Electric vehicle escape method, device and equipment and storage medium

Abstract

The invention discloses an electric vehicle escape method, device and equipment and a storage medium. The method includes: determining a driving mode of a target electric vehicle; when the driving mode is an out-of-trap mode, the gears, the accelerator pedal opening degree and the current vehicle speed of the target electric vehicle are determined, and the gears comprise the forward gear and the reverse gear; and according to the gear, the accelerator pedal opening degree and the current vehicle speed, the target rotating speed and the target torque limiting value of the driving motor are determined, and the target electric vehicle is controlled to get out of trouble based on the target rotating speed and the target torque limiting value. By determining the target rotating speed and the torque limiting value, the large torque can be continuously and stably output in the escape mode, excessive sliding rotation of wheels is avoided, escape operation of the electric automobile in a specific scene becomes easy, the escape capacity is improved, enough power output is guaranteed, and meanwhile the safety of the electric automobile is improved. Damage to key components such as a driving motor and a differential mechanism due to excessive output is avoided, the service life of the vehicle is prolonged, and the device can adapt to various possible escape scenes.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicle control technology, and in particular to an electric vehicle escape method, device, equipment and storage medium. Background Art

[0002] As environmental protection concepts are deeply rooted in people's minds and technology continues to advance, the share of electric vehicles in the automobile market has gradually increased. However, in actual use, electric vehicles face some special challenges.

[0003] In complex road conditions, such as muddy roads, snowy roads, deep pits or steep slopes, electric vehicles are more likely to get trapped than traditional fuel vehicles due to the characteristics of their power system and vehicle structure.

[0004] When traditional fuel vehicles are getting out of trouble, they can rely on the powerful torque output of the engine and the gear adjustment of the transmission to overcome obstacles. Due to the wide speed range of the drive motor of electric vehicles, the transmission mechanism generally has one drive gear or a few drive gears. Compared with the relatively narrow engine speed range and matching multi-speed transmission mechanism of traditional fuel vehicles, the speed range of electric vehicles corresponds to a wider vehicle speed range. In the escape scenario, it is difficult to achieve a control effect similar to the low-speed gear of traditional fuel vehicles. Summary of the invention

[0005] The present invention provides an electric vehicle escape method, device, equipment and storage medium, which can continuously and stably output large torque in an escape mode without excessive wheel slippage, making the escape operation of the electric vehicle in specific scenarios easier and improving the escape capability.

[0006] According to one aspect of the present invention, a method for escaping an electric vehicle is provided, the method comprising:

[0007] Determine the driving pattern of the target electric vehicle;

[0008] When the driving mode is the escape mode, determining the gear position, accelerator pedal opening and current vehicle speed of the target electric vehicle, wherein the gear position includes a forward gear and a reverse gear;

[0009] The target speed and target torque limit value of the drive motor are determined according to the gear position, the accelerator pedal opening and the current vehicle speed, and the target electric vehicle is controlled to get out of trouble based on the target speed and target torque limit value.

[0010] Optionally, determining the driving mode of the target electric vehicle includes: obtaining the vehicle speed, drive wheel slip rate and escape mode switch state of the target electric vehicle; when the vehicle speed is lower than a first vehicle speed threshold and the drive wheel slip rate is greater than a first slip rate threshold, determining that the driving mode is the escape mode; when the escape mode switch state is on and the vehicle speed is lower than a second vehicle speed threshold, determining that the driving mode is the escape mode.

[0011] Optionally, the target speed and target torque limit value of the drive motor are determined according to the gear position, accelerator pedal opening and current vehicle speed, including: constructing a target speed table and a torque limit table corresponding to the gear position, wherein the target speed table includes the speeds corresponding to each accelerator pedal opening and vehicle speed, and the torque limit table includes the torque limit values ​​corresponding to each accelerator pedal opening and vehicle speed; matching the accelerator pedal opening and the current vehicle speed through the target speed table to obtain the corresponding target speed; matching the accelerator pedal opening and the current vehicle speed through the torque limit table to obtain the corresponding target torque limit value.

