Control method and device for stability of pure electric vehicle, and vehicle

Abstract

The present application discloses a control method and device for the stability of a pure electric vehicle, and a vehicle. The method comprises: when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle controller; the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request; if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system. Through the present application, the problem in the prior art that when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system is difficult to work, affecting the stability of the vehicle is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a method and device for controlling the stability of a pure electric vehicle, and a vehicle. Background Art

[0002] At present, the pure electric vehicle market is developing rapidly, and the safety of the whole vehicle is becoming more and more important. Among them, the stability and safety of electric vehicles is one of the key points that affect the driving safety of drivers. In addition, electric vehicles are generally equipped with electronic stability control systems, which adjust the hydraulic braking force of the four wheels to avoid understeering and oversteering hazards of the whole vehicle.

[0003] However, for pure electric vehicles, the effective premise of the electronic stability control system is that the power motor must correctly respond to the torque increase or decrease request of the electronic stability control system. If the power motor does not respond to the torque request or the torque response is wrong, the electronic stability control system cannot achieve the stability and safety of the whole vehicle.

[0004] In the prior art, no effective solution has been proposed for the problem that when the power motor of a pure electric vehicle does not respond to a torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system becomes difficult to work, affecting the stability of the vehicle. Summary of the invention

[0005] The main purpose of the present application is to provide a control method and device for the stability of a pure electric vehicle, and a vehicle, so as to solve the problem in the prior art that when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system becomes difficult to work, thereby affecting the stability of the vehicle.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for controlling the stability of a pure electric vehicle is provided. The method is applied in a stability control system of a pure electric vehicle, wherein the stability control system of the pure electric vehicle includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system, and includes: when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request; if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system.

[0007] Furthermore, the power battery system includes a power battery controller and a power battery. If it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor. The method includes: if it is detected that the power motor system does not correctly respond to the target request, a target instruction is sent to the power battery controller through the vehicle controller, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; the power battery controller responds to the target instruction and cuts off the high-voltage relay to cut off the high-voltage power output of the power battery; after the high-voltage power output is cut off, the high-voltage power supply of the power motor is cut off to cut off the torque output of the power motor.

[0008] Furthermore, before detecting whether the power motor system correctly responds to the target request, the method also includes: acquiring an estimated driving torque of the power motor; and detecting whether the power motor system correctly responds to the target request based on the estimated driving torque and the first driving torque.

[0009] Furthermore, based on the estimated driving torque and the first driving torque, detecting whether the power motor system correctly responds to the target request includes: determining whether the estimated driving torque is the same as the first driving torque; when the estimated driving torque is the same as the driving torque output by the power motor, it indicates that the power motor system correctly responds to the target request; when the estimated driving torque is different from the driving torque output by the power motor, it indicates that the power motor system does not correctly respond to the target request.

[0010] Furthermore, before obtaining the estimated driving torque of the power motor, the method further includes: obtaining the wheel speed and braking torque of the two front axle wheels; and determining the estimated driving torque of the power motor based on the wheel speed and the braking torque.

[0011] Furthermore, determining the estimated driving torque of the power motor based on the wheel speed and the braking torque includes: determining the acceleration of the two front axle wheels based on the wheel speed; obtaining the rotational inertia of the two front axle wheels; and determining the estimated driving torque of the power motor based on the rotational inertia, the acceleration, the wheel speed and the braking torque.

[0012] Furthermore, controlling the stability of the pure electric vehicle through the electronic stability control system includes: adjusting the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; and controlling the stability of the pure electric vehicle based on the adjusted hydraulic braking force of the four wheels.

[0013] In order to achieve the above-mentioned object, according to another aspect of the present application, a vehicle is provided, wherein a controller in the vehicle executes any one of the above-mentioned methods for controlling the stability of a pure electric vehicle.

