CN117755104A - Torque distribution method and device for vehicle, vehicle and storage medium - Google Patents
Torque distribution method and device for vehicle, vehicle and storage medium Download PDFInfo
- Publication number
- CN117755104A CN117755104A CN202311814134.2A CN202311814134A CN117755104A CN 117755104 A CN117755104 A CN 117755104A CN 202311814134 A CN202311814134 A CN 202311814134A CN 117755104 A CN117755104 A CN 117755104A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- torque
- requirement
- torque distribution
- power
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000010438 heat treatment Methods 0.000 claims abstract description 123
- 238000004590 computer program Methods 0.000 claims description 11
- 238000007599 discharging Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000020169 heat generation Effects 0.000 description 2
- 238000007619 statistical method Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Classifications
-
- 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
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a torque distribution method and device for a vehicle, the vehicle and a storage medium. The method comprises the following steps: judging whether the vehicle has a high-power driving requirement or not according to the vehicle state information; if the vehicle has a high-power driving requirement and/or the vehicle has a charging requirement, judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to the second torque distribution mode so as to meet the heating requirement of the vehicle. When the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is below a preset threshold. When the vehicle is in a specific scene, if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, the vehicle is controlled to distribute the torque of the driving motor according to the second torque distribution mode so as to meet the heating requirement of the vehicle.
Description
Technical Field
The present invention relates to the field of electric vehicles, and in particular, to a torque distribution method and apparatus for a vehicle, and a storage medium.
Background
In some current torque distribution methods of front and rear driving systems of four-wheel drive electric vehicles, the electric power consumption of the whole vehicle is generally considered preferentially. However, such a torque distribution method lacks consideration for some specific situations, for example, in the case of low temperature of the battery of the vehicle, the discharging capability and the charging capability are limited, and when the user has a long-time high-power requirement on the current road condition or has a charging requirement in the future, the temperature of the battery needs to be raised as soon as possible to meet the heating requirement of the vehicle, so as to release the charging and discharging performance of the battery.
However, in view of the electricity consumption of the whole vehicle, for the specific scene, an efficient distribution proportionality coefficient is obtained by distributing the front and rear driving systems, and a high-efficiency target torque of the motor can be obtained through the efficient distribution proportionality coefficient, so that the battery temperature cannot be quickly increased, the heating requirement of the vehicle cannot be met, and the user experience is poor.
Disclosure of Invention
The invention provides a torque distribution method and device for a vehicle, a vehicle and a storage medium.
The invention provides a torque distribution method for a vehicle. The vehicle includes a thermal management system and an electric drive system including a plurality of drive motors, the torque distribution method including: acquiring vehicle state information; judging whether the vehicle has a high-power driving requirement and whether the vehicle has a charging requirement according to the vehicle state information, wherein the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold; if the vehicle has the high-power driving requirement and/or the vehicle has the charging requirement, judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement; if the heat provided by the thermal management system meets the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode; when the vehicle is in the first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; and when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value.
The torque distribution method comprises the following steps: and if the vehicle does not have the high-power driving requirement and/or does not have the charging requirement, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode.
The controlling the vehicle to distribute the torque of each driving motor according to the first torque distribution mode if the vehicle does not have the high-power driving requirement and/or the charging requirement comprises: acquiring total driving demand torque of a driver of the vehicle under a preset working condition; determining a distribution proportionality coefficient of the first torque distribution mode according to the total driving required torque of the driver and the electric quantity consumption; and calculating a first target torque of each driving motor in the first torque distribution mode according to the distribution proportionality coefficient of the first torque distribution mode and the total driving demand torque of the driver.
If the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to the second torque distribution mode so as to meet the heating requirement of the vehicle includes: acquiring the rotating speed of each driving motor when the vehicle is in a preset working condition; calculating the efficiency of each driving motor of the vehicle in a first torque distribution mode according to the rotating speed and the first target torque; calculating a first heating power of the driving motor of the vehicle in a first torque distribution mode according to the efficiency of each driving motor, the rotating speed of the driving motor and a first target torque of the driving motor; determining the compensation heating power of the driving motor according to the heating requirement of the vehicle; adding the first heating power and the compensation heating power to obtain target heating power of the driving motor when the vehicle is in a second torque distribution mode; and calculating the torque of each driving motor of the vehicle in a second torque distribution mode according to the target heating power.
The torque distribution method comprises the following steps: if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle distributes the torque of each driving motor according to the second torque distribution mode, and also cannot meet the heating requirement of the vehicle, calculating the distribution coefficient of the second torque distribution mode according to the maximum heating power of the electric drive system.
The vehicle comprises a battery, the vehicle state information comprises battery electric quantity, battery temperature and battery charge and discharge power, and the obtaining the vehicle state information comprises the following steps: acquiring the battery electric quantity, the battery temperature and the battery charge and discharge power; the determining whether the vehicle has a high-power driving requirement according to the vehicle state information comprises: and if the battery electric quantity is higher than a first threshold value, the battery temperature is lower than a second threshold value and the battery charge-discharge power is lower than a third threshold value, judging that the vehicle has a high-power driving requirement.