[0012] Optionally, after determining the target speed and target torque limit values ​​of the drive motor according to the gear position, accelerator pedal opening and current vehicle speed, the method further includes: performing specified gradient limits on the target speed and target torque limit values ​​to generate limited target speed and target torque limit values, and controlling the target electric vehicle to get out of trouble based on the target speed and target torque limit values, including: controlling the target electric vehicle to get out of trouble based on the limited target speed and target torque limit values.

[0013] Optionally, the target electric vehicle is controlled to get out of trouble based on the target speed and the target torque limit value, including: obtaining the current output torque; determining whether the current output torque is less than the target torque limit value, and if so, directly controlling the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble; otherwise, controlling the target electric vehicle to get out of trouble based on the target speed.

[0014] Optionally, controlling the target electric vehicle to get out of trouble based on the target speed includes: controlling the target speed of the drive motor and monitoring the real-time output torque; when the real-time output torque is less than the target torque limit value, controlling the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble.

[0015] Optionally, the method also includes: when the vehicle speed is greater than a third vehicle speed threshold and the drive wheel slip rate is less than a second slip rate threshold, determining that the driving mode is to exit the escape mode; when the escape mode switch state is off, determining that the driving mode is to exit the escape mode; when the vehicle speed is greater than a fourth vehicle speed threshold, determining that the driving mode is to exit the escape mode.

[0016] According to another aspect of the present invention, there is provided an electric vehicle escape device, the device comprising:

[0017] A driving mode determination module, used to determine the driving mode of the target electric vehicle;

[0018] A vehicle gear determination module, used to determine the gear position, accelerator pedal opening and current vehicle speed of the target electric vehicle when the driving mode is the escape mode, wherein the gear position includes a forward gear and a reverse gear;

[0019] The vehicle escape control module is used to determine the target speed and target torque limit value of the drive motor according to the gear position, the accelerator pedal opening and the current vehicle speed, and control the target electric vehicle to escape from the jam based on the target speed and target torque limit value.

[0020] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0021] at least one processor;

[0022] and a memory communicatively coupled to the at least one processor;

[0023] The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute an electric vehicle escape method according to any embodiment of the present invention.

[0024] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement an electric vehicle escape method according to any embodiment of the present invention when executed.

[0025] The technical solution of the embodiment of the present invention can continuously and stably output large torque in the escape mode without excessive wheel slip by determining the target speed and torque limit value, making it easier for electric vehicles to escape in specific scenarios and improving their escape ability. While ensuring sufficient power output, it avoids damage to key components such as the drive motor and differential due to excessive output, thereby extending the service life of the vehicle. It can provide appropriate power requirements according to the different requirements of forward gear and reverse gear, and adapt to various possible escape scenarios.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 is a flow chart of a method for escaping an electric vehicle according to a first embodiment of the present invention;

[0029] Figure 2 is a flow chart of another electric vehicle escape method provided according to the second embodiment of the present invention;

[0030] Figure 3 is a schematic structural diagram of an electric vehicle escape device provided according to Embodiment 3 of the present invention;

[0031] Figure 4 The invention is a schematic structural diagram of an electronic device for implementing an electric vehicle escape method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] Embodiment 1

[0035] Figure 1A flowchart of an electric vehicle escape method is provided for the first embodiment of the present invention. This embodiment is applicable to the scenario of controlling an electric vehicle to escape from a jam. The method can be executed by an electric vehicle escape device. The electric vehicle escape device can be implemented in the form of hardware and / or software. The electric vehicle escape device can be configured in an electric vehicle controller. Figure 1 As shown, the method includes:

[0036] S110: Determine a driving mode of the target electric vehicle.

[0037] Among them, the driving mode of an electric vehicle refers to the vehicle being able to operate in different preset working conditions. Different driving modes will adjust the parameters of the vehicle's power output, energy recovery, suspension and other systems to meet the needs of the driver in different scenarios. For example, the economic mode focuses on energy saving and will limit power output to make the vehicle more energy-efficient; the sports mode will enhance power output and provide stronger acceleration performance; and the escape mode is mainly used to help the vehicle get better power out of trouble when it is stuck (such as sand, mud, potholes, etc.). The driving mode can be determined by the driving mode selection button in the car or the setting of the vehicle control system.

