Motor control method, device and vehicle

Abstract

The present invention discloses a motor control method, device and vehicle. The method comprises: in response to a start instruction of a target vehicle, obtaining the current pressure of a brake master cylinder and the current opening of a target pedal, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle; determining the target start phase of the target vehicle based on the current pressure and the current opening; and controlling the operation of the target motor based on the target coefficient corresponding to the target start phase, wherein the target coefficients corresponding to different start phases are different. The present invention solves the technical problem in the prior art that there is a torque zero-crossing impact in the process of motor torque rising when the vehicle starts.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicles, and in particular to a motor control method, device and vehicle. Background Art

[0002] During the process of starting and accelerating, the vehicle will go through three stages of braking: the brake master cylinder pressure drops to 0, the brake master cylinder pressure and the accelerator pedal opening are both 0, and the motor torque rises from 0 to the target torque. If the motor torque of the vehicle before starting changes from negative torque to 0, there will be a gap in the gear reduction of the reducer. If the motor torque rises too quickly, the whole vehicle will have an impact. If the motor torque rises slowly, there will be a power delay and the acceleration time will increase. However, there is no suitable motor torque control method during the starting process of the vehicle today, and it is impossible to shorten the starting acceleration time while ensuring that there is no torque zero impact.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a motor control method, device and vehicle to at least solve the technical problem in the prior art that there is a torque zero-crossing impact during the motor torque rising process when the vehicle starts.

[0005] According to one aspect of an embodiment of the present invention, a motor control method is provided, comprising: in response to a start-up instruction of a target vehicle, obtaining a current pressure of a brake master cylinder and a current opening of a target pedal, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle; determining a target start-up phase of the target vehicle based on the current pressure and the current opening; and controlling the target motor operation of the target vehicle based on a target coefficient corresponding to the target start-up phase, wherein different target coefficients correspond to different start-up phases.

[0006] Optionally, based on the current pressure and the current opening, the target start-up phase of the target vehicle is determined, including: comparing the current pressure with a pressure threshold; in response to the current pressure being less than a first pressure threshold, determining that the target start-up phase is the first start-up phase; based on the first start-up phase, judging whether the current pressure is less than a second pressure threshold, and obtaining a judgment result, wherein the second pressure threshold is less than the first pressure threshold; and determining the target start-up phase based on the judgment result and the current opening.

[0007] Optionally, based on the judgment result and the current opening, the target startup stage is determined, including: in response to the judgment result that the current pressure is less than the second pressure threshold, comparing the current opening with the opening threshold; in response to the current opening being less than or equal to the opening threshold, determining the target startup stage as the second startup stage; in response to the current opening being greater than the opening threshold, determining the target startup stage as the third startup stage.

[0008] Optionally, the third coefficient corresponding to the third startup stage is greater than the second coefficient corresponding to the second startup stage, and the second coefficient corresponding to the second startup switch is greater than the first coefficient corresponding to the first startup stage.

[0009] Optionally, based on a target coefficient corresponding to the target startup phase, the target motor is controlled to operate, including: controlling the torque increase of the target motor according to the target coefficient.

[0010] Optionally, the method further includes: acquiring a current torque of the target motor; and controlling the target motor to stop working in response to the current torque reaching the target torque.

[0011] Optionally, the method also includes: obtaining the current state and current gear of the target vehicle; determining whether the current state is a stationary state and whether the current gear is a target gear; in response to the current state being a stationary state and the current gear being the target gear, obtaining the current pressure of the brake master cylinder and the current opening of the target pedal.

[0012] According to one aspect of an embodiment of the present invention, there is provided an electric vehicle starting motor torque control device, comprising: an acquisition module, for acquiring the current pressure of a brake master cylinder and the current opening of a target pedal in response to a starting instruction of a target vehicle, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle; a determination module, for determining a target starting phase of the target vehicle based on the current pressure and the current opening; and a control module, for controlling the operation of a target motor of the target vehicle based on a target coefficient corresponding to the target starting phase, wherein different target coefficients correspond to different starting phases.

[0013] According to another aspect of an embodiment of the present invention, there is also provided an electronic device comprising: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors execute the electric vehicle starting motor torque control method of any one of the above-mentioned embodiments of the invention.

[0014] According to another aspect of the embodiments of the present invention, a vehicle is provided, comprising the motor control device of any one of the above embodiments.

[0015] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is further provided. The non-volatile storage medium includes a stored program, wherein when the program is running, a processor of the device is controlled to execute any one of the electric vehicle starting torque control methods in the above embodiments.

[0016] In an embodiment of the present invention, after issuing a vehicle start command, the vehicle obtains the accelerator pedal opening and brake master cylinder pressure of the target vehicle, determines the target start stage of the target vehicle at this moment according to the opening and pressure values, and controls the operation of the target motor based on the motor torque coefficient corresponding to the target start stage. It is easy to notice that the vehicle driving start process can be divided into several stages according to the brake master cylinder pressure and the target pedal opening signal, and different motor torque coefficients are defined for the motor torque of each stage, so that the motor torque can be at the most appropriate rising speed under different conditions, further refines the control of the motor torque, improves the rising rate of the motor torque, shortens the starting acceleration time, and improves the starting acceleration smoothness, thereby solving the technical problem of torque zero-crossing impact in the motor torque rising process when the car starts in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 is a flow chart of a motor control method according to an embodiment of the present invention;

[0019] Figure 2 is a schematic diagram of an optional starting motor torque control according to an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a motor control method according to an embodiment of the present invention;

[0021] Figure 4 is a logic diagram of an optional starting motor torque control according to an embodiment of the present invention;

[0022] Figure 5 is a schematic diagram of an optional motor torque coefficient (k) according to an embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of a motor control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Example 1

[0027] According to an embodiment of the present invention, an embodiment of a motor control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] Figure 1 is a flow chart of a motor control method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0029] Step S102, in response to the start instruction of the target vehicle, obtaining the current pressure of the brake master cylinder and the current opening of the target pedal, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle;

[0030] Step S104, determining a target start-up phase of the target vehicle based on the current pressure and the current opening;

[0031] Step S106 , controlling the target motor operation of the target vehicle based on the target coefficient corresponding to the target starting stage, wherein different target coefficients correspond to different starting stages.

[0032] In an optional embodiment, Figure 2 is a schematic diagram of an optional starting motor torque control according to an embodiment of the present invention, such as Figure 2 As shown, during the process of starting and accelerating, the vehicle will experience the brake master cylinder pressure drop to 0 (such as Figure 2 As shown by curve L), the brake master cylinder pressure and the accelerator pedal opening are both 0 and the accelerator pedal opening is greater than 0 (such as Figure 2 The initial value of the brake master cylinder pressure is the brake master cylinder pressure value when the vehicle is stationary (as shown by the broken line N). Figure 2The horizontal line M shows the acceleration process of the vehicle, so the embodiment of the present invention divides the vehicle acceleration process into three stages: the torque zero-crossing stage C1, which is the stage from when the driver steps on the brake pedal to when the pressure of the brake master cylinder drops to the pressure threshold; the torque overload stage C2, which is the stage from when the pressure of the brake master cylinder drops to the pressure threshold to when the accelerator pedal is stepped on to the opening threshold; the torque increase stage C3, which is the stage from when the accelerator pedal is stepped on to when the motor torque reaches the target value. By setting the motor torque coefficient k corresponding to the three stages respectively, the motor torque increase rates of the three stages are different. It should be noted that the embodiment of the present invention adopts a three-stage torque slope control method, but it can also be divided into more stages for control according to the characteristics of the starting acceleration process of the electric vehicle. The embodiment of the present invention uses a three-stage torque increase control method, but it can also achieve a similar effect by limiting the torque increase speed of the motor in other ways.

[0033] Among them, the start command can be a vehicle start command issued by the target vehicle. The brake master cylinder is the power source of the vehicle braking system. It is mainly to brake the target vehicle after the driver applies mechanical force to the foot brake of the target vehicle, and then a series of forces are converted inside the vehicle. The current pressure can be the current brake master cylinder pressure of the target vehicle. The size of the brake master cylinder pressure is negatively correlated with the opening of the foot brake, that is, as the driver slowly releases the foot brake, the brake master cylinder pressure gradually drops to 0. The target pedal can be an accelerator pedal, which is also called an accelerator pedal. It is mainly used to control the opening of the engine throttle, thereby controlling the power output of the engine to achieve the purpose of accelerating the target vehicle. The current opening can be the opening of the accelerator pedal of the target vehicle, corresponding to the displacement degree of the pedal when the driver steps on the pedal. For example, the corresponding opening can be set to 0 degrees when the pedal is not stepped on, and the corresponding opening can be set to 100 degrees if the pedal is stepped on to the bottom. The target start stage can be the stage corresponding to the current vehicle state in the three stages of the above-mentioned automobile start acceleration process: the torque zero crossing stage C1, the torque excessive stage C2, and the torque pull-up stage C3. The target coefficient can be the motor torque coefficient set corresponding to the starting acceleration stage. For example, the motor torque coefficient corresponding to the torque zero-crossing stage C1 is k1, the motor torque coefficient corresponding to the torque excessive stage C2 is k2, and the motor torque coefficient corresponding to the torque increase stage C2 is k3. Different motor torque coefficients have different effects on the target motor torque operation.

[0034] In an optional embodiment, after the target vehicle issues a vehicle starting command, the target pedal opening and brake master cylinder pressure of the target vehicle are obtained, and the target starting stage of the target vehicle is determined based on the current opening and the current pressure state. The target starting stage can be the torque zero-crossing stage C1, the torque excessive stage C2 or the torque pull-up stage C3. The motor torque coefficient k corresponding to different vehicle starting acceleration stages is different. By controlling the size of the motor torque coefficient k, the motor torque can be controlled.

[0035] In an embodiment of the present invention, after issuing a vehicle start command, the vehicle obtains the accelerator pedal opening and brake master cylinder pressure of the target vehicle, determines the target start stage of the target vehicle at this moment according to the opening and pressure values, and controls the operation of the target motor based on the motor torque coefficient corresponding to the target start stage. It is easy to notice that the vehicle driving start process can be divided into several stages according to the brake master cylinder pressure and the target pedal opening signal, and different motor torque coefficients are defined for the motor torque of each stage, so that the motor torque can be at the most appropriate rising speed under different conditions, further refines the control of the motor torque, improves the rising rate of the motor torque, shortens the starting acceleration time, and improves the starting acceleration smoothness, thereby solving the technical problem of torque zero-crossing impact in the motor torque rising process when the car starts in the prior art.

[0036] Optionally, according to the method of the above-mentioned embodiment of the invention, the target starting phase of the target vehicle is determined based on the current pressure and the current opening, including: comparing the current pressure with a pressure threshold; in response to the current pressure being less than a first pressure threshold, determining that the target starting phase is the first starting phase; based on the first starting phase, judging whether the current pressure is less than a second pressure threshold, and obtaining a judgment result, wherein the second pressure threshold is less than the first pressure threshold; determining the target starting phase based on the judgment result and the current opening.

[0037] The first pressure threshold may be the initial value P0 of the brake master cylinder pressure when the vehicle is stationary. The second pressure threshold may be the motor torque pressure threshold Pt. The current pressure may be the brake master cylinder pressure, indicating that when the brake master cylinder pressure drops to the motor torque pressure threshold Pt, the rising slope of the motor torque T is k2. For example, Figure 2 As shown, when the brake master cylinder pressure is less than the initial value in the static state, the rising slope of the motor torque T is k1, and the motor torque applied pressure threshold Pt can be 0, indicating that the brake master cylinder pressure drops to 0, and the rising slope of the motor torque T is k2. The first startup stage can be the torque zero crossing stage C1, which is the stage from when the driver releases the brake pedal to when the brake master cylinder pressure drops to the pressure threshold. It should be noted that when the brake master cylinder pressure drops to 0, it means that the foot brake opening is 0 at this time, that is, the foot brake is completely released.

[0038] In an optional embodiment, Figure 3 is a flow chart of an optional starting motor torque control according to an embodiment of the present invention, such as Figure 3As shown, when a stationary vehicle issues a start acceleration command and determines the current gear position of the vehicle, the brake master cylinder pressure and accelerator pedal opening of the current vehicle are obtained. The current pressure P is compared with the initial value P0 of the brake master cylinder pressure when the vehicle is stationary, and the current pressure P is compared with the motor torque applied pressure threshold Pt. When P0>P≥Pt, it means that the current stage is the state before the brake master cylinder pressure drops from the initial value to the second pressure threshold, that is, the torque zero crossing stage C1. The motor torque coefficient corresponding to this stage is k1. At this time, it is the first starting stage, and the motor torque is T1; when P<Pt, it means that the brake master cylinder pressure has dropped below the pressure threshold in the current stage, and is not in the torque zero crossing stage C1. It is necessary to further determine the target starting stage according to the accelerator pedal opening.

[0039] Optionally, according to the method of the above-mentioned embodiment of the invention, the target startup stage is determined based on the judgment result and the current opening, including: in response to the judgment result that the current pressure is less than the second pressure threshold, the current opening is compared with the opening threshold; in response to the current opening being less than or equal to the opening threshold, the target startup stage is determined to be the second startup stage; in response to the current opening being greater than the opening threshold, the target startup stage is determined to be the third startup stage.

[0040] Among them, the opening threshold can be the opening threshold of the set accelerator pedal, and the current opening can be the opening of the accelerator pedal, that is, the displacement degree of the accelerator pedal. For example, the opening threshold can be 0. When Acc_Peda1≤0, it means that this stage can be the moment when the accelerator pedal is not pressed. The second starting stage can be the torque overload stage C2, which is the stage from the brake master cylinder pressure P=0 to the accelerator pedal opening increasing to the opening threshold. The third starting stage can be the torque pull-up stage C3, which is the stage from pressing the accelerator pedal to the motor torque reaching the target torque value.

[0041] In an optional embodiment, if Figure 3 As shown, during the process of vehicle starting acceleration, when P<Pt, the target starting stage non-torque zero crossing stage C1 has been determined. At this time, it is necessary to compare the acquired accelerator pedal opening Acc_Peda1 with the opening threshold. When the accelerator pedal opening is less than the opening threshold, the target starting stage is determined to be the torque overload stage C2, and the motor torque coefficient corresponding to this stage is k2, which is the second starting stage; when the accelerator pedal opening is greater than the opening threshold, the target starting stage is determined to be the torque pull-up stage C3, and the motor torque coefficient corresponding to this stage is k3, which is the third starting stage.

[0042] For example, Figure 2As shown, the motor torque application opening threshold is set to 0. When the accelerator pedal opening is less than the opening threshold, that is, when the brake master cylinder pressure drops from 0 to the accelerator pedal is not pressed, the current stage is the torque excess stage C2; ​​when the accelerator pedal opening is greater than the opening threshold, that is, the accelerator pedal is pressed, and the accelerator pedal opening is from 0 to the target torque corresponding to the accelerator pedal opening, the corresponding stage is the torque increase stage C3.

[0043] Optionally, according to the method of the above-mentioned embodiment of the invention, the third coefficient corresponding to the third startup stage is greater than the second coefficient corresponding to the second startup stage, and the second coefficient corresponding to the second startup switch is greater than the first coefficient corresponding to the first startup stage.

[0044] in, Figure 4 is a logic diagram of an optional starting motor torque control according to an embodiment of the present invention, such as Figure 4 As shown, during the acceleration and starting of the vehicle, after the initial state is judged according to the gear position and the vehicle speed, the motor torque coefficient is calculated according to the obtained brake master cylinder pressure and the accelerator pedal opening. The first coefficient can be set to be the motor torque coefficient k1 corresponding to the torque zero-crossing stage C1; the second coefficient can be the motor torque coefficient k2 corresponding to the torque excessive stage C2; ​​the third coefficient can be the motor torque coefficient k3 corresponding to the torque increase stage C3.

[0045] In an optional embodiment, if Figure 2 As shown, when the vehicle passes through the three stages of acceleration and starting: the torque zero-crossing stage C1, the torque excessive stage C2, and the torque pull-up stage C3, the slope of the motor torque gradually increases, and the effect of gradual acceleration in stages has been achieved. Since the calculation formula for the motor torque is T=k*H, where T is the motor torque, the unit is Nm, k is the motor torque coefficient, the unit is Nm / s, and H is the calculation period, the unit is s, the calculation period can be the time period from the motor torque entering the corresponding stage to the current moment. Therefore, the growth rate of the motor torque T can be controlled by adjusting the size of k. In order to make the motor torque achieve the effect of gradual acceleration, Figure 5 is a schematic diagram of an optional motor torque coefficient (k) according to an embodiment of the present invention, such as Figure 5 As shown, the motor torque coefficient k3 corresponding to the torque increase stage C3 (as shown by curve k3) is greater than the motor torque coefficient k2 corresponding to the torque excess stage C2 (as shown by curve k2), that is, k3>k2; the motor torque coefficient k2 corresponding to the torque excess stage C2 is greater than the motor torque coefficient k1 corresponding to the torque zero crossing stage C1 (as shown by curve k1), that is, k2>k1.

