Electric vehicle control method, device, electric vehicle and storage medium

Abstract

The present invention discloses a control method, device, electric vehicle and storage medium for an electric vehicle, the method comprising: determining the driving force provided by each wheel of the electric vehicle according to the position data of ordinary tires and upgraded tires in the electric vehicle; determining the torque provided by each driving mode of the electric vehicle according to the driving force provided by each wheel; obtaining the required torque of the electric vehicle; determining the target driving mode from each driving mode according to the required torque and the provided torque, and driving the electric vehicle according to the target driving mode. That is, the technical solution of the present invention can automatically determine the target driving mode for driving the electric vehicle from each driving mode according to the torque provided by each driving mode and the required torque of the electric vehicle, solve the problem that the electric vehicle is poorly stable when different driving modes drive the electric vehicle according to a fixed driving mode, better ensure the driving safety of the driver, and bring a better driving experience to the driver.

Description

Technical Field

[0001] The present invention relates to vehicle control technology, and in particular to a control method and device for an electric vehicle, an electric vehicle and a storage medium. Background Art

[0002] At present, in icy and snowy weather, after the driver replaces ordinary tires with snow tires, the driver will select the snow mode to maintain the stability of the vehicle, among which the snow mode can include three driving modes: front motor drive, rear motor drive and dual motor combined drive.

[0003] Generally, the front motor drive mode is used by default in snow mode. For electric vehicles with four-wheel drive capability, the position of the snow tires will affect the road adhesion coefficient of each wheel, thereby affecting the driving force of each wheel in different drive modes.

[0004] The snow mode uses the front motor drive mode by default, ignoring the effect of the snow tire position on the driving force of each wheel. For example, if the snow tire is located on the rear wheel, the road adhesion coefficient of the rear wheel is greater than that of the ordinary tire of the front wheel, and the driving force of the rear wheel is greater than that of the front wheel. The snow mode will cause the rear wheels of the electric vehicle to have poor stability, which cannot better ensure the driver's driving safety and will also bring a bad driving experience to the driver. Summary of the invention

[0005] In order to solve the above-mentioned problems in the prior art, the present invention discloses a control method, device, electric vehicle and storage medium for an electric vehicle, which can solve the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes without considering the influence of the position data of the upgraded tires on the driving force of each wheel, resulting in poor stability of the electric vehicle, better ensure the driving safety of the driver, and bring a better driving experience to the driver.

[0006] In a first aspect, an embodiment of the present invention provides a control method for an electric vehicle, wherein the electric vehicle includes ordinary tires and upgraded tires, and the method includes:

[0007] Determining the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle;

[0008] Determining the torque provided in each driving mode of the electric vehicle according to the driving force provided by each wheel;

[0009] Obtaining a required torque of the electric vehicle;

[0010] A target driving mode is determined from the various driving modes according to the required torque and the provided torque, and the electric vehicle is driven according to the target driving mode.

[0011] In a second aspect, an embodiment of the present invention provides a control device for an electric vehicle, wherein the electric vehicle includes ordinary tires and upgraded tires, and the device includes:

[0012] A driving force determination module, used to determine the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle;

[0013] Providing a torque determination module, for determining the torque provided in each driving mode of the electric vehicle according to the driving force provided by each wheel;

[0014] A required torque acquisition module, used to acquire the required torque of the electric vehicle;

[0015] The target driving mode determination module is used to determine a target driving mode from the various driving modes according to the required torque and the provided torque, and drive the electric vehicle according to the target driving mode.

[0016] In a third aspect, an embodiment of the present invention further provides an electric vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a control method for the electric vehicle as described in any one of the embodiments of the present invention is implemented.

[0017] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for an electric vehicle as described in any one of the embodiments of the present invention.

[0018] In an embodiment of the present invention, an electric vehicle includes ordinary tires and upgraded tires, and the driving force provided by each wheel of the electric vehicle can be determined based on position data of the ordinary tires and the upgraded tires in the electric vehicle; the provided torque of each driving mode of the electric vehicle can be determined based on the driving force provided by each wheel; the required torque of the electric vehicle can be obtained; the target driving mode can be determined from each driving mode based on the required torque and the provided torque, and the electric vehicle can be driven according to the target driving mode. That is, the embodiment of the present invention can determine the driving force provided by each wheel according to the position data of different tires, and then determine the provided torque of each driving mode and the required torque of the electric vehicle according to the driving force provided by each wheel, and determine the target driving mode for driving the electric vehicle from each driving mode. This is equivalent to fully considering the influence of the position data of the upgraded tires on the driving force of each wheel, automatically determining the target driving mode for driving the electric vehicle from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, and then realizing real-time determination of the target driving mode matching the position data of the ordinary tires and the upgraded tires according to the provided torque of each driving mode and the required torque of the electric vehicle, solving the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes, and the stability of the electric vehicle is poor due to not considering the influence of the position data of the upgraded tires on the driving force of each wheel, thereby better ensuring the driving safety of the driver and bringing a better driving experience to the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a control method for an electric vehicle provided by an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of various driving modes of an electric vehicle provided by an embodiment of the present invention;

