CN114701482A - Control method and device for stability of pure electric vehicle and vehicle - Google Patents

Control method and device for stability of pure electric vehicle and vehicle Download PDF

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Publication number
CN114701482A
CN114701482A CN202210505350.8A CN202210505350A CN114701482A CN 114701482 A CN114701482 A CN 114701482A CN 202210505350 A CN202210505350 A CN 202210505350A CN 114701482 A CN114701482 A CN 114701482A
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China
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power motor
pure electric
electric vehicle
torque
power
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CN202210505350.8A
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Chinese (zh)
Inventor
张鑫
于长虹
刘元治
马腾
周春雨
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FAW Group Corp
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FAW Group Corp
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Priority to CN202210505350.8A priority Critical patent/CN114701482A/en
Publication of CN114701482A publication Critical patent/CN114701482A/en
Priority to PCT/CN2023/093336 priority patent/WO2023217195A1/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/24—Energy storage means
    • B60W2710/242—Energy storage means for electrical energy
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application discloses a method and a device for controlling stability of a pure electric vehicle and a vehicle. The method comprises the following steps: under the condition that the pure electric vehicle is detected to be in a first steering state or a second steering state through the electronic stability control system, sending a target request to the whole vehicle controller; the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request; and if the power motor system is detected not to correctly respond to the target request, cutting off the high-voltage power supply output of the power battery system so as to cut off the torque output of the power motor, and controlling the stability of the pure electric vehicle through the electronic stability control system. Through the method and the device, the problem that in the prior art, when a power motor of the pure electric vehicle does not respond to a torque request sent by the electronic stability control system or responds to the torque request by mistake, the electronic stability control system is difficult to work, and the stability of the vehicle is influenced is solved.

Description

Control method and device for stability of pure electric vehicle and vehicle
Technical Field
The application relates to the technical field of vehicles, in particular to a method and a device for controlling stability of a pure electric vehicle and a vehicle.
Background
At present, the market of pure electric vehicles is rapidly developed, and the safety of the whole vehicle is more and more important. Among them, the stability and safety of the electric vehicle are important factors affecting the driving safety of the driver. Furthermore, electric vehicles are commonly equipped with an electronic stability control system and avoid understeer and oversteer hazards of the entire vehicle by adjusting the hydraulic braking forces of the four wheels.
However, for a pure electric vehicle, an effective precondition for the operation of the electronic stability control system is that the power motor must correctly respond to a torque-up or torque-down request of the electronic stability control system. If the power motor does not respond to the torque request or the torque response is wrong, the electronic stability control system cannot realize the stability safety of the whole vehicle.
Aiming at the problems that in the prior art, when a power motor of a pure electric vehicle does not respond to a torque request sent by an electronic stability control system or responds to the torque request by mistake, the electronic stability control system is difficult to work and the stability of the vehicle is influenced, an effective solution is not provided at present.
Disclosure of Invention
The application mainly aims to provide a method and a device for controlling stability of a pure electric vehicle and the vehicle, so as to solve the problem that in the prior art, when a power motor of the pure electric vehicle does not respond to a torque request sent by an electronic stability control system or responds to the torque request by mistake, the electronic stability control system is difficult to work, and stability of the vehicle is affected.
In order to achieve the above object, according to an aspect of the present application, a method for controlling stability of a pure electric vehicle is provided. The method is applied to a stability control system of the pure electric vehicle, and the stability control system of the pure electric vehicle comprises the following steps: electronic stability control system, vehicle control unit, power motor system and power battery system include: under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle control unit, wherein the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request; and if the power motor system is detected not to correctly respond to the target request, cutting off the output of a high-voltage power supply of the power battery system so as to cut off the torque output of the power motor, and controlling the stability of the pure electric vehicle through the electronic stability control system.
Further, the power battery system comprises a power battery controller and a power battery, and if it is detected that the power motor system does not correctly respond to the target request, the cutting off the high-voltage power output of the power battery system to cut off the torque output of the power motor comprises: if the power motor system is detected not to correctly respond to the target request, sending a target instruction to the power battery controller through the vehicle control unit, wherein the target instruction is used for indicating to cut off a high-voltage relay of the power battery; the power battery controller responds to the target instruction and cuts off the high-voltage relay so as to cut off the high-voltage power output of the power battery; and after the high-voltage power output is cut off, cutting off a high-voltage power supply of the power motor so as to cut off the torque output of the power motor.