The vehicle includes a battery, and the determining whether the heat provided by the thermal management system meets a heating demand of the vehicle corresponding to the high power driving demand or the charging demand includes: detecting a first heat provided by the thermal management system at the current moment in real time, and calculating a second heat required by the battery at the current moment; if the first heat is lower than the second heat, judging that the heat provided by the thermal management system cannot meet the heating requirement of the vehicle.
The invention further provides a torque distribution device of the vehicle. The vehicle includes a thermal management system and an electric drive system including a plurality of drive motors, the torque distribution device including: the device comprises an acquisition module, a first judging module, a second judging module and a control module. The acquisition module is used for acquiring vehicle state information; the first judging module is used for judging whether the vehicle has a high-power driving requirement and a charging requirement according to the vehicle state information, wherein the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold; the second judging module is used for judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement if the vehicle has the high-power driving requirement and/or the charging requirement; the control module is used for controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode if the heat provided by the thermal management system meets the heating requirement of the vehicle; when the vehicle is in the first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; and when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value.
The application also provides a vehicle. The vehicle includes the torque distribution device of the vehicle described in the above embodiment.
The present invention also provides a non-transitory computer readable storage medium containing a computer program. The torque distribution method of the vehicle of any of the above embodiments is implemented when the computer program is executed by one or more processors.
In this way, in the torque distribution method of the vehicle, when the vehicle is in a specific scene, if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, the vehicle is controlled to distribute the torque of each driving motor according to the second torque distribution mode, so that the heating requirement of the vehicle and the use requirement of a user are met, and the user experience is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is one of the flow charts of the torque distribution method of the vehicle of the present invention;
FIG. 2 is one of the structural schematic diagrams of the torque distribution device of the vehicle of the present invention;
FIG. 3 is a second flow chart of the torque distribution method of the vehicle of the present invention;
FIG. 4 is a third flow chart of the torque distribution method of the vehicle of the present invention;
FIG. 5 is a flow chart diagram of a torque distribution method for a vehicle of the present invention;
fig. 6 is an overall flowchart of a torque distribution method of the vehicle of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the embodiments of the present invention and are not to be construed as limiting the embodiments of the present invention.
Referring to fig. 1, the present invention provides a torque distribution method for a vehicle. A vehicle including a thermal management system and an electric drive system including a plurality of drive motors, the torque distribution method of the vehicle comprising:
01: acquiring vehicle state information;
02: judging whether the vehicle has a high-power driving requirement and whether the vehicle has a charging requirement according to the vehicle state information, wherein the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold;
03: if the vehicle has a high-power driving requirement and/or the vehicle has a charging requirement, judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement;
04: if the heat provided by the thermal management system meets the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode; when the vehicle is in a first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value.
Referring to fig. 2, the present invention further provides a torque distribution device 10 of a vehicle. The torque distribution device 10 includes an acquisition module 11, a first determination module 12, a second determination module 13, and a control module 14.
Step 01 may be implemented by the acquisition module 11, step 02 may be implemented by the first determination module 12, step 03 may be implemented by the second determination module 13, and step 04 may be implemented by the control module 14. That is, the acquisition module 11 is configured to acquire vehicle state information; the first judging module 12 is configured to judge whether the vehicle has a high-power driving requirement and whether the vehicle has a charging requirement according to the vehicle state information, where the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold; the second determining module 13 is configured to determine whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement if the vehicle has the high-power driving requirement and/or the charging requirement; the control module 14 is configured to control the vehicle to distribute the torque of each driving motor according to the first torque distribution mode if the heat provided by the thermal management system meets the heating requirement of the vehicle; when the vehicle is in a first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value. Wherein the electric drive system comprises a plurality of drive motors, i.e. the electric drive system may comprise two or more drive motors.
Specifically, the vehicle state information includes information such as a vehicle running state, a battery power, a battery charge/discharge power, a battery temperature, vehicle navigation information, a vehicle driving mode, map information, and a vehicle thermal management system state. The vehicle state information determines what the scene the vehicle is in.
After the vehicle state information is acquired, whether the vehicle has a high-power driving requirement or a charging requirement is judged according to the vehicle state information. It can be appreciated that when the battery temperature in the vehicle state information is low, the battery power is high, and the charge/discharge power is low, it is required to determine whether the vehicle has a high-power driving requirement or a charging requirement currently or in the future, so as to adjust the torque distribution manner of the driving motor of the vehicle in real time. Therefore, the invention can judge whether the vehicle has high-power driving requirement or charging requirement according to the vehicle state information.
The high power driving requirement indicates that the output power of the electric driving system exceeds a preset power threshold, that is, the output power of one electric driving system exceeds a preset power limit or threshold, which can be regarded as a high power driving requirement. That is, the high power driving requirement refers to the need to provide an electric drive system exceeding a conventional standard or rated power in order to meet the requirements of the power performance, acceleration performance, climbing performance, and the like of the vehicle. That is, the preset power threshold may be a value of the rated power of the electric drive system. Such high power drive demands are often present in high performance automobiles, racing vehicles, or other applications where improved vehicle power performance is desired.
In detail, it is necessary to consider a plurality of factors including a vehicle running state, a driving mode, a running environment, an in-vehicle device, navigation information, and the like in order to determine whether the vehicle has a high-power driving requirement at present or in the future.