[0022] Figure 3 is another flow chart of the control method of the electric vehicle provided by an embodiment of the present invention;

[0023] Figure 4 It is a schematic diagram of a flow chart of determining a target driving mode from candidate driving modes in a control method for an electric vehicle provided by an embodiment of the present invention;

[0024] Figure 5is a structural schematic diagram of a control device for an electric vehicle provided by an embodiment of the present invention;

[0025] Figure 6 It is a structural schematic diagram of an electric vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] 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.

[0027] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus 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 apparatus.

[0028] The following describes a control method for an electric vehicle provided by an embodiment of the present invention. Figure 1 The present invention provides a flow chart of a control method for an electric vehicle. The method can be executed by a control device for an electric vehicle provided by the present invention. The device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electric vehicle. The following embodiments will be described by taking the device integrated into an electric vehicle as an example. Figure 1 , the method may specifically include the following steps:

[0029] Step 101, determining the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tires and the upgraded tires in the electric vehicle.

[0030] Among them, ordinary tires can be understood as tires installed when the vehicle leaves the factory; upgraded tires can be understood as tires whose friction on the ground exceeds that of ordinary tires on the ground, for example, upgraded tires can be snow tires; position data can be understood as position data of each wheel of the ordinary tires and upgraded tires in the electric vehicle; the driving force provided by each wheel can be understood as a wheel rim circumferential force generated by each wheel on the road surface.

[0031] Specifically, after the driver inputs the position data of the ordinary tires and the upgraded tires through the display screen of the electric vehicle, the position data of the ordinary tires and the upgraded tires input by the driver in the display screen of the electric vehicle can be obtained; the road adhesion coefficient of each wheel of the electric vehicle can be determined according to the position data of the ordinary tires and the upgraded tires in the electric vehicle, and the driving force provided by each wheel of the electric vehicle can be determined according to the road adhesion coefficient of each wheel and the vehicle load of the electric vehicle.

[0032] Among them, the road adhesion coefficient can be understood as the ratio of adhesion to wheel normal (perpendicular to the road surface) pressure; the value of the road adhesion coefficient is mainly determined by factors such as the road material, road condition and tire structure, tread pattern, material and the speed of the car; under normal circumstances, when driving a vehicle on the road, factors such as road material, road condition and the speed of the car are the same, and the size of the road adhesion coefficient can be determined according to the tire structure, tread pattern and material of the tire. Different tire structures, tread patterns and materials correspond to different tire categories. When the road adhesion coefficient corresponding to each tire has been determined in advance, the road adhesion coefficient corresponding to different tires can be determined according to the corresponding position data of the tire; vehicle load can be understood as the force exerted on the structure (highway, bridge and tunnel, etc.) by the electric vehicle when it is stationary or moving on the structure.

[0033] Furthermore, the position data of each wheel corresponding to the ordinary tire and the upgraded tire can be obtained to query the corresponding relationship information of the position data, the tire type and the road adhesion coefficient, and obtain the road adhesion coefficient of each wheel. The corresponding relationship information of the position data of each wheel, the tire type and the road adhesion coefficient can include the tire type and the road adhesion coefficient corresponding to the position data of each wheel.

[0034] For example, if the driver drives the electric vehicle on an icy and snowy road, the driver replaces the ordinary tires of the electric vehicle with snow tires; after the driver replaces the ordinary tires of the rear wheels of the electric vehicle with snow tires, the driver enters the position data of the ordinary tires as the front wheels in the display screen of the electric vehicle, and the position data of the upgraded tires in the electric vehicle as the rear wheels. After the driver enters the position data of the ordinary tires and snow tires through the display screen of the electric vehicle, the position data of the ordinary tires and snow tires entered by the driver are obtained, and the corresponding relationship information of the position data, tire category and road adhesion coefficient is queried based on the position data of the ordinary tires (front wheels) to obtain the road adhesion coefficient A of the front wheels, and the corresponding relationship information of the position data, tire category and road adhesion coefficient is queried based on the position data of the snow tires (rear wheels) to obtain the road adhesion coefficient B of the rear wheels, and finally the driving force provided by each wheel of the electric vehicle is determined according to the road adhesion coefficient of each wheel and the vehicle load.