Further, before detecting whether the power motor system correctly responds to the target request, the method further comprises: acquiring the estimated driving torque of the power motor; and detecting whether the power motor system correctly responds to the target request or not according to the estimated driving torque and the first driving torque.
Further, detecting whether the power motor system correctly responds to the target request according to the predicted driving torque and the first driving torque comprises: judging whether the estimated driving torque is the same as the first driving torque or not; representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor; and under the condition that the estimated driving torque is different from the driving torque output by the power motor, representing that the power motor system does not correctly respond to the target request.
Further, before obtaining the predicted driving torque of the power motor, the method further comprises: obtaining wheel speeds and braking torques of the two front axle wheels; and determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
Further, determining an estimated drive torque of the power motor based on the wheel speed and the braking torque comprises: determining the acceleration of the two front axle wheels according to the wheel speed; acquiring the rotational inertia of the two front axle wheels; and determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
Further, controlling the stability of the pure electric vehicle through the electronic stability control system includes: the hydraulic braking forces of the four wheels of the pure electric vehicle are adjusted through the electronic stability control system, so that the adjusted hydraulic braking forces of the four wheels are obtained; and controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking forces of the four wheels.
In order to achieve the above object, according to another aspect of the present application, a vehicle is provided, in which a controller executes the method for controlling stability of the pure electric vehicle according to any one of the above.
In order to achieve the above object, according to another aspect of the present application, a control device for stability of a pure electric vehicle is provided. The device is applied to the stability control system of the pure electric vehicle, and the stability control system of the pure electric vehicle comprises the following components: electronic stability control system, vehicle control unit, power motor system and power battery system include: the system comprises a first sending unit, a second sending unit and a control unit, wherein the first sending unit is used for sending a target request to the vehicle control unit when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the first processing unit is used for sending the received target request to the power motor system by the vehicle control unit and detecting whether the power motor system correctly responds to the target request; and the second processing unit is used for cutting off the output of the high-voltage power supply of the power battery system to cut off the torque output of the power motor and controlling the stability of the pure electric vehicle through the electronic stability control system if the power motor system is detected not to correctly respond to the target request.
Further, the power battery system comprises a power battery controller and a power battery, and the second processing unit comprises: the first sending module is used for sending a target instruction to the power battery controller through the vehicle control unit if the power motor system is detected not to correctly respond to the target request, wherein the target instruction is used for indicating to cut off a high-voltage relay of the power battery; the first response module is used for responding the target instruction by the power battery controller and cutting off the high-voltage relay so as to cut off the high-voltage power output of the power battery; and the first cutting module is used for cutting off the high-voltage power supply of the power motor after the high-voltage power output is cut off so as to cut off the torque output of the power motor.
Further, the apparatus further comprises: the first acquisition unit is used for acquiring the estimated driving torque of the power motor before detecting whether the power motor system correctly responds to the target request; and the first detection unit is used for detecting whether the power motor system correctly responds to the target request according to the estimated driving torque and the first driving torque.
Further, the first detection unit includes: the first judgment module is used for judging whether the estimated driving torque is the same as the first driving torque or not; the first determination module is used for representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor; and the second determination module is used for representing that the power motor system does not correctly respond to the target request under the condition that the estimated driving torque is different from the driving torque output by the power motor.
Further, the apparatus further comprises: the second acquisition unit is used for acquiring wheel speeds and braking torques of the two front axle wheels before acquiring the estimated driving torque of the power motor; and the first determining unit is used for determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
Further, the first determination unit includes: a third determining module, configured to determine accelerations of the two front axle wheels according to the wheel speed; the first acquisition module is used for acquiring the rotational inertia of the two front axle wheels; and the fourth determining module is used for determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
Further, the second processing unit includes: the fifth determining module is used for adjusting the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; and the first control module is used for controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking force of the four wheels.
In order to achieve the above object, according to another aspect of the present application, a processor is provided, where the processor is configured to execute a program, where the program is executed to execute any one of the above control methods for stability of a pure electric vehicle.