[0046] Optionally, according to the method of the above-mentioned embodiment of the invention, the operation of the target motor is controlled based on the target coefficient corresponding to the target startup phase, including: controlling the torque increase of the target motor according to the target coefficient.

[0047] In an optional embodiment, the corresponding target coefficient k is determined based on the target startup phase, and the calculation formula of the motor torque is T=k*H, where T is the motor torque in Nm, k is the motor torque coefficient in Nm / s, and H is the calculation period in s. The calculation period can be the time period from when the motor torque enters the corresponding phase to the current moment. The vehicle calculates the value of the motor torque T corresponding to the target startup phase, controls the motor torque accordingly, and then controls the acceleration of the starting phase.

[0048] For example, when the target startup phase is in the torque zero-crossing phase C1, the motor torque is T1=k1*H1; when the target startup phase is in the torque overload phase C2, the motor torque is T2=k2*H2; when the target startup phase is in the torque increase phase C3, the motor torque is T3=k3*H3.

[0049] Optionally, according to the method of the above-mentioned embodiment of the invention, the method further includes: acquiring a current torque of the target motor; in response to the current torque reaching the target torque, controlling the target motor to stop working.

[0050] In an optional embodiment, the target torque can be the torque size required for the final vehicle starting acceleration. The current torque T of the target motor is obtained. If the motor torque has reached the target torque at this time, indicating that the vehicle has completed the starting acceleration task smoothly, the vehicle motor acceleration starting task is completed, the growth of the motor torque T is stopped, and the vehicle starts to drive normally.

[0051] For example, Figure 2 As shown, when the vehicle is accelerating and starting, it is currently in the torque increase stage C3, the motor torque slope is k3, the motor is accelerated by the motor torque T calculated by the slope, and the vehicle's motor torque successfully reaches the target torque for normal driving of the vehicle after this stage, and the target motor is controlled to stop working.

[0052] Optionally, according to the method of the above-mentioned embodiment of the invention, the method also includes: obtaining the current state and current gear of the target vehicle; determining whether the current state is a stationary state and whether the current gear is a target gear; in response to the current state being a stationary state and the current gear being the target gear, obtaining the current pressure of the brake master cylinder and the current opening of the target pedal.

[0053] The current state can be the current state of the vehicle, such as a stationary state, a starting state, a driving state, etc., to determine whether the electric vehicle starting motor torque control method can be used to control the motor. The current gear can be D gear or R gear. It should be noted that the gear here refers to the vehicle drive gear, including but not limited to D gear or R gear.

[0054] In an optional embodiment, if Figure 4 As shown, when the torque control of the electric vehicle starting motor is performed, the initial state of the vehicle will be judged according to the gear position, vehicle speed and brake master cylinder pressure signal. The target gear position can be D gear or R gear. If the target gear position is not D gear or R gear at this time, the vehicle is still in a stationary state and the target gear position needs to be determined again. If the target gear position is D gear or R gear at this time, the vehicle starts to accelerate and starts to obtain the brake master cylinder pressure and the accelerator pedal opening. The brake master cylinder pressure and the accelerator pedal opening are obtained to facilitate the subsequent target start-up phase judgment and motor torque coefficient calculation, and then the motor torque is controlled, thereby avoiding the torque zero impact during the motor torque rising process, and improving the motor torque rising plastic, shortening the starting acceleration time, and improving the starting acceleration smoothness.

[0055] Example 2

[0056] According to an embodiment of the present invention, a torque control device for a starting motor of an electric vehicle is also provided. The device can execute the motor control method in the above embodiment. The specific implementation method and preferred application scenario are the same as those in the above embodiment and will not be described in detail here.

[0057] Figure 6 is a schematic diagram of a motor control device according to an embodiment of the present invention. Figure 6 As shown, the device comprises:

[0058] an acquisition module 62, for acquiring a current pressure of a brake master cylinder and a current opening of a target pedal in response to a start instruction of the target vehicle, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle;

[0059] A determination module 64, for determining a target start-up phase of the target vehicle based on the current pressure and the current opening;

[0060] The control module 66 is used to control the target motor operation of the target vehicle based on the target coefficient corresponding to the target starting stage, wherein different target coefficients correspond to different starting stages.

[0061] Among them, all acquisition modules and determination modules are included in the target vehicle system, and the function realization and data processing of the function modules are performed through the control system equipped in the target vehicle. The acquisition module can be a data acquisition module, which can be used to collect the current brake master cylinder pressure and accelerator pedal opening of the vehicle. The brake master cylinder is used to brake the target vehicle, and the accelerator pedal is used to accelerate the target vehicle. The determination module can be used to compare the current brake master cylinder pressure with the pressure threshold, compare the current accelerator pedal opening with the opening threshold, and determine the target start-up stage according to the comparison result. The target start-up stage is used to represent the current torque state of the target vehicle. In the embodiment of the present invention, there are three target start-up stages: torque zero crossing stage, torque over-stage, and torque pull-up stage. The control module can be used to obtain the corresponding torque coefficient after determining the target start-up stage, calculate the corresponding motor torque based on the calculation formula T=k*H of the motor torque, control the motor operation according to the corresponding target torque, and control the starting motor to stop running when the motor reaches the target torque.

[0062] For example, when the vehicle starts accelerating, the vehicle control system automatically obtains the brake master cylinder pressure and accelerator pedal opening of the vehicle at this time through the acquisition module; the determination module compares the current brake master cylinder pressure with the pressure threshold. If the brake master cylinder pressure is greater than or equal to the motor torque application threshold, the determination module determines that the target starting stage is the torque zero-crossing stage. If the brake master cylinder pressure is less than the motor torque application threshold, it is necessary to further compare the accelerator pedal opening with the opening threshold. If the accelerator pedal opening is less than the opening threshold, the determination module determines that the target starting stage is the torque over-stage. If the accelerator pedal opening is greater than or equal to the opening threshold, the determination module determines that the target starting stage is the torque pull-up stage. After the determination module determines the target starting stage, the control module further determines the corresponding torque coefficient k, determines the target torque to be T=k*H, and controls the operation and stop of the motor according to the determined target torque.

[0063] Optionally, according to the above-mentioned embodiment of the invention, the determination module includes: a pressure comparison unit, used to compare the current pressure with a pressure threshold; a start-up phase determination unit, used to determine the target start-up phase as the first start-up phase in response to the current pressure being greater than or equal to the pressure threshold; and used to determine the target start-up phase based on the current opening in response to the current pressure being less than the pressure threshold.

[0064] Optionally, according to the above-mentioned embodiment of the invention, the startup phase determination unit is also used to obtain the current opening and compare it with the opening threshold; used to respond to the current opening being less than or equal to the opening threshold, and determine that the target startup phase is the second startup phase; used to respond to the current opening being greater than the opening threshold, and determine that the target startup phase is the third startup phase.

[0065] Optionally, according to the above-mentioned embodiment of the invention, the third coefficient corresponding to the third startup stage is greater than the second coefficient corresponding to the second startup stage, and the second coefficient corresponding to the second startup switch is greater than the first coefficient corresponding to the first startup stage.

[0066] Optionally, according to the above-mentioned embodiment of the invention, the control module includes: a motor operation control unit, which can be used to control the torque increase of the target motor with a target coefficient.

[0067] Optionally, according to the above-mentioned embodiment of the invention, the device further includes: a torque acquisition module, used to acquire the current torque of the target motor; the control module is also used to control the target motor to stop working in response to the current torque reaching the target torque.

[0068] Optionally, according to the above-mentioned embodiment of the invention, the device also includes: a state and gear acquisition module, used to acquire the current state and current gear of the target vehicle; a judgment module, used to determine whether the current state is a stationary state and whether the current gear is a target gear; the acquisition module is also used to obtain the current pressure of the brake master cylinder and the current opening of the target pedal in response to the current state being a stationary state and the current gear being the target gear.

[0069] Example 3

[0070] According to another aspect of an embodiment of the present invention, there is provided an electronic device, including: a processor and a storage device.

[0071] One or more processors; a storage device for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors execute the electric vehicle starting motor torque control method of any one of the above-mentioned embodiments of the invention.