[0035] Step 102 : determining the torque provided by each driving mode of the electric vehicle according to the driving force provided by each wheel.

[0036] Among them, electric vehicles have motors that drive the vehicles; torque can be understood as the output torque of the motor, which is one of the basic parameters of the motor. The greater the torque, the better the climbing ability, starting speed and acceleration of the electric vehicle. The provided torque can be understood as the maximum torque that can be provided by each driving mode. Figure 2 is a schematic diagram of various driving modes of an electric vehicle provided by an embodiment of the present invention, such as Figure 2 As shown, the electric vehicle has three driving modes, namely: front motor drive, rear motor drive and dual motor combined drive.

[0037] Specifically, the motor may include a front motor and a rear motor. The front motor can be used to provide torque to the front wheels to drive the front wheels, and the driving mode in which the front wheels are driven by the front motor can be called front motor drive; the rear motor can be used to provide torque to the rear wheels to drive the rear wheels, and the driving mode in which the rear wheels are driven by the rear motor can be called rear motor drive; the driving mode in which the front motor and the rear motor drive the corresponding wheels at the same time is dual-motor combined drive, and therefore the torque provided by the corresponding driving mode of the electric vehicle can be calculated based on the driving force provided by each wheel and the wheel radius.

[0038] For example, the provided torque of the front motor driving mode can be calculated based on the driving force of the front wheels and the wheel radius; the provided torque of the rear motor driving mode can be calculated based on the driving force of the rear wheels and the wheel radius; the provided torque of the dual-motor combined driving mode can be calculated based on the provided torque of the front motor driving mode and the provided torque of the rear motor driving mode.

[0039] Step 103: Obtain the required torque of the electric vehicle.

[0040] The required torque may be understood as the driver's torque requirement.

[0041] Specifically, when the driver steps on the pedal, the pedal depth of the driver's stepping on the pedal and the speed of the electric vehicle can be obtained, and the relationship information of the pedal depth, speed and required torque can be queried according to the pedal depth and the speed of the electric vehicle to obtain the required torque of the electric vehicle. The relationship information of the pedal depth, speed and required torque can include the required torque corresponding to each pedal depth and speed.

[0042] Step 104 : determining a target driving mode from various driving modes according to the required torque and the provided torque, and driving the electric vehicle according to the target driving mode.

[0043] The target driving mode can be understood as a driving mode determined from various driving modes according to driver demand. Driver demand can include two types: one is energy saving demand, that is, the demand for saving electric energy of the electric vehicle, and the other is stability demand, that is, the demand for maintaining vehicle stability.

[0044] Specifically, by comparing the required torque and the provided torque, it can be determined whether the provided torque meets the driving condition; if the provided torque meets the driving condition, the target driving mode can be determined from various driving modes according to the driver's demand.

[0045] Furthermore, if the driver's demand is for energy saving, the driving power required for each driving mode can be determined based on the required torque and motor speed, and then the target driving mode can be determined based on the driving power required for each driving mode; if the driver's demand is for stability, the driving mode with upgraded tires enabled can be selected from each driving mode to obtain the target driving mode.

[0046] For example, if the tires of the front wheels are upgraded tires, the tires of the rear wheels are ordinary tires, the required torque of the electric vehicle is F1, the torque provided by the front motor drive mode is F2, and F1<F2, then it can be determined that the torque provided by the front motor drive mode meets the driving conditions. At this time, if the driver's demand is a stability demand, after obtaining the driver's demand information, since the tires of the rear wheels are ordinary tires, that is, the upgraded tires are not started in the rear motor drive mode, therefore, the front motor drive mode with the upgraded tires enabled can be selected as the target drive mode.