[0038] Optionally, determining the driving mode of the target electric vehicle includes: obtaining the vehicle speed, drive wheel slip rate and escape mode switch state of the target electric vehicle; when the vehicle speed is lower than a first vehicle speed threshold and the drive wheel slip rate is greater than a first slip rate threshold, determining that the driving mode is the escape mode; when the escape mode switch state is on and the vehicle speed is lower than a second vehicle speed threshold, determining that the driving mode is the escape mode.

[0039] Among them, the escape mode refers to when the vehicle is trapped in special road conditions, such as muddy roads, sand, snow or potholes, the adhesion of the vehicle tires decreases, and the normal driving mode makes it difficult to move the vehicle. The escape mode will adjust the vehicle's power system, transmission system and other related parameters to enhance the vehicle's power output and torque control, so that the vehicle can have greater power to get out of trouble.

[0040] It should be noted that slip rate = (actual linear speed of the wheel - vehicle speed) / actual linear speed of the wheel. The driving wheel slip rate reflects the relative movement between the wheel and the ground. When the slip rate is zero, there is no relative sliding between the wheel and the ground, and it is in a pure rolling state; when the slip rate is greater than a certain value, the wheel slips completely, greatly affecting the passability. Electric vehicles are equipped with an escape mode switch, and the driver can manually choose whether to enter the escape mode by operating the switch. The vehicle's electronic control unit (ECU) monitors the status of the switch in real time to determine whether it is necessary to enter the escape mode.

[0041] Specifically, the first vehicle speed threshold is a pre-set value, which represents the maximum speed of the vehicle when it may get into trouble. When the vehicle speed is lower than the first vehicle speed threshold, it means that the vehicle is traveling slowly, and may be in complex road conditions or have a high risk of getting into trouble. For example, if the first vehicle speed threshold is set to 2km / h, when the actual driving speed of the vehicle is lower than 2km / h, the ECU will start to consider whether the vehicle needs to enter the escape mode. The first slip rate threshold can be 50%. When the driving wheel slip rate is greater than 50%, it means that the friction between the wheel and the ground is insufficient, and the vehicle may be stuck in low-adhesion roads such as mud and sand, requiring stronger power output and torque control to get out of trouble. When the vehicle speed is lower than the first vehicle speed threshold and the driving wheel slip rate is greater than the first slip rate threshold, it can be determined that the vehicle is in trouble and needs to enter the escape mode. In addition, if the second vehicle speed threshold is set to 25km / h, when the actual driving speed of the vehicle is lower than 25km / h, and the escape mode switch state is on, the ECU will determine that the vehicle needs to enter the escape mode.

[0042] S120: When the driving mode is the escape mode, determine the gear position, accelerator pedal opening, and current vehicle speed of the target electric vehicle, wherein the gear position includes a forward gear and a reverse gear.

[0043] Among them, the gear of an electric vehicle is used to control the driving direction and speed range of the vehicle. The forward gear is the gear that allows the vehicle to move forward. When the vehicle is in the forward gear, the power system will drive the vehicle forward. The reverse gear is the gear that allows the vehicle to move backward, and is mainly used for reversing and other situations.

[0044] Specifically, when it is detected that the driving mode is the escape mode, the gear position needs to be further determined. The forward gear is mainly used for the vehicle to move forward, and the reverse gear is used for the vehicle to move backward. In the escape scenario, the choice of forward gear or reverse gear depends on the specific situation of the vehicle being trapped. For example, if the front wheels of the vehicle are stuck in a pit and need to reverse to escape, the reverse gear should be selected; if the rear wheels are blocked, it may be necessary to select the forward gear to enable the vehicle to move forward and escape from the predicament.

[0045] Furthermore, if the forward gear is selected to get out of trouble, the target speed and torque limit value of the drive motor should be determined taking into account the forward driving force required by the vehicle. When in reverse gear, the same principle applies, but in the opposite direction.

[0046] S130, determining a target speed and a target torque limit value of the drive motor according to the gear position, the accelerator pedal opening, and the current vehicle speed, and controlling the target electric vehicle to get out of trouble based on the target speed and the target torque limit value.