[0014] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a control device for the stability of a pure electric vehicle is provided. The device is applied in a stability control system of a pure electric vehicle, wherein the stability control system of the pure electric vehicle includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system, and includes: a first sending unit, which is used to send a target request to the vehicle controller when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; a first processing unit, which is used for the vehicle controller to send the received target request to the power motor system and detect whether the power motor system correctly responds to the target request; a second processing unit, which is used to cut off the high-voltage power supply output of the power battery system if it is detected that the power motor system does not correctly respond to the target request, so as to cut off the torque output of the power motor, and control the stability of the pure electric vehicle through the electronic stability control system.

[0015] Furthermore, the power battery system includes a power battery controller and a power battery, and the second processing unit includes: a first sending module, which is used to send a target instruction to the power battery controller through the vehicle controller if it is detected that the power motor system does not correctly respond to the target request, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; a first response module, which is used for the power battery controller to respond to the target instruction and cut off the high-voltage relay to cut off the high-voltage power output of the power battery; and a first cut-off module, which is used to cut off the high-voltage power supply of the power motor after the high-voltage power output is cut off to cut off the torque output of the power motor.

[0016] Furthermore, the device also includes: a first acquisition unit, used to acquire an estimated driving torque of the power motor before detecting whether the power motor system correctly responds to the target request; a first detection unit, used to detect whether the power motor system correctly responds to the target request based on the estimated driving torque and the first driving torque.

[0017] Furthermore, the first detection unit includes: a first judgment module, used to judge whether the estimated driving torque is the same as the first driving torque; a first determination module, used to characterize that the power motor system correctly responds to the target request when the estimated driving torque is the same as the driving torque output by the power motor; and a second determination module, used to characterize that the power motor system does not correctly respond to the target request when the estimated driving torque is not the same as the driving torque output by the power motor.

[0018] Furthermore, the device also includes: a second acquisition unit, used to acquire the wheel speed and braking torque of the two front axle wheels before acquiring the estimated driving torque of the power motor; and a first determination unit, used to determine the estimated driving torque of the power motor based on the wheel speed and the braking torque.

[0019] Furthermore, the first determination unit includes: a third determination module, used to determine the acceleration of the two front axle wheels based on the wheel speed; a first acquisition module, used to acquire the rotational inertia of the two front axle wheels; and a fourth determination module, used to determine the estimated driving torque of the power motor based on the rotational inertia, the acceleration, the wheel speed and the braking torque.

[0020] Furthermore, the second processing unit includes: a fifth determination module, used to adjust the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; a first control module, used to control the stability of the pure electric vehicle according to the adjusted hydraulic braking force of the four wheels.

[0021] In order to achieve the above-mentioned purpose, according to another aspect of the present application, a processor is provided, wherein the processor is used to run a program, wherein when the program is running, any one of the above-mentioned methods for controlling the stability of a pure electric vehicle is executed.

[0022] The present application can be applied in a stability control system of a pure electric vehicle, which includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system, and adopts the following steps: when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, a target request is sent to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system responds to the target request correctly; if it is detected that the power motor system does not respond to the target request correctly, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system, which solves the problem in the prior art that when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system is difficult to work, affecting the stability of the vehicle. By sending a target request when it is detected that the pure electric vehicle is in the first steering state or the second steering state, and detecting whether the target request is responded to correctly; if it is detected that the target request is not responded to correctly, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system. In this way, when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system can work normally, thereby achieving the effect of avoiding affecting the stability of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1 is a schematic diagram of a stability control system for a pure electric vehicle provided according to an embodiment of the present application;

[0025] Figure 2 is a flow chart of a method for controlling the stability of a pure electric vehicle provided in an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of a control device for the stability of a pure electric vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, other existing embodiments obtained by ordinary technicians in the field without creative work should all fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 application described here. In addition, the terms "including" and "having" and any of their variations 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] The present invention is described below in conjunction with preferred implementation steps. Figure 1 is a schematic diagram of a pure electric vehicle stability control system provided according to an embodiment of the present application, such as Figure 1 As shown, the stability control system of a pure electric vehicle includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system. Figure 2 is a flow chart of a method for controlling the stability of a pure electric vehicle provided in an embodiment of the present application, and the method is applied in Figure 1 In the stability control system of a pure electric vehicle shown in FIG. Figure 2 As shown, the method comprises the following steps:

[0031] Step S201, when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, a target request is sent to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and when the pure electric vehicle is in the first steering state, the steering angle of the two front axle wheels is greater than a preset steering angle range, and when the pure electric vehicle is in the second steering state, the steering angle of the two front axle wheels is less than the preset steering angle range.

