Micro-motion control method, device, system and electric vehicle for electric vehicle

Abstract

The present application relates to the field of vehicle technology, and in particular to a micro-motion control method, device, system and electric vehicle for electric vehicles, wherein the method comprises: obtaining micro-motion control instructions generated by micro-motion control intentions; controlling the motor to output a target torque according to the micro-motion control instructions, micro-controlling the vehicle using the target torque, and detecting whether the micro-motion control of the vehicle is completed; when the micro-motion control of the vehicle is detected to be completed, controlling the motor to enter a zero torque mode, or controlling the motor to enter a torque slow unloading mode, so that the motor's target torque is completely unloaded within a preset time, and then the motor is controlled to enter a zero torque mode. Thus, the problem that the electric vehicle in the related art immediately controls the motor to stop torque output when micro-motion control is completed, which may easily cause the vehicle to produce reverse motion, reduce the accuracy of micro-motion control, and provide poor user experience, etc., is solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a micro-motion control method, device, system, electric vehicle and storage medium for an electric vehicle. Background Art

[0002] In order to meet the usage requirements of some special scenarios, a micro-control function is usually added to electric vehicles used in special scenarios. The micro-control function means that the vehicle can be controlled by tapping or long pressing a button. For example, each time the forward button or the reverse button is pressed, the vehicle can move forward or backward by about a few centimeters, and the motor drive will stop immediately after moving forward or backward by a few centimeters.

[0003] However, on a horizontal road or a slight uphill section, if the motor drive is stopped immediately after the vehicle moves forward or backward a few centimeters, the vehicle may easily move in the opposite direction due to the mechanical deformation potential energy still existing in the vehicle drive axle gear set, thereby reducing the accuracy of micro-motion control and the user experience. Summary of the invention

[0004] The present application provides a micro-motion control method, device, system, electric vehicle and storage medium for an electric vehicle to solve the problem in the related art that the electric vehicle immediately controls the motor to stop torque output when micro-motion control is completed, which may easily cause the vehicle to produce reverse movement, reduce the accuracy of micro-motion control, and poor user experience.

[0005] A first aspect of the present application provides a method for micro-motion control of an electric vehicle, comprising the following steps: obtaining a micro-motion control instruction generated by a micro-motion control intention; controlling a motor to output a target torque according to the micro-motion control instruction, micro-controlling the vehicle using the target torque, and detecting whether the micro-motion control of the vehicle is completed; upon detecting that the micro-motion control of the vehicle is completed, controlling the motor to enter a zero torque mode, or controlling the motor to enter a slow torque unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time.

[0006] Further, the inching control intention includes a tap inching control intention and a long press inching control intention, and when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode, or the motor is controlled to enter a slow torque unloading mode, so that the target torque of the motor is completely unloaded within a preset time and then the motor is controlled to enter the zero torque mode, including: if the inching control intention is the tap inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a slow torque unloading mode, so that the target torque of the motor is completely unloaded within a preset time and then the motor is controlled to enter the zero torque mode; if the inching control intention is the long press inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode.

[0007] Furthermore, when the micro-motion control intention is a tap-to-micro-motion control intention, the detecting whether the micro-motion control of the vehicle is completed also includes: collecting the continuous driving time of the vehicle, and judging whether the continuous driving time reaches the maximum time of the tap-to-micro-motion control intention; if the continuous driving time is greater than the maximum time, it is determined that the micro-motion control of the vehicle is not completed, and the motor is controlled to enter the zero torque mode.

[0008] Furthermore, the detecting whether the micro-motion control of the vehicle is completed also includes: detecting whether any one of the handbrake, throttle and brake of the vehicle is triggered; if any one of the handbrake, throttle and brake is triggered, it is determined that the micro-motion control of the vehicle is not completed, and the motor is controlled to enter zero torque mode.

[0009] Furthermore, it also includes: obtaining an emergency braking instruction generated by an emergency braking intention; controlling the motor to enter a zero torque mode according to the emergency braking instruction, controlling the vehicle to stop, and cutting off the power supply of the entire vehicle.

[0010] A second aspect of the present application provides a micro-motion control device for an electric vehicle, comprising: an acquisition module for acquiring micro-motion control instructions generated by micro-motion control intentions; a detection module for controlling a motor to output a target torque according to the micro-motion control instructions, micro-controlling the vehicle using the target torque, and detecting whether micro-motion control of the vehicle is completed; a control module for controlling the motor to enter a zero torque mode when detecting that micro-motion control of the vehicle is completed, or controlling the motor to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time.

[0011] A third aspect of the present application provides an inching control system for an electric vehicle, comprising: a first button and a second button; a vehicle controller for identifying an operator's inching control intention according to a trigger state of the first button or the second button, and generating inching control instructions according to the inching control intention; a motor controller for acquiring inching control instructions generated by the inching control intention; controlling a motor to output a target torque according to the inching control instructions, performing inching control of the vehicle using the target torque, and detecting whether inching control of the vehicle is completed; when it is detected that inching control of the vehicle is completed, controlling the motor to enter a zero torque mode, or controlling the motor to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time.

[0012] Furthermore, it also includes: a third button; the vehicle controller is further used to identify the operator's emergency braking intention according to the trigger state of the third button; the motor controller is further used to obtain an emergency braking instruction generated by the emergency braking intention; according to the emergency braking instruction, the motor is controlled to enter a zero torque mode, and the vehicle is controlled to stop, and the power supply of the vehicle is cut off.

[0013] A fourth aspect of the present application provides an electric vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the micro-motion control method of the electric vehicle as described in the above embodiment.

[0014] The fifth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the micro-motion control method of an electric vehicle as described in the above embodiment.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] The motor output torque can be slowly reduced when the micro-motion control is completed to unload the mechanical deformation potential energy generated by the drive axle gear set of the vehicle, avoid the vehicle from producing reverse movement, effectively improve the precision of micro-motion control, and enhance the user experience. This solves the technical problem in the related art that the electric vehicle immediately controls the motor to stop torque output when the micro-motion control is completed, which easily causes the vehicle to produce reverse movement, reduces the precision of micro-motion control, and has a poor user experience.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 A schematic diagram of the structure of a micro-motion control system for an electric vehicle provided according to an embodiment of the present application;

[0020] Figure 2 A flowchart of a micro-motion control method for an electric vehicle provided according to an embodiment of the present application;

[0021] Figure 3 A flowchart of a micro-motion control method for an electric vehicle provided according to an embodiment of the present application;

[0022] Figure 4 This is an example diagram of a micro-motion control device for an electric vehicle provided according to an embodiment of the present application;

[0023] Figure 5 It is a schematic diagram of the structure of an electric vehicle provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0025] In some special application scenarios, the driver needs to control the vehicle to move forward or backward inching outside the vehicle to achieve the docking function. For example, in the scenario of airport baggage check-in, the hanging hole at the rear of the tractor needs to be docked with the mechanical connecting rod hole of the luggage trailer, so the tractor needs to have the forward and backward inching function. Each time the forward button or reverse button is pressed, the vehicle can move forward or backward by about a few centimeters.

[0026] However, on a horizontal road or a slight uphill section, when the vehicle moves forward or backward a few centimeters, if the motor drive is stopped immediately, the mechanical deformation potential energy generated by the vehicle drive axle gear set is not effectively unloaded. Therefore, after the motor stops driving, the vehicle will produce reverse movement. In severe cases, the vehicle may return to its initial position and fail to achieve the desired micro-motion control goal, greatly reducing the user experience.

[0027] To this end, this application is designed from the software control strategy. After the vehicle moves a few centimeters, the vehicle controller slowly reduces the motor torque to zero, and then puts the motor into zero torque mode. Before introducing the micro-motion control method of electric vehicles, the relevant hardware for realizing the micro-motion control function is first explained, such as Figure 1As shown, the micro-motion control system of the electric vehicle includes: a first button 1, a second button 2, a third button 3, a vehicle controller 4 and a motor controller 5.

[0028] Among them, the first button 1 and the second button 2 can be self-reset buttons, the first button 1 is used to generate an instruction to control the vehicle to move forward, the second button 2 is used to generate an instruction to control the vehicle to move backward, and the third button 3 is used to generate an instruction to control the vehicle to stop urgently, and the first button 1, the second button 2, and the third button 3 all have two states, namely, a trigger state and a non-trigger state, when the button is pressed, it is a trigger state, and when it is not pressed, it is a non-trigger state, and the trigger state of the first button 1 and the second button 2 also includes a click trigger state and a long press trigger state. The click trigger state can be understood as the button automatically resets after pressing the button once, and the long press trigger state can be understood as the button automatically resets when it is released after being continuously pressed. When the first button 1 or the second button 2 is in the click trigger state, the vehicle executes the click micro-motion function; when the first button 1 and the second button 2 are in the long press trigger state, the vehicle executes the long press micro-motion function. When the third button 3 is in the trigger state, the vehicle executes the emergency stop function, wherein the third button 3 can be a locking button, and when the third button 3 is pressed, the emergency stop function can be triggered, thereby improving the response speed and the safety of the vehicle. The vehicle controller 4 is used to generate corresponding instructions according to the actual states of the first button 1, the second button 2, and the third button 3. For example, the operator's micro-control intention can be identified according to the trigger state of the first button or the second button, and the micro-control instruction can be generated according to the micro-control intention; for example, the operator's emergency braking intention can be identified according to the trigger state of the third button, and the emergency braking instruction can be generated according to the emergency braking intention, and then communicate with the motor controller 5 through the CAN (Controller Area Network) bus, and the motor controller 5 controls the motor to perform corresponding actions according to the instruction.

[0029] based on Figure 1 The micro-motion control system of electric vehicles will be combined with Figure 2 The micro-motion control method of electric vehicles is described. Specifically, Figure 2 A schematic flow chart of a micro-motion control method for an electric vehicle provided in an embodiment of the present application.

[0030] like Figure 2 As shown, the micro-motion control method of the electric vehicle includes the following steps:

[0031] In step S101 , an inching control instruction generated by an inching control intention is acquired.

[0032] Among them, the micro-motion control intention refers to the operator's intention to control the short-distance movement of the vehicle. The micro-motion control intention includes the tap micro-motion control intention and the long-press micro-motion control intention, which can be generated according to the triggering state of the first button and the second button. When the tap micro-motion control intention is recognized, the vehicle executes the tap micro-motion function. When the long-press micro-motion control intention is recognized, the vehicle executes the long-press micro-motion function.

[0033] It should be noted that both the single-tap inching control intention and the long-press inching control intention include a forward control intention and a reverse control intention. Therefore, the inching control instruction may include a forward inching control instruction and a reverse inching control instruction.

[0034] It is understandable that the embodiment of the present application can obtain the control instruction generated by the vehicle controller according to the specific micro-motion control intention to realize the micro-motion control of the vehicle. For example, when the operator presses the first button, the first button is in the click trigger state. At this time, the vehicle controller recognizes the operator's micro-motion control intention as the forward control intention in the click micro-motion control intention according to the click trigger state, that is, it is necessary to control the vehicle to move forward a certain distance, so that the forward micro-motion control instruction can be generated.

[0035] In step S102, the motor is controlled to output a target torque according to the inching control instruction, the vehicle is inching controlled using the target torque, and it is detected whether the inching control of the vehicle is completed.

[0036] It is understandable that the embodiment of the present application can drive the motor output according to the micro-motion control instruction to drive the vehicle to fully micro-motion control. Among them, since the torque is inversely proportional to the speed when the power is determined, the embodiment of the present application can also control the motor output target speed, and the target torque can be calculated according to the target speed.

[0037] It should be noted that when the vehicle executes the tap micro-motion function, the embodiment of the present application can determine that the micro-motion control of the vehicle is completed after calculating that the vehicle's travel distance has reached the target value; when the vehicle executes the long-press micro-motion function, the embodiment of the present application can determine that the micro-motion control of the vehicle is completed when it is detected that the button state that triggers the long-press micro-motion control intention has changed to a non-trigger state.

[0038] In an embodiment of the present application, detecting whether the micro-motion control of the vehicle is completed also includes: detecting whether any one of the handbrake, throttle and brake of the vehicle is triggered; if any one of the handbrake, throttle and brake is triggered, it is determined that the micro-motion control of the vehicle is not completed, and the motor is controlled to enter zero torque mode.

[0039] It can be understood that no matter whether the vehicle executes the tap-and-hold inching function or the long-press inching function, during the inching control of the vehicle, if the brake, accelerator, handbrake and other signals are detected, it can be determined that there is an abnormality in the inching control of the vehicle. At this time, the inching control is not completed. The embodiment of the present application can forcibly end the inching control, and immediately control the motor to stop torque output and enter zero torque mode, that is, the output torque of the motor is zero, thereby effectively improving the safety of the vehicle.