Specifically, in one embodiment, the present invention may determine whether the vehicle is currently or in the future in terms of a vehicle driving state and driving pattern. For example, the vehicle is accelerating, climbing a hill, or traveling at a high speed, or the driving mode is a sport mode, then there may be a high power drive demand currently or in the future.
In another embodiment, the invention can also judge whether the vehicle has high-power driving requirements currently or in the future according to the running environment and the vehicle-mounted equipment. That is, it is possible to determine whether or not the vehicle has a high-power drive demand at present or in the future, specifically in view of the environmental conditions in which the vehicle is traveling and the use conditions of the in-vehicle apparatus. For example, traveling in a highland or in rainy and snowy weather, or using an air conditioner, a sound, or the like, increases the power demand of the vehicle, thereby judging that the vehicle has a high power driving demand.
In yet another embodiment, the present invention may also determine whether the vehicle has a high power drive demand currently or in the future based on the navigation information and the map information. Specifically, future driving paths and road condition information of the vehicle are obtained through a navigation system and a map information system of the vehicle. If long distance uphill, congested road sections, etc. are involved in the future travel path, it may be necessary to prepare a high power drive demand in advance.
In yet another embodiment, the present invention may also determine whether the vehicle is currently or in the future in need of high power drive based on-board sensors and control systems. In particular, the vehicle-mounted sensor and control system are utilized to monitor the running state of the vehicle and related parameters such as engine speed, accelerator pedal position, vehicle speed and the like. These parameters may be used to determine whether the vehicle is currently in high power demand. Taking the accelerator pedal position as an example for illustration, the accelerator pedal position may reflect the driver's acceleration demand for the vehicle. The position information of the accelerator pedal can be acquired through the accelerator pedal position sensor. If the accelerator pedal is positioned deeper, it is stated that the driver requires more acceleration, i.e. a greater power output.
In yet another embodiment, the present invention may also determine whether the vehicle is currently or in the future in need of high power drive based on historical data and statistical analysis. Specifically, through analysis of historical data and statistical analysis, the power demand change condition of the vehicle under different conditions can be known, so that future power demands can be predicted better.
It should be noted that, if any of the above determination methods determines that the vehicle has a high-power driving requirement currently or in the future, it may be determined that the vehicle has a high-power driving requirement currently or in the future. The above determination methods and steps are only a rough reference, and the actual implementation may need to consider more factors and complex logic determination. Meanwhile, in order to ensure the accuracy and effectiveness of judgment, the matching of each system and the accuracy of data are required.
And then, if the vehicle has a high-power driving requirement and/or the vehicle has a charging requirement, judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement.
That is, this includes three cases: (1) If the vehicle is judged to have a high-power driving requirement in the current or future preset time period, the judgment of whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement can be triggered. (2) If the vehicle has a charging requirement in the current or future preset time period, the method can also trigger and judge whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement. (3) If it is determined that there is a high-power driving requirement in the current or future preset time period of the vehicle and it is determined that there is a charging requirement in the current or future preset time period of the vehicle, it is also triggered to determine whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement.
If the heat provided by the thermal management system meets the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode; when the vehicle is in the first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value. The first preset threshold may be, for example, 80%, 81%, 82%, 83%, 84%, 85%, 86%, 87%, 88%, or 89%, which is not limited herein.
That is, if it is determined that there is a high-power driving demand or a charging demand in the current or future of the vehicle when the battery temperature is low, the battery power is high, and the charging/discharging power is low in the vehicle state information, and the heat provided by the thermal management system satisfies the heating demand of the vehicle, the vehicle is controlled to distribute the torque of each driving motor in the first torque distribution mode of efficient distribution, so that the efficiency of the electric drive system of the vehicle is improved.
If the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to the second torque distribution mode so as to meet the heating requirement of the vehicle. The second preset threshold may be, for example, 80%, 79%, 78%, 77%, 75%, 73%, 72%, 70%, 69%, or 65%, without limitation. The second preset threshold and the first preset threshold may be the same value or different values, which is not limited herein.
That is, in the invention, if the condition that the battery of the vehicle is at low temperature, the battery electric quantity is higher and the charge and discharge power of the battery is low is judged, and the current or future strong power demand or the charge demand of the vehicle is judged, and the heat management system cannot meet the current heating demand, the whole vehicle controller can comprehensively consider the state information of the whole vehicle, including the running state of the vehicle, the battery electric quantity, the charge and discharge power of the battery, the temperature of the battery, the navigation information of the whole vehicle, the driving mode of the vehicle, the map information, the state of the whole vehicle heat management system and the like, control the vehicle to enter an inefficient four-wheel drive torque distribution state, and the temperature of the battery is raised through the heat of an electric drive loop, so that the use demand of a user is met, and the user experience is improved.
In a word, the invention provides an inefficient four-wheel drive torque distribution strategy, reduces the comprehensive working efficiency of an electric drive system, and meets the heating requirement of the whole vehicle in a specific scene by emitting more heat through the electric drive system.
That is, the present invention obtains the vehicle state information first, and can determine whether the vehicle has a high-power driving requirement or a charging requirement currently or in the future when the battery temperature, the battery power and the charging and discharging power in the vehicle state information are lower, so as to adjust the torque distribution mode of the driving motor of the vehicle in real time.
