Electric vehicle single-pedal control method, system, device and medium

Abstract

The present application provides a single-pedal control method, system, device, and medium for an electric vehicle, wherein the method includes the following steps: collecting the real-time vehicle speed; collecting the first pedal opening at the corresponding moment under the real-time vehicle speed, and obtaining the second pedal opening collected at the previous moment; calculating the pedal opening change rate based on the first pedal opening and the second pedal opening; when it is determined that the pedal opening change rate is less than or equal to a first preset value, calling a vehicle speed calibration database to determine the speed range within which the real-time vehicle speed is located; when it is determined that the first pedal opening is greater than or equal to the pedal opening lower limit value and less than or equal to the pedal opening upper limit value, querying the first calibration database to obtain a first torque corresponding to the speed range within which the real-time vehicle speed is located; and driving the vehicle with the first torque to keep the vehicle at a constant speed. The single-pedal control method for an electric vehicle provided by the present application overcomes problems such as long vehicle starting power response delay, poor steady-state vehicle speed control, and high energy consumption caused by large motor torque fluctuations.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of automobile power systems, and more particularly to a single-pedal control method, system, device, and medium for an electric vehicle. Background Art

[0002] Typically, a vehicle's accelerator and brake pedals are separate and operated by the driver with the same foot. Pressing the accelerator pedal accelerates the vehicle, while releasing it decelerates. Pressing the brake pedal, however, decelerates the vehicle. While driving, especially in congested urban areas, drivers must maintain high concentration and frequently switch between the two pedals, making it easy for them to accidentally or lately press the pedal. Furthermore, when braking with the brake pedal, part of the braking force is provided by the mechanical brake, which causes the brake assist motor to operate frequently, resulting in significant energy loss.

[0003] Publicly available single-pedal control methods typically use a PedalMap to control vehicle speed. Their most notable characteristic is that when the pedal opening is within a certain range, the motor outputs zero torque, preventing the vehicle from maintaining a constant speed due to resistance. When the pedal opening is below this range, negative torque is output. This method suffers from issues such as long delay in starting power response, difficulty controlling steady-state vehicle speed, and high energy consumption due to large motor torque fluctuations. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a single-pedal control method, system, device and medium for an electric vehicle to solve the above-mentioned problems.

[0005] A first aspect of the present application provides a single-pedal control method for an electric vehicle, comprising the following steps:

[0006] Collect real-time vehicle speed;

[0007] Collect the first pedal opening at the corresponding moment under the real-time vehicle speed, and obtain the second pedal opening collected at the previous moment;

[0008] calculating a pedal opening change rate based on the first pedal opening and the second pedal opening;

[0009] When it is determined that the pedal opening change rate is less than or equal to a first preset value, a vehicle speed calibration database is called to determine a vehicle speed range within which the real-time vehicle speed lies, the vehicle speed calibration database including a plurality of vehicle speed ranges and a pedal opening range corresponding to each vehicle speed range, the pedal opening range including an upper pedal opening limit and a lower pedal opening limit;

[0010] When it is determined that the first pedal opening is greater than or equal to a pedal opening lower limit and less than or equal to a pedal opening upper limit, querying a first calibration database to obtain a first torque corresponding to a vehicle speed range within which the real-time vehicle speed lies; the first calibration database includes multiple sets of vehicle speed ranges and torques corresponding to each set of vehicle speed ranges;

[0011] The vehicle is driven with the first torque to keep the vehicle in a constant speed state.

[0012] According to the technical solution provided in the embodiment of the present application, after determining that the pedal opening change rate is less than or equal to the first preset value, the following steps are further included:

[0013] When it is determined that the first pedal opening is greater than the pedal opening upper limit, calculating a first pedal opening difference between the first pedal opening and the pedal opening upper limit;

[0014] Obtaining a second torque when the first pedal opening difference corresponds to the real-time vehicle speed;

[0015] The vehicle is driven by the second torque to put the vehicle into an accelerating state.