[0032] For example, the first steering state may be an understeering state of the electric vehicle, the second steering state may be an oversteering state of the electric vehicle, and the pure electric vehicle may be a centralized dual-drive pure electric vehicle. Figure 1 The electronic stability control system in the electric vehicle can detect the understeering and oversteering tendency of the electric vehicle. When it is detected that the vehicle has the danger of understeering and oversteering, it will Figure 1 The vehicle controller in sends a drive torque response request.

[0033] In step S202 , the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request.

[0034] For example, the above-mentioned power motor system can be Figure 1 The power motor controller and inverter in the vehicle are mainly responsible for responding to the torque request sent by the vehicle controller and controlling the output drive torque of the power motor. In addition, when the vehicle controller receives the torque response request sent by the electronic stability control system, it forwards it to the power motor system for drive torque control, and compares the estimated actual torque of the power motor to see if it responds to the torque request.

[0035] Step S203: If it is detected that the power motor system does not correctly respond to the target request, the high-voltage power output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system.

[0036] For example, the above-mentioned power battery system may include Figure 1 When the estimated actual torque of the power motor does not respond to the torque request or responds to the torque request incorrectly, it communicates with the power battery controller to cut off the high-voltage power output of the power battery, thereby cutting off the power motor torque, and then the electronic stability control system achieves the stability and safety of the entire vehicle.

[0037] Through the above steps S201 to S203, a target request is sent when it is detected that the pure electric vehicle is in the first steering state or the second steering state, and it is detected whether the target request is responded to correctly; if it is detected that the target request is not responded to correctly, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system, so that when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or incorrectly responds to the torque request, the electronic stability control system can work normally, thereby achieving the effect of avoiding affecting the stability of the vehicle.

[0038] In order to avoid affecting the stability of the vehicle, how to cut off the high-voltage power output of the power battery system to cut off the torque output of the power motor when it is detected that the power motor system does not correctly respond to the target request is also one of the key points. In the control method for the stability of a pure electric vehicle provided in an embodiment of the present application, if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power output of the power battery system is cut off to cut off the torque output of the power motor. The power battery system includes a power battery controller and a power battery. If it is detected that the power motor system does not correctly respond to the target request, the high-voltage power output of the power battery system is cut off to cut off the torque output of the power motor. The following technical features can be used to achieve this: if it is detected that the power motor system does not correctly respond to the target request, a target command is sent to the power battery controller through the vehicle controller, wherein the target command is used to instruct to cut off the high-voltage relay of the power battery; the power battery controller responds to the target command and cuts off the high-voltage relay to cut off the high-voltage power output of the power battery; after the high-voltage power output is cut off, the high-voltage power supply of the power motor is cut off to cut off the torque output of the power motor.

[0039] For example, when the estimated actual torque of the power motor does not respond to the driving torque request or incorrectly responds to the torque request, an instruction to cut off the high-voltage relay of the power battery is sent to the power battery controller. In addition, the power battery controller is mainly responsible for controlling the high-voltage power output of the power battery. When receiving the instruction to cut off the high-voltage relay sent by the vehicle controller, the high-voltage power output to the power motor system is cut off. Moreover, the power battery can provide a high-voltage power supply for the power motor. Therefore, when the high-voltage power output of the power battery is cut off, the high-voltage power supply of the power motor is also cut off, thereby cutting off the torque output of the power motor.

[0040] In summary, through the interaction between the vehicle controller and the power battery system, the power battery high-voltage relay and the power motor torque output can be cut off, thereby ensuring the electronic stability control system's control effect on the driving stability of electric vehicles and improving the stability and safety of the entire vehicle.

[0041] Optionally, in the control method for the stability of a pure electric vehicle provided in an embodiment of the present application, before detecting whether the power motor system correctly responds to the target request, the method also includes: obtaining an estimated driving torque of the power motor; and detecting whether the power motor system correctly responds to the target request based on the estimated driving torque and the first driving torque.

[0042] For example, the vehicle controller is responsible for estimating the actual wheel-end torque, and based on the estimated actual wheel-end torque and the driving torque requested to be output by the power motor in the driving torque response request, detects whether the estimated actual torque of the power motor correctly responds to the driving torque response request.

[0043] Through the above solution, it is possible to accurately determine whether the power motor system correctly responds to the drive torque response request based on the estimated actual torque of the power motor and the drive torque in the drive torque response request.

[0044] Optionally, in the control method for the stability of a pure electric vehicle provided in an embodiment of the present application, detecting whether the power motor system correctly responds to the target request based on the estimated driving torque and the first driving torque includes: determining whether the estimated driving torque is the same as the first driving torque; when the estimated driving torque is the same as the driving torque output by the power motor, it indicates that the power motor system correctly responds to the target request; when the estimated driving torque is different from the driving torque output by the power motor, it indicates that the power motor system does not correctly respond to the target request.

[0045] For example, by comparing whether the actual torque of the power motor correctly responds to the driving torque request, when the estimated actual torque of the power motor is consistent with the driving torque in the driving torque request sent by the forwarded electronic stability control system, it means that the actual torque of the power motor correctly responds to the driving torque request; when the estimated actual torque of the power motor is inconsistent with the driving torque in the driving torque request sent by the forwarded electronic stability control system, it means that the actual torque of the power motor does not respond to the driving torque request or does not respond correctly to the driving torque request.

[0046] Through the above solution, it is possible to quickly and accurately determine whether the power motor system correctly responds to the driving torque response request.

[0047] Optionally, in the control method for the stability of a pure electric vehicle provided in an embodiment of the present application, before obtaining the estimated driving torque of the power motor, the method also includes: obtaining the wheel speed and braking torque of the two front axle wheels; and determining the estimated driving torque of the power motor based on the wheel speed and braking torque.

[0048] For example, the electronic stability control system can be responsible for collecting the wheel speeds of the two front axle drive wheels and sending the collected wheel speeds of the two front axle drive wheels to the vehicle controller, and the electronic stability control system can send the braking torque value applied to the two front axle drive wheels to the vehicle controller. The vehicle controller then calculates the estimated actual torque of the power motor based on the wheel speeds of the two front axle drive wheels and the braking torque value applied to the two front axle drive wheels sent by the electronic stability control system.

[0049] Through the above scheme, the actual torque of the power motor estimated for the electric vehicle can be easily obtained.

[0050] Optionally, in the control method for the stability of a pure electric vehicle provided in an embodiment of the present application, determining the estimated driving torque of the power motor based on the wheel speed and the braking torque includes: determining the acceleration of the two front axle wheels based on the wheel speed; obtaining the rotational inertia of the two front axle wheels; determining the estimated driving torque of the power motor based on the moment of inertia, acceleration, wheel speed and braking torque.

[0051] For example, the vehicle controller calculates the acceleration of the two front axle drive wheels based on the wheel speed of the two front axle drive wheels sent by the electronic stability control system. Then the vehicle controller estimates the actual torque of the power motor based on the rotational inertia, acceleration, wheel speed of the two front axle drive wheels and the braking torque value of the two front axle drive wheels applied by the electronic stability control system; the specific formula is:

[0052]

[0053] in,

[0054] T motor ——Actual torque of power motor

[0055] M wl ——Moment of inertia of left front driving wheel

[0056] ——Left front driving wheel acceleration

[0057] w l ——Speed ​​of left front driving wheel

[0058] T wl ——Left front driving wheel brake torque

[0059] M wr ——Right front driving wheel moment of inertia

[0060] ——Right front drive wheel acceleration

[0061] w r ——Right front driving wheel speed

[0062] T wr ——Right front drive wheel brake torque

[0063] Through the above scheme, the actual torque of the power motor of the electric vehicle can be accurately estimated.

[0064] Optionally, in the method for controlling the stability of a pure electric vehicle provided in an embodiment of the present application, controlling the stability of the pure electric vehicle through an electronic stability control system includes: adjusting the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; and controlling the stability of the pure electric vehicle based on the adjusted hydraulic braking force of the four wheels.

[0065] For example, the electronic stability control system intervenes in the braking force of the four wheels through the hydraulic braking system to keep the vehicle stable.

[0066] In summary, when driving a pure electric vehicle equipped with a stability control system, the driver's driving stability and safety can be greatly improved, and the risks of understeer and oversteer hazards of electric vehicles are greatly reduced.

[0067] In summary, the control method for the stability of a pure electric vehicle provided in an embodiment of the present application is applied in a stability control system of a pure electric vehicle, and the stability control system of the pure electric vehicle includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system. When the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, a target request is sent to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and when the first steering state is, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and when the second steering state is, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system responds to the target request correctly; if it is detected that the power motor system does not respond to the target request correctly, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system, which solves the problem in the prior art that when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system is difficult to work, affecting the stability of the vehicle. By sending a target request when it is detected that the pure electric vehicle is in the first steering state or the second steering state, and detecting whether the target request is responded to correctly; if it is detected that the target request is not responded to correctly, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system. In this way, when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system can work normally, thereby achieving the effect of avoiding affecting the stability of the vehicle.

[0068] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0069] The present application also provides a device for controlling the stability of a pure electric vehicle. It should be noted that the device for controlling the stability of a pure electric vehicle in the present application can be used to execute the method for controlling the stability of a pure electric vehicle provided in the present application. The following is an introduction to the device for controlling the stability of a pure electric vehicle provided in the present application.

[0070] Figure 3 Schematic diagram of a control device for the stability of a pure electric vehicle according to an embodiment of the present application. The device is applied in a stability control system of a pure electric vehicle, which includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system, such as Figure 3 As shown, the device includes: a first sending unit 301, a first processing unit 302 and a second processing unit 303.

[0071] Specifically, the first sending unit 301 is used to send a target request to the vehicle controller when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range in the first steering state, and the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range in the second steering state;

[0072] The first processing unit 302 is used for the vehicle controller to send the received target request to the power motor system and detect whether the power motor system correctly responds to the target request;

[0073] The second processing unit 303 is used to cut off the high-voltage power output of the power battery system to cut off the torque output of the power motor if it is detected that the power motor system does not correctly respond to the target request, and control the stability of the pure electric vehicle through the electronic stability control system.

[0074] In summary, the control device for the stability of a pure electric vehicle provided in the embodiment of the present application is applied in a stability control system of a pure electric vehicle, and the stability control system of the pure electric vehicle includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system. When the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, the first sending unit 301 sends a target request to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and when the pure electric vehicle is in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and when the pure electric vehicle is in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; the first processing unit 302, the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system responds to the target request correctly; if the second processing unit 303 detects that the power motor system does not respond to the target request correctly, The high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system, which solves the problem in the prior art that when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system is difficult to work, affecting the stability of the vehicle. When it is detected that the pure electric vehicle is in the first steering state or the second steering state, a target request is sent, and it is detected whether the target request is responded to correctly; if it is detected that the target request is not responded correctly, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system. Therefore, when the power motor of the pure electric vehicle does not respond to the torque request issued by the electronic stability control system or responds to the torque request incorrectly, the electronic stability control system can work normally, thereby achieving the effect of avoiding affecting the stability of the vehicle.

[0075] Optionally, in the control device for the stability of a pure electric vehicle provided in an embodiment of the present application, the power battery system includes a power battery controller and a power battery, and the second processing unit includes: a first sending module, which is used to send a target instruction to the power battery controller through the vehicle controller if it is detected that the power motor system does not correctly respond to the target request, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; a first response module, which is used for the power battery controller to respond to the target instruction and cut off the high-voltage relay to cut off the high-voltage power output of the power battery; and a first cut-off module, which is used to cut off the high-voltage power supply of the power motor after the high-voltage power output is cut off to cut off the torque output of the power motor.

[0076] Optionally, in the control device for the stability of a pure electric vehicle provided in an embodiment of the present application, the device also includes: a first acquisition unit, used to acquire an estimated driving torque of the power motor before detecting whether the power motor system correctly responds to the target request; a first detection unit, used to detect whether the power motor system correctly responds to the target request based on the estimated driving torque and the first driving torque.

[0077] Optionally, in the control device for the stability of a pure electric vehicle provided in an embodiment of the present application, the first detection unit includes: a first judgment module, used to judge whether the estimated driving torque is the same as the first driving torque; a first determination module, used to characterize that the power motor system correctly responds to the target request when the estimated driving torque is the same as the driving torque output by the power motor; and a second determination module, used to characterize that the power motor system does not correctly respond to the target request when the estimated driving torque is not the same as the driving torque output by the power motor.

[0078] Optionally, in the control device for the stability of a pure electric vehicle provided in an embodiment of the present application, the device also includes: a second acquisition unit, used to obtain the wheel speed and braking torque of the two front axle wheels before obtaining the estimated driving torque of the power motor; a first determination unit, used to determine the estimated driving torque of the power motor based on the wheel speed and braking torque.

[0079] Optionally, in the control device for the stability of a pure electric vehicle provided in an embodiment of the present application, the first determination unit includes: a third determination module, used to determine the acceleration of two front axle wheels based on the wheel speed; a first acquisition module, used to acquire the rotational inertia of the two front axle wheels; and a fourth determination module, used to determine the estimated driving torque of the power motor based on the moment of inertia, acceleration, wheel speed and braking torque.

[0080] Optionally, in the control device for the stability of the pure electric vehicle provided in the embodiment of the present application, the second processing unit includes: a fifth determination module, used to adjust the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; a first control module, used to control the stability of the pure electric vehicle based on the adjusted hydraulic braking force of the four wheels.

[0081] The control device for the stability of the pure electric vehicle includes a processor and a memory. The first sending unit 301, the first processing unit 302, the second processing unit 303, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

[0082] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the stability of the vehicle can be ensured by adjusting the kernel parameters.

[0083] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0084] An embodiment of the present invention provides a vehicle, wherein a controller in the vehicle executes any one of the above-mentioned methods for controlling the stability of a pure electric vehicle.

[0085] An embodiment of the present invention provides a processor, which is used to run a program, wherein the method for controlling the stability of a pure electric vehicle is executed when the program is running.

[0086] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, a target request is sent to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request; if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system.

[0087] When the processor executes the program, the following steps are also implemented: the power battery system includes a power battery controller and a power battery. If it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, including: if it is detected that the power motor system does not correctly respond to the target request, a target instruction is sent to the power battery controller through the vehicle controller, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; the power battery controller responds to the target instruction, cuts off the high-voltage relay, to cut off the high-voltage power output of the power battery; after the high-voltage power output is cut off, the high-voltage power supply of the power motor is cut off to cut off the torque output of the power motor.

[0088] When the processor executes the program, the following steps are also implemented: before detecting whether the power motor system correctly responds to the target request, the method also includes: obtaining an estimated driving torque of the power motor; and detecting whether the power motor system correctly responds to the target request based on the estimated driving torque and the first driving torque.

[0089] When the processor executes the program, the following steps are also implemented: based on the estimated driving torque and the first driving torque, detecting whether the power motor system correctly responds to the target request includes: judging whether the estimated driving torque is the same as the first driving torque; when the estimated driving torque is the same as the driving torque output by the power motor, indicating that the power motor system correctly responds to the target request; when the estimated driving torque is different from the driving torque output by the power motor, indicating that the power motor system does not correctly respond to the target request.

[0090] When the processor executes the program, the following steps are also implemented: before obtaining the estimated driving torque of the power motor, the method also includes: obtaining the wheel speed and braking torque of the two front axle wheels; and determining the estimated driving torque of the power motor based on the wheel speed and the braking torque.