It will be appreciated that the present invention can determine whether a vehicle is in a particular scenario based on vehicle status information. For example, when the battery temperature is low, the battery charge is high, and the charge-discharge power is low in the vehicle state information, it may be determined that the vehicle is in a specific scene at this time. When the vehicle is in a specific scene, whether the vehicle has a high-power driving requirement or a charging requirement in the current or future is judged, when the vehicle has the high-power driving requirement or the charging requirement in the current or future, whether the heat provided by a thermal management system of the vehicle can meet the heating requirement of the vehicle is judged, and if the heat provided by the thermal management system can not meet the heating requirement of the vehicle, the vehicle is controlled to distribute the torque of the driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle.
Therefore, when the vehicle is in a specific scene, if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, the vehicle is controlled to distribute the torque of the driving motor according to the second torque distribution mode, so that the heating requirement of the vehicle and the use requirement of a user are met, and the user experience is improved.
In certain embodiments, the torque distribution method comprises:
05: if the vehicle has no high power drive demand and/or no charge demand, the vehicle is controlled to distribute torque of each drive motor according to a first torque distribution mode.
Referring to fig. 2, step 05 may be implemented by the control module 14. That is, the control module 14 is configured to control the vehicle to distribute torque of each of the drive motors according to the first torque distribution mode if the vehicle has no high power drive demand and/or no charge demand.
Specifically, if it is determined that the vehicle does not have a high-power driving demand or a charging demand currently or in the future when the battery temperature is low, the battery power is high, and the charging/discharging power is low in the vehicle state information, the vehicle is controlled to distribute the torque of each driving motor in a first torque distribution mode that is efficiently distributed, thereby improving the efficiency of the electric drive system of the vehicle.
Referring to fig. 3, step 04 includes:
041: acquiring total driving demand torque of a driver of a vehicle under a preset working condition;
042: determining a distribution proportionality coefficient of a first torque distribution mode according to the total driving required torque of a driver and the electric quantity consumption;
043: and calculating a first target torque of each driving motor in the first torque distribution mode according to the distribution proportionality coefficient of the first torque distribution mode and the total driving demand torque of the driver.
Referring to FIG. 2, steps 041, 042 and 043 may be implemented by the control module 14. That is, the control module 14 is configured to obtain a total driving demand torque of the driver when the vehicle is in a preset working condition; determining a distribution proportionality coefficient of a first torque distribution mode according to the total driving required torque of a driver and the electric quantity consumption; and calculating a first target torque of each driving motor in the first torque distribution mode according to the distribution proportionality coefficient of the first torque distribution mode and the total driving demand torque of the driver.
Specifically, taking two drive motor vehicle types of a four-wheel drive as an example, the process of calculating the assigned torque of each drive motor is as follows:
when the vehicle is in a driving working condition, if the total driving requirement torque of the driver is T, and T is more than 0, the driving torque is represented, and the torque distribution scheme capable of realizing efficient work is determined by comprehensively considering the electric quantity consumption factors from the total driving requirement torque of the driver, so that an efficient distribution proportionality coefficient is obtained. That is, in determining the distribution proportionality coefficient of the first torque distribution mode, it is necessary to combine the electric power consumption in consideration of the electric power consumption, thereby achieving the optimum electric power consumption and vehicle performance. The optimal torque distribution table of the system efficiency can be obtained through off-line calculation, and the optimal torque distribution proportionality coefficient is calculated according to the current vehicle speed and the total driving demand torque lookup table. Wherein the sign of the torque T is direction dependent, torque T being greater than 0 represents a clockwise moment and T being less than 0 represents a counter-clockwise moment. Then, the target torque of the first driving motor with high efficiency can be obtained through the high-efficiency distribution proportionality coefficient: th1, the target torque of the second drive motor is th2=t-Th 1. It should be noted that, the efficient distribution scaling factor of the driving motor refers to a ratio of the working efficiency of the driving motor under a specific working condition to the ideal working efficiency. The specific condition may be a driving condition or a feedback condition.
When the vehicle is in the feedback working condition, the total feedback demand torque of the driver is T (T <0, representing feedback), and the electric quantity consumption is comprehensively considered in normal forward development to obtain a high-efficiency distribution proportionality coefficient, so that the high-efficiency target torque of the first motor can be obtained through the high-efficiency distribution proportionality coefficient, and the target torque of the first motor is as follows: th1, the target torque of the second motor is th2=t-Th 1.
For example, suppose the total torque demand of the driver is T N ·m and the efficient split scaling factor is k.
According to the principle of forward development, the torque of the two drive motors can be distributed according to the following formula: th1=t×k, th2=t-Th 1.
In detail, assuming that the total required torque T of the driver is 200n·m and the efficient distribution proportionality coefficient k is 0.6, the torques of the two driving motors are respectively: the target torque for the first motor is: 120n·m, the target torque of the second motor is: 80 N.m.
Therefore, when the vehicle is in the first torque distribution mode, the torque distribution of each driving motor can be carried out according to the high-efficiency distribution proportionality coefficient, so that the optimization of the efficiency of the electric drive system is realized.
