Electric vehicle control method, device, vehicle and computer-readable storage medium

Abstract

The present invention discloses a control method, device, vehicle, and computer-readable storage medium for an electric vehicle. The method comprises: obtaining a request value and a monitoring value corresponding to each of at least one requested torque; determining whether the requested torque is erroneous based on the monitoring value and the request value and generating an error message; and controlling the electric vehicle based on a safety policy corresponding to the error message. This method not only enables real-time monitoring of each requested torque, but also enables execution of a corresponding safety policy when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

Description

Technical Field

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

[0002] With the rapid development of the electric vehicle industry, the number of electric vehicles has increased significantly. Compared with traditional fuel vehicles, electric vehicles have obvious advantages, the most obvious of which is their good driving torque performance. However, vehicle manufacturers currently do not pay enough attention to the safety monitoring of electric vehicle driving torque, which makes it easy for torque loss of control to occur, posing a major safety hazard. Summary of the Invention

[0003] The present invention aims to at least partially address one of the technical problems in the related art. To this end, a first object of the present invention is to provide a control method for an electric vehicle that not only monitors each requested torque in real time but also implements a corresponding safety strategy when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0004] A second object of the present invention is to provide a computer-readable storage medium.

[0005] A third object of the present invention is to provide a vehicle.

[0006] A fourth object of the present invention is to provide a control device for an electric vehicle.

[0007] To achieve the above-mentioned objectives, an embodiment of the first aspect of the present invention proposes a control method for an electric vehicle, the method comprising: obtaining a request value and a monitoring value corresponding to each requested torque in at least one requested torque; judging whether there is an error in the requested torque based on the monitoring value and the request value and generating an error message; and controlling the electric vehicle according to a safety strategy corresponding to the error message.

[0008] According to an embodiment of the present invention, an electric vehicle control method obtains a request value and a monitoring value corresponding to each of at least one requested torque. Based on the monitoring and request values, the method determines whether the requested torque is erroneous and generates error information, allowing the electric vehicle to be controlled according to a safety policy corresponding to the error information. This method not only enables real-time monitoring of each requested torque but also enables the execution of corresponding safety policies when a requested torque error occurs, thereby improving the driving safety of the electric vehicle.

[0009] According to one embodiment of the present invention, whether there is an error in the requested torque is determined based on the monitored value and the requested value and error information is generated, including: if the requested value and the monitored value have different signs, and the absolute value of the requested value is greater than a first preset value, then it is determined that there is a torque reversal error in the requested torque; if the requested value and the monitored value have the same sign, and the absolute value of the difference between the requested value and the monitored value is greater than a second preset value, then it is determined that there is a torque amplitude error in the requested torque.

[0010] According to one embodiment of the present invention, at least one requested torque includes at least one of a mode requested torque and a system requested torque corresponding to an operating mode of the electric vehicle, wherein the mode requested torque includes an accelerator pedal requested torque corresponding to an accelerator pedal mode, a creep request torque corresponding to a creep mode, a single pedal requested torque corresponding to a single pedal mode, and an energy feedback request torque corresponding to an energy feedback mode.

[0011] According to one embodiment of the present invention, an electric vehicle is controlled according to a safety strategy corresponding to error information, including: when a torque reversal error exists in the system requested torque, setting the motor requested torque of the electric vehicle to zero; when a torque amplitude error exists in the system requested torque and no torque reversal error exists, controlling the electric vehicle to enter a power limited mode; when a torque amplitude error or a torque reversal error exists in the accelerator pedal requested torque, controlling the electric vehicle to exit the accelerator pedal mode and to enter a limp mode; when a torque amplitude error or a torque reversal error exists in the creeping requested torque and a torque amplitude error exists in the system requested torque, controlling the electric vehicle to exit the creeping mode; when a torque amplitude error or a torque reversal error exists in the energy feedback requested torque and a torque amplitude error exists in the system requested torque, controlling the electric vehicle to exit the energy feedback mode; when a torque amplitude error or a torque reversal error exists in the single pedal requested torque and a torque amplitude error exists in the system requested torque, controlling the electric vehicle to exit the single pedal mode.