[0047] Among them, the drive motor can convert electrical energy into mechanical energy to provide power for the vehicle. By controlling the speed and torque of the drive motor, the speed and power output of the vehicle can be controlled. The target speed refers to the rotation speed that the vehicle control system expects the drive motor to achieve. The determination of the target speed is related to the driving needs of the vehicle. For example, when getting out of trouble, a suitable target speed is set according to the situation in which the vehicle is trapped (such as the need to move forward or backward slowly and forcefully) to ensure that the vehicle can effectively use power to get out of trouble while avoiding excessive wheel idling. The target torque limit value is an upper limit setting for the output torque of the drive motor by the vehicle control system. In different driving conditions, especially in the escape scenario, it is necessary to determine the appropriate torque limit value based on factors such as the vehicle load and road friction. For example, in soft sand, a large torque is required to push the vehicle forward, but if the torque is too large, the wheels will idle, so a suitable target torque limit value should be set to control the power output so that the vehicle can obtain enough traction to get out of trouble.

[0048] Optionally, after determining the target speed and target torque limit values ​​of the drive motor according to the gear position, accelerator pedal opening and current vehicle speed, the method further includes: performing specified gradient limits on the target speed and target torque limit values ​​to generate limited target speed and target torque limit values, and controlling the target electric vehicle to get out of trouble based on the target speed and target torque limit values, including: controlling the target electric vehicle to get out of trouble based on the limited target speed and target torque limit values.

[0049] It is known that after the target speed and target torque limit values ​​are determined based on factors such as gear position, using them directly may cause sudden changes in the output of the drive motor. For example, if the target torque limit value suddenly increases from a low value to a very high value, the torque output of the motor increases instantly, which may have a greater impact on the vehicle's drive system and damage mechanical components. By specifying gradient limits, parameters can be changed gradually, like a gentle slope, to avoid sudden shocks. In addition, if the change in the target torque limit value exceeds the rate that the motor can withstand, it may cause the motor to overheat or other failures. Specifying gradient limits can ensure that the motor operates within a safe range and extend the service life of the motor.

[0050] Specifically, the controller will pre-set the change gradient of the target speed and target torque limit value. The change gradient can be a fixed slope, for example, the target speed increases or decreases by no more than a certain number of revolutions per second (such as 100rpm / s), and the target torque limit value increases or decreases by no more than a certain number of Nm per second (such as 10 Nm / s). It can also be a gradient that is dynamically adjusted according to the state of the vehicle (such as vehicle speed, battery power, etc.). According to the set gradient, the target speed and target torque limit values ​​can be gradually adjusted. If the determined target speed needs to be increased, it is gradually increased according to the gradient parameters. For example, the initial target speed is 1000rpm, and the gradient limit is increased by 100rpm / s per second. Within a certain control period (such as per second), the speed will gradually increase until the final appropriate restricted target speed is reached.

[0051] In summary, by using the limited target speed and target torque limit value, the vehicle's drive motor can output power more accurately. The limited target speed can control the rotation speed of the wheels to prevent excessive wheel idling, and the limited target torque limit value can provide stable traction.

[0052] Optionally, the target electric vehicle is controlled to get out of trouble based on the target speed and the target torque limit value, including: obtaining the current output torque; determining whether the current output torque is less than the target torque limit value, and if so, directly controlling the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble; otherwise, controlling the target electric vehicle to get out of trouble based on the target speed.

[0053] Electric vehicles are equipped with torque sensors to measure the actual torque output by the drive motor. The controller then further determines whether the current output torque is less than the target torque limit value to determine whether the motor output is within the control range.

[0054] Specifically, when the current output torque is less than the target torque limit value, the controller will send a control signal to the drive motor to increase the torque output of the motor to control the drive motor to adjust to the target speed to control the target electric vehicle out of trouble.

[0055] Optionally, controlling the target electric vehicle to get out of trouble based on the target speed includes: controlling the target speed of the drive motor and monitoring the real-time output torque; when the real-time output torque is less than the target torque limit value, controlling the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble.

[0056] Specifically, when the current output torque is greater than the target torque limit, the controller will control the drive motor speed torque to keep the drive motor speed below the target speed in order to carefully test the vehicle's ability to escape from trouble and avoid excessive torque output from the motor causing wheel slippage. When the real-time output torque is less than the target torque limit, the motor speed can be increased to improve the vehicle's ability to escape from trouble.

