Electric vehicle control method, electronic device and storage medium

Abstract

The present application provides an electric vehicle control method, an electronic device and a storage medium, wherein the electric vehicle has at least two acquisition devices for accelerator pedal opening, and the pedal opening comprehensive value is determined based on the pedal opening values ​​output by at least two acquisition devices, and the control method comprises: obtaining the voltage value corresponding to the pedal opening value output by each acquisition device; determining the accuracy of the voltage value based on a preset voltage parameter; adjusting the initial weight of the pedal opening value output by the corresponding acquisition device based on the accuracy to obtain a calibration weight, wherein the accuracy is positively correlated with the weight; and controlling the motor power of the electric vehicle based on the calibration weight. The present application can determine different fault types of the acquisition device by detecting the voltage value of the acquisition device, and determine corresponding calibration strategies and control strategies to control the motor power according to different fault types, thereby improving the driving safety of the electric vehicle.

Description

Technical Field

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

[0002] As people's environmental awareness increases, the share of electric vehicles in the market is gradually increasing, and more and more technologies related to electric vehicles are involved.

[0003] In the prior art, by obtaining the accelerator pedal position signal voltage, it is determined whether the accelerator pedal position signal voltage is within a preset range. If the accelerator pedal position signal voltage is within the preset range, the accelerator pedal position signal is determined to be normal; if the accelerator pedal position signal voltage exceeds the preset range, the accelerator pedal position signal is determined to be abnormal. Although the prior art can detect whether the acquisition device that outputs the accelerator pedal position signal is abnormal, it does not involve the specific fault type of the acquisition device and how to adjust the stroke output of the accelerator pedal for different fault types, and it is also unable to control the motor power to protect the motor.

[0004] Therefore, the technical problem of how to determine the fault type of the acquisition device and make corresponding control according to the fault type needs to be solved urgently. Summary of the invention

[0005] The present application provides an electric vehicle control method, an electronic device and a storage medium to at least solve the technical problem existing in the related art of how to determine the fault type of a collection device and make corresponding control according to the fault type.

[0006] According to one aspect of an embodiment of the present application, a method for controlling an electric vehicle is provided, wherein the electric vehicle has at least two accelerator pedal opening acquisition devices, and a comprehensive pedal opening value is determined based on pedal opening values ​​output by at least two of the acquisition devices, and the control method comprises: obtaining a voltage value corresponding to the pedal opening value output by each of the acquisition devices; determining the accuracy of the voltage value based on a preset voltage parameter; adjusting an initial weight of the pedal opening value output by the corresponding acquisition device based on the accuracy to obtain a calibration weight, wherein the accuracy is positively correlated with the weight; and controlling the motor power of the electric vehicle based on the calibration weight.

[0007] Optionally, when any of the weights is greater than a preset value, the pedal opening comprehensive value is calculated based on the calibration weight and the pedal opening value; and the motor power is controlled based on the pedal opening comprehensive value.

[0008] Optionally, when at least one of the weights is less than or equal to the preset value, and at least one of the weights is greater than the preset value, it is confirmed that the acquisition device is in a first fault state, and the motor is controlled to operate at reduced power using a first control strategy; after the fault state of the acquisition device is eliminated, the motor power is controlled based on the comprehensive value of the pedal opening.

[0009] Optionally, when any of the weights is less than or equal to the preset value, it is confirmed that the acquisition device is in a second fault state, and the motor is controlled to operate at reduced power using a second control strategy; after the fault state of the acquisition device is eliminated, a restart prompt message is output.

[0010] Optionally, the preset voltage parameter includes a preset voltage value range: obtaining the first number of times or the first duration that the voltage value is outside the preset voltage range; determining the accuracy based on the ratio of the first number to the first preset number or the ratio of the first duration to the first preset duration.