[0012] According to one embodiment of the present invention, the priority of setting the motor request torque of the electric vehicle to zero is the first priority, the priority of controlling the electric vehicle to enter the limp mode is the second priority, and the priority of controlling the electric vehicle to enter the power limiting mode, exit the creep mode, exit the energy regeneration mode and exit the single-pedal mode is the third priority, and the first priority > the second priority > the third priority.

[0013] According to one embodiment of the present invention, obtaining a request value and a monitoring value corresponding to each requested torque in at least one requested torque includes: obtaining a speed of the electric vehicle; and obtaining a request value and a monitoring value of the mode requested torque by looking up a table based on the speed, wherein the accuracy of the table corresponding to the request value is higher than the accuracy of the table corresponding to the monitoring value.

[0014] According to one embodiment of the present invention, obtaining the request value and monitoring value corresponding to each requested torque in at least one requested torque also includes: obtaining the operating status of the electric vehicle and the driving behavior of the driver; and obtaining the request value and monitoring value of the system requested torque based on the operating status of the electric vehicle, the driving behavior of the driver and the mode requested torque.

[0015] To achieve the above objectives, the second embodiment of the present invention proposes a computer-readable storage medium on which a control program for an electric vehicle is stored. When the control program for the electric vehicle is executed by a processor, the control method for the electric vehicle as in the first embodiment is implemented.

[0016] According to the computer-readable storage medium of an embodiment of the present invention, through the above-mentioned electric vehicle control method, not only can real-time monitoring of each requested torque be achieved, but also corresponding safety strategies can be executed when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0017] To achieve the above-mentioned purpose, the third embodiment of the present invention proposes a vehicle, comprising: a memory, a processor, and a control program for an electric vehicle stored in the memory and runnable on the processor. When the processor executes the program, the control method for the electric vehicle as in the first embodiment is implemented.

[0018] According to the vehicle of the embodiment of the present invention, through the above-mentioned electric vehicle control method, not only can real-time monitoring of each requested torque be achieved, but also corresponding safety strategies can be executed when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0019] To achieve the above-mentioned objectives, the fourth aspect of the present invention proposes a control device for an electric vehicle, which includes: an acquisition module for obtaining a request value and a monitoring value corresponding to each requested torque in at least one requested torque; a judgment module for judging whether there is an error in the requested torque based on the monitoring value and the request value and generating an error message; and a control module for controlling the electric vehicle according to a safety strategy corresponding to the error message.

[0020] According to an embodiment of the present invention, a control device for an electric vehicle uses an acquisition module to obtain a request value and a monitoring value corresponding to each of at least one requested torque. A determination module determines whether there is an error in the requested torque based on the monitoring value and the requested value and generates an error message. Furthermore, a control module controls the electric vehicle based on a safety policy corresponding to the error message. This not only enables real-time monitoring of each requested torque, but also enables the execution of a corresponding safety policy when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0021] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of a control method for an electric vehicle according to one embodiment of the present invention;

[0023] Figure 2 A diagram showing an architecture of a power system of an electric vehicle according to one embodiment of the present invention;

[0024] Figure 3 is a schematic structural diagram of a control device for an electric vehicle according to one embodiment of the present invention;

[0025] Figure 4 FIG. 4 is a schematic block diagram of a vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0027] The following describes a control method, device, vehicle, and computer-readable storage medium for an electric vehicle according to embodiments of the present invention with reference to the accompanying drawings.

[0028] Figure 1 FIG. 1 is a flow chart of a control method for an electric vehicle according to an embodiment of the present invention. Figure 1 As shown, the control method of the electric vehicle includes the following steps:

[0029] Step S101 : obtaining a request value and a monitoring value corresponding to each requested torque of at least one requested torque.

[0030] It should be noted that the power system architecture of electric vehicles is as follows Figure 2 As shown, it includes a power battery, a motor controller, a reducer, a vehicle controller and a differential, among which the power battery provides driving energy for the electric vehicle, the motor controller is responsible for converting electrical energy into mechanical energy to drive the vehicle, and the vehicle controller calculates the requested torque corresponding to the power system driving the vehicle in response to the driver's driving request, vehicle speed and other information.

[0031] Specifically, during the operation of an electric vehicle, in some embodiments, the vehicle controller is divided into a functional layer and a monitoring layer to obtain a request value and a detection value of each requested torque in at least one requested torque, wherein the request value of each requested torque is obtained through the functional layer of the vehicle controller, and the detection value of each requested torque is obtained through the monitoring layer of the vehicle controller, thereby realizing real-time acquisition and monitoring of each requested torque.

[0032] In some embodiments, the at least one requested torque includes at least one of a mode requested torque and a system requested torque corresponding to an operating mode of the electric vehicle. The mode requested torque includes an accelerator pedal requested torque corresponding to an accelerator pedal mode, a creep request torque corresponding to a creep mode, a single pedal requested torque corresponding to a single pedal mode, and an energy regeneration request torque corresponding to an energy regeneration mode. In other words, the requested torque can be at least one of a mode requested torque and a system requested torque, and the mode requested torque includes the accelerator pedal requested torque, the creep request torque, the single pedal requested torque, and the energy regeneration request torque. This allows for real-time monitoring of the mode sub-requested torques and the system requested torque corresponding to each operating mode of the electric vehicle as needed.

[0033] In some embodiments, obtaining a request value and a monitoring value corresponding to each requested torque in at least one requested torque includes: obtaining a speed of the electric vehicle; and obtaining a request value and a monitoring value of the mode requested torque by looking up a table based on the speed, wherein the accuracy of the table corresponding to the request value is higher than the accuracy of the table corresponding to the monitoring value.

[0034] Specifically, when at least one requested torque includes a mode requested torque, the at least one requested torque obtained is at least one sub-request torque in the mode requested torque. Therefore, obtaining the request value and monitoring value corresponding to each requested torque in the at least one requested torque is obtaining the request value and monitoring value of each requested torque in the at least one sub-request torque in the mode requested torque. After determining the mode requested torque to be obtained, the speed of the electric vehicle in the current operating state is obtained, and the request value and monitoring value corresponding to the corresponding mode requested torque are respectively obtained by table lookup according to the speed of the electric vehicle. Among them, the request value of the mode requested torque is obtained by table lookup according to the functional layer of the vehicle controller, and the detection value of the mode requested torque is obtained by table lookup according to the monitoring layer of the vehicle controller. It should be noted that the relationship between the speed and request value and the speed and monitoring value corresponding to different request torques are pre-stored in the table to be looked up.

[0035] For example, when the mode request torque includes accelerator pedal request torque, creep request torque, single pedal request torque and energy feedback request torque, the request value and detection value of the accelerator pedal request torque, the request value and detection value of the creep request torque, the request value and detection value of the single pedal request torque and the request value and detection value of the energy feedback request torque are obtained respectively according to the current vehicle speed of the electric vehicle by using a table lookup method.

[0036] It should be noted that the accuracy of the table corresponding to the request value is higher than that of the table corresponding to the monitoring value. That is to say, the monitoring value standard is more relaxed than the request value standard. The monitoring value is the minimum torque standard required to meet the current operating mode, thereby achieving the monitoring of the requested torque while avoiding frequent torque errors caused by overly strict detection standards.

[0037] In some embodiments, obtaining the request value and monitoring value corresponding to each requested torque in at least one requested torque also includes: obtaining the operating status of the electric vehicle and the driving behavior of the driver; obtaining the request value and monitoring value of the system requested torque based on the operating status of the electric vehicle, the driving behavior of the driver and the mode requested torque.

[0038] Specifically, when the at least one requested torque also includes a system requested torque, the electric vehicle operating mode is determined based on the electric vehicle's operating state and the driver's driving behavior, and a requested value and a monitored value of the system requested torque are obtained based on the electric vehicle's operating mode and the mode requested torque. For example, if the electric vehicle is in normal driving and the driver depresses the accelerator pedal, it is determined that the electric vehicle has entered the accelerator pedal mode. The accelerator pedal requested torque corresponding to the accelerator pedal mode is then determined as the requested value and monitored value of the system requested torque. That is, when the system requested torque is obtained normally, the requested value and monitored value of the system requested torque are the requested value and monitored value corresponding to the accelerator pedal requested torque.

[0039] However, when the system requested torque is not obtained normally, the request values and monitoring values under different operating modes may be obtained as the request values and monitoring values of the system requested torque. For example, the request value corresponding to the accelerator pedal requested torque and the monitoring value corresponding to the creep request torque are respectively used as the request value and monitoring value of the system requested torque, thereby causing an error in obtaining the system requested torque. Therefore, it is necessary to monitor the system requested torque in real time.

[0040] Step S102 : determining whether there is an error in the requested torque based on the monitored value and the requested value, and generating error information.

[0041] Specifically, after obtaining the request value and the detection value of each requested torque, it is determined whether each requested torque obtained has an error according to the monitoring value and the request value. If the requested torque has an error, error information corresponding to the requested torque is generated.

[0042] In some embodiments, whether there is an error in the requested torque is determined based on the monitored value and the requested value and error information is generated, including: if the requested value and the monitored value have different signs, and the absolute value of the requested value is greater than a first preset value, then it is determined that there is a torque reversal error in the requested torque; if the requested value and the monitored value have the same sign, and the absolute value of the difference between the requested value and the monitored value is greater than a second preset value, then it is determined that there is a torque amplitude error in the requested torque.

[0043] Specifically, the signs of the request value and the detection value of each requested torque are compared to see if they are the same. If the request value obtained by the current requested torque is different from the sign of the monitoring value, and the absolute value corresponding to the requested torque is greater than a first preset value, it is determined that the requested torque has a torque reversal error and a torque reversal error message of the requested torque is sent; if the request value obtained by the current requested torque is the same as the sign of the monitoring value, and the absolute value of the difference between the request value and the monitoring value of the requested torque is greater than a second preset value, it is determined that the requested torque has a torque amplitude error and a torque amplitude error message of the requested torque is sent.

[0044] Further, as a specific example, after obtaining the request value and detection value of the accelerator pedal requested torque, if the request value and the detection value of the accelerator pedal requested torque have different signs, and the absolute value of the request value of the accelerator pedal requested torque is greater than 10Nm, then it means that a torque reverse error occurs in the accelerator pedal requested torque, and a torque reverse error message of the accelerator pedal requested torque is sent; if the request value and the detection value of the accelerator pedal requested torque have the same signs, and the absolute value of the difference between the request value and the monitoring value of the accelerator pedal requested torque is greater than 50Nm, then it means that a torque amplitude error occurs in the accelerator pedal requested torque, and a torque amplitude error message of the accelerator pedal requested torque is sent.

[0045] It should be noted that the error judgment method of each sub-request torque and system request torque under other request torque modes is similar to the above-mentioned error judgment method of the accelerator pedal request torque, and will not be repeated here.

[0046] Step S103: Control the electric vehicle according to a safety strategy corresponding to the error information.

[0047] Specifically, different requested torque error information corresponds to different safety strategies. When there is an error in the requested torque, the operation of the electric vehicle is controlled according to the safety strategy corresponding to the error to avoid safety hazards caused by the requested torque error, thereby improving the driving safety of the electric vehicle.

[0048] In some embodiments, the electric vehicle is controlled according to a safety strategy corresponding to the error information, including: when there is a torque reversal error in the system requested torque, setting the motor requested torque of the electric vehicle to zero; when there is a torque amplitude error and no torque reversal error in the system requested torque, controlling the electric vehicle to enter a power limited mode; when there is a torque amplitude error or a torque reversal error in the accelerator pedal requested torque, controlling the electric vehicle to exit the accelerator pedal mode and control the electric vehicle to enter a limp mode; when there is a torque amplitude error or a torque reversal error in the creep request torque and there is a torque amplitude error in the system requested torque, controlling the electric vehicle to exit the creep mode; when there is a torque amplitude error or a torque reversal error in the energy feedback requested torque and there is a torque amplitude error in the system requested torque, controlling the electric vehicle to exit the energy feedback mode; when there is a torque amplitude error or a torque reversal error in the single pedal requested torque and there is a torque amplitude error in the system requested torque, controlling the electric vehicle to exit the single pedal mode.

[0049] Specifically, when there is a torque reversal error in the system requested torque, the motor requested torque of the electric vehicle is directly set to zero to minimize the safety impact caused by the torque error; when there is only a torque amplitude error in the system requested torque but no torque reversal error, it means that the system requested torque is too large, and the electric vehicle is controlled to enter the power limiting mode to reduce the system requested torque; and when there is a torque amplitude error or a torque reversal error in the accelerator pedal requested torque, it means that the accelerator pedal function has failed. In order to avoid torque out of control caused by stepping on the accelerator pedal, the electric vehicle is controlled to exit the accelerator pedal mode and enter the limp mode to ensure that the electric vehicle can perform the most basic operation and maximize driving safety; if there is a torque amplitude error or a torque reversal error in the creep request torque, and there is a torque amplitude error in the system requested torque, it means that the creep function has failed, and the electric vehicle is controlled to exit the creep mode and re-enter the accelerator pedal mode, and at the same time, it is stipulated that the electric vehicle in this It is prohibited to re-enter the creep mode during the first power-on to avoid the electric vehicle automatically re-entering the creep mode and causing safety hazards; similarly, if there is a torque amplitude error or a torque reversal error in the energy feedback request torque, and there is a torque amplitude error in the system request torque, it means that the energy feedback function has failed, and the electric vehicle is controlled to exit the energy feedback mode and re-enter the accelerator pedal mode. At the same time, it is stipulated that the electric vehicle is prohibited from re-entering the energy feedback mode during this power-on to avoid the electric vehicle re-entering the energy feedback mode and causing safety hazards; similarly, if there is a torque amplitude error or a torque reversal error in the single-pedal request torque, and there is a torque amplitude error in the system request torque, it means that the single-pedal function has failed, and the electric vehicle is controlled to exit the single-pedal mode and re-enter the accelerator pedal mode. At the same time, it is stipulated that the electric vehicle is prohibited from re-entering the single-pedal mode during this power-on to avoid the electric vehicle re-entering the single-pedal mode and causing safety hazards.

[0050] Furthermore, the priority of setting the electric vehicle's motor request torque to zero is the first priority, the priority of controlling the electric vehicle to enter the limp mode is the second priority, and the priority of controlling the electric vehicle to enter the limited power mode, exit the creep mode, exit the energy regeneration mode, and exit the single-pedal mode is the third priority, and the first priority > the second priority > the third priority.

[0051] Specifically, since the system requested torque is the torque input into the motor controller, the correctness of the system requested torque is related to the safety performance of the electric vehicle. A torque reversal error in the system requested torque may cause the vehicle that should be moving forward to move backward, causing serious safety hazards. Therefore, when a torque reversal error occurs in the system requested torque, its corresponding safety strategy is set to the first priority, that is, the motor requested torque of the electric vehicle is set to zero as the first priority. In other words, when a torque reversal error occurs in the system requested torque, the motor requested torque is immediately controlled to become zero, and the electric vehicle is prohibited from running, so as to maximize the safety performance of the vehicle.

[0052] The accelerator pedal mode is the most commonly used mode for electric vehicles. When the vehicle is in the accelerator pedal mode, if the accelerator pedal request torque has a torque amplitude error or a torque reversal error, in order to avoid torque loss caused by stepping on the accelerator pedal, the electric vehicle is controlled to enter the limp home mode. Therefore, the priority of the limp home mode is set to the second priority. This ensures that the electric vehicle can perform the most basic operation when problems occur in the accelerator pedal mode, thereby maximizing driving safety.

[0053] The third priority is to control the electric vehicle to enter the limited power mode, exit the creep mode, exit the energy feedback mode and exit the single-pedal mode. Under the premise of ensuring driving safety, the operating torque of the electric vehicle is limited, or the corresponding operating mode is exited to avoid the electric vehicle from entering the operating mode again and causing safety hazards.

[0054] In summary, the electric vehicle control method according to an embodiment of the present invention obtains a request value and a monitoring value corresponding to each of at least one requested torque, determines whether the requested torque is erroneous based on the monitoring and request values, and generates error information to control the electric vehicle according to the safety policy corresponding to the error information. This method not only enables real-time monitoring of each requested torque but also enables the execution of corresponding safety policies when a requested torque error occurs, thereby improving the driving safety of the electric vehicle.

[0055] Figure 3 FIG. 1 is a schematic diagram of the structure of a control device for an electric vehicle according to an embodiment of the present invention. Figure 3 As shown, the control device 100 of the electric vehicle includes: an acquisition module 110 , a judgment module 120 and a control module 130 .

[0056] Among them, the acquisition module 110 is used to obtain the request value and monitoring value corresponding to each requested torque in at least one requested torque; the judgment module 120 is used to judge whether there is an error in the requested torque based on the monitoring value and the request value and generate an error message; the control module 130 is used to control the electric vehicle according to the safety strategy corresponding to the error message.

[0057] In some embodiments, the judgment module 120 is specifically used to: if the requested value and the monitored value have different signs, and the absolute value of the requested value is greater than a first preset value, then it is judged that there is a torque reversal error in the requested torque; if the requested value and the monitored value have the same sign, and the absolute value of the difference between the requested value and the monitored value is greater than a second preset value, then it is judged that there is a torque amplitude error in the requested torque.

[0058] In some embodiments, at least one requested torque includes at least one of a mode requested torque and a system requested torque corresponding to an operating mode of the electric vehicle, wherein the mode requested torque includes an accelerator pedal requested torque corresponding to an accelerator pedal mode, a creep request torque corresponding to a creep mode, a single pedal requested torque corresponding to a single pedal mode, and an energy regeneration request torque corresponding to an energy regeneration mode.

[0059] In some embodiments, the control module 130 is specifically used to: set the motor request torque of the electric vehicle to zero when there is a torque reversal error in the system request torque; control the electric vehicle to enter a power limited mode when there is a torque amplitude error and no torque reversal error in the system request torque; control the electric vehicle to exit the accelerator pedal mode and enter a limp mode when there is a torque amplitude error or a torque reversal error in the accelerator pedal request torque; control the electric vehicle to exit the creep mode when there is a torque amplitude error or a torque reversal error in the creep request torque and there is a torque amplitude error in the system request torque; control the electric vehicle to exit the energy feedback mode when there is a torque amplitude error or a torque reversal error in the energy feedback request torque and there is a torque amplitude error in the system request torque; control the electric vehicle to exit the single pedal mode when there is a torque amplitude error or a torque reversal error in the single pedal request torque and there is a torque amplitude error in the system request torque.

[0060] In some embodiments, the priority of setting the motor request torque of the electric vehicle to zero is the first priority, the priority of controlling the electric vehicle to enter the limp mode is the second priority, the priority of controlling the electric vehicle to enter the limited power mode, exit the creep mode, exit the energy regeneration mode and exit the single-pedal mode is the third priority, and the first priority > the second priority > the third priority.

[0061] In some embodiments, the acquisition module 110 is specifically used to: acquire the speed of the electric vehicle; and obtain the request value and monitoring value of the mode request torque by looking up the table according to the speed, wherein the accuracy of the table corresponding to the request value is higher than the accuracy of the table corresponding to the monitoring value.

[0062] In some embodiments, the acquisition module 110 is specifically used to: acquire the operating state of the electric vehicle and the driving behavior of the driver; and acquire the request value and monitoring value of the system request torque according to the operating state of the electric vehicle, the driving behavior of the driver and the mode request torque.

[0063] It should be noted that for the description of the control device of the electric vehicle in this application, please refer to the description of the control method of the electric vehicle in this application, and the details will not be repeated here.

[0064] According to an embodiment of the present invention, a control device for an electric vehicle uses an acquisition module to obtain a request value and a monitoring value corresponding to each of at least one requested torque. A determination module determines whether there is an error in the requested torque based on the monitoring value and the requested value and generates an error message. Furthermore, a control module controls the electric vehicle based on a safety policy corresponding to the error message. This not only enables real-time monitoring of each requested torque, but also enables the execution of a corresponding safety policy when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0065] Figure 4 FIG. 1 is a schematic block diagram of a vehicle according to an embodiment of the present invention. Figure 4 As shown, the vehicle 200 includes: a memory 210 and a processor 220, wherein the control program of the electric vehicle is stored in the memory 210 and can be run on the processor 220. When the processor 220 executes the program, the above-mentioned control method of the electric vehicle is implemented.

[0066] According to the vehicle of the embodiment of the present invention, through the above-mentioned electric vehicle control method, not only can real-time monitoring of each requested torque be achieved, but also corresponding safety strategies can be executed when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0067] In addition, an embodiment of the present invention further provides a computer-readable storage medium on which a control program for an electric vehicle is stored. When the control program for the electric vehicle is executed by a processor, the above-mentioned control method for the electric vehicle is implemented.

[0068] According to the computer-readable storage medium of an embodiment of the present invention, through the above-mentioned electric vehicle control method, not only can real-time monitoring of each requested torque be achieved, but also corresponding safety strategies can be executed when an error occurs in the requested torque, thereby improving the driving safety of the electric vehicle.

[0069] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0070] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0071] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0073] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0074] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A control method for an electric vehicle, characterized in that: The method comprises: obtaining a request value and a monitoring value corresponding to each requested torque of at least one requested torque; determining whether the requested torque has an error according to the monitoring value and the requested value and generating error information; controlling the electric vehicle according to a safety strategy corresponding to the error information; The determining whether the requested torque has an error according to the monitoring value and the requested value and generating error information includes: If the requested value and the monitored value have different signs, and the absolute value of the requested value is greater than a first preset value, it is determined that a torque reversal error exists in the requested torque; If the requested value and the monitored value have the same sign, and the absolute value of the difference between the requested value and the monitored value is greater than a second preset value, it is determined that there is a torque amplitude error in the requested torque.

2. The method according to claim 1, characterized in that The at least one requested torque includes at least one of a mode requested torque and a system requested torque corresponding to the operating mode of the electric vehicle, wherein the mode requested torque includes an accelerator pedal requested torque corresponding to an accelerator pedal mode, a creep request torque corresponding to a creep mode, a single pedal requested torque corresponding to a single pedal mode, and an energy regeneration request torque corresponding to an energy regeneration mode.

3. The method according to claim 2, characterized in that The controlling the electric vehicle according to the safety strategy corresponding to the error information includes: When there is a torque reversal error in the system request torque, setting the motor request torque of the electric vehicle to zero; When the system request torque has a torque amplitude error and no torque reversal error, controlling the electric vehicle to enter a power limiting mode; When the accelerator pedal request torque has a torque amplitude error or a torque reversal error, controlling the electric vehicle to exit the accelerator pedal mode and controlling the electric vehicle to enter a limp home mode; When the creep request torque has a torque amplitude error or a torque reversal error and the system request torque has a torque amplitude error, controlling the electric vehicle to exit the creep mode; When the energy feedback request torque has a torque amplitude error or a torque reversal error, and the system request torque has a torque amplitude error, controlling the electric vehicle to exit the energy feedback mode; When the single-pedal requested torque has a torque amplitude error or a torque reversal error and the system requested torque has a torque amplitude error, the electric vehicle is controlled to exit the single-pedal mode.

4. The method according to claim 3, characterized in that The priority of setting the motor request torque of the electric vehicle to zero is the first priority, the priority of controlling the electric vehicle to enter the limp mode is the second priority, and the priority of controlling the electric vehicle to enter the limited power mode, exit the creep mode, exit the energy feedback mode and exit the single-pedal mode is the third priority, and the first priority > the second priority > the third priority.

5. The method according to claim 2, characterized in that The obtaining of the request value and the monitoring value corresponding to each requested torque of the at least one requested torque includes: obtaining a speed of the electric vehicle; According to the speed, a request value and a monitoring value of the mode request torque are obtained by looking up a table, wherein the accuracy of the table corresponding to the request value is higher than the accuracy of the table corresponding to the monitoring value.

6. The method according to claim 2, characterized in that The obtaining of the request value and the monitoring value corresponding to each requested torque in the at least one requested torque further includes: Obtaining the operating status of the electric vehicle and the driving behavior of the driver; A request value and a monitoring value of the system request torque are obtained according to the operating state of the electric vehicle, the driving behavior of the driver, and the mode request torque.

7. A computer-readable storage medium, characterized in that A control program of the electric vehicle is stored thereon, and when the control program of the electric vehicle is executed by the processor, the control method of the electric vehicle according to any one of claims 1 to 6 is implemented.

8. A vehicle, characterized in that: include: A memory, a processor, and a control program for an electric vehicle stored in the memory and executable on the processor. When the processor executes the program, the control method for an electric vehicle according to any one of claims 1 to 6 is implemented.

9. A control device for an electric vehicle, implementing the control method for an electric vehicle according to any one of claims 1 to 6, characterized in that: The device comprises: an acquisition module, configured to acquire a request value and a monitoring value corresponding to each requested torque in at least one requested torque; a judgment module, configured to judge whether the requested torque has an error according to the monitoring value and the requested value and generate error information; A control module is used to control the electric vehicle according to a safety strategy corresponding to the error information.

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