[0057] Optionally, the method also includes: when the vehicle speed is greater than a third vehicle speed threshold and the drive wheel slip rate is less than a second slip rate threshold, determining that the driving mode is to exit the escape mode; when the escape mode switch state is off, determining that the driving mode is to exit the escape mode; when the vehicle speed is greater than a fourth vehicle speed threshold, determining that the driving mode is to exit the escape mode.

[0058] Specifically, the third vehicle speed threshold can be 20km / h. When the vehicle speed exceeds 20km / h, it means that the vehicle has escaped from the low-speed driving state that may be in trouble. The second slip rate threshold can be set to 20%. When the drive wheel slip rate is lower than 20%, it means that the relative slip between the wheel and the ground is small, and the vehicle can drive normally without the escape mode. In addition, when the driver believes that the vehicle has escaped from the predicament or no longer needs the escape mode, the escape mode switch can be manually turned off. At this time, the controller can determine that the driving mode is to exit the escape mode according to the closed state of the switch. The fourth vehicle speed threshold can be 30km / h. When the actual speed of the vehicle exceeds 30km / h, even if other factors such as the drive wheel slip rate are not considered, it can be determined that the vehicle has escaped from the predicament and needs to exit the escape mode. The fourth vehicle speed threshold can be used as an independent judgment condition. When the vehicle speed reaches a higher level, it can quickly determine whether the vehicle needs to exit the escape mode, thereby improving the response speed and judgment accuracy of the system.

[0059] The technical solution of the embodiment of the present invention can continuously and stably output large torque in the escape mode without excessive wheel slip by determining the target speed and torque limit value, making it easier for electric vehicles to escape in specific scenarios and improving their escape ability. While ensuring sufficient power output, it avoids damage to key components such as the drive motor and differential due to excessive output, thereby extending the service life of the vehicle. It can provide appropriate power requirements according to the different requirements of forward gear and reverse gear, and adapt to various possible escape scenarios.

[0060] Embodiment 2

[0061] Figure 2This is a flow chart of a method for getting out of trouble for an electric vehicle provided in the second embodiment of the present invention. This embodiment adds a specific process for determining the target speed and target torque limit value of the drive motor according to the gear position, accelerator pedal opening and current vehicle speed on the basis of the above-mentioned first embodiment. Among them, the specific contents of steps S210-S220 are roughly the same as steps S110-S120 in the first embodiment, so they will not be repeated in this embodiment. Figure 2 As shown, the method includes:

[0062] S210: Determine a driving mode of the target electric vehicle.

[0063] Optionally, determining the driving mode of the target electric vehicle includes: obtaining the vehicle speed, drive wheel slip rate and escape mode switch state of the target electric vehicle; when the vehicle speed is lower than a first vehicle speed threshold and the drive wheel slip rate is greater than a first slip rate threshold, determining that the driving mode is the escape mode; when the escape mode switch state is on and the vehicle speed is lower than a second vehicle speed threshold, determining that the driving mode is the escape mode.

[0064] S220: When the driving mode is the escape mode, determine the gear position, accelerator pedal opening, and current vehicle speed of the target electric vehicle, wherein the gear position includes a forward gear and a reverse gear.

[0065] S230: Construct a target speed table and a torque limit table corresponding to the gear position.

[0066] The target speed table includes the speed corresponding to each accelerator pedal opening and vehicle speed, and the torque limit table includes the torque limit value corresponding to each accelerator pedal opening and vehicle speed. The accelerator pedal opening is determined by detecting the position change of the pedal through the sensor installed on the accelerator pedal.

[0067] Specifically, through a large number of experiments and data analysis, the reasonable speed range corresponding to different accelerator pedal openings and vehicle speed combinations in different gears can be determined. When constructing the target tachometer, for the forward gear, the minimum target speed is not less than zero. When the accelerator pedal opening is zero, the target speed of the drive motor is the motor speed corresponding to the current vehicle speed minus a certain value (100rpm, TBD). When the accelerator opening increases from zero, the target speed of the drive motor quickly rises to the motor speed corresponding to the current vehicle speed. When the accelerator opening continues to increase, the target speed of the drive motor slowly rises (the motor speed corresponding to the current vehicle speed plus a certain value). Specifically, it is a mapping relationship corresponding to the accelerator pedal opening, and the final value is determined by calibration matching. For the reverse gear, the target speed is a negative value, and the maximum target speed is not greater than zero. When the accelerator pedal opening is zero, the target speed of the drive motor is the motor speed corresponding to the current vehicle speed plus a certain value (100rpm, TBD). When the accelerator opening increases from zero, the target speed of the drive motor decreases rapidly (in the negative speed direction) to the motor speed corresponding to the current vehicle speed. When the accelerator opening continues to increase, the target speed of the drive motor decreases slowly (in the negative speed direction, the motor speed corresponding to the current vehicle speed minus a certain value). Specifically, it is a mapping relationship corresponding to the accelerator pedal opening, and the final value is determined by calibration matching.