[0011] Optionally, the preset voltage parameter includes a preset change rate range: obtaining a second number of times or a second duration in which the change rate of the voltage value corresponding to the pedal opening value output by the acquisition device is outside the preset voltage change rate range for at least two consecutive times; determining the accuracy rate based on the ratio of the second number of times to the second preset number of times or the ratio of the second duration to the second preset duration.

[0012] Optionally, when the accuracy rate is greater than zero, it is confirmed that the weight corresponding to the accuracy rate is greater than the preset value; when the accuracy rate corresponding to at least one of the acquisition devices is less than 1, and the accuracy rate of the voltage value corresponding to at least one of the acquisition devices is equal to 1, the pedal opening comprehensive value of the accelerator pedal is calculated using the following formula: Wherein ACPS is the pedal opening comprehensive value, n is the number of acquisition devices, i is the number of acquisition devices whose voltage value accuracy is less than 1, j is the number of acquisition devices whose voltage value accuracy is equal to 1, and i+j=n, i and j are included in n, β is the accuracy corresponding to the voltage value when the accuracy is less than 1, is the initial weight of the pedal opening value output by the acquisition device, ACPS iold is the pedal opening value corresponding to the voltage value with an accuracy of 1 based on the most recent N acquisitions,

[0013] Optionally, when the accuracy of the voltage value corresponding to any acquisition device is less than 1, the comprehensive value of the pedal opening of the accelerator pedal is calculated using the following formula: Wherein, ACPS is the pedal opening comprehensive value, n is the number of acquisition devices, k and l are the number of acquisition devices whose accuracy of the voltage value is less than 1, and k+l=n, k and l are included in n, α and θ are the accuracy rates of the voltage values ​​corresponding to the pedal opening values ​​output by the corresponding acquisition device, is the initial weight of the pedal opening value output by the acquisition device, ACPS kold and ACPS lold The corresponding pedal opening value is the voltage value corresponding to the voltage value with an accuracy rate of 1 based on the latest N acquisitions by the corresponding acquisition device, d = min{1-α, 1-θ}, ACPS limp is the pedal opening value of the electric vehicle when it is operated under the control of the second control strategy.

[0014] According to another aspect of the embodiments of the present application, an electronic device is also provided, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method steps in any one of the above-mentioned embodiments.

[0015] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the method steps in any one of the above embodiments are implemented.

[0016] In an embodiment of the present application, the accuracy of the voltage value is determined by detecting the voltage value of the accelerator pedal acquisition device, and the working condition of the corresponding acquisition device is determined according to the accuracy of different voltage values. If the acquisition device is in a faulty state, the corresponding fault type is determined according to the different accuracy rates, and the initial weight of the pedal opening value output by the acquisition device is calibrated based on the accuracy to obtain a calibration weight that can control the motor power of the electric vehicle, thereby improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1is a schematic diagram of a hardware environment of an optional electric vehicle control method according to an embodiment of the present application;

[0020] Figure 2 is a flow chart of an optional electric vehicle control method according to an embodiment of the present application;

[0021] Figure 3 is a structural block diagram of an optional electric vehicle control device according to an embodiment of the present application;

[0022] Figure 4 This is an optional structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described 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, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. 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 comprising 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.

[0025] According to one aspect of an embodiment of the present application, a method for controlling an electric vehicle is provided. Optionally, in this embodiment, the method for controlling an electric vehicle can be applied to Figure 1 In the hardware environment composed of the terminal 102 and the server 104 shown in FIG. Figure 1As shown, the server 104 is connected to the terminal 102 through a network, and can be used to provide services for the terminal or the client installed on the terminal. A database can be set on the server or independently of the server to provide data storage services for the server 104, and can also be used to process cloud services. The above network includes but is not limited to: wide area network, metropolitan area network or local area network, and the terminal 102 is not limited to PC, mobile phone, tablet computer, etc. The electric vehicle control method of the embodiment of the present application can be executed by the server 104, or by the terminal 102, or by the server 104 and the terminal 102. Among them, the terminal 102 executes the electric vehicle control method of the embodiment of the present application, and it can also be executed by the client installed thereon.