[0040] In an embodiment of the present application, when the micro-motion control intention is a tap micro-motion control intention, detecting whether the micro-motion control of the vehicle is completed also includes: collecting the continuous driving time of the vehicle, and judging whether the continuous driving time reaches the maximum time of the tap micro-motion control intention; if the continuous driving time is greater than the maximum time, it is determined that the micro-motion control of the vehicle is not completed, and the motor is controlled to enter zero torque mode.

[0041] Among them, the maximum duration can be understood as the maximum duration allowed for the vehicle micro-motion control when the micro-motion function is triggered. It can be specifically set or calibrated according to actual control requirements, and there is no specific limitation on this.

[0042] It can be understood that during the period when the vehicle executes the tap-to-nudge function for inching control, if it is detected that the vehicle has not been fully inched controlled for a long time, it can be determined that the inching control has timed out and there is an abnormality in the inching control. At this time, the inching control is not completed. The embodiment of the present application can forcibly end the inching control and immediately control the motor to stop torque output and enter zero torque mode, that is, the output torque of the motor is zero, thereby effectively improving the safety of the vehicle.

[0043] In step S103, when it is detected that the micro-motion control of the vehicle is completed, the motor is controlled to enter the zero torque mode, or the motor is controlled to enter the torque slow unloading mode, so that the motor's target torque is completely unloaded within a preset time and then the motor is controlled to enter the zero torque mode.

[0044] The preset time may be set or calibrated according to actual conditions and is not specifically limited thereto.

[0045] It can be understood that the torque slow unloading mode refers to a mode in which the vehicle slowly reduces the torque of the motor to zero after the micro-motion control is completed. For example, the target torque is slowly reduced to zero within 1s or 0.5s, etc., so as not to increase any software and hardware costs. By optimizing the micro-motion control, the torque can be slowly reduced when the micro-motion control is completed to unload the mechanical deformation potential energy generated by the drive axle gear set, avoid vehicle rollback, effectively improve the micro-motion distance accuracy, and enhance the user experience.

[0046] Specifically, if the micro-motion control intention is a single-touch micro-motion control intention, then when it is detected that the micro-motion control of the vehicle is completed, the motor is controlled to enter a slow torque unloading mode, so that the motor's target torque is completely unloaded within a preset time, and then the motor is controlled to enter a zero torque mode; if the micro-motion control intention is a long-press micro-motion control intention, then when it is detected that the micro-motion control of the vehicle is completed, the motor is controlled to enter a zero torque mode.

[0047] In an embodiment of the present application, the method of the embodiment of the present application also includes: obtaining an emergency braking instruction generated by an emergency braking intention; controlling the motor to enter a zero torque mode according to the emergency braking instruction, controlling the vehicle to stop, and cutting off the power supply of the entire vehicle.

[0048] It can be understood that the embodiment of the present application is also provided with an emergency stop function. When the vehicle controller detects that the third button is in a triggered state, it can determine that the operator's operating intention is an emergency braking intention, and generate an emergency braking command to trigger the vehicle's emergency stop function. Therefore, when the vehicle is abnormal or dangerous, the third button can be used to manually stop the vehicle and cut off the high voltage, thereby effectively improving the safety of the vehicle.

[0049] The following will explain the micro-motion control method of electric vehicles through specific implementation. After the vehicle controller recognizes the operator's operating intention, it determines whether the vehicle meets the micro-motion control conditions. If the vehicle conditions do not meet the operator's intention, it will not respond to the operator's intention. If it meets the requirements, for example, when the brake, accelerator and handbrake are not triggered, the target speed is sent to the motor controller, such as Figure 1 and Figure 3 As shown in the figure, the micro-motion control is as follows:

[0050] 1. Click-to-jog function: When the operator clicks the first or second button, the vehicle controller determines whether the vehicle conditions are met. If they are met, the target speed is sent to the motor controller through the CAN bus, so that the motor controller controls the motor to output the target speed and drive the vehicle. When the calculated travel distance reaches the target value, the motor controller controls the target torque to slowly decrease to zero, and then enters the initial no-action state (i.e., zero torque mode). During the process of jogging forward or jogging backward, if the vehicle has abnormal conditions, such as: stepping on the brakes, stepping on the accelerator, pulling the handbrake, timeout, etc., the click-to-jog function will be stopped immediately and returned to the initial no-action state.