[0068] Specifically, when constructing the torque limit table, for the forward gear, the minimum torque limit value is not less than zero. When the accelerator pedal opening is zero, the drive motor torque limit value is zero. When the accelerator opening gradually increases from zero, the drive motor torque limit value also gradually increases. When the accelerator pedal reaches the maximum opening, the drive motor torque limit also reaches the maximum value (motor external characteristic value). The specific value is the mapping relationship corresponding to the accelerator pedal opening, which is determined by calibration matching. For the reverse gear, the torque limit value is a negative value, and the maximum torque limit value is not greater than zero. When the accelerator pedal opening is zero, the drive motor torque limit value is zero. When the accelerator opening gradually increases from zero, the drive motor torque limit value also gradually decreases (negative torque direction). When the accelerator pedal reaches the maximum opening, the drive motor torque limit also reaches the minimum value (motor external characteristic value). The specific value is the mapping relationship corresponding to the accelerator pedal opening, which is determined by calibration matching.

[0069] S240: Match the accelerator pedal opening and the current vehicle speed through a target tachometer to obtain a corresponding target speed.

[0070] Specifically, when the controller receives the information of the accelerator pedal opening and the current vehicle speed, it will search and match it in the target speed table. The target speed table stores the speed values ​​corresponding to various combinations of accelerator pedal opening and vehicle speed. For example, suppose the current vehicle is in forward gear, the accelerator pedal opening is 50%, and the vehicle speed is 40km / h. The ECU will search the target speed table for the entry closest to this accelerator pedal opening and vehicle speed combination, and then obtain the corresponding speed value as the target speed. If there is no completely matching entry, the ECU can use interpolation or other algorithms to estimate a suitable target speed. For example, linear interpolation can be performed based on the speed values ​​of two adjacent entries to obtain a more accurate target speed.

[0071] S250. Match the accelerator pedal opening and the current vehicle speed through a torque limit table to obtain a corresponding target torque limit value.

[0072] Similarly, the controller will search and match in the torque limit table according to the information of the accelerator pedal opening and the current vehicle speed. The torque limit table stores the torque limit values ​​corresponding to various combinations of accelerator pedal opening and vehicle speed. The controller will search in the torque limit table for the entry corresponding to the accelerator pedal opening and the current vehicle speed, and obtain the corresponding torque limit value as the target torque limit value.

[0073] S260: Control the target electric vehicle to get out of trouble based on the target speed and the target torque limit value.

[0074] Optionally, after determining the target speed and target torque limit values ​​of the driving motor according to the gear position, the method further includes: performing specified gradient limits on the target speed and target torque limit values ​​to generate limited target speed and target torque limit values, and controlling the target electric vehicle to get out of trouble based on the target speed and target torque limit values, including: controlling the target electric vehicle to get out of trouble based on the limited target speed and target torque limit values.

[0075] Optionally, the target electric vehicle is controlled to get out of trouble based on the target speed and the target torque limit value, including: obtaining the current output torque; determining whether the current output torque is less than the target torque limit value, and if so, directly controlling the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble; otherwise, controlling the target electric vehicle to get out of trouble based on the target speed.

[0076] Optionally, controlling the target electric vehicle to get out of trouble based on the target speed includes: controlling the target speed of the drive motor and monitoring the real-time output torque; when the real-time output torque is less than the target torque limit value, controlling the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble.

[0077] Optionally, the method also includes: when the vehicle speed is greater than a third vehicle speed threshold and the drive wheel slip rate is less than a second slip rate threshold, determining that the driving mode is to exit the escape mode; when the escape mode switch state is off, determining that the driving mode is to exit the escape mode; when the vehicle speed is greater than a fourth vehicle speed threshold, determining that the driving mode is to exit the escape mode.

[0078] The technical solution of the embodiment of the present invention can continuously and stably output large torque in the escape mode without excessive wheel slip by determining the target speed and torque limit value, making it easier for electric vehicles to escape in specific scenarios and improving their escape ability. While ensuring sufficient power output, it avoids damage to key components such as the drive motor and differential due to excessive output, thereby extending the service life of the vehicle. It can provide appropriate power requirements according to the different requirements of forward gear and reverse gear, and adapt to various possible escape scenarios.

[0079] Embodiment 3

[0080] Figure 3 This is a schematic diagram of the structure of an electric vehicle escape device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a driving mode determination module 310, used to determine the driving mode of the target electric vehicle;

[0081] The vehicle gear determination module 320 is used to determine the gear, accelerator pedal opening and current vehicle speed of the target electric vehicle when the driving mode is the escape mode, wherein the gear includes a forward gear and a reverse gear;

[0082] The vehicle escape control module 330 is used to determine the target speed and target torque limit value of the drive motor according to the gear position, the accelerator pedal opening and the current vehicle speed, and control the target electric vehicle to escape based on the target speed and target torque limit value.

[0083] Optionally, the driving mode determination module 310 is specifically used to: obtain the vehicle speed, drive wheel slip rate and escape mode switch state of the target electric vehicle; when the vehicle speed is lower than a first vehicle speed threshold and the drive wheel slip rate is greater than a first slip rate threshold, determine that the driving mode is the escape mode; when the escape mode switch state is on and the vehicle speed is lower than a second vehicle speed threshold, determine that the driving mode is the escape mode.

[0084] Optionally, the vehicle escape control module 330 specifically includes: a target speed and torque limit value determination unit, which is used to: construct a target speed table and a torque limit table corresponding to the gear position, wherein the target speed table includes the speeds corresponding to each accelerator pedal opening and the vehicle speed, and the torque limit table includes the torque limit values ​​corresponding to each accelerator pedal opening and the vehicle speed; the accelerator pedal opening and the current vehicle speed are matched through the target speed table to obtain the corresponding target speed; the accelerator pedal opening and the current vehicle speed are matched through the torque limit table to obtain the corresponding target torque limit value.

[0085] Optionally, the device also includes: a gradient limiting module, which is used to specify the gradient limiting of the target speed and target torque limit values ​​after determining the target speed and target torque limit values ​​of the drive motor according to the gear position, so as to generate the limited target speed and target torque limit values, and control the target electric vehicle to get out of trouble based on the target speed and target torque limit values, including: controlling the target electric vehicle to get out of trouble based on the limited target speed and target torque limit values.

[0086] Optionally, the vehicle escape control module 330 specifically includes: a vehicle escape control unit, which is used to: obtain the current output torque; determine whether the current output torque is less than the target torque limit value, and if so, directly control the drive motor to adjust to the target speed to control the target electric vehicle to escape; otherwise, control the target electric vehicle to escape based on the target speed.

[0087] Optionally, the vehicle escape control unit includes: a torque limit adjustment subunit, which is used to: control the target speed of the drive motor and monitor the real-time output torque; when the real-time output torque is less than the target torque limit value, control the drive motor to adjust to the target speed to control the target electric vehicle to escape.

[0088] Optionally, the device also includes: an escape mode exit module, which is used to: when the vehicle speed is greater than a third vehicle speed threshold and the drive wheel slip rate is less than a second slip rate threshold, determine that the driving mode is to exit the escape mode; when the escape mode switch state is off, determine that the driving mode is to exit the escape mode; when the vehicle speed is greater than a fourth vehicle speed threshold, determine that the driving mode is to exit the escape mode.

[0089] The technical solution of the embodiment of the present invention can continuously and stably output large torque in the escape mode without excessive wheel slip by determining the target speed and torque limit value, making it easier for electric vehicles to escape in specific scenarios and improving their escape ability. While ensuring sufficient power output, it avoids damage to key components such as the drive motor and differential due to excessive output, thereby extending the service life of the vehicle. It can provide appropriate power requirements according to the different requirements of forward gear and reverse gear, and adapt to various possible escape scenarios.

