep constant-speed running under the condition that the current accelerator pedal opening is unchanged, avoiding continuous increase of the vehicle speed, ensuring running safety and improving driving experience. PI regulation is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque, linear correction is carried out on the vehicle torque, different constant-speed running of the vehicle at different accelerator depths is completed, uncontrolled continuous increase of the vehicle speed is avoided, driving safety is guaranteed, and driving experience is improved. And (3) increasing a speed control mode, performing torque correction according to the vehicle speed to form a vehicle speed closed loop, and completing vehicle speed limitation under the condition that the opening of an accelerator pedal is unchanged so as to avoid uncontrolled increase of the vehicle speed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
FIG. 1 is a method schematic diagram of an embodiment of an electric vehicle control method provided by the present invention;
FIG. 2 is a flow chart illustrating an entry into a speed control mode according to one embodiment of the present invention
FIG. 3 illustrates a target torque distribution flow according to an embodiment of the present invention;
FIG. 4 is a method schematic diagram of an embodiment of an electric vehicle control method according to the present invention;
fig. 5 is a block diagram illustrating an embodiment of an electric vehicle control apparatus according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to specific embodiments of the present invention and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the related art, the torque control mode is to calibrate a motor, obtain the corresponding relation of the opening degree of an accelerator pedal, the rotating speed and the target torque according to the external characteristic curve of the motor, and look up a table according to the current opening degree of the accelerator pedal and the rotating speed of the motor fed back by the motor to obtain the motor request torque as the torque control of the motor. In this control mode, the vehicle speed is not controlled, and therefore, the requested torque is continuously output without changing the accelerator opening, and the vehicle speed is not adjusted according to the vehicle speed, so that the vehicle speed is increased until the maximum speed limit, and the vehicle speed cannot be stabilized. The speed is not controlled under different power responses in the running process of the vehicle, so that the speed continuously rises, namely, under the condition of shallow stepping or deep stepping on an accelerator pedal, the vehicle speed cannot be maintained to run at a certain speed, but continuously increases until the highest speed limit is reached, the running danger is caused, and the driving experience is influenced.
The invention provides a control method of an electric vehicle. The electric vehicle is, for example, a new energy automobile. The method may be implemented in an electric vehicle controller. The electric vehicle controller is, for example, a whole vehicle controller.
Fig. 1 is a schematic diagram of a method according to an embodiment of the present invention.
As shown in fig. 1, the method at least includes step S110 and step S120 according to one embodiment of the present invention.
Step S110, the accelerator pedal opening of the electric vehicle is obtained, so that whether the electric vehicle enters a speed control mode or not is determined according to the accelerator pedal opening.
Specifically, the whole vehicle controller acquires an accelerator pedal opening signal, and determines whether to enter a speed control mode according to the accelerator pedal opening. In one embodiment, the entering of the speed control mode is determined when the accelerator pedal opening remains unchanged for a preset time. That is, when the accelerator pedal opening does not change for a certain period of time, it is considered that the vehicle is allowed to enter the speed control mode.
In the actual running process, the influence factors such as vehicle shake, sensor sampling precision and the like exist, so that the opening of the accelerator pedal cannot be kept stable and unchanged, and the opening of the accelerator pedal is subjected to fuzzy processing. Specifically, when the change value of the accelerator pedal opening in the preset time is smaller than a preset change threshold value, the accelerator pedal opening is regarded as being kept unchanged. That is, the float may be regarded as unchanged within a certain interval range, for example, the accuracy may be 3%, that is, the accelerator pedal opening may be changed by less than 3% within a preset time, that is, the accelerator pedal opening may be regarded as unchanged, and the vehicle may be allowed to enter the speed control mode. Namely, the following conditions are satisfied:
Aps 2 -Aps 1 ≤ΔAPS threshold value
Aps 1 Aps is the opening degree of the accelerator pedal at the last moment 2 For accelerator pedal opening, Δaps, when a preset time is reached Threshold value And the preset change threshold value is the preset accelerator pedal opening floating range. Wherein a change threshold DeltaAPS is preset Threshold value The motor can be modified according to driving experience, economic benefits of the motor and other conditions.And if the opening of the accelerator pedal is changed within the preset time, controlling the torque output according to a normal torque control mode. The normal torque control mode comprises the steps of calibrating a motor in advance, obtaining the corresponding relation of the opening of an accelerator pedal, the rotating speed of the motor and target torque according to an external characteristic curve of the motor, and looking up a table according to the current opening of the accelerator pedal and the rotating speed of the motor fed back by the motor to obtain the motor request torque as torque control of the motor.