Referring to fig. 4, step 04 further includes:
044: acquiring the rotating speed of each driving motor of the vehicle under a preset working condition;
045: calculating the efficiency of each driving motor of the vehicle in a first torque distribution mode according to the rotating speed and the first target torque;
046: calculating to obtain first heating power of the driving motor of the vehicle in a first torque distribution mode according to the efficiency of each driving motor, the rotating speed of the driving motor and the first target torque of the driving motor;
047: determining the compensation heating power of the driving motor according to the heating requirement of the vehicle;
048: adding the first heating power and the compensation heating power to obtain target heating power of the driving motor when the vehicle is in the second torque distribution mode;
049: the torque of each driving motor of the vehicle in the second torque distribution mode is calculated from the target heat generation power.
Please refer to fig. 2, steps 044, 045, 046, 047, 048 and 049 may be implemented by the control module 14. That is, the control module 14 is configured to obtain a rotational speed of each driving motor when the vehicle is in a preset working condition; calculating the efficiency of each driving motor of the vehicle in a first torque distribution mode according to the rotating speed and the first target torque; calculating to obtain first heating power of the driving motor of the vehicle in a first torque distribution mode according to the efficiency of each driving motor, the rotating speed of the driving motor and the first target torque of the driving motor; determining the compensation heating power of the driving motor according to the heating requirement of the vehicle; adding the first heating power and the compensation heating power to obtain target heating power of the driving motor when the vehicle is in the second torque distribution mode; the torque of each driving motor of the vehicle in the second torque distribution mode is calculated from the target heat generation power.
Specifically, the preset operating condition may be a driving operating condition or a feedback operating condition.
In detail, the four-drive torque distribution strategy of the present invention is: according to the heating requirement of the whole vehicle heat management, the heating power required to be additionally compensated by the electric drive system is QC, so that the torque required to be output by each driving motor in the second torque distribution mode is calculated.
In general, a drive motor may be tested to obtain a motor efficiency cloud. The motor efficiency cloud picture is a three-dimensional graph formed by motor rotation speed, torque and efficiency, and is similar to contour line drawing in geography. Wherein, X coordinate is motor rotational speed, Y coordinate is motor torque, Z coordinate is motor efficiency value.
Thus, the desired efficiency e of the drive motor, i.e., e=f (T), can be obtained by the known motor rotation speed n and the target torque T desired by the driver.
Taking a four-wheel drive two-drive motor vehicle model as an example, the process of calculating the assigned torque of each drive motor is as follows:
in one embodiment, when the vehicle is in a driving condition: if the total driving torque required by the driver is T, and T is more than 0, the driving torque is represented, and the electric quantity consumption is comprehensively considered during normal forward development, so that an efficient distribution proportionality coefficient is obtained. Then the target torque of the first drive motor can be obtained with high efficiency by the high efficiency distribution proportionality coefficient as follows: th1, the target torque of the second drive motor is th2=t-Th 1. When the torque T is greater than 0, the torque in the clockwise direction is indicated, and the torque less than 0 is indicated as the torque in the counterclockwise direction. Thus, the sign of the torque T is direction dependent, the clockwise torque T being positive and the counterclockwise torque T being negative.
According to Th1, n1 (the rotation speed of the driving motor 1), th2, n2 (the rotation speed of the driving motor 2) can be calculated to obtain the efficiency eh1 of the first motor and the efficiency eh2 of the second motor, and the heating power Qh when the motors operate efficiently is:
Qh＝Th1*n1/9550*(1/eh1 -1)+Th2*n2/9550*(1/eh2 -1) (1)
thus, the target heating power QT of the driving motor in the second torque distribution mode can be calculated:
QT＝Qh+QC(2)
that is, at this time, the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle is controlled to distribute the torque of each driving motor according to the second torque distribution mode so as to meet the heating requirement of the vehicle.
Assuming that the torque of the driving motor is inefficiently distributed in the first torque distribution mode, the first motor torque is: tl1, then the second motor torque is: tl2=t-Tl 1. The first motor efficiency el1 and the second motor efficiency el2 are correspondingly calculated:
el1＝f(Tl1) (3)
el2＝f(T-Tl1) (4)
thus, qt=tl1×n1/9550×1/el 1-1) +tl2×n2/9550×1/el2-1 (5)
First motor torque request: 0< Tl1< T (driver total driving demand torque) (6)
The first motor torque Tl1 and the second motor torque Tl2 can be obtained only by one unknown quantity Tl1 in the above steps (1) to (6).
In another embodiment, when the vehicle is in a feedback condition: the total feedback demand torque of the driver is T, at this time, T <0 represents feedback torque, and the electric quantity consumption is comprehensively considered to obtain a high-efficiency distribution proportionality coefficient during normal forward development, so that the target torque of a high-efficiency first motor can be obtained through the coefficient: th1, the target torque of the second motor is th2=t—th1, and Th2, n2 (the rotation speed of the drive motor 2) can obtain the efficiency of the first motor from Th1, n1 (the rotation speed of the drive motor 1): eh1, efficiency of the second motor: eh2, heating power Qh of motor during high-efficient operation this moment:
Qh＝Th1*n1/9550*(1-eh1)+Th2*n2/9550*(1-eh2) (7)
Thus, the target heating power QT of the driving motor in the second torque distribution mode can be calculated:
QT＝Qh+QC(8)
assuming that the torque of the driving motor is inefficiently distributed in the first torque distribution mode, the first motor torque is: tl1, then the second motor torque is: tl2=t-Tl 1. The first motor efficiency el1 and the second motor efficiency el2 are correspondingly calculated:
el1＝f(Tl1) (9)
el2＝f(T-Tl1) (10)
thus qt=t1×n1/9550×1-eh1) +t2×n2/9550×1-eh2 (11)
First motor torque request: (driver total feedback demand torque) T < Tl1<0 (12)
The first motor torque Tl1 and thus the first motor torque Tl1 can be obtained only by one unknown quantity Tl1 in the above steps (7) to (12)
Second motor torque Tl2.