[0091] When the processor executes the program, the following steps are also implemented: determining the estimated driving torque of the power motor based on the wheel speed and the braking torque includes: determining the acceleration of the two front axle wheels based on the wheel speed; obtaining the rotational inertia of the two front axle wheels; determining the estimated driving torque of the power motor based on the rotational inertia, the acceleration, the wheel speed and the braking torque.

[0092] When the processor executes the program, the following steps are also implemented: controlling the stability of the pure electric vehicle through the electronic stability control system includes: adjusting the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; and controlling the stability of the pure electric vehicle based on the adjusted hydraulic braking force of the four wheels.

[0093] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0094] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the following method steps: when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, sending a target request to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; the vehicle controller sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request; if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled through the electronic stability control system.

[0095] When executed on a data processing device, it is also suitable for executing a program initialized with the following method steps: the power battery system includes a power battery controller and a power battery, and if it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, including: if it is detected that the power motor system does not correctly respond to the target request, a target instruction is sent to the power battery controller through the vehicle controller, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; the power battery controller responds to the target instruction, cuts off the high-voltage relay, to cut off the high-voltage power output of the power battery; after the high-voltage power output is cut off, the high-voltage power supply of the power motor is cut off to cut off the torque output of the power motor.

[0096] When executed on a data processing device, it is also suitable for executing an initialization program having the following method steps: before detecting whether the power motor system correctly responds to the target request, the method also includes: obtaining an estimated driving torque of the power motor; based on the estimated driving torque and the first driving torque, detecting whether the power motor system correctly responds to the target request.

[0097] When executed on a data processing device, it is also suitable for executing a program initialized with the following method steps: based on the estimated driving torque and the first driving torque, detecting whether the power motor system correctly responds to the target request includes: judging whether the estimated driving torque is the same as the first driving torque; when the estimated driving torque is the same as the driving torque output by the power motor, characterizing that the power motor system correctly responds to the target request; when the estimated driving torque is different from the driving torque output by the power motor, characterizing that the power motor system does not correctly respond to the target request.

[0098] When executed on a data processing device, it is also suitable for executing a program initialized with the following method steps: before obtaining the estimated driving torque of the power motor, the method also includes: obtaining the wheel speed and braking torque of the two front axle wheels; determining the estimated driving torque of the power motor based on the wheel speed and the braking torque.

[0099] When executed on a data processing device, it is also suitable for executing a program initialized with the following method steps: determining the estimated driving torque of the power motor based on the wheel speed and the braking torque, including: determining the acceleration of the two front axle wheels based on the wheel speed; obtaining the rotational inertia of the two front axle wheels; determining the estimated driving torque of the power motor based on the rotational inertia, the acceleration, the wheel speed and the braking torque.

[0100] When executed on a data processing device, it is also suitable for executing a program initialized with the following method steps: controlling the stability of the pure electric vehicle through the electronic stability control system includes: adjusting the hydraulic braking force of the four wheels of the pure electric vehicle through the electronic stability control system to obtain the adjusted hydraulic braking force of the four wheels; controlling the stability of the pure electric vehicle based on the adjusted hydraulic braking force of the four wheels.

[0101] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in conjunction with software and hardware. Moreover, the application can adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program codes.

[0102] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0103] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0107] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0109] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) in which a computer-usable program code is present.

[0110] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and variations may be present in the present application. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling the stability of a pure electric vehicle, characterized in that: The method is applied in a stability control system of a pure electric vehicle, which includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system, including: When the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, a target request is sent to the vehicle controller, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and in the first steering state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and in the second steering state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; The vehicle controller sends the received target request to the power motor system, and detects whether the power motor system correctly responds to the target request; If it is detected that the power motor system does not correctly respond to the target request, the high-voltage power supply output of the power battery system is cut off to cut off the torque output of the power motor, and the stability of the pure electric vehicle is controlled by the electronic stability control system; Wherein, the power battery system includes a power battery controller and a power battery, and if it is detected that the power motor system does not correctly respond to the target request, cutting off the high-voltage power supply output of the power battery system to cut off the torque output of the power motor includes: If it is detected that the power motor system does not correctly respond to the target request, a target instruction is sent to the power battery controller through the vehicle controller, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; The power battery controller responds to the target command and cuts off the high-voltage relay to cut off the high-voltage power output of the power battery; After the high-voltage power output is cut off, the high-voltage power supply of the power motor is cut off to cut off the torque output of the power motor.