This application can use in pure electric vehicles stability control system, includes in pure electric vehicles stability control system: the system comprises an electronic stability control system, a vehicle control unit, a power motor system and a power battery system, and comprises the following steps: under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle control unit, wherein the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request; if the power motor system is detected not to correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system. The target request is sent under the condition that the pure electric vehicle is detected to be in a first steering state or a second steering state, and whether the target request is correctly responded or not is detected; if the target request is not correctly responded, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system, so that the electronic stability control system can normally work when the power motor of the pure electric vehicle does not respond to the torque request sent by the electronic stability control system or erroneously responds to the torque request, and the effect of avoiding the influence on the stability of the vehicle is achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a stability control system of a pure electric vehicle provided according to an embodiment of the present application;
FIG. 2 is a flowchart of a control method for stability of a pure electric vehicle according to an embodiment of the present application;
fig. 3 is a schematic diagram of a control device for stability of a pure electric vehicle according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, other embodiments that can be obtained by a person skilled in the art without inventive efforts shall fall within the scope of protection of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "includes," 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.
The present invention is described below with reference to preferred implementation steps, and fig. 1 is a schematic diagram of a stability control system of a pure electric vehicle provided in an embodiment of the present application, as shown in fig. 1, the stability control system of the pure electric vehicle includes: the system comprises an electronic stability control system, a vehicle control unit, a power motor system and a power battery system. Fig. 2 is a flowchart of a method for controlling stability of a pure electric vehicle according to an embodiment of the present application, and the method is applied to the system for controlling stability of a pure electric vehicle shown in fig. 1, and as shown in fig. 2, the method includes the following steps:
step S201, under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, a target request is sent to the whole vehicle controller, wherein the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state.
For example, the first steering state may be an understeer state of an electric vehicle, the second steering state may be an oversteer state of the electric vehicle, and the electric vehicle may be a centralized two-drive electric vehicle. Moreover, the electronic stability control system of FIG. 1 may detect understeer and oversteer trends of the electric vehicle and send a drive torque response request to the hybrid vehicle controller of FIG. 1 when it detects that the hybrid vehicle is equipped with understeer and oversteer hazards.
And S202, the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request.
For example, the power motor system may be the power motor controller and the inverter shown in fig. 1, and the power motor controller and the inverter are mainly responsible for controlling the power motor to output the driving torque in response to the torque request sent by the vehicle controller. In addition, when the vehicle control unit receives a torque response request sent by the electronic stability control system, the torque response request is forwarded to the power motor system for driving torque control, and meanwhile, whether the estimated actual torque of the power motor responds to the torque request or not is compared.
And step S203, if the power motor system is detected not to correctly respond to the target request, cutting off the high-voltage power supply output of the power motor system so as to cut off the torque output of the power motor, and controlling the stability of the pure electric vehicle through the electronic stability control system.
For example, the power battery system described above may include the power battery and power battery controller of FIG. 1. When the estimated actual torque of the power motor does not respond to the torque request or responds to the torque request in error, the estimated actual torque of the power motor is communicated with a power battery controller to cut off the high-voltage power output of a power battery, so that the torque of the power motor is cut off, and then the stability safety of the whole vehicle is realized by an electronic stability control system.
Through the steps S201 to S203, the target request is sent when the pure electric vehicle is detected to be in the first steering state or the second steering state, and whether the target request is correctly responded is detected; if the target request is not correctly responded, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system, so that the electronic stability control system can normally work when the power motor of the pure electric vehicle does not respond to the torque request sent by the electronic stability control system or erroneously responds to the torque request, and the effect of avoiding the influence on the stability of the vehicle is achieved.
In order to avoid influencing the stability of the vehicle, it is one of the key points how to cut off the high-voltage power output of the power battery system when it is detected that the power motor system does not correctly respond to the target request, so as to cut off the torque output of the power motor, in the control method for the stability of the pure electric vehicle provided in the embodiment of the present application, if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power output of the power battery system is cut off, so as to cut off the torque output of the power motor, the power battery system includes a power battery controller and a power battery, and if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power output of the power battery system is cut off, so as to cut off the torque output of the power motor, the following technical features can be adopted: if the power motor system is detected not to correctly respond to the target request, sending a target instruction to a power battery controller through the vehicle control unit, wherein the target instruction is used for indicating to cut off a high-voltage relay of a power battery; the power battery controller responds to the target instruction and cuts off the high-voltage relay so as to cut off the high-voltage power output of the power battery; and after the high-voltage power output is cut off, cutting off a high-voltage power supply of the power motor so as to cut off the torque output of the power motor.