Therefore, when the heat provided by the thermal management system can not meet the heating requirement of the vehicle, the vehicle is controlled to distribute the torque of each driving motor according to the second torque distribution mode, and the temperature of the battery is raised through the heat of the electric drive loop, so that the heating requirement of the vehicle and the use requirement of a user are met, and the user experience is improved.
In certain embodiments, the torque distribution method comprises
06: if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle distributes the torque of each driving motor according to the second torque distribution mode, and also cannot meet the heating requirement of the vehicle, calculating the distribution coefficient of the second torque distribution mode according to the maximum heating power of the electric drive system.
Referring to fig. 2, step 06 may be implemented by the control module 14. That is, the control module 14 is configured to calculate the distribution coefficient of the second torque distribution mode according to the maximum heating power of the electric drive system if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle and the vehicle distributes the torque of each driving motor according to the second torque distribution mode.
Specifically, as described above, if the above formulas (1) to (6) are not solved, that is, the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle distributes the torque of each driving motor according to the second torque distribution mode, and also cannot meet the heating requirement of the vehicle, the distribution coefficient of the second torque distribution mode at this time can be determined by calculating the first motor torque and the second motor torque according to the maximum value of the target heating power function of the electric drive system.
That is, qt=max (Tl 1 n1/9550 (1/el 1-1) +th2 n2/9550 (1/el 2-1)), the first motor torque Tl1 and thus the second motor torque Tl2 can be obtained.
If the above formulas (7) - (12) are not solved, that is, the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle distributes the torque of each driving motor according to the second torque distribution mode, and also cannot meet the heating requirement of the vehicle, the distribution coefficient of the second torque distribution mode at this time can be determined by calculating the first motor torque and the second motor torque according to the maximum value of the target heating power function of the electric drive system, that is:
Qt=max (Tl 1 n1/9550 (1-eh 1) +tl2 n2/9550 (1-eh 2)), the first motor torque and thus the second motor torque can be determined.
In this way, in the torque distribution method of the vehicle, if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle distributes the torque of each driving motor according to the second torque distribution mode, and also cannot meet the heating requirement of the vehicle, the distribution coefficient of the second torque distribution mode is calculated according to the maximum heating power of the electric drive system, so that more heat is emitted as much as possible through the electric drive system, and the heating requirement of the whole vehicle in a specific scene is met.
The following describes a specific decision making for determining that a vehicle has a high power drive requirement, i.e., that the vehicle is in a particular scenario.
Specifically, in one embodiment, the vehicle includes a battery, the vehicle state information includes a battery charge amount, a battery temperature, and a battery charge-discharge power, and step 01 includes:
011: acquiring the electric quantity of a battery, the temperature of the battery and the charge and discharge power of the battery;
step 02 comprises:
021: and if the battery electric quantity is higher than the first threshold value, the battery temperature is lower than the second threshold value and the battery charge-discharge power is lower than the third threshold value, judging that the vehicle has high-power driving requirement.
Referring to fig. 2, step 011 may be implemented by the obtaining module 11, and step 021 may be implemented by the first determining module 12. That is, the acquiring module 11 is configured to acquire the battery power, the battery temperature, and the battery charge/discharge power; the first determining module 12 is configured to determine that the vehicle has a high-power driving requirement if the battery power is higher than the first threshold, the battery temperature is lower than the second threshold, and the battery charge/discharge power is lower than the third threshold.
The specific values of the first, second, and third thresholds may vary depending on a variety of factors such as the type of vehicle, the environment of use, the type of battery, and the like. The first, second and third thresholds typically need to be determined through experimental testing and data analysis to ensure the safety and performance of the vehicle under different conditions.
The first threshold may be, for example, 50%, 51%, 52%, 53%, 54%, 55%, 56%, 57%, 58% or 60%, and typically, the electric drive heating power compensation is only allowed when the battery power is above the first threshold.
The second threshold value may be, for example, -25 ℃, -24 ℃, -23 ℃, -22 ℃, -21 ℃, -20 ℃, -15 ℃, -14 ℃, -13 ℃ or-10 ℃. When the battery temperature is below the second threshold, measures need to be taken to raise the battery temperature to prevent overcooling of the battery.
The third threshold is determined by various factors such as the battery type, the vehicle type, the use environment, and the like. When the battery charge-discharge power is lower than the third threshold value and the current driver demand output power is greater than the battery charge-discharge power, the driver needs to be reminded that the current battery temperature is low and the battery power is limited.
That is, the method for judging whether the vehicle has the high-power driving requirement can be used for acquiring the battery electric quantity, the battery temperature and the battery charging and discharging power in the electric automobile, and determining that the vehicle has the high-power driving requirement at the moment when the vehicle is detected to be in a specific scene that the battery electric quantity is higher than the first threshold value, the battery temperature is lower than the second threshold value and the battery charging and discharging power is lower than the third threshold value.