[0047] In an embodiment of the present invention, the driving force provided by each wheel of the electric vehicle is determined based on the position data of ordinary tires and upgraded tires in the electric vehicle; the provided torque of each driving mode of the electric vehicle is determined based on the driving force provided by each wheel; the required torque of the electric vehicle is obtained; the target driving mode is determined from each driving mode based on the required torque and the provided torque, and the electric vehicle is driven according to the target driving mode. That is, the embodiment of the present invention can determine the driving force provided by each wheel according to the position data of different tires, and then determine the provided torque of each driving mode and the required torque of the electric vehicle according to the driving force provided by each wheel, and determine the target driving mode for driving the electric vehicle from each driving mode. This is equivalent to fully considering the influence of the position data of the upgraded tires on the driving force of each wheel, automatically determining the target driving mode for driving the electric vehicle from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, and then realizing real-time determination of the target driving mode matching the position data of the ordinary tires and the upgraded tires according to the provided torque of each driving mode and the required torque of the electric vehicle, solving the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes, and the stability of the electric vehicle is poor due to not considering the influence of the position data of the upgraded tires on the driving force of each wheel, thereby better ensuring the driving safety of the driver and bringing a better driving experience to the driver.

[0048] The control method of the electric vehicle provided by the embodiment of the present invention is further described below. Figure 3 FIG. 2 is another flow chart of the control method of the electric vehicle provided by the embodiment of the present invention. Figure 3 As shown, the control method of the electric vehicle according to the embodiment of the present invention may specifically include the following steps:

[0049] Step 301, determining the road adhesion coefficient of each wheel of the electric vehicle according to the position data of the ordinary tires and the upgraded tires in the electric vehicle.

[0050] Step 302 : Obtain the wheel radius of the electric vehicle and the vehicle load of the electric vehicle.

[0051] Step 303 , calculating the driving force provided by each wheel of the electric vehicle according to the wheel radius, the road adhesion coefficient of each wheel and the vehicle load.

[0052] Specifically, the wheel radius, the road adhesion coefficient of each wheel and the vehicle load may be substituted into a calculation formula for driving force to obtain the driving force provided by each wheel of the electric vehicle.

[0053] For example, the calculation formula for driving force can be: driving force = road adhesion coefficient * wheel radius. If the road adhesion coefficient of the front wheel is A and the wheel radius is R, the road adhesion coefficient A and the wheel radius R of the front wheel can be substituted into the above driving force calculation formula to obtain the driving force provided by the front wheels of the electric vehicle.

[0054] Step 304 : determining the torque provided by each driving mode of the electric vehicle according to the driving force provided by each wheel.

[0055] Step 305: Obtain the required torque of the electric vehicle.

[0056] Step 306 : Select a driving mode that provides a torque exceeding the required torque from the driving modes to obtain a candidate driving mode.

[0057] The candidate driving mode may be understood as a driving mode that provides a torque exceeding a required torque.

[0058] Specifically, by comparing the provided torque and the required torque, it can be determined whether the provided torque exceeds the required torque; if the provided torque exceeds the required torque, the driving mode corresponding to the provided torque exceeding the required torque can be determined as the candidate driving mode.

[0059] For example, if the required torque of the electric vehicle is F1 and the provided torque of the front motor drive mode is F2, by comparing the sizes of F1 and F2, it can be determined that F1<F2, then it can be determined that the provided torque exceeds the required torque, and the driving mode corresponding to the provided torque exceeding the required torque (front motor drive) can be determined as the candidate driving mode; if the provided torque of the rear motor drive mode is F3, by comparing the sizes of F1 and F3, it can be determined that F1<F3, then it can be determined that the provided torque exceeds the required torque, and the driving mode corresponding to the provided torque exceeding the required torque (rear motor drive) can be determined as the candidate driving mode.

[0060] Step 307: determine a target driving mode from the candidate driving modes.

[0061] Specifically, the driving power required for the candidate driving modes can be determined; the driving mode with the minimum driving power is selected from the candidate driving modes to obtain the target driving mode, which can reduce the power consumption of the electric vehicle, and driving the electric vehicle in the driving mode with the minimum driving power can make the electric vehicle have a longer mileage and maximize the economy of the electric vehicle.

[0062] For example, if the candidate driving modes include front motor driving and rear motor driving, the driving power required for the front motor driving is P1, and the driving power required for the rear motor driving is P2, if P1<P2, the candidate driving mode corresponding to P1 (front motor driving) can be determined as the target driving mode.

[0063] Optionally, if the driver's demand is a stability demand, a driving mode in which upgraded tires are enabled may be selected from various candidate driving modes to obtain a target driving mode.

[0064] The driving mode in which the upgraded tires are enabled may be understood as a driving mode in which the tires of the wheels driven by the motor include the upgraded tires.

[0065] For example, if the candidate driving modes include front motor drive and rear motor drive, the tires of the wheels driven by the front motor are upgraded tires, and the tires of the wheels driven by the rear motor are ordinary tires, then the candidate driving mode with upgraded tires enabled (front motor driving mode) can be selected as the target driving mode. In this way, based on the driver's need to maintain the stability of the electric vehicle, the candidate driving mode with upgraded tires enabled can be determined as the target driving mode, which can maintain the stability of the vehicle to the greatest extent, thereby better ensuring the driver's driving safety and giving the driver a better driving experience.