Step S120, if it is determined that the speed control mode is entered, torque control is performed based on the current acceleration of the electric vehicle, so that the electric vehicle keeps traveling at a constant speed under the current accelerator pedal opening.
In one embodiment, torque control based on a current acceleration of the electric vehicle includes: judging whether the current acceleration of the electric vehicle is smaller than a preset threshold value or not; if the current acceleration of the electric vehicle is judged to be smaller than a preset threshold value, calculating the current target torque of the electric vehicle according to a preset torque distribution mode; and adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle. And if the current acceleration of the electric vehicle is larger than or equal to the preset threshold value, outputting the torque according to a normal torque control mode.
Specifically, during the acceleration of the vehicle, the current vehicle speed V is obtained 2 Vehicle speed V at last moment 1 Calculating the acceleration a at the current moment, if the acceleration a is smaller than the preset threshold value a Threshold value The current time speed V 2 As a criterion for this speed control mode, torque distribution is performed to control the vehicle speed so as to maintain the current speed V 2 Keeping constant-speed running, if the acceleration a is not smaller than the preset threshold value a Threshold value The torque output is controlled in the normal torque control mode. The normal torque control mode comprises the steps of calibrating a motor in advance, obtaining the corresponding relation among the opening of an accelerator pedal, the rotating speed of the motor and target torque according to an external characteristic curve of the motor, and looking up a table according to the current opening of the accelerator pedal and the rotating speed of the motor fed back by the motor to obtain the motor request torque as torque control of the motor。
Calculating the current target torque of the electric vehicle according to a preset torque distribution mode, wherein the current target torque comprises the following steps of: calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle; determining the whole vehicle driving force for enabling the electric vehicle to travel at a constant speed according to the whole vehicle driving resistance; and calculating target torque for enabling the electric vehicle to keep constant-speed running under the current opening of the accelerator pedal according to the whole vehicle driving force. The driving force of the electric vehicle for driving at a constant speed is opposite to the driving resistance of the electric vehicle in the same direction.
Specifically, after the current acceleration a is acquired, according to newton's second law:
F driving device -f Resistance resistor ＝ma
F Driving device F is the driving force of the whole vehicle Resistance resistor The driving resistance of the whole vehicle is represented by m, and the mass of the whole vehicle is represented by m.
From the above formula:
f resistance resistor ＝F Driving device -ma
Namely, the whole vehicle running resistance f under the current accelerator pedal opening degree can be obtained Resistance resistor Order F Driving device ＝f Resistance resistor The target torque for enabling the electric vehicle to keep constant-speed running under the current accelerator pedal opening can be calculated according to the whole vehicle driving force;
F driving device Can be made by F Driving device The torque is obtained by the method of the invention, wherein T is the whole vehicle request torque, H is the whole vehicle transmission ratio coefficient, L is the transmission efficiency, and R is the tire radius.
Adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle, comprising: PI adjustment is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque of the electric vehicle so as to adjust the whole vehicle request torque to the target torque.
Specifically, the target torque is a key variable for controlling the speed of the vehicle, PI (proportional integral) adjustment is carried out on the whole vehicle request torque T, the target torque is linearly and smoothly transited, the power smoothness is ensured, and the driving experience is improved.
Preferably, at each timeContinuously correcting the target torque in unit time, continuously approaching the target torque to the target torque of the whole vehicle, gradually approaching the acceleration a to zero, and then meeting the constant speed control of the vehicle, wherein the vehicle speed is kept at the speed V when entering the speed control mode 2 ±V Correction ，V Correction Is the range of variation in vehicle speed during torque distribution.
FIG. 2 illustrates a flow diagram for entering a speed control mode in accordance with one embodiment of the present invention. As shown in fig. 2, when the opening of the accelerator pedal is kept unchanged within a preset time, entering a speed control mode, performing target torque adjustment, and outputting a whole vehicle request torque; the opening of the accelerator pedal is changed within a preset time, and the whole vehicle request torque is output according to a normal torque control mode.
FIG. 3 illustrates a target torque distribution flow according to an embodiment of the present invention. As shown in fig. 3, the current vehicle speed V is obtained during the acceleration of the vehicle 2 Vehicle speed V at last moment 1 Calculating the acceleration a at the current moment, if the acceleration a is smaller than the preset threshold value a Threshold value The torque distribution is carried out according to the acceleration a, the target torque is calculated, the target torque is continuously corrected, the whole vehicle request torque is smoothly transited to the target torque through PI adjustment, and the iterative update is continuously carried out, so that the vehicle speed is controlled to maintain the current speed V at the moment 2 Keeping constant-speed running, if the acceleration a is not smaller than the preset threshold value a Threshold value The torque output is controlled as normal.
The object of the invention is thus to seek a real-time target torque equal to the driving resistance in the speed control mode, so that the vehicle is not accelerated, and the vehicle is not accelerated any more, and the speed is maintained at the set vehicle speed.
In order to clearly illustrate the technical scheme of the present invention, a specific embodiment is used to describe the execution flow of the control method of the electric vehicle provided by the present invention.
Fig. 4 is a method schematic diagram of an embodiment of an electric vehicle control method according to the present invention. As shown in FIG. 4, FIG. 4 illustrates a speed control in accordance with an embodiment of the present inventionAnd (5) manufacturing a process. As shown in fig. 4, a speed control mode condition is set, a whole vehicle controller acquires an accelerator pedal opening signal, performs fuzzy processing on the accelerator pedal opening, determines that the vehicle meets the speed control mode condition when the accelerator pedal opening floats within a certain interval range and is considered unchanged, and acquires a current moment vehicle speed V during the running acceleration of the vehicle 2 Vehicle speed V at last moment 1 Calculating the acceleration a at the current moment, if the acceleration a is smaller than the preset threshold value a Threshold value I.e. the current moment speed V 2 As a criterion for this speed control mode, torque distribution is performed to control the vehicle speed so as to maintain the current speed V 2 Keeping constant-speed running, if the acceleration a is not smaller than the preset threshold value a Threshold value The torque output is controlled as normal. After the target torque is obtained through calculation, PI adjustment is carried out on the whole vehicle request torque T, the linear smooth transition is carried out on the whole vehicle request torque T to the target torque, the power smoothness is ensured, and the driving experience is improved.
Fig. 5 is a block diagram illustrating an embodiment of an electric vehicle control apparatus according to the present invention. As shown in fig. 5, the electric vehicle control device 100 includes a determination unit 110 and a control unit 120.
The determining unit 110 is configured to obtain an accelerator pedal opening of the electric vehicle, so as to determine whether to enter a speed control mode according to the accelerator pedal opening.
Specifically, the whole vehicle controller acquires an accelerator pedal opening signal, and determines whether to enter a speed control mode according to the accelerator pedal opening. In one specific embodiment, the determining unit 110 determines whether to enter the speed control mode according to the opening degree of the accelerator pedal, including: and determining to enter a speed control mode when the opening of the accelerator pedal is kept unchanged within a preset time. That is, when the accelerator pedal opening does not change for a certain period of time, it is considered that the vehicle is allowed to enter the speed control mode.
In the actual running process, the influence factors such as vehicle shake, sensor sampling precision and the like exist, so that the opening of the accelerator pedal cannot be kept stable and unchanged, and the opening of the accelerator pedal is subjected to fuzzy processing. Specifically, when the change value of the accelerator pedal opening in the preset time is smaller than a preset change threshold value, the accelerator pedal opening is regarded as being kept unchanged. That is, the float may be regarded as unchanged within a certain interval range, for example, the accuracy may be 3%, that is, the accelerator pedal opening may be changed by less than 3% within a preset time, that is, the accelerator pedal opening may be regarded as unchanged, and the vehicle may be allowed to enter the speed control mode. Namely, the following conditions are satisfied:
Aps 2 -Aps 1 ≤ΔAPS threshold value
Aps 1 Aps is the opening degree of the accelerator pedal at the last moment 2 For accelerator pedal opening, Δaps, when a preset time is reached Threshold value And the preset change threshold value is the preset accelerator pedal opening floating range. Wherein a change threshold DeltaAPS is preset Threshold value The motor can be modified according to driving experience, economic benefits of the motor and other conditions. And if the opening of the accelerator pedal is changed within the preset time, controlling the torque output according to a normal torque control mode. The normal torque control mode comprises the steps of calibrating a motor in advance, obtaining the corresponding relation of the opening of an accelerator pedal, the rotating speed of the motor and target torque according to an external characteristic curve of the motor, and looking up a table according to the current opening of the accelerator pedal and the rotating speed of the motor fed back by the motor to obtain the motor request torque as torque control of the motor.