[0026] Taking the electric vehicle control method in this embodiment executed by the terminal 102 and / or the server 104 as an example, Figure 2 is a flow chart of an optional electric vehicle control method according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include the following steps:

[0027] Step S10, obtaining a voltage value corresponding to the pedal opening value output by each acquisition device;

[0028] Step S20, determining the accuracy of the voltage value based on a preset voltage parameter;

[0029] Step S30, adjusting the initial weight of the pedal opening value output by the corresponding acquisition device based on the accuracy rate to obtain a calibration weight, wherein the accuracy rate is positively correlated with the weight;

[0030] Step S40: controlling the motor power of the electric vehicle based on the calibration weight.

[0031] Through the above steps S10 to S40, the accuracy of the voltage value is determined by detecting the voltage value of the accelerator pedal acquisition device, and the working condition of the corresponding acquisition device is determined according to the accuracy of different voltage values. If the acquisition device is in a faulty state, the corresponding fault type is determined according to different accuracy rates, and the initial weight of the pedal opening value output by the acquisition device is calibrated based on the accuracy to obtain a calibration weight that can control the motor power of the electric vehicle, thereby improving the safety of vehicle driving.

[0032] Exemplarily, the following embodiments are explained by taking a two-channel acquisition device as an example.

[0033] For the technical solution in step S10, the voltage value corresponding to the pedal opening value output by each acquisition device is obtained. Exemplarily, when acquiring the accelerator pedal stroke, the vehicle control unit (VCU) calculates the pedal opening by acquiring the signal voltage value output by two acquisition devices. The pedal opening of each acquisition device is calculated as follows (1):

[0034]

[0035] Among them, ACPS x is the pedal opening of road x, V x is the voltage value of x circuit, V min is the minimum voltage value of x path, V max It is the maximum voltage value of x channel.

[0036] For the technical solution in step S20, the accuracy of the voltage value is determined based on the preset voltage parameter. For example, under normal working conditions, the voltage value corresponding to each acquisition device should be within the preset range. When the voltage value is not within the preset range, the fault type of the acquisition device can be divided into the following types:

[0037] When the voltage value corresponding to the acquisition device is greater than the preset maximum voltage value, the acquisition device is determined to be an over-limit soft fault; when the voltage value corresponding to the acquisition device has a voltage change rate greater than the preset maximum voltage change rate during two consecutive acquisitions, the acquisition device is determined to be a sudden change soft fault; if the voltage value change rate does not change during the voltage value change rate detection process for no less than three consecutive times, the acquisition device is determined to be a stagnant soft fault. It should be noted that in this embodiment, sudden change soft faults and stagnant soft faults can be classified as one type of fault; when the pedal opening values ​​corresponding to the two acquisition devices differ by more than the preset maximum difference, the acquisition device is determined to be a rational soft fault.

[0038] After the soft fault is confirmed, the VCU will continuously diagnose the voltage value corresponding to the acquisition device. When the number of soft faults of the voltage value exceeds the preset number or the duration of the soft fault exceeds the preset duration, it is determined that the acquisition device corresponding to the voltage value has changed from a soft fault to a hard fault, and different control strategies are determined based on different hard fault types or the number of acquisition devices with hard faults. After determining different acquisition device fault types, this embodiment can adjust the control strategy in a targeted manner according to the specific fault type, thereby improving the safety of vehicle driving.