[0072] Example 4

[0073] According to another aspect of the embodiments of the present invention, a vehicle is provided, comprising the motor control device of any one of the above embodiments.

[0074] Example 5

[0075] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is further provided. The non-volatile storage medium includes a stored program, wherein when the program is running, a processor of the device is controlled to execute any one of the electric vehicle starting torque control methods in the above embodiments.

[0076] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0077] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be 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.

[0079] 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0080] In addition, each functional unit in each embodiment of the present invention 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.

[0081] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0082] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A motor control method, characterized in that: include: In response to a start command of a target vehicle, obtaining a current pressure of a brake master cylinder and a current opening of a target pedal, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle; Determining a target start-up phase of the target vehicle based on the current pressure and the current opening; Based on the target coefficient corresponding to the target startup phase, controlling the target motor operation of the target vehicle, wherein different target coefficients correspond to different startup phases; Wherein, based on the current pressure and the current opening, determining the target start-up phase of the target vehicle comprises: comparing the current pressure with a pressure threshold; in response to the current pressure being less than a first pressure threshold, determining that the target start-up phase is a first start-up phase; based on the first start-up phase, judging whether the current pressure is less than a second pressure threshold, and obtaining a judgment result, wherein the second pressure threshold is less than the first pressure threshold; determining the target start-up phase based on the judgment result and the current opening; Wherein, based on the judgment result and the current opening, the target startup stage is determined, including: in response to the judgment result that the current pressure is less than the second pressure threshold, the current opening is compared with the opening threshold; in response to the current opening being less than or equal to the opening threshold, the target startup stage is determined to be the second startup stage; in response to the current opening being greater than the opening threshold, the target startup stage is determined to be the third startup stage; the third coefficient corresponding to the third startup stage is greater than the second coefficient corresponding to the second startup stage, and the second coefficient corresponding to the second startup stage switch is greater than the first coefficient corresponding to the first startup stage.

2. The method according to claim 1, characterized in that: Based on the target coefficient corresponding to the target startup phase, controlling the target motor to run includes: The target motor torque is controlled to increase according to the target coefficient.

3. The method according to claim 2, characterized in that: The method further comprises: Obtaining the current torque of the target motor; In response to the current torque reaching the target torque, the target motor is controlled to stop operating.

4. The method according to claim 1, characterized in that: The method further comprises: Obtaining the current state and current gear position of the target vehicle; Determine whether the current state is a stationary state and whether the current gear is a target gear; In response to the current state being the stationary state and the current gear being the target gear, a current pressure of the master cylinder and a current opening degree of the target pedal are acquired.

5. A motor control device, characterized in that: include: an acquisition module, configured to acquire a current pressure of a brake master cylinder and a current opening of a target pedal in response to a start instruction of a target vehicle, wherein the brake master cylinder is used to brake the target vehicle and the target pedal is used to accelerate the target vehicle; A determination module, configured to determine a target start-up phase of the target vehicle based on the current pressure and the current opening degree; A control module, configured to control the target motor operation of the target vehicle based on the target coefficient corresponding to the target startup phase, wherein different target coefficients correspond to different startup phases; Wherein, the determination module is further used to determine the target start-up phase of the target vehicle based on the current pressure and the current opening, including: comparing the current pressure with a pressure threshold; in response to the current pressure being less than a first pressure threshold, determining that the target start-up phase is a first start-up phase; based on the first start-up phase, judging whether the current pressure is less than a second pressure threshold, and obtaining a judgment result, wherein the second pressure threshold is less than the first pressure threshold; determining the target start-up phase based on the judgment result and the current opening; Wherein, the determination module is also used to determine the target startup stage based on the judgment result and the current opening, including: in response to the judgment result that the current pressure is less than the second pressure threshold, comparing the current opening with the opening threshold; in response to the current opening being less than or equal to the opening threshold, determining that the target startup stage is the second startup stage; in response to the current opening being greater than the opening threshold, determining that the target startup stage is the third startup stage; the third coefficient corresponding to the third startup stage is greater than the second coefficient corresponding to the second startup stage, and the second coefficient corresponding to the second startup stage switch is greater than the first coefficient corresponding to the first startup stage.

6. A vehicle, characterized in that: include: The motor control device as claimed in claim 5.

7. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is running, the processor of the device is controlled to execute any one of the electric vehicle starting torque control methods of claims 1-4.

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