For example, when the estimated actual torque of the power motor does not respond to the driving torque request or erroneously responds to the torque request, an instruction to shut off the power battery high-voltage relay is sent to the power battery controller. In addition, the power battery controller is mainly responsible for controlling the high-voltage power output of the power battery, and cuts off the high-voltage power output of the power motor system when receiving a command of cutting off the high-voltage relay sent by the vehicle controller. Moreover, the power battery can provide a high-voltage power supply for the power motor. Therefore, when the high-voltage power output of the power battery is cut off, the high-voltage power supply of the power motor is also cut off, so that the torque output of the power motor can be cut off.
In conclusion, through the interaction of the vehicle control unit and the power battery system, the torque output of the power battery high-voltage relay and the power motor can be cut off, so that the driving stability control effect of the electronic stability control system on the electric vehicle is ensured, and the stability and the safety of the whole vehicle are improved.
Optionally, in the method for controlling stability of a pure electric vehicle provided in the embodiment of the present application, before detecting whether the power motor system correctly responds to the target request, the method further includes: acquiring a predicted driving torque of a power motor; and detecting whether the power motor system correctly responds to the target request or not according to the estimated driving torque and the first driving torque.
For example, the vehicle control unit is responsible for estimating the wheel end actual torque, and detects whether the estimated wheel end actual torque correctly responds to the driving torque response request according to the estimated wheel end actual torque and the driving torque requested to be output by the power motor in the driving torque response request.
By the scheme, whether the power motor system correctly responds to the driving torque response request can be accurately judged according to the estimated actual torque of the power motor and the driving torque in the driving torque response request.
Optionally, in the method for controlling stability of a pure electric vehicle provided in the embodiment of the present application, detecting whether the power motor system correctly responds to the target request according to the estimated driving torque and the first driving torque includes: judging whether the estimated driving torque is the same as the first driving torque or not; representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor; and under the condition that the estimated driving torque is different from the driving torque output by the power motor, representing that the power motor system does not correctly respond to the target request.
For example, comparing whether the actual torque of the power motor correctly responds to the driving torque request, when the estimated actual torque of the power motor is consistent with the driving torque in the driving torque request sent by the forwarded electronic stability control system, it indicates that the actual torque of the power motor correctly responds to the driving torque request; when the estimated power motor actual torque is inconsistent with the driving torque in the forwarded driving torque request sent by the electronic stability control system, it indicates that the power motor actual torque does not respond to the driving torque request or does not respond to the driving torque request correctly.
By means of the scheme, whether the power motor system correctly responds to the driving torque response request or not can be determined quickly and accurately.
Optionally, in the method for controlling stability of a pure electric vehicle provided in the embodiment of the present application, before obtaining the predicted driving torque of the power motor, the method further includes: obtaining wheel speeds and braking torques of two front axle wheels; and determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
For example, the electronic stability control system may be responsible for acquiring wheel speeds of 2 driving wheels of the front axle and transmitting the acquired wheel speeds of the 2 driving wheels of the front axle to the vehicle control unit, and the electronic stability control system may transmit a braking torque value applied to the 2 driving wheels of the front axle to the vehicle control unit. And then the vehicle control unit calculates to obtain the estimated actual torque of the power motor according to the wheel speed of the 2 driving wheels of the front shaft and the braking torque value applied to the 2 driving wheels of the front shaft, which are sent by the electronic stability control system.
Through the scheme, the actual torque of the power motor estimated for the electric automobile can be conveniently obtained.