2. The method according to claim 1, characterized in that: Before detecting whether the power motor system correctly responds to the target request, the method further includes: Obtaining an estimated driving torque of the power motor; Whether the power motor system correctly responds to the target request is detected based on the estimated driving torque and the first driving torque.

3. The method according to claim 2, characterized in that Detecting whether the power motor system correctly responds to the target request according to the estimated driving torque and the first driving torque includes: determining whether the estimated driving torque is the same as the first driving torque; When the estimated driving torque is the same as the driving torque output by the power motor, it indicates that the power motor system correctly responds to the target request; When the estimated driving torque is different from the driving torque output by the power motor, it indicates that the power motor system does not correctly respond to the target request.

4. The method according to claim 2, characterized in that: Before obtaining the estimated driving torque of the power motor, the method further includes: Obtaining the wheel speed and braking torque of the two front axle wheels; An estimated driving torque of the power motor is determined based on the wheel speed and the braking torque.

5. The method according to claim 4, characterized in that Determining the estimated driving torque of the power motor according to the wheel speed and the braking torque includes: Determining the acceleration of the two front axle wheels according to the wheel speed; Obtaining the rotational inertia of the two front axle wheels; An estimated driving torque of the power motor is determined based on the rotational inertia, the acceleration, the wheel speed, and the braking torque.

6. The method according to claim 1, characterized in that Controlling the stability of the pure electric vehicle by the electronic stability control system includes: Adjusting the hydraulic braking force of the four wheels of the pure electric vehicle by the electronic stability control system to obtain adjusted hydraulic braking force of the four wheels; The stability of the pure electric vehicle is controlled according to the adjusted hydraulic braking force of the four wheels.

7. A vehicle, characterized in that: The controller in the vehicle executes the control method for the stability of a pure electric vehicle as described in any one of claims 1 to 6.

8. A control device for the stability of a pure electric vehicle, characterized in that: The device is used in a stability control system of a pure electric vehicle, which includes: an electronic stability control system, a vehicle controller, a power motor system and a power battery system, including: a first sending unit, configured to send a target request to the vehicle controller when the electronic stability control system detects that the pure electric vehicle is in a first steering state or a second steering state, wherein the target request is used to request the power motor of the pure electric vehicle to output a first driving torque, and when the first steering state is in the state, the steering angles of the two front axle wheels of the pure electric vehicle are greater than a preset steering angle range, and when the second steering state is in the state, the steering angles of the two front axle wheels of the pure electric vehicle are less than the preset steering angle range; A first processing unit, configured for the vehicle controller to send the received target request to the power motor system, and to detect whether the power motor system correctly responds to the target request; a second processing unit, configured to cut off the high-voltage power supply output of the power battery system to cut off the torque output of the power motor if it is detected that the power motor system does not correctly respond to the target request, and control the stability of the pure electric vehicle through the electronic stability control system; Among them, the power battery system includes a power battery controller and a power battery, and the second processing unit includes: a first sending module, which is used to send a target instruction to the power battery controller through the vehicle controller if it is detected that the power motor system does not correctly respond to the target request, wherein the target instruction is used to instruct to cut off the high-voltage relay of the power battery; a first response module, which is used for the power battery controller to respond to the target instruction and cut off the high-voltage relay to cut off the high-voltage power output of the power battery; a first cut-off module, which is used to cut off the high-voltage power supply of the power motor after the high-voltage power output is cut off to cut off the torque output of the power motor.

9. A processor, characterized in that: The processor is used to run a program, wherein the program, when running, executes the method for controlling the stability of a pure electric vehicle as described in any one of claims 1 to 6.

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