[0039] For the technical solution in step S30, the initial weight of the pedal opening value output by the corresponding acquisition device is adjusted based on the accuracy to obtain a calibration weight, wherein the accuracy is positively correlated with the weight. As an exemplary embodiment, the pedal opening comprehensive value of the accelerator pedal is obtained by the sum of the products of the pedal opening value corresponding to each acquisition device and the initial weight, and the sum of the initial weights of all acquisition devices is 1. Therefore, when the initial weight of one of the acquisition devices is adjusted, the initial weight of another acquisition device will also change. The weight calculation method of the pedal opening value corresponding to the acquisition device is the product of the accuracy of the voltage value of the acquisition device and the initial weight. Therefore, after obtaining the accuracy of the voltage value of the acquisition device, it is necessary to recalculate the weight of the pedal opening value corresponding to the acquisition device to obtain the calibration weight, and perform subsequent calculation steps based on the calibration weight.

[0040] For the technical solution in step S40, the motor power of the electric vehicle is controlled based on the calibration weight. In this embodiment, after the calibration weight is calculated, the product of the calibration weight corresponding to each acquisition device and the pedal opening value is calculated, and the product of the calibration weight corresponding to each acquisition device and the pedal opening value is added to obtain the pedal opening comprehensive value of the accelerator pedal, and then the motor power is controlled based on the pedal opening comprehensive value. It should be noted that when a hard fault occurs in the acquisition device, the pedal opening comprehensive value of the accelerator pedal is no longer calculated, and the motor of the electric vehicle needs to be limited to a preset power, wherein the limited power operation means that the motor power cannot exceed the preset power operation.

[0041] As an exemplary embodiment, when at least one of the weights is less than or equal to the preset value, and at least one of the weights is greater than the preset value, it is confirmed that the acquisition device is in the first fault state, and the motor is controlled to operate with limited power using the first control strategy; after the acquisition device is no longer in the fault state, the motor power is controlled based on the pedal opening comprehensive value. In this embodiment, the preset value is 0, and the fault type of the acquisition device is determined by a counter. Specifically, the number of soft faults of the acquisition device currently accumulated by the counter is C. 1t , confirm that the cumulative number of times the acquisition device changes from soft fault to hard fault is C 1max , then the weight calculation method of the current acquisition device is obtained according to the following formula (2):

[0042] e=0.5×(1–C 1t / C 1max ) (2)

[0043] Among them, e is the calibration weight of the acquisition device, and 0.5 is the initial weight. In this embodiment, the weight of the pedal opening value corresponding to one acquisition device is less than or equal to 0, and the weight of the pedal opening value corresponding to the other acquisition device is greater than 0. Therefore, it can be determined that one of the two acquisition devices is a hard fault and the other is not a hard fault. At this time, the VCU controls the electric vehicle to execute the first control strategy to limit power operation, and does not calculate the comprehensive value of the pedal opening. When the hard fault is eliminated, the VCU automatically controls the electric vehicle to cancel the limited power operation without human intervention.

[0044] Exemplarily, when the weights corresponding to the pedal opening values ​​of the two acquisition devices are both less than or equal to 0, it can be determined that the two acquisition devices are both in a hard fault state. At this time, the VCU controls the electric vehicle to execute the second control strategy for limited power operation. After the faults of the two acquisition devices are eliminated, the VCU outputs a restart prompt message, prompting the driver to restart the electric vehicle in order to lift the restriction of the second control strategy on the limited power operation of the electric vehicle.

[0045] It should be noted that in formula (2), the calculation method of the initial weight 0.5 is the number of collection devices on each channel divided by the total number of collection devices, that is, 1 / 2. The same is true for electric vehicles with three or more collection devices when calculating the initial weight of the pedal opening value corresponding to the collection device.

[0046] As an exemplary embodiment, the preset voltage parameter includes a preset voltage value range: obtaining the first number of times or the first duration that the voltage value is outside the preset voltage range; determining the accuracy based on the ratio of the first number to the first preset number or the ratio of the first duration to the first preset duration. The preset voltage parameter includes a preset change rate range: obtaining the second number of times or the second duration that the rate of change of the voltage value corresponding to the pedal opening value output by the acquisition device is outside the preset voltage change rate range for at least two consecutive times; determining the accuracy based on the ratio of the second number of times to the second preset number of times or the ratio of the second duration to the second preset duration. In this embodiment, the accuracy is 1–C in formula (2) 1t / C 1max , the product of accuracy and initial weight is the calibration weight.