[0016] According to the technical solution provided in the embodiment of the present application, the step of obtaining the second torque when the first pedal opening difference corresponds to the real-time vehicle speed includes:

[0017] querying a second calibration database to obtain a second torque corresponding to the first pedal opening difference and the real-time vehicle speed;

[0018] The second calibration database includes a plurality of pedal opening difference values and a plurality of vehicle speeds, as well as the torque when any opening difference value corresponds to any vehicle speed.

[0019] According to the technical solution provided in the embodiment of the present application, after determining that the pedal opening change rate is less than or equal to the first preset value, the following steps are further included:

[0020] When it is determined that the first pedal opening is less than the pedal opening lower limit, calculating a second pedal opening difference between the pedal opening lower limit and the first pedal opening;

[0021] querying the second calibration database to obtain a third torque corresponding to the second pedal opening difference and the real-time vehicle speed;

[0022] The vehicle is driven with the third torque to put the vehicle into a deceleration state.

[0023] According to the technical solution provided in the embodiment of the present application, after calculating the pedal opening change rate using the first pedal opening and the second pedal opening, the following steps are further included:

[0024] When it is determined that the pedal opening change rate is greater than the first preset value, querying a third calibration database to obtain a fourth torque when the first pedal opening corresponds to the real-time vehicle speed; the third calibration database includes a plurality of pedal openings and a plurality of vehicle speeds, as well as the torque when any pedal opening corresponds to any vehicle speed;

[0025] The vehicle is driven with the fourth torque to put the vehicle into a rapid acceleration state.

[0026] According to the technical solution provided in the embodiment of the present application, the steps of constructing the vehicle speed calibration database include:

[0027] Divide multiple groups of vehicle speed ranges to obtain a vehicle speed range sequence;

[0028] Traversing the vehicle speed range sequence, obtaining the average power corresponding to each group of vehicle speed ranges, and forming an average power sequence;

[0029] Traversing the average power sequence, respectively calculating a first ratio of each average power to the rated power, to obtain a first ratio sequence; the first ratio is used to represent the median value of the pedal opening;

[0030] Traversing the first ratio sequence, determining a pedal opening upper limit value and a pedal opening lower limit value corresponding to each set of vehicle speed ranges based on each first ratio value, to obtain a pedal opening limit value range set;

[0031] The vehicle speed calibration database is constructed using the pedal opening limit value range set and the vehicle speed range sequence.

[0032] According to the technical solution provided in the embodiment of the present application, the step of determining the pedal opening upper limit value and the pedal opening lower limit value corresponding to each group of vehicle speed ranges based on each first ratio includes:

[0033] multiplying the first ratio by the maximum pedal opening to obtain a median pedal opening;

[0034] Adding a first set value to the median pedal opening to obtain the upper limit of the pedal opening;

[0035] The pedal opening lower limit value is obtained by subtracting a first set value from the pedal opening median value.

[0036] A second aspect of the present application provides a control system for a single pedal of an electric vehicle, comprising:

[0037] A vehicle speed collection module, configured to collect real-time vehicle speed;

[0038] a pedal opening acquisition module configured to acquire a first pedal opening at a corresponding moment under real-time vehicle speed and obtain a second pedal opening acquired at a previous moment;

[0039] a processing module, the processing module being configured to calculate a pedal opening change rate based on a first pedal opening and a second pedal opening; and further configured to, when determining that the pedal opening change rate is less than or equal to a first preset value, call a vehicle speed calibration database to determine a vehicle speed range in which the real-time vehicle speed is located, the vehicle speed calibration database including a plurality of vehicle speed ranges and a pedal opening range corresponding to each vehicle speed range, the pedal opening range including a pedal opening upper limit value and a pedal opening lower limit value; and further configured to, when determining that the first pedal opening is greater than or equal to the pedal opening lower limit value and less than or equal to the pedal opening upper limit value, query a first calibration database to obtain a first torque corresponding to the vehicle speed range in which the real-time vehicle speed is located; the first calibration database including a plurality of vehicle speed ranges and a torque corresponding to each speed range;

[0040] An execution module is configured to drive the vehicle with the first torque to keep the vehicle in a constant speed state.

[0041] The third aspect of the present application provides a terminal device, including 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 computer program, the steps of the single-pedal control method for an electric vehicle as described in any one of the above items are implemented.

[0042] A fourth aspect of the present application provides a computer-readable storage medium having a computer program, wherein the computer-readable storage medium is configured to implement the steps of the single-pedal control method for an electric vehicle as described in any one of the above items when the computer program is executed by a processor.

[0043] Compared with the prior art, the present application has the following advantages: by calculating the pedal opening change rate at a corresponding moment and a previous moment under the real-time vehicle speed, it is possible to distinguish whether the vehicle is in a sudden acceleration state or a starting state. By redesigning a PedalMap, the vehicle speed of the vehicle in the sudden acceleration state or the starting state can be controlled, thereby avoiding the problem of using the same PedalMap for the non-sudden acceleration state or the starting state, which causes a long delay in the sudden acceleration or starting power response. When the pedal opening change rate is determined to be less than or equal to a first preset value, the vehicle speed calibration database is called to determine the speed range within which the real-time vehicle speed falls. When the first pedal opening is between the pedal opening lower limit and the pedal opening upper limit, it indicates that the vehicle is in a constant speed state. By querying the first calibration database, which is a PedalMap, the corresponding first torque is obtained, and the vehicle is driven with the first torque to maintain a constant speed. This avoids the problem of poor steady-state vehicle speed control due to resistance or the pedal opening not being able to maintain a constant position, and also avoids the problem of high energy consumption caused by large motor torque fluctuations. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0045] Figure 1 A flowchart of the steps of a single-pedal control method for an electric vehicle provided in this application;

[0046] Figure 2 Flowchart of the steps for constructing the vehicle speed calibration database in this application;

[0047] Figure 3 This is a schematic diagram of the distribution of vehicle speed range and pedal opening range in the vehicle speed calibration database of this application;

[0048] Figure 4 Schematic diagram of the correspondence between pedal opening difference, vehicle speed and torque in the second calibration database of this application;

[0049] Figure 5 This is a schematic diagram of the structure of a single-pedal control system for an electric vehicle provided in this application;

[0050] Figure 6 A schematic diagram of the structure of a terminal device provided in this application. DETAILED DESCRIPTION

[0051] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only the portions relevant to the invention are shown in the accompanying drawings.

[0052] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0053] Example 1

[0054] Please refer to Figure 1 , the present application provides a single-pedal control method for an electric vehicle, comprising the following steps:

[0055] S1, collect real-time vehicle speed;

[0056] S2. Collect the first pedal opening at the corresponding moment under the real-time vehicle speed, and obtain the second pedal opening collected at the previous moment;

[0057] S3. calculating a pedal opening change rate based on the first pedal opening and the second pedal opening;

[0058] S4. When it is determined that the pedal opening change rate is less than or equal to a first preset value, calling a vehicle speed calibration database to determine a vehicle speed range within which the real-time vehicle speed lies, the vehicle speed calibration database including multiple sets of vehicle speed ranges and pedal opening ranges corresponding to each set of vehicle speed ranges, the pedal opening ranges including a pedal opening upper limit and a pedal opening lower limit;

[0059] S5. When it is determined that the first pedal opening is greater than or equal to a pedal opening lower limit and less than or equal to a pedal opening upper limit, querying a first calibration database to obtain a first torque corresponding to a speed range within which the real-time vehicle speed lies; the first calibration database includes multiple sets of speed ranges and torques corresponding to each speed range;

[0060] S6. Drive the vehicle with the first torque to keep the vehicle at a constant speed.