The control unit 120 is configured to, if the determining unit determines that the speed control mode is entered, perform torque control based on a current acceleration of the electric vehicle, so that the electric vehicle keeps traveling at a constant speed under a current accelerator pedal opening.
In one embodiment, the control unit 120 performs torque control based on a current acceleration of the electric vehicle, including: judging whether the current acceleration of the electric vehicle is smaller than a preset threshold value or not; if the current acceleration of the electric vehicle is judged to be smaller than a preset threshold value, calculating the current target torque of the electric vehicle according to a preset torque distribution mode; and adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle. And if the current acceleration of the electric vehicle is larger than or equal to the preset threshold value, outputting the torque according to a normal torque control mode.
Specifically, during the acceleration of the vehicle, the current vehicle speed V is obtained 2 Vehicle speed V at last moment 1 Calculating the acceleration a at the current moment, if the acceleration a is smaller than the preset threshold value a Threshold value The current time speed V 2 As a criterion for this speed control mode, torque distribution is performed to control the vehicle speed so as to maintain the current speed V 2 Keeping constant-speed running, if the acceleration a is not smaller than the preset threshold value a Threshold value The torque output is controlled in the normal torque control mode. The normal torque control mode comprises the steps of calibrating a motor in advance, obtaining the corresponding relation of the opening of an accelerator pedal, the rotating speed of the motor and target torque according to an external characteristic curve of the motor, and looking up a table according to the current opening of the accelerator pedal and the rotating speed of the motor fed back by the motor to obtain the motor request torque as torque control of the motor.
In one specific embodiment, the control unit 120 calculates the current target torque of the electric vehicle according to a preset torque distribution mode, including: calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle; determining the whole vehicle driving force for enabling the electric vehicle to travel at a constant speed according to the whole vehicle driving resistance; and calculating target torque for enabling the electric vehicle to keep constant-speed running under the current opening of the accelerator pedal according to the whole vehicle driving force. The driving force of the electric vehicle for driving at a constant speed is opposite to the driving resistance of the electric vehicle in the same direction.
Specifically, after the current acceleration a is acquired, according to newton's second law:
F driving device -f Resistance resistor ＝ma
F Driving device F is the driving force of the whole vehicle Resistance resistor The driving resistance of the whole vehicle is represented by m, and the mass of the whole vehicle is represented by m.
From the above formula:
f resistance resistor ＝F Driving device -ma
Namely, the whole vehicle running resistance f under the current accelerator pedal opening degree can be obtained Resistance resistor Order F Driving device ＝f Resistance resistor Can be calculated according to the driving force of the whole vehicleTo a target torque for enabling the electric vehicle to keep constant-speed running under the current opening of an accelerator pedal;
F driving device Can be made by F Driving device The torque is obtained by the method of the invention, wherein T is the whole vehicle request torque, H is the whole vehicle transmission ratio coefficient, L is the transmission efficiency, and R is the tire radius.
In one embodiment, the control unit 120 adjusts the vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle, including: PI adjustment is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque of the electric vehicle so as to adjust the whole vehicle request torque to the target torque.
Specifically, the target torque is a key variable for controlling the speed of the vehicle, PI (proportional integral) adjustment is carried out on the whole vehicle request torque T, the target torque is linearly and smoothly transited, the power smoothness is ensured, and the driving experience is improved.
Preferably, the target torque is continuously corrected in each unit time, the target torque is continuously approximated to the target torque of the whole vehicle, the acceleration a gradually approaches zero, the constant speed control of the vehicle can be satisfied, and the vehicle speed is kept at the speed V when the vehicle enters the speed control mode 2 ±V Correction ，V Correction Is the range of variation in vehicle speed during torque distribution.
The present invention also provides a storage medium corresponding to the electric vehicle control method, having stored thereon a computer program which, when executed by a processor, implements the steps of any of the methods described above.
The invention also provides an electric vehicle controller corresponding to the electric vehicle control method, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
The invention also provides an electric vehicle controller corresponding to the electric vehicle control device, which comprises any one of the electric vehicle control devices.