Referring to fig. 5, in one embodiment, the vehicle includes a battery, step 03 includes:
031: detecting a first heat provided by a thermal management system at the current moment in real time, and calculating a second heat required by a battery at the current moment;
032: if the first heat quantity is lower than the second heat quantity, the heat quantity provided by the thermal management system is judged to be incapable of meeting the heating requirement of the vehicle.
Referring to fig. 2, step 031 and step 032 may be implemented by a second determining module 13, where the second determining module 13 is configured to detect, in real time, a first heat provided by the thermal management system at the current time and calculate a second heat required by the battery at the current time; if the first heat quantity is lower than the second heat quantity, the heat quantity provided by the thermal management system is judged to be incapable of meeting the heating requirement of the vehicle.
Specifically, the first heat refers to heat provided by the thermal management system of the vehicle for maintaining the normal operating temperature of the battery, and the value of the first heat needs to be determined according to the operating temperature range of the battery, design parameters of the thermal management system, and the like.
The second heat refers to the heat required by the battery at the current moment, and the value of the first heat needs to be determined according to various factors such as the charge and discharge state, the working load or the ambient temperature of the battery.
Therefore, the invention can judge that the heat provided by the thermal management system cannot meet the heating requirement of the vehicle by comparing the ratio of the heat provided by the thermal management system to the heat required by the battery at the current moment if the first heat is lower than the second heat.
In summary, the overall flowchart of the torque distribution method of the vehicle of the present invention is shown in fig. 6.
The present application also provides a vehicle comprising the torque distribution device 10 of the vehicle described above.
The present invention also provides a non-transitory computer readable storage medium containing a computer program. The method of torque distribution for a vehicle of any of the embodiments described above is implemented when the computer program is executed by one or more processors.
For example, the computer program when executed by the processor performs the steps of a torque distribution method for a vehicle:
01: acquiring vehicle state information;
02: judging whether the vehicle has a high-power driving requirement and whether the vehicle has a charging requirement according to the vehicle state information, wherein the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold;
03: if the vehicle has a high-power driving requirement and/or the vehicle has a charging requirement, judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement;
04: if the heat provided by the thermal management system meets the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode; when the vehicle is in a first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value.
It is understood that the computer program comprises computer program code. The computer program code may be in the form of source code, object code, executable files, or in some intermediate form, among others. The computer readable storage medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a software distribution medium, and so forth.
The computer readable storage medium of the invention is used for controlling and distributing the torque of the driving motor by applying the torque distribution method of the vehicle, and particularly, when the vehicle is in a specific scene, if the heat provided by the thermal management system can not meet the heating requirement of the vehicle, the vehicle is controlled to distribute the torque of each driving motor according to the second torque distribution mode, so that the heating requirement of the vehicle and the use requirement of a user are met, and the user experience is improved.
Claims (10)
1. A torque distribution method of a vehicle, the vehicle including a thermal management system and an electric drive system including a plurality of drive motors, the torque distribution method comprising:
Acquiring vehicle state information;
judging whether the vehicle has a high-power driving requirement and whether the vehicle has a charging requirement according to the vehicle state information, wherein the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold;
if the vehicle has the high-power driving requirement and/or the vehicle has the charging requirement, judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement;
if the heat provided by the thermal management system meets the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode; when the vehicle is in the first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value;
if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; and when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value.
2. The torque distribution method according to claim 1, characterized in that the torque distribution method comprises:
and if the vehicle does not have the high-power driving requirement and/or does not have the charging requirement, controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode.
3. The torque distribution method according to claim 2, wherein controlling the vehicle to distribute the torque of each of the drive motors in the first torque distribution mode if the vehicle does not have the high-power drive demand and/or does not have the charge demand comprises:
acquiring total driving demand torque of a driver of the vehicle under a preset working condition;
determining a distribution proportionality coefficient of the first torque distribution mode according to the total driving required torque of the driver and the electric quantity consumption;
and calculating a first target torque of each driving motor in the first torque distribution mode according to the distribution proportionality coefficient of the first torque distribution mode and the total driving demand torque of the driver.
4. The torque distribution method according to claim 3, wherein if the heat provided by the thermal management system fails to meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each of the drive motors in accordance with a second torque distribution mode to meet the heating requirement of the vehicle comprises:
Acquiring the rotating speed of each driving motor when the vehicle is in a preset working condition;
calculating the efficiency of each driving motor of the vehicle in a first torque distribution mode according to the rotating speed and the first target torque;
calculating a first heating power of the driving motor of the vehicle in a first torque distribution mode according to the efficiency of each driving motor, the rotating speed of the driving motor and a first target torque of the driving motor;
determining the compensation heating power of the driving motor according to the heating requirement of the vehicle;
adding the first heating power and the compensation heating power to obtain target heating power of the driving motor when the vehicle is in a second torque distribution mode;
and calculating the torque of each driving motor of the vehicle in a second torque distribution mode according to the target heating power.
5. The torque distribution method according to claim 1, characterized in that the torque distribution method comprises
If the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, and the vehicle distributes the torque of each driving motor according to the second torque distribution mode, and also cannot meet the heating requirement of the vehicle, calculating the distribution coefficient of the second torque distribution mode according to the maximum heating power of the electric drive system.