[0061] Specifically, the pedal opening change rate is obtained by calculating the difference between the first pedal opening and the second pedal opening, and then dividing the difference by the time between the moment when the real-time vehicle speed is collected and the previous moment.

[0062] Specifically, the pedal opening change rate is compared with a first preset value. When the pedal opening change rate is greater than the first preset value A, it is determined that the vehicle is in a rapid acceleration state. It can also be considered that the vehicle is in a state of rapid starting and the speed is changing rapidly. At this time, the third calibration database is queried. The third calibration database is a PedalMap (accelerator pedal characteristics), which is recorded here as the first PedalMap. The third calibration database includes multiple pedal openings and multiple vehicle speeds. Any pedal opening corresponding to any vehicle speed can generate a torque. Based on the current pedal opening and the real-time vehicle speed, the first PedalMap is queried to obtain a fourth torque. The vehicle is driven by the fourth torque, so that the vehicle achieves rapid acceleration or starting under the drive of the fourth torque.

[0063] Specifically, the pedal opening change rate is compared with a first preset value, and it is determined that when the pedal opening change rate is less than or equal to the first preset value A, it indicates that the vehicle is in a non-rapid acceleration state, and a vehicle speed calibration database is called. The vehicle speed calibration database includes six groups of vehicle speed ranges and pedal opening ranges corresponding to each group of vehicle speed ranges. The pedal opening range includes a pedal opening upper limit value and a pedal opening lower limit value; the vehicle speed calibration database is as follows:

[0064] As shown in Table 1:

[0065] Speed range [0，40) [40，80) [80，100) [100，120) [120，140) [140，+∞) Opening range <![CDATA[[X 11 ,X 21 ]]]> <![CDATA[[X 12 ,X 22 ]]]> <![CDATA[[X 13 ,X 23 ]]]> <![CDATA[[X 14 ,X 24 ]]]> <![CDATA[[X 15 ,X 25 ]]]> <![CDATA[[X 16 ,X 26 ]]]>

[0066] Table 1

[0067] Specifically, the distribution of vehicle speed range and pedal opening range in the vehicle speed calibration database is as follows: Figure 3 As shown;

[0068] If the real-time vehicle speed V is in the range of [40, 80), it is determined whether the first pedal opening D is within the pedal opening lower limit value X. 12 and pedal opening upper limit value X 22 When the first pedal opening D is within the pedal opening lower limit value X 12 and the pedal opening upper limit value X 22 When the vehicle is in a state of uniform motion, the first calibration database is queried. The first calibration database includes the six groups of vehicle speed ranges and the torque corresponding to each group of vehicle speed ranges. The first calibration database is shown in Table 2:

[0069] Speed range [0，40) [40，80) [80，100) [100，120) [120，140) [140，+∞) Torque b1 b2 b3 b4 b5 b6

[0070] Table 2

[0071] By looking up the table, we can see that when the real-time vehicle speed V satisfies [40, 80), the corresponding first torque b2 is obtained, and the vehicle is driven by the first torque b2 to achieve uniform speed movement of the vehicle, effectively avoiding the problem of poor steady-state vehicle speed control due to resistance or the inability to maintain a constant pedal opening.

[0072] It should be noted that since the vehicle speeds within each speed range are not much different, when the car moves at a constant speed at any speed within the same speed range, its driving torque is not much different, so the same torque can be selected for each speed range here.

[0073] Working Principle: By calculating the pedal opening change rate at the corresponding moment and the previous moment under the real-time vehicle speed, it is possible to distinguish whether the vehicle is in a sudden acceleration state or a starting state. A redesigned PedalMap can be used to control the vehicle speed in the sudden acceleration state or the starting state, avoiding the problem of using the same PedalMap for the non-sudden acceleration state or the starting state, which may cause a long delay in the sudden acceleration or starting power response. When the pedal opening change rate is determined to be less than or equal to a first preset value, the vehicle speed calibration database is called to determine the speed range within which the real-time vehicle speed falls. When the first pedal opening is between the lower and upper pedal opening limits, it indicates that the vehicle is in a constant speed state. By querying the first calibration database (which is a PedalMap), the corresponding first torque is obtained, and the vehicle is driven with the first torque to maintain a constant speed. This avoids the problem of poor steady-state vehicle speed control due to resistance or the pedal opening not being able to maintain a constant position, and also avoids the problem of high energy consumption caused by large motor torque fluctuations.

[0074] Example 2

[0075] In a preferred embodiment, after determining that the pedal opening change rate is less than or equal to the first preset value, the method further includes the following steps:

[0076] When it is determined that the first pedal opening is greater than the pedal opening upper limit, calculating a first pedal opening difference between the first pedal opening and the pedal opening upper limit;

[0077] Obtaining a second torque when the first pedal opening difference corresponds to the real-time vehicle speed;

[0078] The vehicle is driven by the second torque to put the vehicle into an accelerating state.

[0079] In a preferred embodiment, the step of obtaining the second torque when the first pedal opening difference corresponds to the real-time vehicle speed includes:

[0080] querying a second calibration database to obtain a second torque corresponding to the first pedal opening difference and the real-time vehicle speed;

[0081] The second calibration database includes a plurality of pedal opening difference values and a plurality of vehicle speeds, as well as the torque when any opening difference value corresponds to any vehicle speed.

[0082] Specifically, based on Example 1, it is determined that the first pedal opening D is greater than the pedal opening upper limit value X 22 When the vehicle is in a slow acceleration state, the first pedal opening D and the pedal opening upper limit X are calculated. 22 The first pedal opening difference DX 22 , at this time, the second calibration database is queried, and the second calibration database is as follows Figure 4 As shown, the second calibration database is a PedalMap, which is here referred to as the second PedalMap to distinguish it from the first PedalMap. The second calibration database includes a plurality of pedal opening difference values and a plurality of vehicle speeds, as well as the torque corresponding to any pedal opening difference value and any vehicle speed. The second calibration database is shown in the figure. By querying the second calibration database, the first pedal opening difference value DX is obtained in the second calibration database. 22 The second torque corresponding to the real-time vehicle speed V is used to drive the vehicle so that the vehicle is in an accelerated state but not in a rapid acceleration state.

[0083] It should be noted that the format of the third calibration database is the same as that of the second calibration database, that is, the third calibration database is the same as the second calibration database. Figure 4The parameter distribution is the same as that of the third calibration database, except that the third calibration database obtains a torque when any pedal opening corresponds to the vehicle speed, while the second calibration database obtains a torque when any pedal opening difference corresponds to the vehicle speed; wherein, the torque value in the third calibration database can be set by the technician according to the actual situation, and the specific torque value in the third calibration database is not given as an example here.

[0084] Example 3

[0085] In a preferred embodiment, after determining that the pedal opening change rate is less than or equal to the first preset value, the method further includes the following steps:

[0086] When it is determined that the first pedal opening is less than the pedal opening lower limit, calculating a second pedal opening difference between the pedal opening lower limit and the first pedal opening;

[0087] querying the second calibration database to obtain a third torque corresponding to the second pedal opening difference and the real-time vehicle speed;

[0088] The vehicle is driven with the third torque to put the vehicle into a deceleration state.

[0089] Specifically, based on Example 1, it is determined that the first pedal opening D is less than the pedal opening lower limit value X 12 When the vehicle is in a deceleration state, the lower limit value of the pedal opening X is calculated. 12 The difference X between the second pedal opening and the first pedal opening D 12 -D, at this time, the second calibration database is queried, and the second pedal opening difference X is obtained in the second calibration database by querying the second calibration database. 12 -D and the third torque corresponding to the real-time vehicle speed V, the vehicle is driven with the third torque to put the vehicle in a deceleration state and perform brake energy recovery.

[0090] Example 4

[0091] In a preferred embodiment, the step of constructing the vehicle speed calibration database includes:

[0092] a. Divide multiple groups of vehicle speed ranges to obtain a vehicle speed range sequence;

[0093] b. Traversing the vehicle speed range sequence, obtaining the average power corresponding to each group of vehicle speed ranges, and forming an average power sequence;

[0094] c. Traversing the average power sequence, respectively calculating a first ratio of each average power to the rated power to obtain a first ratio sequence; the first ratio is used to represent the median value of the pedal opening;

[0095] d. Traversing the first ratio sequence, determining the pedal opening upper limit and the pedal opening lower limit corresponding to each set of vehicle speed ranges based on each first ratio, to obtain a set of pedal opening limit ranges;

[0096] e. Constructing the vehicle speed calibration database based on the pedal opening limit value range set and the vehicle speed range sequence.

[0097] Specifically, in step a, based on the automobile dynamic kinematics theory, the vehicle speed is divided into the above six speed ranges, and a speed range sequence is constructed based on the six speed ranges;

[0098] In step b, the speed range sequence is traversed to obtain the power P when the vehicle is traveling at the average speed within each speed range, and the power P corresponding to all speeds within the same speed range is calculated.

[0099] Calculate the average power within the speed range Calculate each speed range pair one by one

[0100] The average power Construct the average power series;

[0101] In step c, the average power sequence is traversed and six average power A first ratio n to the rated power P0 of the vehicle, a first ratio sequence is constructed based on the six first ratios n, and the first ratio n corresponding to each vehicle speed range is used to represent the median value of the pedal opening within the vehicle speed range;

[0102] In step d, the first ratio n is multiplied by the maximum pedal opening to obtain a median pedal opening, the median pedal opening is added to a first set value to obtain the upper limit pedal opening, and the median pedal opening is subtracted from the first set value to obtain the lower limit pedal opening; the first set value corresponding to each speed range is different, and since the change in pedal opening at a lower speed has a more significant effect on the change in speed than at a higher speed, the higher the speed corresponding to the speed range, the smaller the first set value corresponding to the speed range; the upper limit pedal opening and the lower limit pedal opening corresponding to the six speed ranges are calculated one by one to construct a set of pedal opening limit ranges;

[0103] In step e, six groups of pedal opening upper limit values and pedal opening lower limit values are mapped one-to-one with six groups of vehicle speed ranges according to the pedal opening limit range set obtained in step d, so as to construct the vehicle speed calibration database.

[0104] Example 5

[0105] Please refer to Figure 5 , the present application provides a control system for a single pedal of an electric vehicle, comprising:

[0106] A vehicle speed collection module, configured to collect real-time vehicle speed;

[0107] a pedal opening acquisition module configured to acquire a first pedal opening at a corresponding moment under real-time vehicle speed and obtain a second pedal opening acquired at a previous moment;

[0108] a processing module, the processing module being configured to calculate a pedal opening change rate based on a first pedal opening and a second pedal opening; and further configured to, when determining that the pedal opening change rate is less than or equal to a first preset value, call a vehicle speed calibration database to determine a vehicle speed range in which the real-time vehicle speed is located, the vehicle speed calibration database including a plurality of vehicle speed ranges and a pedal opening range corresponding to each vehicle speed range, the pedal opening range including a pedal opening upper limit value and a pedal opening lower limit value; and further configured to, when determining that the first pedal opening is greater than or equal to the pedal opening lower limit value and less than or equal to the pedal opening upper limit value, query a first calibration database to obtain a first torque corresponding to the vehicle speed range in which the real-time vehicle speed is located; the first calibration database including a plurality of vehicle speed ranges and a torque corresponding to each speed range;

[0109] An execution module is configured to drive the vehicle with the first torque to keep the vehicle in a constant speed state.

[0110] This embodiment is used to implement the steps of the electric vehicle single-pedal control method described in Example 1.

[0111] Example 6

[0112] The present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that when the processor executes the computer program, the steps of the electric vehicle single-pedal control method as described above are implemented.

[0113] like Figure 6 As shown, the terminal device (CPU) 500 includes a central processing unit 501, which can perform various appropriate actions and processes according to the program stored in the system memory (ROM) 502 or the program loaded from the storage unit into the random access memory (RAM) 503. The RAM 503 also stores various programs and data required for system operation. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0114] The following components are connected to the (I / O) interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including devices such as a hard disk; and a communication section 509 including a network interface card such as a LAN card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive is also connected to the (I / O) interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed in the storage section 508 as needed.

[0115] In particular, according to an embodiment of the present invention, the above reference process Figure 1 The described process can be implemented as a computer software program. For example, embodiment 1 of the present invention includes a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication portion and / or installed from a removable medium. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present application are performed.

[0116] Example 7

[0117] The present application provides a computer-readable storage medium having a computer program, wherein the computer-readable storage medium is configured to implement the steps of the electric vehicle single-pedal control method described above when the computer program is executed by a processor.

[0118] It should be noted that the computer-readable medium described in the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In the present invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, or any suitable combination thereof.

[0119] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that 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 flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be provided in a processor. The names of these units do not, in some cases, limit the units themselves. The units or modules described may also be provided in a processor, such as a vehicle speed acquisition module, a pedal opening acquisition module, a processing module, and an execution module. The names of these units or modules do not, in some cases, limit the units or modules themselves.

[0121] As another aspect, the present application further provides a computer-readable medium, which may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device implements the steps of the electric vehicle single-pedal control method described in the above embodiments.

[0122] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims

1. A single-pedal control method for an electric vehicle, characterized in that: The steps include: Collect real-time vehicle speed; Collect the first pedal opening at the corresponding moment under the real-time vehicle speed, and obtain the second pedal opening collected at the previous moment; calculating a pedal opening change rate based on the first pedal opening and the second pedal opening; When it is determined that the pedal opening change rate is less than or equal to a first preset value, a vehicle speed calibration database is called to determine a vehicle speed range within which the real-time vehicle speed lies, the vehicle speed calibration database including a plurality of vehicle speed ranges and a pedal opening range corresponding to each vehicle speed range, the pedal opening range including an upper pedal opening limit and a lower pedal opening limit; When it is determined that the first pedal opening is greater than or equal to a pedal opening lower limit and less than or equal to a pedal opening upper limit, querying a first calibration database to obtain a first torque corresponding to a vehicle speed range within which the real-time vehicle speed lies; the first calibration database includes multiple sets of vehicle speed ranges and torques corresponding to each set of vehicle speed ranges; driving the vehicle with the first torque so that the vehicle is in a constant speed state; After determining that the pedal opening change rate is less than or equal to the first preset value, the method further includes: When it is determined that the first pedal opening is greater than the pedal opening upper limit, calculating a first pedal opening difference between the first pedal opening and the pedal opening upper limit; Obtaining a second torque when the first pedal opening difference corresponds to the real-time vehicle speed; The vehicle is driven by the second torque to put the vehicle into an accelerating state.

2. The electric vehicle single-pedal control method according to claim 1, characterized in that: The step of obtaining the second torque when the first pedal opening difference corresponds to the real-time vehicle speed includes: querying a second calibration database to obtain a second torque corresponding to the first pedal opening difference and the real-time vehicle speed; The second calibration database includes a plurality of pedal opening difference values and a plurality of vehicle speeds, as well as the torque when any opening difference value corresponds to any vehicle speed.