[0066] Optionally, if the upgraded tires are enabled in multiple candidate driving modes, a driving mode with the minimum driving power may be selected from the multiple candidate driving modes to obtain a target driving mode.

[0067] In the embodiment of the present invention, the driving force provided by each wheel can be determined according to the position data of different tires, and then the provided torque of each driving mode and the required torque of the electric vehicle can be determined according to the driving force provided by each wheel, and the target driving mode for driving the electric vehicle can be determined from each driving mode. This is equivalent to fully considering the influence of the position data of the upgraded tires on the driving force of each wheel, automatically determining the target driving mode for driving the electric vehicle from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, and then achieving real-time determination of the target driving mode matching the position data of the ordinary tires and the upgraded tires according to the provided torque of each driving mode and the required torque of the electric vehicle, solving the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes, and the stability of the electric vehicle is poor due to not considering the influence of the position data of the upgraded tires on the driving force of each wheel, better ensuring the driving safety of the driver, and bringing a better driving experience to the driver.

[0068] The following takes the candidate driving modes including front motor driving, rear motor driving and dual motor combined driving as an example to further describe how the control method of the electric vehicle provided by the embodiment of the present invention determines the target driving mode from the candidate driving modes. Figure 4 FIG. 1 is a flow chart of determining a target driving mode from candidate driving modes in a control method for an electric vehicle provided by an embodiment of the present invention. Figure 4As shown, the following steps may be specifically included:

[0069] Step 401 : Calculate the driving power required for driving the front motor according to the rotation speed and required torque of the front motor of the electric vehicle.

[0070] Specifically, the speed of the front motor can be determined according to the real-time running speed of the front motor, and the speed and required torque of the front motor of the electric vehicle are substituted into the calculation formula of the driving power required for single motor drive to obtain the driving power required for the front motor drive. The single motor drive may include the front motor drive and the rear motor drive.

[0071] For example, the calculation formula for the driving power required for single-motor drive can be: driving power = (required torque * speed) / 9550, where 9550 can be understood as the power coefficient; the speed and required torque of the front motor can be substituted into the calculation formula for the driving power required for single-motor drive to obtain the driving power required for the front motor drive.

[0072] Step 402 : Calculate the driving power required for driving the rear motor according to the rotation speed and required torque of the rear motor of the electric vehicle.

[0073] Specifically, the speed of the rear motor can be determined according to the real-time operating speed of the rear motor, and the speed and required torque of the rear motor of the electric vehicle are substituted into the calculation formula of the driving power required for single-motor driving to obtain the driving power required for the rear motor driving.

[0074] For example, the speed and required torque of the rear motor may be substituted into a calculation formula for the driving power required for single motor driving to obtain the driving power required for the rear motor driving.

[0075] Step 403 , calculating the driving power of the dual-motor combined drive according to the driving power required by the front motor drive and the driving power required by the rear motor drive.

[0076] Specifically, the driving power ratio of the front motor drive and the driving power ratio of the rear motor drive can be obtained; the driving power of the dual-motor combined drive is calculated according to the driving power ratio of the front motor drive, the driving power required for the front motor drive, the driving power ratio of the rear motor drive and the driving power required for the rear motor drive.

[0077] Furthermore, there may be multiple driving power ratios for the front motor drive and multiple driving power ratios for the rear motor drive, and the sum of the driving power ratios of the front motor drive and the rear motor drive may be a fixed value. Therefore, when obtaining the driving power ratios of the front motor drive and the rear motor drive, a ratio combination of the driving power ratios of the front motor drive and the rear motor drive may be obtained, and the ratio combination of the driving power ratios of the front motor drive and the rear motor drive, the driving power required for the front motor drive, and the driving power required for the rear motor drive may be substituted into the calculation formula for the driving power required for the dual-motor combined drive in the order in which the ratio combinations are obtained, to obtain multiple candidate dual-motor driving powers, and then the smallest candidate dual-motor driving power is selected from the multiple candidate dual-motor driving powers, and the smallest candidate dual-motor driving power is determined as the driving power of the dual-motor combined drive.

[0078] For example, the calculation formula for the driving power required for dual motor joint driving is as follows:

[0079] P 双 =P1*x1+P2*x2.