According to the scheme provided by the invention, whether the speed control mode is entered is determined according to the opening degree of the accelerator pedal of the electric vehicle, and after the speed control mode is entered, torque control is performed based on the current acceleration of the electric vehicle, so that the vehicle keeps running at a constant speed under the condition that the current opening degree of the accelerator pedal is unchanged, the continuous increase of the vehicle speed is avoided, the driving safety is ensured, and the driving experience is improved. Calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle; and calculating a target torque for enabling the electric vehicle to keep constant-speed running under the current accelerator pedal opening according to the running resistance of the whole vehicle, enabling the vehicle to keep constant-speed running under the condition that the current accelerator pedal opening is unchanged, avoiding continuous increase of the vehicle speed, ensuring running safety and improving driving experience. PI regulation is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque, linear correction is carried out on the vehicle torque, different constant-speed running of the vehicle at different accelerator depths is completed, uncontrolled continuous increase of the vehicle speed is avoided, driving safety is guaranteed, and driving experience is improved.
The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software that is executed by a processor, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or a combination of any of these. In addition, each functional unit may be integrated in one processing unit, each unit may exist alone physically, or two or more units may be integrated in one unit.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate components may or may not be physically separate, and components as control devices may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. An electric vehicle control method, characterized by comprising:
acquiring the opening degree of an accelerator pedal of the electric vehicle to determine whether to enter a speed control mode according to the opening degree of the accelerator pedal;
if the speed control mode is determined to be entered, torque control is performed based on the current acceleration of the electric vehicle, so that the electric vehicle keeps running at a constant speed under the current opening of an accelerator pedal;
wherein torque control based on the current acceleration of the electric vehicle includes:
judging whether the current acceleration of the electric vehicle is smaller than a preset threshold value or not;
if the current acceleration of the electric vehicle is judged to be smaller than a preset threshold value, calculating the current target torque of the electric vehicle according to a preset torque distribution mode;
adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle;
the method for calculating the current target torque of the electric vehicle according to the preset torque distribution mode comprises the following steps:
calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle;
determining the whole vehicle driving force for enabling the electric vehicle to travel at a constant speed according to the whole vehicle driving resistance;
and calculating target torque for enabling the electric vehicle to keep constant-speed running under the current opening of the accelerator pedal according to the whole vehicle driving force.
2. The method of claim 1, wherein determining whether to enter a speed control mode based on the accelerator pedal opening comprises:
and determining to enter a speed control mode when the opening of the accelerator pedal is kept unchanged within a preset time.
3. The method of claim 1, wherein adjusting the vehicle requested torque of the electric vehicle based on the calculated current target torque of the electric vehicle comprises:
PI adjustment is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque of the electric vehicle so as to adjust the whole vehicle request torque to the target torque.
4. An electric vehicle control apparatus, characterized by comprising:
a determining unit, configured to obtain an accelerator pedal opening of the electric vehicle, so as to determine whether to enter a speed control mode according to the accelerator pedal opening;
the control unit is used for controlling torque based on the current acceleration of the electric vehicle if the determining unit determines that the electric vehicle enters a speed control mode, so that the electric vehicle keeps running at a constant speed under the current opening of an accelerator pedal;
the control unit performs torque control based on current acceleration of the electric vehicle, and includes:
judging whether the current acceleration of the electric vehicle is smaller than a preset threshold value or not;
if the current acceleration of the electric vehicle is judged to be smaller than a preset threshold value, calculating the current target torque of the electric vehicle according to a preset torque distribution mode;
adjusting the whole vehicle request torque of the electric vehicle according to the calculated current target torque of the electric vehicle;
the control unit calculates the current target torque of the electric vehicle according to a preset torque distribution mode, and the control unit comprises the following steps:
calculating the whole running resistance of the electric vehicle according to the current acceleration of the electric vehicle;
determining the whole vehicle driving force for enabling the electric vehicle to travel at a constant speed according to the whole vehicle driving resistance;
and calculating target torque for enabling the electric vehicle to keep constant-speed running under the current opening of the accelerator pedal according to the whole vehicle driving force.
5. The apparatus according to claim 4, wherein the determining unit determining whether to enter a speed control mode according to the accelerator pedal opening degree includes:
and determining to enter a speed control mode when the opening of the accelerator pedal is kept unchanged within a preset time.
6. The apparatus according to claim 4, wherein the control unit adjusts the vehicle-requested torque of the electric vehicle according to the calculated current target torque of the electric vehicle, comprising:
PI adjustment is carried out on the whole vehicle request torque of the electric vehicle according to the current target torque of the electric vehicle so as to adjust the whole vehicle request torque to the target torque.
7. A storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method of any of claims 1-3.
8. An electric vehicle controller comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1-3 when the program is executed.
9. An electric vehicle controller comprising the electric vehicle control device according to any one of claims 4 to 6.
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