6. The torque distribution method according to claim 1, wherein the vehicle includes a battery, the vehicle state information includes a battery charge amount, a battery temperature, and a battery charge-discharge power, and the acquiring the vehicle state information includes:
acquiring the battery electric quantity, the battery temperature and the battery charge and discharge power;
the determining whether the vehicle has a high-power driving requirement according to the vehicle state information comprises:
and if the battery electric quantity is higher than a first threshold value, the battery temperature is lower than a second threshold value and the battery charge-discharge power is lower than a third threshold value, judging that the vehicle has a high-power driving requirement.
7. The torque distribution method according to claim 1, wherein the vehicle includes a battery, and the determining whether the heat provided by the thermal management system satisfies the heating demand of the vehicle corresponding to the high-power drive demand or the charging demand includes:
detecting a first heat provided by the thermal management system at the current moment in real time, and calculating a second heat required by the battery at the current moment;
if the first heat is lower than the second heat, judging that the heat provided by the thermal management system cannot meet the heating requirement of the vehicle.
8. A torque distribution device for a vehicle, the vehicle comprising a thermal management system and an electric drive system including a plurality of drive motors, the torque distribution device comprising:
the acquisition module is used for acquiring vehicle state information;
the first judging module is used for judging whether the vehicle has a high-power driving requirement and a charging requirement according to the vehicle state information, wherein the high-power driving requirement indicates that the output power of the electric drive system exceeds a preset power threshold;
the second judging module is used for judging whether the heat provided by the thermal management system meets the heating requirement of the vehicle corresponding to the high-power driving requirement and/or the charging requirement if the vehicle has the high-power driving requirement and/or the charging requirement;
the control module is used for controlling the vehicle to distribute the torque of each driving motor according to a first torque distribution mode if the heat provided by the thermal management system meets the heating requirement of the vehicle; when the vehicle is in the first torque distribution mode, the efficiency of the electric drive system is higher than a first preset threshold value; if the heat provided by the thermal management system cannot meet the heating requirement of the vehicle, controlling the vehicle to distribute the torque of each driving motor according to a second torque distribution mode so as to meet the heating requirement of the vehicle; and when the vehicle is in the second torque distribution mode, the efficiency of the electric drive system is lower than a second preset threshold value.
9. A vehicle characterized in that it comprises the torque distribution device of the vehicle of claim 8.
10. A non-transitory computer readable storage medium containing a computer program, wherein the computer program, when executed by one or more processors, implements the torque distribution method of the vehicle of any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311814134.2A CN117755104A (en) | 2023-12-26 | 2023-12-26 | Torque distribution method and device for vehicle, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311814134.2A CN117755104A (en) | 2023-12-26 | 2023-12-26 | Torque distribution method and device for vehicle, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117755104A true CN117755104A (en) | 2024-03-26 |
Family
ID=90325340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311814134.2A Pending CN117755104A (en) | 2023-12-26 | 2023-12-26 | Torque distribution method and device for vehicle, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117755104A (en) |
-
2023
- 2023-12-26 CN CN202311814134.2A patent/CN117755104A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10545503B2 (en) | Propulsion efficient autonomous driving strategy | |
| US11794721B2 (en) | Method and apparatus for controlling electric machines | |
| US10040369B2 (en) | Cooling system for vehicle device | |
| CN107444393B (en) | Brake system control method and device | |
| US10343547B2 (en) | Vehicle control system and method | |
| US9469213B2 (en) | Spatial domain optimal electric and hybrid electric vehicle control with path forecasting | |
| US11007880B2 (en) | Method and apparatus for controlling electric machines | |
| US7328096B2 (en) | Driving force switching control apparatus | |
| US20160107634A1 (en) | System and method for controlling torque of hybrid vehicle | |
| CN106364339B (en) | Apparatus and method for controlling output voltage of DC converter of vehicle including driving motor | |
| CN112373319B (en) | Power system control method and system of range-extended vehicle and vehicle | |
| US11807214B2 (en) | Travel control device, travel control method, non-transitory storage medium, and vehicle for deciding a power source for traveling based on a predicted amount of regenerative energy and thermal information | |
| US9981554B2 (en) | System and method for controlling braking of electric vehicle | |
| CN112092811B (en) | Predicted gradient optimization in cruise control | |
| CN117755104A (en) | Torque distribution method and device for vehicle, vehicle and storage medium | |
| KR101664074B1 (en) | Apparatus and method for controlling torque reduction of hybrid vehicle | |
| US20160304077A1 (en) | Hybrid electronic vehicle and controlling method thereof | |
| CN110745131A (en) | Method for controlling the state of charge of an electric power storage device of a motor-driven vehicle without reverse gear | |
| US20240100906A1 (en) | Dynamic management of vehicle functions according to power demand | |
| US11912162B2 (en) | Battery management system for electric vehicles and electric vehicle | |
| US20230227037A1 (en) | Personalized adaptive cruise control based on steady-state operation | |
| US20230067494A1 (en) | Systems and methods for variable energy regeneration cruise control | |
| CN113442724B (en) | Electric automobile and energy distribution method, system and controller during torque reversing of electric automobile | |
| US20230347909A1 (en) | Low speed cornering stiffness derate using a dynamic vehicle model | |
| SE2150239A1 (en) | Method and control arrangement for operating an electrical motor of a vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |