Electric training vehicle control method, device, equipment and storage medium

Abstract

The present invention discloses a control method, device, equipment and storage medium for an electric training vehicle. The control method for an electric training vehicle comprises the following steps: determining the driving torque according to the vehicle speed, gear position and accelerator pedal opening; determining the jerk torque according to the shifting state, motor speed, clutch opening and the vehicle speed; determining the motor output torque according to the sum of the driving torque and the jerk torque and the battery discharge power limit. The beneficial effects of the present invention are: simulating the driving feeling caused by improper driver operation such as flameout and jerk of a fuel vehicle, thereby improving the driving level of trainees.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a control method, device, equipment and storage medium for an electric training vehicle. Background Art

[0002] Most of the existing training vehicles on the market are fuel-powered training vehicles. They run at idle or low speed for a long time, which consumes a lot of fuel, increases the training cost of driving schools, and also causes great pollution to the environment. Electric training vehicles are pollution-free and zero-emission when running. Their fixed-site usage makes charging easier to achieve. Compared with fuel-powered training vehicles, they greatly reduce training costs, so they have received more and more attention.

[0003] The driving feel of existing electric training cars is quite different from that of fuel training cars. They cannot well simulate the phenomena of fuel car stalling, jerking, etc. caused by improper driver operation, which is not conducive to students' driving tests on fuel training cars. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the object of the present invention is to provide an electric training vehicle control method, device, equipment and storage medium.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In a first aspect, a control method for an electric training vehicle comprises the following steps:

[0007] Determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening;

[0008] Determining the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed;

[0009] The motor output torque is determined according to the sum of the driving torque and the ramming torque and a battery discharge power limit.

[0010] In one embodiment, the step of determining the driving torque according to the vehicle speed, gear position and accelerator pedal opening comprises:

[0011] The idle torque is determined by PI closed-loop control according to the vehicle speed, target idle speed and gear position;

[0012] determining an acceleration torque according to the vehicle speed, the gear position and the accelerator pedal opening;

[0013] The maximum value between the idle torque and the acceleration torque is determined as the driving torque.

[0014] In one embodiment, the step of determining the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed comprises:

[0015] Determine whether it is in the process of shifting;

[0016] If the gear shift is not in progress, determine whether the vehicle speed is less than the calibrated vehicle speed, whether the motor speed is less than the calibrated motor speed, and whether the clutch pedal opening is less than the calibrated engagement coefficient;

[0017] If the vehicle speed is less than the calibrated vehicle speed, the motor speed is less than the motor calibrated speed and the clutch pedal opening is less than the calibrated coupling coefficient, a jogging torque that changes periodically between a first positive value and a first negative value is output, and the absolute value of the first negative value is less than the first positive value.

[0018] In one embodiment, if the gear shifting process is not in progress, the vehicle speed is greater than the calibrated vehicle speed or the motor speed is greater than the calibrated motor speed or the clutch pedal opening is greater than the calibrated engagement coefficient, the output jogging torque is 0.

[0019] In one embodiment, after the vehicle is started normally, if the duration of the vehicle speed being less than the calibrated vehicle speed and the motor speed being less than the calibrated motor speed is greater than the calibrated flameout duration, the flameout flag bit 1 has a value of 1;

[0020] The entire vehicle is under high pressure and driving is not allowed.

[0021] In one embodiment, after the vehicle is started normally, if the motor speed is less than the rated motor speed and the motor speed change rate is greater than the rated speed change rate, the value of the flameout flag bit 2 is 1;

[0022] The entire vehicle is under high pressure and driving is not allowed.

[0023] In one embodiment, the step of determining the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed further comprises:

[0024] If during the gear shifting process, the clutch opening is less than the calibrated engagement coefficient and a gear shift upshift occurs, the gear shift jogging torque will be output.

[0025] In a second aspect, a control device for an electric training vehicle comprises:

[0026] The first module is used to determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening;

[0027] The second module is used to determine the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed;

[0028] The third module is used to determine the motor output torque according to the sum of the driving torque and the ramming torque and the battery discharge power limit.

[0029] According to a third aspect, a device includes a processor and a memory, wherein the processor and the memory are connected to each other;

[0030] The memory is used to store computer programs;

[0031] The processor is configured to execute the electric training vehicle control method as described above when calling the computer program.

[0032] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the electric training vehicle control method as described above.

[0033] Beneficial effects of the present invention:

[0034] For the control method of the electric training vehicle, the driving torque is determined according to the vehicle speed, gear position and accelerator pedal opening; the jerking torque is determined according to the gear shifting state, motor speed, clutch opening and the vehicle speed; the motor output torque is determined according to the sum of the driving torque and the jerking torque and the battery discharge power limit, simulating the driving feeling of a fuel vehicle such as stalling and jerking caused by improper driver operation, thereby improving the driving level of trainees.

[0035] For the electric training vehicle control device, the driving torque is determined according to the vehicle speed, gear position and accelerator pedal opening; the jerking torque is determined according to the gear shifting state, motor speed, clutch opening and the vehicle speed; the motor output torque is determined according to the sum of the driving torque and the jerking torque and the battery discharge power limit, simulating the driving feeling of a fuel vehicle such as stalling and jerking due to improper driver operation, thereby improving the driving level of trainees.

[0036] For the equipment, the driving torque is determined according to the vehicle speed, gear position and accelerator pedal opening; the jerking torque is determined according to the gear shifting state, motor speed, clutch opening and the vehicle speed; the motor output torque is determined according to the sum of the driving torque and the jerking torque and the battery discharge power limit, simulating the driving feeling of a fuel vehicle stalling, jerking, etc. caused by improper driver operation, thereby improving the students' driving level.

[0037] For computer-readable storage media, the driving torque is determined according to the vehicle speed, gear position and accelerator pedal opening; the jerking torque is determined according to the gear shifting state, motor speed, clutch opening and the vehicle speed; the motor output torque is determined according to the sum of the driving torque and the jerking torque and the battery discharge power limit, simulating the driving feeling of a fuel vehicle stalling, jerking, etc. caused by improper driver operation, thereby improving the driving level of trainees.

[0038] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0040] Figure 1 is a flow chart of the electric training vehicle control method provided in an embodiment of the present application;

[0041] Figure 2 It is a structural schematic diagram of the electric training vehicle control device provided in an embodiment of the present application;

[0042] Figure 3 It is a result schematic diagram of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0046] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0047] This embodiment provides a control method for an electric training vehicle, which is applied to an electric training vehicle. The electric training vehicle is based on the original ordinary training vehicle, and the oil-burning engine is replaced by electric drive, which can be used for project training in field examinations. The electric training vehicle includes an ignition switch, an accelerator pedal, a brake pedal, a shifter, a vehicle controller (VCU), a motor, a clutch and other components.

[0048] Among them, the ignition switch outputs the ON gear power and Crank signal to the outside, and the vehicle control chamber executes the high voltage on the vehicle or the normal start of the vehicle. A displacement sensor is installed on the accelerator pedal. When the driver steps on the accelerator pedal, the VCU will collect the opening change and acceleration of the displacement sensor on the pedal, judge the driver's driving intention based on the built-in algorithm, and adjust the torque command to the motor. The brake pedal is the pedal that limits the power, that is, the pedal of the foot brake (service brake), and the brake pedal is used to slow down and stop.

[0049] Figure 1 is a flow chart of the control method, such as Figure 1 As shown, the control method includes steps S10 to S30.

[0050] Step S10: Determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening.

[0051] Specifically, step S10 includes: determining the idle torque through PI closed-loop control according to the vehicle speed, the target idle speed and the gear; determining the acceleration torque according to the vehicle speed, the gear and the accelerator pedal opening; and determining the maximum value of the idle torque and the acceleration torque as the driving torque.

[0052] It should be noted that the accelerator pedal, brake pedal and clutch pedal are all equipped with position sensors. The vehicle controller (VCU) compares the voltage value fed back by the position sensor with the preset voltage range to calculate the opening value of each pedal.

[0053] The gear position sensor assembly includes a gear position sensor and a shift finger. When the gear position is changed by operating the shift rocker arm, the position of the shift finger relative to the gear position sensor changes, and the gear position sensor outputs the corresponding three-way hard-wire switch signal. The VCU determines the current gear position by checking the truth table. In this embodiment, the gear positions include five forward gears, N gear, R gear and invalid value.

[0054] Using the accelerator pedal opening and the current vehicle speed, the current acceleration torque is obtained by looking up the table at different gears, and compared with the idle torque, and the larger value of the two is taken as the drive torque output.

[0055] Step S20: Determine the jogging torque according to the shifting state, motor speed, clutch opening and vehicle speed.

[0056] Specifically, step S20 at least includes step S201: determining whether a gear shift is in progress.

[0057] When the car shifts gears, the position of the shift finger relative to the gear sensor changes, and the gear sensor outputs corresponding three-way hard-wired switch signals. The VCU uses a truth table to determine that the gear is being shifted.

[0058] Step S20 also includes step S202: if the gear shift is not in progress, determining whether the vehicle speed is less than the calibrated vehicle speed, whether the motor speed is less than the calibrated motor speed, and whether the clutch pedal opening is less than the calibrated coupling coefficient. It should be noted that the current vehicle speed is obtained according to a vehicle speed sensor (such as a Hall vehicle speed sensor), and the current motor speed is obtained according to a motor speed sensor.

[0059] If the vehicle speed is less than the calibrated vehicle speed, the motor speed is less than the motor calibrated speed and the clutch pedal opening is less than the calibrated coupling coefficient, a jogging torque that changes periodically between a first positive value and a first negative value is output, wherein the absolute value of the first negative value is less than the first positive value.

[0060] In this embodiment, the cycle is set to 400ms. It is assumed that the jolt torque at the first moment is the first positive value. After 400ms, the jolt torque is the first negative value. After another 400ms, the jolt torque is the first positive value, and so on, to simulate the vehicle jolt, that is, the output torque fluctuates up and down based on the driving torque.

[0061] If the vehicle speed is not less than the calibrated speed when not in the gear shifting process, the output jogging torque is 0. Or if the motor speed is not less than the calibrated motor speed, the output jogging torque is 0. Or if the clutch pedal opening is not less than the calibrated engagement coefficient, the output jogging torque is 0.

[0062] Furthermore, after the vehicle is started normally, if the vehicle speed is less than the calibrated speed and the duration of the motor speed being less than the calibrated motor speed is greater than the calibrated flameout duration, the value of the flameout flag I is 1; thereafter, the whole vehicle is under high pressure and driving is not allowed.

[0063] It should be noted that after the vehicle is started normally, if the vehicle speed is less than the calibrated vehicle speed and the duration of the motor speed being less than the calibrated motor speed is not greater than the calibrated flameout duration, the value of the flameout flag I is 0.

[0064] It should be noted that after the vehicle is started normally, if the vehicle speed is greater than the calibrated vehicle speed or the motor speed is greater than the calibrated motor speed, the value of the flameout flag I is 0.

[0065] It should be noted that the vehicle can only start normally if the gear signal is valid and in N gear, the clutch is pressed, and the ignition switch signal is Start.

[0066] Furthermore, after the vehicle is started normally, if the motor speed is less than the rated motor speed and the motor speed change rate is greater than the rated speed change rate, the value of the flameout flag II is 1; thereafter, the whole vehicle is under high pressure and driving is not allowed.

[0067] After the vehicle is started normally, if the motor speed is not less than the rated motor speed or the motor speed change rate is not greater than the rated speed change rate, the value of the flameout flag II is 0.

[0068] It should be noted that the flameout mark II is only applicable to low-speed scenarios. Specifically, this judgment is only made for R gear, 1st gear and 2nd gear.

[0069] When the flameout mark position I or the flameout mark position II responds, the whole vehicle is sent out with high voltage, and driving is not allowed.

[0070] If during the gear shifting process, the clutch opening is less than the calibrated coupling coefficient and a shift-up occurs, the shift-up torque is output. It can be understood that the shift-up behavior between the 1st gear and the 5th gear is determined, and if a shift-up occurs, the shift-up torque is output.

[0071] Furthermore, if the clutch opening is not less than the calibrated coupling coefficient during the shifting process, there is no intrusive torque. Also, if the clutch opening is less than the calibrated coupling coefficient and no shifting up occurs, there is no intrusive torque.

[0072] Step S30: Determine the motor output torque according to the sum of the driving torque and the oscillating torque and the battery discharge power limit.

[0073] Specifically, the driving torque and the jogging torque are superimposed as the motor torque command. The maximum allowable torque of the motor is calculated by combining the current maximum allowable discharge power of the battery and the current motor speed with the motor efficiency. The motor torque command is limited and then output.

[0074] The electric training vehicle control method provided in this embodiment determines the driving torque according to the vehicle speed, gear position and accelerator pedal opening; determines the jerking torque according to the gear shifting state, motor speed, clutch opening and the vehicle speed; determines the motor output torque according to the sum of the driving torque and the jerking torque and the battery discharge power limit, simulating the driving feeling of a fuel vehicle such as stalling and jerking caused by improper driver operation, thereby improving the driving level of trainees.

[0075] This embodiment also provides an electric training vehicle control device, Figure 2 Schematic diagram of the structure of the electric training vehicle control device of this embodiment. Figure 2 As shown, the control device includes a first module 21 , a second module 2 and a third module 23 .

[0076] The first module 21 is used to determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening;

[0077] The second module 22 is used to determine the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed;

[0078] The third module 23 is used to determine the motor output torque according to the sum of the driving torque and the ramming torque and the battery discharge power limit.

[0079] It should be noted that the electric training vehicle control device provided in this embodiment can also be a computer program (including program code) running in a computer device. For example, the electric training vehicle control device is an application program that can be used to execute the corresponding steps in the above method provided in the embodiment of the present application.

[0080] In some feasible implementations, the electric training vehicle control device provided in this embodiment can be implemented in a combination of software and hardware. As an example, the electric training vehicle control device of the embodiment of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the electric training vehicle control method provided in the embodiment of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0081] In some feasible implementations, the electric training vehicle control device provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and include a series of modules, such as a first module and a second module, to implement the control method provided in the embodiment of the present invention.

[0082] The electric training vehicle control device provided in this embodiment determines the driving torque according to the vehicle speed, gear position and accelerator pedal opening; determines the jerking torque according to the gear shifting state, motor speed, clutch opening and the vehicle speed; determines the motor output torque according to the sum of the driving torque and the jerking torque and the battery discharge power limit, and simulates the driving feeling of a fuel vehicle such as stalling and jerking caused by improper driver operation, thereby improving the driving level of trainees.

[0083] The present application also provides an electronic device, Figure 3 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 3 As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004 and a memory 1005. In addition, the above-mentioned electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. Among them, the user interface 1003 may include a display screen (Display), a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1004 may be a high-speed RAM memory, or it may be a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a device control application program.

[0084] like Figure 3 In the electronic device 1000 shown, the network interface 1004 can provide a network communication function; the user interface 1003 is mainly used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0085] Determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening;

[0086] Determining the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed;

[0087] The motor output torque is determined based on the sum of the driving torque and the jogging torque and the battery discharge power limit. It should be understood that in some feasible embodiments, the processor 1001 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the type of device.

[0088] In a specific implementation, the electronic device 1000 can execute the above-mentioned functions through its built-in functional modules. Figure 1 For the implementation methods provided by the steps shown, please refer to the implementation methods provided by the above steps, which will not be repeated here.

[0089] The electronic device provided in this embodiment determines the driving torque according to the vehicle speed, gear position and accelerator pedal opening; determines the jerk torque according to the gear shifting state, motor speed, clutch opening and the vehicle speed; determines the motor output torque according to the sum of the driving torque and the jerk torque and the battery discharge power limit, and simulates the driving feeling of a fuel vehicle such as stalling and jerkiness caused by improper driver operation, thereby improving the driving level of trainees.

[0090] The present application also provides a computer-readable storage medium, which stores a computer program and is executed by a processor to implement Figure 1 For the methods provided in each step, please refer to the implementation methods provided in the above steps for details, which will not be repeated here.

[0091] The computer-readable storage medium provided in this embodiment determines the driving torque according to the vehicle speed, gear position and accelerator pedal opening; determines the jerk torque according to the shifting state, motor speed, clutch opening and the vehicle speed; determines the motor output torque according to the sum of the driving torque and the jerk torque and the battery discharge power limit, and simulates the driving feeling of a fuel vehicle such as stalling and jerkiness caused by improper driver operation, thereby improving the driving level of trainees.

[0092] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0093] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for an electric training vehicle, characterized in that: The following steps are involved: Determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening; Determine the jostling torque according to the shift state, the motor speed, the clutch opening and the vehicle speed. The step of determining the jostling torque includes: Determine whether it is in the process of shifting; If the gear shift is not in progress, determine whether the vehicle speed is less than the calibrated vehicle speed, whether the motor speed is less than the calibrated motor speed, and whether the clutch pedal opening is less than the calibrated engagement coefficient; If the vehicle speed is less than the calibrated vehicle speed, the motor speed is less than the calibrated motor speed, and the clutch pedal opening is less than the calibrated engagement coefficient, a jogging torque that periodically changes between a first positive value and a first negative value is output, and the absolute value of the first negative value is less than the first positive value; The motor output torque is determined according to the sum of the driving torque and the ramming torque and a battery discharge power limit.

2. The electric training vehicle control method according to claim 1, characterized in that: The step of determining the driving torque according to the vehicle speed, gear position and accelerator pedal opening comprises: The idle torque is determined by PI closed-loop control according to the vehicle speed, target idle speed and gear position; determining an acceleration torque according to the vehicle speed, the gear position and the accelerator pedal opening; The maximum value of the idle torque and the acceleration torque is determined as the driving torque.

3. The electric training vehicle control method according to claim 1, characterized in that: If the vehicle speed is greater than the calibrated vehicle speed, the motor speed is greater than the calibrated motor speed, or the clutch pedal opening is greater than the calibrated engagement coefficient when not in the gear shifting process, the output jogging torque is 0.

4. The electric training vehicle control method according to claim 1, characterized in that: After the vehicle is started normally, if the vehicle speed is less than the calibrated vehicle speed and the duration of the motor speed being less than the calibrated motor speed is greater than the calibrated flameout duration, the flameout flag bit 1 is 1; The entire vehicle is under high pressure and driving is not allowed.

5. The electric training vehicle control method according to claim 4, characterized in that: After the vehicle is started normally, if the motor speed is less than the rated motor speed and the motor speed change rate is greater than the rated speed change rate, the value of the flameout flag 2 is 1; The entire vehicle is under high pressure and driving is not allowed.

6. The electric training vehicle control method according to claim 1, characterized in that: The step of determining the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed also includes: If during the gear shifting process, the clutch opening is less than the calibrated engagement coefficient and a gear shift upshift occurs, the gear shift jogging torque will be output.

7. An electric training vehicle control device, characterized in that: include: The first module is used to determine the driving torque according to the vehicle speed, gear position and accelerator pedal opening; The second module is used to determine the jogging torque according to the shift state, the motor speed, the clutch opening and the vehicle speed. The step of determining the jogging torque includes: Determine whether it is in the process of shifting; If the gear shift is not in progress, determine whether the vehicle speed is less than the calibrated vehicle speed, whether the motor speed is less than the calibrated motor speed, and whether the clutch pedal opening is less than the calibrated engagement coefficient; If the vehicle speed is less than the calibrated vehicle speed, the motor speed is less than the calibrated motor speed, and the clutch pedal opening is less than the calibrated engagement coefficient, a jogging torque that periodically changes between a first positive value and a first negative value is output, and the absolute value of the first negative value is less than the first positive value; The third module is used to determine the motor output torque according to the sum of the driving torque and the ramming torque and the battery discharge power limit.

8. An electric training vehicle control device, characterized in that: comprising a processor and a memory, wherein the processor and the memory are connected to each other; The memory is used to store computer programs; The processor is configured to execute the electric training vehicle control method according to any one of claims 1 to 6 when calling the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the electric training vehicle control method according to any one of claims 1 to 6.

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