[0047] When the accuracy rate corresponding to at least one of the acquisition devices is less than 1, and the accuracy rate of the voltage value corresponding to at least one of the acquisition devices is equal to 1, it can be seen from formula (2) that one of the acquisition devices has no abnormal working condition, that is, no soft fault or hard fault occurs, and the other acquisition device has a soft fault. At this time, the comprehensive value of the pedal opening of the accelerator pedal is calculated using the following formula (3):

[0048]

[0049] Wherein ACPS is the pedal opening comprehensive value, n is the number of acquisition devices, i is the number of acquisition devices whose voltage value accuracy is less than 1, j is the number of acquisition devices whose voltage value accuracy is equal to 1, and i+j=n, i and j are included in n, β is the accuracy corresponding to the voltage value when the accuracy is less than 1, is the initial weight of the pedal opening value output by the acquisition device, ACPS iold is the pedal opening value corresponding to the voltage value with an accuracy of 1 based on the most recent N acquisitions, Among them, ACPS iold It can also be interpreted as the pedal opening value calculated most recently by the acquisition device before the soft fault occurs. The calculation method of β is shown in formula (2).

[0050] Similarly, when the accuracy of the voltage value corresponding to any acquisition device is less than 1, it can be seen from formula (2) that both acquisition devices have soft faults at this time, and the comprehensive value of the pedal opening of the accelerator pedal is calculated using the following formula (4):

[0051]

[0052] Wherein, ACPS is the pedal opening comprehensive value, n is the number of acquisition devices, k and l are the number of acquisition devices whose accuracy of the voltage value is less than 1, and k+l=n, k and l are included in n, α and θ are the accuracy rates of the voltage values ​​corresponding to the pedal opening values ​​output by the corresponding acquisition device, is the initial weight of the pedal opening value output by the acquisition device, ACPS kold and ACPS lold The corresponding pedal opening value is the voltage value corresponding to the voltage value with an accuracy rate of 1 based on the latest N acquisitions by the corresponding acquisition device, d = min{1-α, 1-θ}, ACPS limp is the pedal opening value of the electric vehicle when it is operated under the control of the second control strategy.

[0053] As an exemplary embodiment, when a rational soft fault occurs in the two-way sensor, the comprehensive value of the pedal opening of the accelerator pedal is calculated using the following formula (5):

[0054] ACPS=min{ACPS1,ACPS2} (5)

[0055] Among them, ACPS is the comprehensive value of the pedal opening of the accelerator pedal, ACPS1 is the pedal opening value corresponding to one of the acquisition devices, and ACPS2 is the pedal opening value corresponding to the other acquisition device.

[0056] When the rationality soft fault of the acquisition device occurs and the counting time is greater than the set time or the counting times are greater than the set times, the acquisition device is confirmed as a rationality hard fault. At this time, the VCU controls the electric vehicle to execute the first control strategy to control the motor to operate with limited power.

[0057] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0058] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory) / RAM (Random Access Memory), a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0059] The embodiment of the present application also provides an electric vehicle control device for implementing the above-mentioned electric vehicle control method. Figure 3 is a schematic diagram of an optional electric vehicle control device according to an embodiment of the present application, such as Figure 3 As shown, the device may include:

[0060] An acquisition module 402 is used to acquire a voltage value corresponding to the pedal opening value output by each acquisition device;

[0061] The analysis module 404 determines the accuracy of the voltage value based on the preset voltage parameter and adjusts the initial weight of the pedal opening value output by the corresponding acquisition device based on the accuracy to obtain a calibration weight;

[0062] The execution module 406 controls the motor power of the electric vehicle based on the calibration weight.

[0063] It should be noted that the acquisition module 402 in this embodiment can be used to execute the above step S10, the analysis module 404 in this embodiment can be used to execute the above step S20 and step S30, and the execution module 406 in this embodiment can be used to execute the above step S40.

[0064] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules as part of the device can be run in Figure 1 In the hardware environment shown, it can be implemented by software or by hardware, wherein the hardware environment includes a network environment.

[0065] According to another aspect of an embodiment of the present application, an electronic device for implementing the above-mentioned electric vehicle control method is also provided. The electronic device may be a server, a terminal, or a combination thereof.

[0066] Figure 4 is a structural block diagram of an optional electronic device according to an embodiment of the present application, such as Figure 4 As shown, it includes a processor 502, a communication interface 504, a memory 506 and a communication bus 508, wherein the processor 502, the communication interface 504 and the memory 506 communicate with each other through the communication bus 508, wherein,

[0067] Memory 506, used for storing computer programs;

[0068] The processor 502 is used to execute the computer program stored in the memory 506 to implement the following steps:

[0069] Obtaining a voltage value corresponding to the pedal opening value output by each of the acquisition devices;

[0070] Determining the accuracy of the voltage value based on a preset voltage parameter;

[0071] Based on the accuracy, an initial weight of the pedal opening value output by the corresponding acquisition device is adjusted to obtain a calibration weight, wherein the accuracy is positively correlated with the weight;

[0072] A motor power of the electric vehicle is controlled based on the calibrated weights.

[0073] Optionally, in this embodiment, the communication bus may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 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.

[0074] The communication interface is used for communication between the above electronic device and other devices.

[0075] The memory may include RAM, or may include non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0076] As an example, Figure 4 As shown, the memory 502 may include but is not limited to the acquisition module 402, the identification module 404 and the result analysis module 406 in the electric vehicle control device. In addition, it may also include but is not limited to other module units in the electric vehicle control device, which will not be repeated in this example.

[0077] The above-mentioned processor can be a general-purpose processor, which can include but not be limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; it can also be DSP (Digital Signal Processing), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0078] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, and this embodiment will not be described in detail here.

[0079] It can be understood by those skilled in the art that Figure 4The structure shown is for illustration only. The device for implementing the above-mentioned electric vehicle control method may be a terminal device, which may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a PDA, a mobile Internet device (Mobile Internet Devices, MID), a PAD, and other terminal devices. Figure 4 It does not limit the structure of the above electronic device. For example, the terminal device may also include Figure 4 More or fewer components (such as network interfaces, display devices, etc.) shown in, or having Figure 4 Different configurations shown.

[0080] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which can include: a flash drive, ROM, RAM, a magnetic disk or an optical disk, etc.

[0081] According to another aspect of the embodiment of the present application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute the program code of the electric vehicle control method.

[0082] Optionally, in this embodiment, the storage medium may be located on at least one network device among a plurality of network devices in the network shown in the above embodiment.

[0083] Optionally, in this embodiment, the storage medium is configured to store program codes for executing the following steps:

[0084] Obtaining a voltage value corresponding to the pedal opening value output by each of the acquisition devices;

[0085] Determining the accuracy of the voltage value based on a preset voltage parameter;

[0086] Based on the accuracy, an initial weight of the pedal opening value output by the corresponding acquisition device is adjusted to obtain a calibration weight, wherein the accuracy is positively correlated with the weight;

[0087] A motor power of the electric vehicle is controlled based on the calibrated weights.

[0088] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments, which will not be described in detail in this embodiment.

[0089] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0090] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0091] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.

[0092] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0093] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0094] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.