3. The electric vehicle single-pedal control method according to claim 2, characterized in that: After determining that the pedal opening change rate is less than or equal to the first preset value, the method further includes the following steps: When it is determined that the first pedal opening is less than the pedal opening lower limit, calculating a second pedal opening difference between the pedal opening lower limit and the first pedal opening; querying the second calibration database to obtain a third torque corresponding to the second pedal opening difference and the real-time vehicle speed; The vehicle is driven with the third torque to put the vehicle into a deceleration state.

4. The electric vehicle single-pedal control method according to claim 1, characterized in that: After calculating the pedal opening change rate using the first pedal opening and the second pedal opening, the method further includes the following steps: When it is determined that the pedal opening change rate is greater than the first preset value, querying a third calibration database to obtain a fourth torque when the first pedal opening corresponds to the real-time vehicle speed; the third calibration database includes a plurality of pedal openings and a plurality of vehicle speeds, as well as the torque when any pedal opening corresponds to any vehicle speed; The vehicle is driven with the fourth torque to put the vehicle into a rapid acceleration state.

5. The electric vehicle single-pedal control method according to claim 1, characterized in that: The steps of constructing the vehicle speed calibration database include: Divide multiple groups of vehicle speed ranges to obtain a vehicle speed range sequence; Traversing the vehicle speed range sequence, obtaining the average power corresponding to each group of vehicle speed ranges, and forming an average power sequence; Traversing the average power sequence, respectively calculating a first ratio of each average power to the rated power, to obtain a first ratio sequence; the first ratio is used to represent the median value of the pedal opening; Traversing the first ratio sequence, determining a pedal opening upper limit value and a pedal opening lower limit value corresponding to each set of vehicle speed ranges based on each first ratio value, to obtain a pedal opening limit value range set; The vehicle speed calibration database is constructed using the pedal opening limit value range set and the vehicle speed range sequence.

6. The electric vehicle single-pedal control method according to claim 5, characterized in that: The step of determining the pedal opening upper limit value and the pedal opening lower limit value corresponding to each vehicle speed range based on each first ratio includes: multiplying the first ratio by the maximum pedal opening to obtain a median pedal opening; Adding a first set value to the median pedal opening to obtain the upper limit of the pedal opening; The pedal opening lower limit value is obtained by subtracting a first set value from the pedal opening median value.

7. A single-pedal control system for an electric vehicle, characterized in that: include: A vehicle speed collection module, configured to collect real-time vehicle speed; a pedal opening acquisition module configured to acquire a first pedal opening at a corresponding moment under real-time vehicle speed and obtain a second pedal opening acquired at a previous moment; a processing module configured to calculate a pedal opening change rate based on the first pedal opening and the second pedal opening; The method is further configured to, when it is determined that the rate of change of the pedal opening is less than or equal to a first preset value, call a vehicle speed calibration database to determine a vehicle speed range in which the real-time vehicle speed lies, the vehicle speed calibration database including a plurality of vehicle speed ranges and a pedal opening range corresponding to each vehicle speed range, the pedal opening range including a pedal opening upper limit value and a pedal opening lower limit value; and is further configured to, when it is determined that the first pedal opening is greater than or equal to the pedal opening lower limit value and less than or equal to the pedal opening upper limit value, query a first calibration database to obtain a first torque corresponding to the vehicle speed range in which the real-time vehicle speed lies, the first calibration database including a plurality of vehicle speed ranges and a torque corresponding to each vehicle speed range; an execution module, configured to drive the vehicle with the first torque so that the vehicle is in a constant speed state; The processing module is further configured to calculate a first pedal opening difference between the first pedal opening and the pedal opening upper limit when it is determined that the first pedal opening is greater than the pedal opening upper limit; Obtaining a second torque when the first pedal opening difference corresponds to the real-time vehicle speed; The vehicle is driven by the second torque to put the vehicle into an accelerating state.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the electric vehicle single-pedal control method according to any one of claims 1 to 6 are implemented.

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

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