Optionally, in the method for controlling stability of a pure electric vehicle provided in the embodiment of the present application, determining the estimated driving torque of the power motor according to the wheel speed and the braking torque includes: determining the acceleration of two front axle wheels according to the wheel speed; acquiring the rotational inertia of two front axle wheels; and determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
For example, the vehicle control unit calculates the acceleration of the 2 driving wheels of the front axle according to the wheel speeds of the 2 driving wheels of the front axle sent by the electronic stability control system. Then the vehicle control unit estimates the actual torque of the power motor according to the rotational inertia, the acceleration and the wheel speed of the 2 driving wheels of the front axle and the braking torque value of the electronic stability control system to the 2 driving wheels of the front axle; the concrete formula is as follows:
Figure BDA0003637290190000081
wherein, the first and the second end of the pipe are connected with each other,
Tmotoractual torque of the power motor
Mwl-left front drive wheel moment of inertia
Figure BDA0003637290190000082
-left front drive wheel acceleration
wl-left front drive wheel speed
Twl-left front drive wheel braking torque
Mwr-moment of inertia of the front right drive wheel
Figure BDA0003637290190000083
-front right drive wheel acceleration
wr-right front driving wheel speed
TwrBraking torque of the right front drive wheel
By the scheme, the actual torque of the power motor estimated for the electric automobile can be accurately obtained.
Optionally, in the method for controlling stability of a pure electric vehicle provided in the embodiment of the present application, controlling stability of the pure electric vehicle through an electronic stability control system includes: the hydraulic braking force of the four wheels of the pure electric vehicle is adjusted through the electronic stability control system, so that the adjusted hydraulic braking force of the four wheels is obtained; and controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking force of the four wheels.
For example, the electronic stability control system intervenes in the braking forces of the four wheels through a hydraulic braking system to maintain the stability of the whole vehicle.
In conclusion, when the pure electric vehicle carrying the stability control system is driven, the driving stability safety of a driver can be greatly improved, and the risks of understeer and oversteer hazards during driving of the electric vehicle are greatly reduced.
To sum up, the control method for the stability of the pure electric vehicle provided by the embodiment of the application is applied to a stability control system of the pure electric vehicle, and the stability control system of the pure electric vehicle comprises: the system comprises an electronic stability control system, a whole vehicle controller, a power motor system and a power battery system, wherein a target request is sent to the whole vehicle controller under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, wherein the target request is used for requesting the power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request; if the power motor system is detected not to correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system. The target request is sent under the condition that the pure electric vehicle is detected to be in a first steering state or a second steering state, and whether the target request is correctly responded is detected; if the target request is not correctly responded, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system, so that the electronic stability control system can normally work when the power motor of the pure electric vehicle does not respond to the torque request sent by the electronic stability control system or erroneously responds to the torque request, and the effect of avoiding the influence on the stability of the vehicle is achieved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the present application further provides a control device for stability of a pure electric vehicle, and it should be noted that the control device for stability of a pure electric vehicle according to the embodiment of the present application may be used to execute the control method for stability of a pure electric vehicle provided in the embodiment of the present application. The control device for the stability of the pure electric vehicle provided by the embodiment of the application is introduced below.
Fig. 3 is a schematic diagram of a control device for stability of a pure electric vehicle according to an embodiment of the present application. The device is used in pure electric vehicles stability control system, and pure electric vehicles stability control system includes: electronic stability control system, vehicle control unit, power motor system and power battery system, as shown in fig. 3, the device includes: a first sending unit 301, a first processing unit 302 and a second processing unit 303.
Specifically, the first sending unit 301 is configured to send a target request to the vehicle control unit when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, where the target request is used to request a power motor of the pure electric vehicle to output a first driving torque, a steering angle of two front axle wheels of the pure electric vehicle is greater than a preset steering angle range in the first steering state, and a steering angle of two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state;
the first processing unit 302 is configured to send the received target request to the power motor system by the vehicle control unit, and detect whether the power motor system correctly responds to the target request;
and the second processing unit 303 is configured to, if it is detected that the power motor system does not correctly respond to the target request, cut off the high-voltage power supply output of the power battery system to cut off the torque output of the power motor, and control the stability of the pure electric vehicle through the electronic stability control system.
To sum up, the control device of pure electric vehicles stability that this application embodiment provided is used in pure electric vehicles stability control system, includes in pure electric vehicles stability control system: the system comprises an electronic stability control system, a vehicle control unit, a power motor system and a power battery system, wherein a target request is sent to the vehicle control unit by a first sending unit 301 under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, wherein the target request is used for requesting the power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the first processing unit 302 sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request; if the second processing unit 303 detects that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system, so that the problems that in the prior art, when the power motor of the pure electric vehicle does not respond to the torque request sent by the electronic stability control system or erroneously responds to the torque request, the electronic stability control system is difficult to work and the stability of the vehicle is affected are solved, the target request is sent by detecting that the pure electric vehicle is in the first steering state or the second steering state, and whether the target request is correctly responded is detected; if the target request is not correctly responded, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system, so that the electronic stability control system can normally work when the power motor of the pure electric vehicle does not respond to the torque request sent by the electronic stability control system or erroneously responds to the torque request, and the effect of avoiding the influence on the stability of the vehicle is achieved.
Optionally, in the control device for stability of a pure electric vehicle provided in an embodiment of the present application, the power battery system includes a power battery controller and a power battery, and the second processing unit includes: the power battery control system comprises a first sending module, a second sending module and a control module, wherein the first sending module is used for sending a target instruction to a power battery controller through a vehicle control unit if the power motor system is detected not to correctly respond to a target request, and the target instruction is used for indicating to cut off a high-voltage relay of a power battery; the first response module is used for responding the target instruction by the power battery controller and cutting off the high-voltage relay so as to cut off the high-voltage power output of the power battery; and the first cutting module is used for cutting off the high-voltage power supply of the power motor after the high-voltage power output is cut off so as to cut off the torque output of the power motor.
Optionally, in the control device for stability of a pure electric vehicle provided in an embodiment of the present application, the device further includes: the first obtaining unit is used for obtaining the estimated driving torque of the power motor before detecting whether the power motor system correctly responds to the target request; and the first detection unit is used for detecting whether the power motor system correctly responds to the target request according to the estimated driving torque and the first driving torque.
Optionally, in the control device for stability of a pure electric vehicle provided in an embodiment of the present application, the first detecting unit includes: the first judgment module is used for judging whether the estimated driving torque is the same as the first driving torque or not; the first determining module is used for representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor; and the second determination module is used for representing that the power motor system does not correctly respond to the target request under the condition that the estimated driving torque is different from the driving torque output by the power motor.
Optionally, in the control device for stability of a pure electric vehicle provided in an embodiment of the present application, the device further includes: the second acquisition unit is used for acquiring wheel speeds and braking torques of two front axle wheels before acquiring the estimated driving torque of the power motor; the first determining unit is used for determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
Optionally, in the control device for stability of a pure electric vehicle provided in an embodiment of the present application, the first determining unit includes: the third determining module is used for determining the acceleration of the two front axle wheels according to the wheel speed; the first acquisition module is used for acquiring the rotational inertia of two front axle wheels; and the fourth determining module is used for determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
Optionally, in the control device for stability of a pure electric vehicle provided in an embodiment of the present application, the second processing unit includes: the fifth determining module is used for adjusting the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; and the first control module is used for controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking force of the four wheels.
The control device for the stability of the pure electric vehicle comprises a processor and a memory, wherein the first sending unit 301, the first processing unit 302, the second processing unit 303 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the stability of the vehicle is ensured by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
The embodiment of the invention provides a vehicle, wherein a controller in the vehicle executes any one of the control methods for the stability of the pure electric vehicle.
The embodiment of the invention provides a processor, which is used for running a program, wherein the control method for the stability of a pure electric vehicle is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle control unit, wherein the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request; and if the power motor system is detected not to correctly respond to the target request, cutting off the output of a high-voltage power supply of the power battery system so as to cut off the torque output of the power motor, and controlling the stability of the pure electric vehicle through the electronic stability control system.
The processor executes the program and further realizes the following steps: the power battery system comprises a power battery controller and a power battery, and if the power motor system is detected not to correctly respond to the target request, the power battery system is cut off from the high-voltage power supply output, so that the power motor torque output is cut off, wherein the power battery controller comprises: if the power motor system is detected not to correctly respond to the target request, sending a target instruction to the power battery controller through the vehicle control unit, wherein the target instruction is used for indicating to cut off a high-voltage relay of the power battery; the power battery controller responds to the target instruction and cuts off the high-voltage relay so as to cut off the high-voltage power output of the power battery; and after the high-voltage power output is cut off, cutting off a high-voltage power supply of the power motor so as to cut off the torque output of the power motor.
The processor executes the program and further realizes the following steps: before detecting whether the power motor system correctly responds to the target request, the method further comprises: acquiring the estimated driving torque of the power motor; and detecting whether the power motor system correctly responds to the target request or not according to the estimated driving torque and the first driving torque.
The processor executes the program and further realizes the following steps: detecting whether the power motor system correctly responds to the target request according to the estimated driving torque and the first driving torque comprises: judging whether the estimated driving torque is the same as the first driving torque or not; representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor; and under the condition that the estimated driving torque is different from the driving torque output by the power motor, representing that the power motor system does not correctly respond to the target request.
The processor executes the program and further realizes the following steps: before obtaining the predicted drive torque of the power motor, the method further comprises: obtaining the wheel speeds and the braking torques of the two front axle wheels; and determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
The processor executes the program and further realizes the following steps: determining an estimated drive torque of the power motor based on the wheel speed and the braking torque comprises: determining the acceleration of the two front axle wheels according to the wheel speed; obtaining the rotational inertia of the two front axle wheels; and determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
The processor executes the program and further realizes the following steps: controlling the stability of the pure electric vehicle through the electronic stability control system includes: the hydraulic braking forces of the four wheels of the pure electric vehicle are adjusted through the electronic stability control system, so that the adjusted hydraulic braking forces of the four wheels are obtained; and controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking forces of the four wheels.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the presence of the following method steps when executed on a data processing device: under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle control unit, wherein the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state; the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request; and if the power motor system is detected not to correctly respond to the target request, cutting off the output of a high-voltage power supply of the power battery system so as to cut off the torque output of the power motor, and controlling the stability of the pure electric vehicle through the electronic stability control system.
When executed on a data processing device, is further adapted to perform a procedure for initializing the following method steps: the power battery system comprises a power battery controller and a power battery, if the power battery system is detected to not correctly respond to the target request, the output of the high-voltage power supply of the power battery system is cut off, so that the torque output of the power motor is cut off, and the method comprises the following steps: if the power motor system is detected not to correctly respond to the target request, sending a target instruction to the power battery controller through the vehicle control unit, wherein the target instruction is used for indicating to cut off a high-voltage relay of the power battery; the power battery controller responds to the target instruction and cuts off the high-voltage relay so as to cut off the high-voltage power output of the power battery; and cutting off a high-voltage power supply of the power motor after the high-voltage power output is cut off so as to cut off the torque output of the power motor.
When executed on a data processing device, is further adapted to perform a procedure for initializing the following method steps: before detecting whether the power motor system correctly responds to the target request, the method further comprises: acquiring the estimated driving torque of the power motor; and detecting whether the power motor system correctly responds to the target request or not according to the estimated driving torque and the first driving torque.
When executed on a data processing device, is further adapted to perform a procedure for initializing the following method steps: detecting whether the power motor system correctly responds to the target request according to the estimated driving torque and the first driving torque comprises: judging whether the estimated driving torque is the same as the first driving torque or not; representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor; and under the condition that the estimated driving torque is different from the driving torque output by the power motor, representing that the power motor system does not correctly respond to the target request.
When executed on a data processing device, is further adapted to perform a procedure for initializing the following method steps: before obtaining the predicted driving torque of the power motor, the method further comprises: obtaining the wheel speeds and the braking torques of the two front axle wheels; and determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
When executed on a data processing device, is further adapted to perform a procedure for initializing the following method steps: determining an estimated driving torque of the power motor according to the wheel speed and the braking torque comprises: determining the acceleration of the two front axle wheels according to the wheel speed; acquiring the rotational inertia of the two front axle wheels; and determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
When executed on a data processing device, is further adapted to perform a procedure for initializing the following method steps: controlling the stability of the pure electric vehicle through the electronic stability control system includes: the hydraulic braking forces of the four wheels of the pure electric vehicle are adjusted through the electronic stability control system, so that the adjusted hydraulic braking forces of the four wheels are obtained; and controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking forces of the four wheels.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. The method for controlling the stability of the pure electric vehicle is characterized by being applied to a stability control system of the pure electric vehicle, wherein the stability control system of the pure electric vehicle comprises the following steps: electronic stability control system, vehicle control unit, power motor system and power battery system include:
under the condition that the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle control unit, wherein the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state;
the vehicle control unit sends the received target request to the power motor system and detects whether the power motor system correctly responds to the target request;
and if the power motor system is detected not to correctly respond to the target request, cutting off the output of a high-voltage power supply of the power battery system so as to cut off the torque output of the power motor, and controlling the stability of the pure electric vehicle through the electronic stability control system.
2. The method of claim 1, wherein the power battery system includes a power battery controller and a power battery, and wherein shutting off the high voltage power output of the power battery system to shut off the torque output of the power motor if the power motor system is detected to not properly respond to the target request comprises:
if the power motor system is detected not to correctly respond to the target request, sending a target instruction to the power battery controller through the vehicle control unit, wherein the target instruction is used for indicating to cut off a high-voltage relay of the power battery;
the power battery controller responds to the target instruction and cuts off the high-voltage relay so as to cut off the high-voltage power output of the power battery;
and cutting off a high-voltage power supply of the power motor after the high-voltage power output is cut off so as to cut off the torque output of the power motor.
3. The method of claim 1, wherein prior to detecting whether the power motor system correctly responds to the target request, the method further comprises:
acquiring the estimated driving torque of the power motor;
and detecting whether the power motor system correctly responds to the target request or not according to the estimated driving torque and the first driving torque.
4. The method of claim 3, wherein detecting whether the power motor system is properly responding to the target request based on the predicted drive torque and the first drive torque comprises:
judging whether the estimated driving torque is the same as the first driving torque or not;
representing that the power motor system correctly responds to the target request under the condition that the estimated driving torque is the same as the driving torque output by the power motor;
and under the condition that the estimated driving torque is different from the driving torque output by the power motor, representing that the power motor system does not correctly respond to the target request.
5. The method of claim 3, wherein prior to obtaining the predicted drive torque of the power motor, the method further comprises:
obtaining the wheel speeds and the braking torques of the two front axle wheels;
and determining the estimated driving torque of the power motor according to the wheel speed and the braking torque.
6. The method of claim 5, wherein determining a predicted drive torque of the power motor as a function of the wheel speed and the braking torque comprises:
determining the acceleration of the two front axle wheels according to the wheel speed;
acquiring the rotational inertia of the two front axle wheels;
and determining the estimated driving torque of the power motor according to the rotational inertia, the acceleration, the wheel speed and the braking torque.
7. The method of claim 1, wherein controlling the stability of the electric vehicle via the electronic stability control system comprises:
the hydraulic braking forces of the four wheels of the pure electric vehicle are adjusted through the electronic stability control system, so that the adjusted hydraulic braking forces of the four wheels are obtained;
and controlling the stability of the pure electric vehicle according to the adjusted hydraulic braking forces of the four wheels.
8. A vehicle, characterized in that a controller in the vehicle executes the control method for the stability of the pure electric vehicle of any one of claims 1 to 7.
9. The utility model provides a controlling means of pure electric vehicles stability, its characterized in that, the device is used in pure electric vehicles stability control system, pure electric vehicles stability control system includes: electronic stability control system, vehicle control unit, power motor system and power battery system include:
the system comprises a first sending unit, a second sending unit and a control unit, wherein the first sending unit is used for sending a target request to the vehicle control unit when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, the target request is used for requesting a power motor of the pure electric vehicle to output a first driving torque, the steering angle of two front axle wheels of the pure electric vehicle is larger than a preset steering angle range in the first steering state, and the steering angle of the two front axle wheels of the pure electric vehicle is smaller than the preset steering angle range in the second steering state;
the first processing unit is used for sending the received target request to the power motor system by the vehicle control unit and detecting whether the power motor system correctly responds to the target request;
and the second processing unit is used for cutting off the output of the high-voltage power supply of the power battery system to cut off the torque output of the power motor and controlling the stability of the pure electric vehicle through the electronic stability control system if the power motor system is detected not to correctly respond to the target request.
10. A processor, characterized in that the processor is configured to execute a program, wherein the program executes the method for controlling stability of a pure electric vehicle according to any one of claims 1 to 7.
CN202210505350.8A 2022-05-10 2022-05-10 Control method and device for stability of pure electric vehicle and vehicle Pending CN114701482A (en)

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