[0095] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0096] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling an electric vehicle, characterized in that: The electric vehicle has at least two accelerator pedal opening acquisition devices, and the pedal opening comprehensive value is determined based on the pedal opening values ​​output by at least two acquisition devices. The control method includes: Obtaining a voltage value corresponding to the pedal opening value output by each of the acquisition devices; Determining the accuracy of the voltage value based on a preset voltage parameter; Based on the accuracy rate, an initial weight of the pedal opening value output by the corresponding acquisition device is adjusted to obtain a calibration weight, wherein the accuracy rate is positively correlated with the calibration weight; controlling a motor power of the electric vehicle based on the calibration weight; When any of the calibration weights is greater than a preset value, calculating the pedal opening comprehensive value based on the calibration weight and the pedal opening value; Controlling the motor power based on the pedal opening comprehensive value; When the accuracy rate is greater than zero, confirming that the calibration weight corresponding to the accuracy rate is greater than the preset value; When the accuracy rate corresponding to at least one of the acquisition devices is less than 1, and the accuracy rate of the voltage value corresponding to at least one of the acquisition devices is equal to 1, the pedal opening comprehensive value of the accelerator pedal is calculated using the following formula: Wherein ACPS is the pedal opening comprehensive value, n is the number of acquisition devices, i is the number of acquisition devices whose voltage value accuracy is less than 1, j is the number of acquisition devices whose voltage value accuracy is equal to 1, and i+j=n, i and j are included in n, β is the accuracy corresponding to the voltage value when the accuracy is less than 1, is the initial weight of the pedal opening value output by the acquisition device, ACPS iold is the pedal opening value corresponding to the voltage value with an accuracy of 1 based on the most recent N acquisitions, 2. The electric vehicle control method according to claim 1, characterized in that: When at least one of the calibration weights is less than or equal to the preset value, and at least one of the calibration weights is greater than the preset value, confirming that the acquisition device is in a first fault state, and controlling the motor to operate at limited power using a first control strategy; After the fault state of the acquisition device is eliminated, the motor power is controlled based on the comprehensive value of the pedal opening.

3. The electric vehicle control method according to claim 1, characterized in that: When any of the calibration weights is less than or equal to the preset value, confirming that the acquisition device is in a second fault state, and controlling the motor to operate with limited power using a second control strategy; After the fault state of the acquisition device is eliminated, a restart prompt message is output.

4. The electric vehicle control method according to claim 1, characterized in that: The preset voltage parameters include a preset voltage value range: Acquire a first number of times or a first duration of time during which the voltage value is outside the preset voltage range; The accuracy rate is determined based on a ratio of the first number of times to a first preset number of times or a ratio of the first duration to a first preset duration.

5. The electric vehicle control method according to claim 1, characterized in that: The preset voltage parameters include a preset change rate range: Acquire a second number of times or a second duration that the change rate of the voltage value corresponding to the pedal opening value output by the acquisition device is outside the preset voltage change rate range for at least two consecutive times; The accuracy rate is determined based on a ratio of the second number of times to a second preset number of times or a ratio of the second duration to a second preset duration.

6. The electric vehicle control method according to claim 5, characterized in that: When the accuracy of the voltage value corresponding to any acquisition device is less than 1, the comprehensive value of the pedal opening of the accelerator pedal is calculated using the following formula: Wherein, ACPS is the pedal opening comprehensive value, n is the number of acquisition devices, k and l are the number of acquisition devices whose accuracy of the voltage value is less than 1, and k+l=n, k and l are included in n, α and θ are the accuracy rates of the voltage values ​​corresponding to the pedal opening values ​​output by the corresponding acquisition device, is the initial weight of the pedal opening value output by the acquisition device, ACPS kold and ACPS lold The corresponding pedal opening value is the voltage value corresponding to the voltage value with an accuracy rate of 1 based on the latest N acquisitions by the corresponding acquisition device, d = min{1-α, 1-θ}, ACPS limp is the pedal opening value of the electric vehicle when it is operated under the control of the second control strategy.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electric vehicle control method according to any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the electric vehicle control method according to any one of claims 1 to 6 is implemented.

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