[0051] 2. Long-press inching function: When the operator long-presses the first button or the second button, if the vehicle conditions are met, the vehicle controller sends the target speed to the motor controller through the CAN bus, so that the motor controller controls the motor to output the target speed and drive the vehicle. When the operator determines that the driving meets the requirements, releases the button or an abnormality occurs, such as: stepping on the brake, stepping on the accelerator, pulling the handbrake, etc., the vehicle controller immediately stops the inching function and enters the initial non-action state (i.e., zero torque mode). The long-press inching function can be used for road conditions where the driving distance is long or there are obstacles.

[0052] 3. Emergency stop function: When danger occurs, the operator can use the emergency switch to stop the machine immediately and cut off the high voltage.

[0053] In summary, (1) after the micro-motion function is completed by pressing a button, the vehicle does not directly enter the initial state - no action, but adds a slow torque reduction process, thereby effectively unloading the mechanical deformation potential energy generated by the drive axle gear set and preventing the vehicle from rolling back; (2) after the micro-motion function is completed by long pressing a button, the vehicle can directly enter the initial state - no action; (3) the emergency stop function ensures that the vehicle can be manually parked and high voltage can be cut off when an abnormality or danger occurs, thereby improving safety; (4) during the micro-motion function, if there is any abnormal action (such as: braking, stepping on the accelerator, pulling the handbrake, timeout, etc.), the micro-motion function will be stopped immediately and the vehicle will enter the initial state - no action.

[0054] According to the micro-motion control method for electric vehicles proposed in the embodiment of the present application, the motor output torque can be slowly reduced when micro-motion control is completed to unload the mechanical deformation potential energy generated by the vehicle's drive axle gear set, avoid reverse movement of the vehicle, effectively improve the accuracy of micro-motion control, and enhance the user experience.

[0055] Next, the micro-motion control device for an electric vehicle according to an embodiment of the present application is described with reference to the accompanying drawings.

[0056] Figure 4 4 is a block diagram of a micro-motion control device for an electric vehicle according to an embodiment of the present application.

[0057] like Figure 4 As shown, the micro-motion control device 100 of the electric vehicle includes: an acquisition module 110 , a detection module 120 and a control module 130 .

[0058] Among them, the acquisition module 110 is used to obtain the first torque control instruction generated by the micro-motion control intention; the detection module 120 is used to control the motor to output the target torque according to the first torque control instruction, drive the vehicle according to the target torque, and detect whether the vehicle meets the parking condition; the control module 130 is used to control the motor to enter the zero torque mode if the vehicle meets the parking condition, or control the motor to enter the torque slow unloading mode, so that the motor's target torque is completely unloaded within a preset time and the motor is controlled to enter the zero torque mode

[0059] It should be noted that the above explanation of the embodiment of the micro-motion control method for an electric vehicle is also applicable to the micro-motion control device for an electric vehicle of this embodiment, and will not be repeated here.

[0060] According to the micro-motion control device for an electric vehicle proposed in the embodiment of the present application, the motor output torque can be slowly reduced when micro-motion control is completed to unload the mechanical deformation potential energy generated by the vehicle's drive axle gear set, thereby preventing the vehicle from generating reverse movement, effectively improving the accuracy of micro-motion control, and enhancing the user experience.

[0061] Figure 5 A schematic diagram of the structure of an electric vehicle provided in an embodiment of the present application. The vehicle may include:

[0062] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0063] When the processor 502 executes the program, the electric vehicle micro-motion control method provided in the above embodiment is implemented.

[0064] Furthermore, the electric vehicle further comprises:

[0065] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0066] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0067] The memory 501 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0068] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0069] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0070] The processor 502 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0071] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned micro-motion control method for an electric vehicle.

[0072] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0074] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0075] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0076] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0077] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A micro-motion control method for an electric vehicle, characterized in that: The following steps are involved: Obtaining the micro-motion control instruction generated by the micro-motion control intention; Controlling the motor to output a target torque according to the inching control instruction, performing inching control on the vehicle using the target torque, and detecting whether the inching control of the vehicle is completed; as well as When it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode, or the motor is controlled to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time; The inching control intention includes: a single-touch inching control intention and a long-touch inching control intention. The single-touch inching control intention is an intention that the operator triggers the vehicle to travel when the button is pressed and stops after the travel distance reaches a target value. The long-touch inching control intention is an intention that the operator triggers the vehicle to travel when the button is pressed and stops after the operator releases the button. When it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode, or the motor is controlled to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time, including: If the inching control intention is the tap-to-inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time; If the inching control intention is the long-press inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode.

2. The method according to claim 1, characterized in that When the inching control intention is a point-to-point inching control intention, the detecting whether the inching control of the vehicle is completed further includes: Collecting the continuous driving time of the vehicle, and determining that the continuous driving time reaches the maximum time of the point-press inching control intention; If the continuous driving time is greater than the maximum time, it is determined that the inching control of the vehicle is not completed, and the motor is controlled to enter a zero torque mode.

3. The method according to claim 1 or 2, characterized in that: The detecting whether the inching control of the vehicle is completed further includes: Detecting whether any of the handbrake, accelerator and brake of the vehicle is triggered; If any one of the handbrake, the accelerator and the brake is triggered, it is determined that the inching control of the vehicle is not completed, and the motor is controlled to enter a zero torque mode.

4. The method according to claim 1, characterized in that Also includes: obtaining an emergency braking command generated by an emergency braking intention; The motor is controlled to enter a zero torque mode according to the emergency braking instruction, the vehicle is controlled to stop, and the power supply of the entire vehicle is cut off.

5. A micro-motion control device for an electric vehicle, characterized in that: include: An acquisition module, used for acquiring a micro-motion control instruction generated by a micro-motion control intention; a detection module, used to control the motor to output a target torque according to the inching control instruction, perform inching control on the vehicle using the target torque, and detect whether the inching control of the vehicle is completed; as well as a control module, configured to control the motor to enter a zero torque mode when detecting that the inching control of the vehicle is completed, or to control the motor to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time; The micro-motion control intention includes: a single-touch micro-motion control intention and a long-touch micro-motion control intention. The single-touch micro-motion control intention is an intention that the operator triggers the vehicle to travel when the button is pressed and stops after the travel distance reaches a target value. The long-touch micro-motion control intention is an intention that the operator triggers the vehicle to travel when the button is pressed and stops after the operator releases the button. The control module is further used for: If the inching control intention is the tap-to-inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time; If the inching control intention is the long-press inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode.

6. A micro-motion control system for an electric vehicle, characterized in that: include: A first button and a second button; A vehicle controller, configured to identify an operator's micro-motion control intention according to a trigger state of the first button or the second button, and generate a micro-motion control instruction according to the micro-motion control intention; as well as A motor controller, used for obtaining an inching control instruction generated by an inching control intention; controlling the motor to output a target torque according to the inching control instruction, using the target torque to inching control the vehicle, and detecting whether the inching control of the vehicle is completed; when it is detected that the inching control of the vehicle is completed, controlling the motor to enter a zero torque mode, or controlling the motor to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time; The micro-motion control intention includes: a single-touch micro-motion control intention and a long-touch micro-motion control intention. The single-touch micro-motion control intention is an intention that the operator triggers the vehicle to travel when the operator taps the first button or the second button, and stops after the travel distance reaches a target value. The long-touch micro-motion control intention is an intention that the operator triggers the vehicle to travel when the operator long-touches the first button or the second button, and stops after the operator releases the button. The motor controller is further used for: If the inching control intention is the tap-to-inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a torque slow unloading mode, so that the motor is controlled to enter the zero torque mode after the target torque of the motor is completely unloaded within a preset time; If the inching control intention is the long-press inching control intention, then when it is detected that the inching control of the vehicle is completed, the motor is controlled to enter a zero torque mode.

7. The system according to claim 6, characterized in that Also includes: The third button; The vehicle controller is further used to identify the operator's emergency braking intention according to the trigger state of the third button, and generate an emergency braking instruction according to the emergency braking intention; The motor controller is further used to obtain an emergency braking instruction generated by an emergency braking intention; control the motor to enter a zero torque mode according to the emergency braking instruction, control the vehicle to stop, and cut off the power supply of the entire vehicle.

8. An electric vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the micro-motion control method for an electric vehicle as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the micro-motion control method of an electric vehicle as described in any one of claims 1 to 4.

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