[0080] Among them, P 双 It can represent the driving power required for the combined drive of dual motors, P1 can represent the driving power required for the front motor drive, x1 can represent the driving power ratio of the front motor drive, P2 can represent the driving power required for the rear motor drive, and x2 can represent the driving power ratio of the rear motor drive.

[0081] Table 1 Driving power ratio value table

[0082] <![CDATA[x1]]> <![CDATA[x2]]> 0 1 0.1 0.9 0.2 0.8 0.3 0.7 0.4 0.6 0.5 0.5 0.6 0.4 0.7 0.3 0.8 0.2 0.9 0.1 1 0

[0083] Table 1 is a driving power ratio value table. As can be seen from Table 1, a total of 11 groups of driving power ratio value combinations are obtained. Then, according to the acquisition order of x1 and x2, x1, x2, the driving power required for the front motor drive, and the driving power required for the rear motor drive are substituted into the calculation formula of the driving power required for the dual motor joint drive in turn to calculate, and 11 candidate dual motor driving powers are obtained. Then, the smallest candidate dual motor driving power is selected from multiple candidate dual motor driving powers, and the smallest candidate dual motor driving power is determined as the driving power of the dual motor joint drive. In this way, according to multiple groups of driving power ratio values, the driving power required for the front motor drive, and the driving power required for the rear motor drive, multiple dual motor joint drive driving powers can be obtained, and then the candidate dual motor driving power with the smallest driving power is selected from multiple candidate dual motor driving powers, and the candidate dual motor driving power with the smallest driving power is determined as the driving power of the dual motor joint drive. The driving power of the dual motor joint drive can be determined more accurately, and the economy of the electric vehicle can be improved.

[0084] It should be noted that the above-mentioned driving force, the driving power required for single-motor driving, the calculation formula for the driving power required for dual-motor combined driving, etc., are only examples in specific forms. In actual applications, other forms can also be used, which are not specifically limited here.

[0085] Step 404 , selecting a driving mode with the minimum driving power from the candidate driving modes to obtain a target driving mode.

[0086] In the embodiment of the present invention, the driving force provided by each wheel can be determined according to the position data of different tires, and then the provided torque of each driving mode and the required torque of the electric vehicle can be determined according to the driving force provided by each wheel, and the target driving mode for driving the electric vehicle can be determined from each driving mode. This is equivalent to fully considering the influence of the position data of the upgraded tires on the driving force of each wheel, automatically determining the target driving mode for driving the electric vehicle from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, and then achieving real-time determination of the target driving mode matching the position data of the ordinary tires and the upgraded tires according to the provided torque of each driving mode and the required torque of the electric vehicle, solving the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes, and the stability of the electric vehicle is poor due to not considering the influence of the position data of the upgraded tires on the driving force of each wheel, better ensuring the driving safety of the driver, and bringing a better driving experience to the driver.

[0087] Figure 5 1 is a schematic diagram of a control device for an electric vehicle provided in an embodiment of the present invention, wherein the electric vehicle includes ordinary tires and upgraded tires, and the device is suitable for executing a control method for an electric vehicle provided in an embodiment of the present invention. Figure 5 As shown, the device may specifically include:

[0088] A driving force determination module 501, for determining the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle;

[0089] Providing a torque determination module 502, for determining the torque provided by each driving mode of the electric vehicle according to the driving force provided by each wheel;

[0090] A required torque acquisition module 503 is used to acquire the required torque of the electric vehicle;

[0091] The target driving mode determining module 504 is configured to determine a target driving mode from the various driving modes according to the required torque and the provided torque, and drive the electric vehicle according to the target driving mode.

[0092] Optionally, the driving force determination module 501 is specifically configured to:

[0093] Determining the road adhesion coefficient of each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle;

[0094] Acquire the wheel radius of the electric vehicle and the vehicle load of the electric vehicle;

[0095] The driving force provided by each wheel of the electric vehicle is calculated according to the wheel radius, the road adhesion coefficient of each wheel and the vehicle load.

[0096] Optionally, the target driving mode determination module 504 is specifically configured to:

[0097] Selecting a driving mode that provides a torque exceeding the required torque from the driving modes to obtain a candidate driving mode;

[0098] The target driving mode is determined from the candidate driving modes.

[0099] Optionally, the target driving mode determination module 504 determines the target driving mode from the candidate driving modes, including:

[0100] determining a driving power required for the candidate driving mode;

[0101] A driving mode with the minimum driving power is selected from the candidate driving modes to obtain the target driving mode.

[0102] Optionally, the candidate driving modes include front motor driving, rear motor driving and dual motor combined driving;

[0103] The target driving mode determination module 504 determines the driving power required by the candidate driving mode, including:

[0104] Calculating the driving power required for the front motor to drive the electric vehicle according to the rotation speed of the front motor and the driving force provided by the front wheels;

[0105] Calculating the driving power required for driving the rear motor according to the rotation speed of the rear motor of the electric vehicle and the driving force provided by the rear wheels; and

[0106] The driving power of the dual-motor combined drive is calculated according to the driving power required for the front motor drive and the driving power required for the rear motor drive.

[0107] Optionally, the target driving mode determination module 504 calculates the driving power of the dual-motor combined driving according to the driving power required by the front motor driving and the driving power required by the rear motor driving, including:

[0108] Acquiring a driving power ratio of the front motor drive, and acquiring a driving power ratio of the rear motor drive;

[0109] The driving power of the dual-motor combined drive is calculated according to the driving power ratio of the front motor drive, the driving power required for the front motor drive, the driving power ratio of the rear motor drive, and the driving power required for the rear motor drive.

[0110] Optionally, the target driving mode determination module 504 is further specifically configured to:

[0111] A driving mode in which the upgraded tires are enabled is selected from the candidate driving modes to obtain the target driving mode.

[0112] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0113] The device of the embodiment of the present invention determines the driving force provided by each wheel of the electric vehicle based on the position data of ordinary tires and upgraded tires in the electric vehicle; determines the provided torque of each driving mode of the electric vehicle based on the driving force provided by each wheel; obtains the required torque of the electric vehicle; determines the target driving mode from each driving mode based on the required torque and the provided torque, and drives the electric vehicle according to the target driving mode. That is, the embodiment of the present invention can determine the driving force provided by each wheel according to the position data of different tires, and then determine the provided torque of each driving mode and the required torque of the electric vehicle according to the driving force provided by each wheel, and determine the target driving mode for driving the electric vehicle from each driving mode. This is equivalent to fully considering the influence of the position data of the upgraded tires on the driving force of each wheel, automatically determining the target driving mode for driving the electric vehicle from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, and then realizing real-time determination of the target driving mode matching the position data of the ordinary tires and the upgraded tires according to the provided torque of each driving mode and the required torque of the electric vehicle, solving the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes, and the stability of the electric vehicle is poor due to not considering the influence of the position data of the upgraded tires on the driving force of each wheel, thereby better ensuring the driving safety of the driver and bringing a better driving experience to the driver.

[0114] An embodiment of the present invention further provides an electric vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method for the electric vehicle provided in any of the above embodiments is implemented.

[0115] An embodiment of the present invention further provides a computer-readable medium having a computer program stored thereon, and when the program is executed by a processor, the control method of the electric vehicle provided in any of the above embodiments is implemented.

[0116] Reference below Figure 6 , which shows a schematic diagram of the structure of an electric vehicle 600 suitable for implementing an embodiment of the present invention. The electric vehicle in the embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The electric vehicle shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0117] like Figure 6As shown, the electric vehicle 600 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 to a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electric vehicle 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0118] Typically, the following devices may be connected to the I / O interface 605: input devices 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 608 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 609. The communication device 609 may allow the electric vehicle 600 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 The electric vehicle 600 is shown with various devices, but it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have instead.

[0119] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transient computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, the above functions defined in the method of the embodiment of the present invention are executed. It should be noted that the computer-readable medium shown in the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more conductors, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device, or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0120] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0121] The modules and / or units involved in the embodiments of the present invention may be implemented in software or hardware. The modules and / or units described may also be arranged in a processor, for example, it may be described as follows: a processor includes a driving force determination module, a provided torque determination module, a required torque acquisition module, and a target driving mode determination module. The names of these modules do not, in some cases, constitute limitations on the modules themselves.

[0122] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: determining the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle; determining the provided torque of each driving mode of the electric vehicle according to the driving force provided by each wheel; obtaining the required torque of the electric vehicle; determining the target driving mode from each driving mode according to the required torque and the provided torque, and driving the electric vehicle according to the target driving mode.

[0123] According to the technical solution of an embodiment of the present invention, the driving force provided by each wheel of the electric vehicle is determined based on the position data of ordinary tires and upgraded tires in the electric vehicle; the provided torque of each driving mode of the electric vehicle is determined based on the driving force provided by each wheel; the required torque of the electric vehicle is obtained; the target driving mode is determined from each driving mode based on the required torque and the provided torque, and the electric vehicle is driven according to the target driving mode. That is, the embodiment of the present invention can determine the driving force provided by each wheel according to the position data of different tires, and then determine the provided torque of each driving mode and the required torque of the electric vehicle according to the driving force provided by each wheel, and determine the target driving mode for driving the electric vehicle from each driving mode. This is equivalent to fully considering the influence of the position data of the upgraded tires on the driving force of each wheel, automatically determining the target driving mode for driving the electric vehicle from each driving mode according to the provided torque of each driving mode and the required torque of the electric vehicle, and then realizing real-time determination of the target driving mode matching the position data of the ordinary tires and the upgraded tires according to the provided torque of each driving mode and the required torque of the electric vehicle, solving the problem that the electric vehicle is driven according to a fixed driving mode in different driving modes, and the stability of the electric vehicle is poor due to not considering the influence of the position data of the upgraded tires on the driving force of each wheel, thereby better ensuring the driving safety of the driver and bringing a better driving experience to the driver.

[0124] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0125] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an electric vehicle, characterized in that: The electric vehicle includes ordinary tires and upgraded tires, and the method includes: Determine the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle, wherein the driving force provided by each wheel is the circumferential force of the wheel rim corresponding to each wheel; Determining the torque provided by each driving mode of the electric vehicle according to the driving force provided by each wheel, wherein the torque provided by each driving mode is the maximum torque that can be provided by each driving mode; Obtaining a required torque of the electric vehicle; A target driving mode is determined from the various driving modes according to the required torque and the provided torque, and the electric vehicle is driven according to the target driving mode.

2. The method according to claim 1, characterized in that The step of determining the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle comprises: Determining the road adhesion coefficient of each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle; Acquire the wheel radius of the electric vehicle and the vehicle load of the electric vehicle; The driving force provided by each wheel of the electric vehicle is calculated according to the wheel radius, the road adhesion coefficient of each wheel and the vehicle load.

3. The method according to claim 1, characterized in that The step of determining a target driving mode from the various driving modes according to the required torque and the provided torque includes: Selecting a driving mode that provides a torque exceeding the required torque from the driving modes to obtain a candidate driving mode; The target driving mode is determined from the candidate driving modes.

4. The method according to claim 3, characterized in that The step of determining the target driving mode from the candidate driving modes comprises: determining a driving power required for the candidate driving mode; A driving mode with the minimum driving power is selected from the candidate driving modes to obtain the target driving mode.

5. The method according to claim 4, characterized in that The candidate driving modes include front motor driving, rear motor driving and dual motor combined driving, and determining the driving power required for the candidate driving modes includes: Calculating the driving power required for driving the front motor according to the rotation speed of the front motor of the electric vehicle and the required torque; calculating the driving power required for driving the rear motor according to the rotation speed of the rear motor of the electric vehicle and the required torque; and The driving power of the dual-motor combined drive is calculated according to the driving power required for the front motor drive and the driving power required for the rear motor drive.

6. The method according to claim 5, characterized in that The calculating the driving power of the dual-motor combined drive according to the driving power required by the front motor drive and the driving power required by the rear motor drive includes: Acquiring a driving power ratio of the front motor drive, and acquiring a driving power ratio of the rear motor drive; The driving power of the dual-motor combined drive is calculated according to the driving power ratio of the front motor drive, the driving power required for the front motor drive, the driving power ratio of the rear motor drive, and the driving power required for the rear motor drive.

7. The method according to claim 3, characterized in that The step of determining the target driving mode from the candidate driving modes comprises: A driving mode in which the upgraded tires are enabled is selected from the candidate driving modes to obtain the target driving mode.

8. A control device for an electric vehicle, characterized in that: The electric vehicle comprises ordinary tires and upgraded tires, and the device comprises: A driving force determination module, used to determine the driving force provided by each wheel of the electric vehicle according to the position data of the ordinary tire and the upgraded tire in the electric vehicle, wherein the driving force provided by each wheel is the circumferential force of the wheel rim corresponding to each wheel; Providing a torque determination module, for determining the torque provided by each driving mode of the electric vehicle according to the driving force provided by each wheel, wherein the torque provided by each driving mode is the maximum torque that can be provided by each driving mode; A required torque acquisition module, used to acquire the required torque of the electric vehicle; The target driving mode determination module is used to determine a target driving mode from the various driving modes according to the required torque and the provided torque, and drive the electric vehicle according to the target driving mode.

9. An electric vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the electric vehicle according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the control method of the electric vehicle according to any one of claims 1 to 7 is implemented.

Images