[0090] An electric vehicle escape device provided by an embodiment of the present invention can execute an electric vehicle escape method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0091] Embodiment 4

[0092] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0093] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0094] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0095] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for getting out of trouble for an electric vehicle.

[0096] In some embodiments, an electric vehicle escape method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the electric vehicle escape method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute an electric vehicle escape method in any other appropriate manner (e.g., by means of firmware).

[0097] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0099] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0100] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0101] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0102] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for escaping an electric vehicle, characterized in that: include: Determine the driving pattern of the target electric vehicle; When the driving mode is the escape mode, determining the gear position, accelerator pedal opening and current vehicle speed of the target electric vehicle, wherein the gear position includes a forward gear and a reverse gear; The target speed and target torque limit value of the drive motor are determined according to the gear position, the accelerator pedal opening and the current vehicle speed, and the target electric vehicle is controlled to get out of trouble based on the target speed and target torque limit value.

2. The method according to claim 1, characterized in that Determine the target EV driving pattern, including: Obtaining the speed, driving wheel slip rate and escape mode switch state of the target electric vehicle; When the vehicle speed is lower than a first vehicle speed threshold and the driving wheel slip rate is greater than a first slip rate threshold, determining that the driving mode is an escape mode; When the escape mode switch state is on and the vehicle speed is lower than a second vehicle speed threshold, it is determined that the driving mode is the escape mode.

3. The method according to claim 1, characterized in that The target speed and target torque limit values ​​of the drive motor are determined according to the gear position, accelerator pedal opening, and current vehicle speed, including: Constructing a target speed table and a torque limit table corresponding to the gear position, wherein the target speed table includes speeds corresponding to each accelerator pedal opening and vehicle speed, and the torque limit table includes torque limit values ​​corresponding to each accelerator pedal opening and vehicle speed; The accelerator pedal opening and the current vehicle speed are matched through the target tachometer to obtain the corresponding target speed; The accelerator pedal opening and the current vehicle speed are matched through the torque limit table to obtain the corresponding target torque limit value.

4. The method according to claim 3, characterized in that After determining the target speed and target torque limit value of the drive motor according to the gear position, the accelerator pedal opening and the current vehicle speed, the method further includes: The target speed and target torque limit values ​​are limited by a specified gradient to generate the limited target speed and target torque limit values. Controlling the target electric vehicle to get out of trouble based on the target speed and the target torque limit value, including: The target electric vehicle is controlled to get out of trouble based on the limited target speed and target torque limit values.

5. The method according to claim 1, characterized in that Controlling the target electric vehicle to get out of trouble based on the target speed and the target torque limit value, including: Get the current output torque; Determine whether the current output torque is less than the target torque limit value, and if so, directly control the drive motor to adjust to the target speed to control the target electric vehicle to get out of trouble; Otherwise, the target electric vehicle is controlled to get out of trouble based on the target speed.

6. The method according to claim 5, characterized in that Controlling a target electric vehicle out of trouble based on a target speed includes: Control the target speed of the drive motor and monitor the real-time output torque; When the real-time output torque is less than the target torque limit value, the drive motor is controlled to adjust to the target speed to control the target electric vehicle to get out of trouble.

7. The method according to claim 2, characterized in that The method further comprises: When the vehicle speed is greater than a third vehicle speed threshold and the driving wheel slip rate is less than a second slip rate threshold, determining that the driving mode is to exit the escape mode; When the escape mode switch is in the off state, determining that the driving mode is to exit the escape mode; When the vehicle speed is greater than a fourth vehicle speed threshold, the driving mode is determined to be exiting the escape mode.

8. An electric vehicle escape device, characterized in that: include: A driving mode determination module, used to determine the driving mode of the target electric vehicle; A vehicle gear determination module, used to determine the gear position, accelerator pedal opening and current vehicle speed of the target electric vehicle when the driving mode is the escape mode, wherein the gear position includes a forward gear and a reverse gear; The vehicle escape control module is used to determine the target speed and target torque limit value of the drive motor according to the gear position, the accelerator pedal opening and the current vehicle speed, and control the target electric vehicle to escape from the jam based on the target speed and target torque limit value.

9. An electronic device, characterized in that: Electronic equipment includes: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the method of any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and the computer instructions are used to implement any one of the methods of claims 1-7 when the processor executes the computer instructions.

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