Control method and controller for electric sanitation vehicle and electric sanitation vehicle

Abstract

The present invention provides a control method, controller, and electric sanitation vehicle for an electric sanitation vehicle. The method includes: determining a target speed of a motor based on the current gear position and target vehicle speed of the electric sanitation vehicle when the electric sanitation vehicle is controlled to enter an electric creep mode; determining a speed range corresponding to the current gear position of the electric sanitation vehicle, as well as a torque limit value range and a torque change rate range corresponding to the speed range; determining a first torque limit value and a second torque change rate limit value of the motor based on the current vehicle speed, the speed range, the torque limit value range, and the torque change rate range of the electric sanitation vehicle; and sending the target speed, the first limit value, and the second limit value to a motor controller so that the motor controller controls the motor to enter a motor speed mode and adjusts the motor speed to the target speed so that the current vehicle speed reaches the target speed, thereby improving the response speed of the speed control and ensuring smooth operation of the electric sanitation vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and specifically to a control method for an electric sanitation vehicle, a vehicle controller, a motor controller, a storage medium, and an electric sanitation vehicle. Background Art

[0002] When the electric sanitation vehicle is in electric creep mode, the driver can start the vehicle at a very slow speed on flat roads or slopes without pressing the accelerator or brake. Even if the electric sanitation vehicle is bumped on extremely harsh roads, it can avoid excessive changes in the throttle amplitude due to accidental touch, which would cause excessive changes in the speed of the electric sanitation vehicle.

[0003] In existing technology, electric creep control for electric sanitation vehicles primarily relies on the vehicle controller to determine the vehicle's creep conditions. When the vehicle is in the electric creep state, the controller performs closed-loop speed control based on the difference between the target speed and the actual speed, and controls the motor torque through the motor controller, thereby enabling the vehicle to reach the target speed. However, this dual closed-loop control approach suffers from poor real-time speed response, and the speed is easily affected by vehicle conditions. The use of closed-loop speed control compromises speed control stability, hindering the smooth operation of electric sanitation vehicles. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a control method, a vehicle controller, a motor controller, a storage medium and an electric sanitation vehicle for an electric sanitation vehicle.

[0005] To achieve the above objectives, the present application provides, in a first aspect, a control method for an electric sanitation vehicle, which is applied to a vehicle controller. The electric sanitation vehicle includes a motor and a motor controller, including:

[0006] When the electric sanitation vehicle is controlled to enter an electric creeping state, a target speed of the motor is determined according to the current gear position and target vehicle speed of the electric sanitation vehicle;

[0007] Determine the speed range corresponding to the electric sanitation vehicle in the current gear, as well as the torque limit value range and torque change rate range corresponding to the speed range;

[0008] Determine a first torque limit value and a second torque change rate limit value of the motor according to the current vehicle speed, vehicle speed range, torque limit value range, and torque change rate range of the electric sanitation vehicle;

[0009] The target speed, the first limit value and the second limit value are sent to the motor controller so that the motor controller controls the motor to enter the motor speed mode, and adjusts the motor speed to the target speed according to the first limit value and the second limit value so that the current vehicle speed reaches the target vehicle speed.

[0010] In an embodiment of the present application, the vehicle speed range includes multiple preset vehicle speeds, the torque limit value range includes a preset torque limit value corresponding to each preset vehicle speed, and the torque change rate range includes a preset torque change rate limit value corresponding to each preset vehicle speed; determining the first limit value of the torque of the motor and the second limit value of the torque change rate according to the current vehicle speed, vehicle speed range, torque limit value range and torque change rate range of the electric sanitation vehicle includes: when the current vehicle speed does not match multiple preset vehicle speeds in the vehicle speed range, determining the first preset vehicle speed with the smallest value from the preset vehicle speeds whose values ​​are greater than the current vehicle speed, and determining the second preset vehicle speed with the largest value from the preset vehicle speeds whose values ​​are less than the current vehicle speed; determining the first limit value and the second limit value respectively according to the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed.

[0011] In an embodiment of the present application, determining the first limit value and the second limit value based on the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, includes: determining a first torque average between the preset torque limit value corresponding to the first preset vehicle speed and the preset torque limit value corresponding to the second preset vehicle speed; determining a second torque average between the preset torque change rate limit value corresponding to the first preset vehicle speed and the preset torque change rate limit value corresponding to the second preset vehicle speed; and determining the first torque average and the second torque average as the first limit value and the second limit value, respectively.

[0012] In an embodiment of the present application, determining the first limit value of the torque of the motor and the second limit value of the torque change rate based on the current vehicle speed, vehicle speed range, torque limit value range and torque change rate range of the electric sanitation vehicle also includes: when the current vehicle speed matches any one of a plurality of preset vehicle speeds, the preset torque limit value corresponding to the matched preset vehicle speed is determined as the first limit value, and the preset torque change rate limit value corresponding to the matched preset vehicle speed is determined as the second limit value.

[0013] In an embodiment of the present application, the method also includes: when the electric sanitation vehicle is in a high-voltage power-on state, obtaining the current operating parameters of the electric sanitation vehicle; when it is determined based on the current operating parameters that the electric sanitation vehicle meets the preset conditions at the current moment, controlling the electric sanitation vehicle to enter the electric creeping state.

[0014] In an embodiment of the present application, the electric sanitation vehicle also includes a brake pedal and an accelerator pedal, and the current operating parameters include at least the current gear and current vehicle speed of the electric sanitation vehicle, the current speed of the motor, the first opening of the brake pedal, and the second opening of the accelerator pedal; when all of the following conditions are met, it is determined that the electric sanitation vehicle meets the preset conditions at the current moment: the current gear is in the forward gear or the reverse gear; the current vehicle speed is in the preset vehicle speed range; the current speed is in the preset speed range; the first opening of the brake pedal is in the first opening range; the second opening of the accelerator pedal is in the second opening range.

[0015] In an embodiment of the present application, the method also includes: when the current gear is in the forward gear or the reverse gear, and any one of the operating parameters of the current vehicle speed, the current rotation speed, the first opening of the brake pedal, and the second opening of the accelerator pedal is in a preset hysteresis interval corresponding to the operating parameter, obtaining the historical judgment result of the electric sanitation vehicle at the previous moment; when the historical judgment result is that the preset condition is met, determining that the electric sanitation vehicle meets the preset condition at the current moment; when the historical judgment result is that the preset condition is not met, determining that the electric sanitation vehicle does not meet the preset condition at the current moment.

[0016] A second aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for an electric sanitation vehicle.

[0017] A third aspect of the present application provides a vehicle controller configured to execute the above-mentioned control method for an electric sanitation vehicle.

[0018] A fourth aspect of the present application provides a control method for an electric sanitation vehicle, which is applied to a motor controller. The electric sanitation vehicle includes a motor and a vehicle controller. The method includes:

[0019] Receive a target speed of the motor, a first limit value of the motor torque, and a second limit value of the torque change rate sent by the vehicle controller, wherein the target speed is determined based on the current gear position and target speed of the electric sanitation vehicle, the first limit value is determined based on the current speed, speed range, and torque limit value range of the electric sanitation vehicle, and the second limit value is determined based on the current speed, speed range, and torque change rate range of the electric sanitation vehicle;

[0020] Control the motor to enter the motor speed mode;

[0021] The rotation speed of the motor is adjusted to the target rotation speed according to the first limit value and the second limit value, so that the current vehicle speed reaches the target vehicle speed.

[0022] In an embodiment of the present application, the speed of the motor is adjusted to the target speed according to the first limit value and the second limit value so that the current vehicle speed reaches the target speed, including: when the current vehicle speed does not reach the target speed, controlling the motor to operate according to a preset drive current to obtain the current speed and current torque when the motor is running; adjusting the current torque so that the current torque is less than or equal to the first limit value, and the rate of change of the current torque is less than or equal to the second limit value; when the adjusted current torque and the current load of the motor meet a preset relationship, determining that the adjusted current speed reaches the target speed so that the current vehicle speed reaches the target speed.

[0023] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for an electric sanitation vehicle.

[0024] In a sixth aspect, the present application provides a motor controller configured to execute the above-mentioned control method for an electric sanitation vehicle.

[0025] A seventh aspect of the present application provides an electric sanitation vehicle, comprising:

[0026] Motor;

[0027] The above-mentioned vehicle controller; and

[0028] The motor controller described above.

[0029] Through the above technical solution, the first limit value of the motor's torque and the second limit value of the torque change rate are determined according to the current vehicle speed, vehicle speed range, torque limit value range and torque change rate range of the electric sanitation vehicle, and the motor speed is controlled by a motor controller. The motor speed is adjusted to the target speed according to the first limit value of the motor's torque and the second limit value of the torque change rate, so that the current vehicle speed of the electric sanitation vehicle reaches the target speed, greatly improving the response speed of the speed control, avoiding the dynamic impact caused by excessive motor torque adjustment or torque change rate adjustment, and enabling the electric sanitation vehicle to operate smoothly under electric creep conditions.

[0030] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0032] Figure 1The following schematically shows a flow chart of a control method for an electric sanitation vehicle according to an embodiment of the present application;

[0033] Figure 2 The following schematically shows a flow chart of a control method for an electric sanitation vehicle according to another embodiment of the present application;

[0034] Figure 3 The following schematically shows a flow chart of a control method for an electric sanitation vehicle according to another embodiment of the present application;

[0035] Figure 4 The following schematically shows a structural block diagram of an electric sanitation vehicle according to an embodiment of the present application;

[0036] Figure 5 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0038] Figure 1 The following schematically shows a flow chart of a control method for an electric sanitation vehicle according to an embodiment of the present application. Figure 1 As shown, in one embodiment of the present application, a control method for an electric sanitation vehicle is provided, which is applied to a vehicle controller. The electric sanitation vehicle includes a motor and a motor controller, including the following steps:

[0039] Step 101 : When the electric sanitation vehicle is controlled to enter an electric creep mode, a target speed of the motor is determined according to the current gear position and target vehicle speed of the electric sanitation vehicle.

[0040] Step 102 : Determine the speed range corresponding to the electric sanitation vehicle in the current gear, as well as the torque limit value range and torque change rate range corresponding to the speed range.

[0041] Step 103 : determining a first torque limit value and a second torque change rate limit value of the motor according to the current vehicle speed, vehicle speed range, torque limit value range, and torque change rate range of the electric sanitation vehicle.

[0042] In step 104 , the target speed, the first limit value, and the second limit value are sent to the motor controller so that the motor controller controls the motor to enter the motor speed mode and adjusts the motor speed to the target speed according to the first limit value and the second limit value so that the current vehicle speed reaches the target vehicle speed.

[0043] The electric sanitation vehicle includes a motor and a motor controller. If the electric sanitation vehicle is in an electric creeping condition, the electric sanitation vehicle can be made to start at a slow speed in an assisted manner. When controlling the electric sanitation vehicle to enter the electric creeping condition, the vehicle controller can obtain the current gear and target speed of the electric sanitation vehicle. The current gear may refer to the driving gear of the electric sanitation vehicle. For example, the current gear may be a forward gear or a reverse gear. The vehicle controller can determine the target speed of the motor based on the current gear and the target speed. That is, when the current gear is different, the target speed of the motor corresponding to the target speed is different.

[0044] For example, if the current gear of the electric sanitation vehicle is the forward gear, the tire model, final drive ratio, and transmission ratio of each gear of the electric sanitation vehicle can be obtained. Afterwards, the tire radius can be determined based on the tire signal, and the target speed of the motor can be determined based on the final drive ratio, the transmission ratio of each gear, the tire radius, and the target vehicle speed. Specifically, the target speed of the motor can be determined by target vehicle speed = target speed of the motor * 60 * tire radius * 2 * 3.1416 / 1000000) / (final drive ratio * transmission ratio of each gear). Furthermore, if the electric sanitation vehicle is directly driven by the motor, the final drive ratio is the speed ratio of the vehicle reducer, and the transmission ratio of each gear is 1. Therefore, the target speed of the motor can be determined based on the conversion coefficient and the target vehicle speed. Specifically, the target speed of the motor can be determined by target vehicle speed = target speed of the motor * conversion coefficient. If the conversion coefficient is 0.025 and the target vehicle speed is 1 km / h, the target speed of the motor can be determined to be 40 rpm. If the conversion coefficient is 0.025 and the target vehicle speed is 4 km / h, the target speed of the motor can be determined to be 160 rpm.

[0045] If the current gear of the electric sanitation vehicle is the forward gear, the target speed of the motor can also be determined according to the method when the current gear is the forward gear. However, if the electric sanitation vehicle is directly driven by the motor, the reverse gear needs to be achieved by the forward and reverse rotation of the motor. Therefore, the target speed of the motor at this time is a negative value. When the target speed of the motor is a negative value, it can represent that the motor is running in the opposite direction relative to the positive speed. That is, when the current gear is the forward gear, the target speed of the motor is a positive value. When the current gear is the reverse gear, the target speed of the motor is a negative value. For example, if the target speed of the electric sanitation vehicle is 3km / h and the conversion coefficient is 0.025, the target speed of the motor is -120rpm.

[0046] The vehicle controller can determine the speed range corresponding to the electric sanitation vehicle in the current gear, as well as the torque limit value range and torque change rate range corresponding to the speed range. Afterwards, the vehicle controller can determine the first limit value of the torque of the motor and the second limit value of the torque change rate based on the current speed, speed range, torque limit value range and torque change rate range of the electric sanitation vehicle. Among them, the current speed refers to the speed of the electric sanitation vehicle in the current gear. Then, the vehicle controller can send the target speed, the first limit value and the second limit value to the motor controller, so that the motor controller controls the motor to enter the motor speed mode, and adjusts the motor speed to the target speed according to the first limit value and the second limit value, so that the current vehicle speed reaches the target speed. Among them, the motor speed mode refers to a mode of adjusting the vehicle speed by adjusting the motor speed.

[0047] Through the above technical solution, the first limit value of the motor's torque and the second limit value of the torque change rate are determined according to the current vehicle speed, vehicle speed range, torque limit value range and torque change rate range of the electric sanitation vehicle, and the motor speed is controlled by a motor controller. The motor speed is adjusted to the target speed according to the first limit value of the motor's torque and the second limit value of the torque change rate, so that the current vehicle speed of the electric sanitation vehicle reaches the target speed, greatly improving the response speed of the speed control, avoiding the dynamic impact caused by excessive motor torque adjustment or torque change rate adjustment, and enabling the electric sanitation vehicle to operate smoothly under electric creep conditions.

[0048] In one embodiment, the vehicle speed interval includes multiple preset vehicle speeds, the torque limit value interval includes a preset torque limit value corresponding to each preset vehicle speed, and the torque change rate interval includes a preset torque change rate limit value corresponding to each preset vehicle speed; determining the first limit value of the torque of the motor and the second limit value of the torque change rate according to the current vehicle speed, vehicle speed interval, torque limit value interval and torque change rate interval of the electric sanitation vehicle includes: when the current vehicle speed does not match multiple preset vehicle speeds in the vehicle speed interval, determining the first preset vehicle speed with the smallest value from the preset vehicle speeds whose values ​​are greater than the current vehicle speed, and determining the second preset vehicle speed with the largest value from the preset vehicle speeds whose values ​​are less than the current vehicle speed; determining the first limit value and the second limit value respectively according to the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed.

[0049] The vehicle speed range includes multiple preset vehicle speeds. The torque limit value range includes a preset torque limit value corresponding to each preset vehicle speed. The preset torque limit value corresponding to each preset vehicle speed can be determined in an open-loop manner based on the torque and actual vehicle speed, or can be customized based on actual conditions. The torque change rate range includes a preset torque change rate limit value corresponding to each preset vehicle speed. The preset torque limit value corresponding to each preset vehicle speed can be determined in an open-loop manner based on the torque change and actual vehicle speed, or can be customized based on actual conditions.

[0050] After determining the speed range corresponding to the electric sanitation vehicle in the current gear, as well as the torque limit value range and torque change rate range corresponding to the speed range, the vehicle controller can determine whether the current vehicle speed matches multiple preset vehicle speeds in the speed range. If the current vehicle speed does not match multiple preset vehicle speeds in the speed range, a first preset vehicle speed with the smallest value can be determined from the preset vehicle speeds whose values ​​are greater than the current vehicle speed, and a second preset vehicle speed with the largest value can be determined from the preset vehicle speeds whose values ​​are less than the current vehicle speed. Afterwards, the vehicle controller can determine the first limit value of the torque of the motor based on the preset torque limit value corresponding to the first preset vehicle speed and the preset torque limit value corresponding to the second preset vehicle speed, and can determine the second limit value of the torque change rate of the motor based on the preset torque change rate limit value corresponding to the first preset vehicle speed and the preset torque change rate limit value corresponding to the second preset vehicle speed.

[0051] For example, when the electric sanitation vehicle is in forward gear, the speed interval is [2, 3, 4, 5, 6, 7, 8], in km / h. The torque limit value interval corresponding to this speed interval is [50, 60, 70, 80, 90, 100], in Nm, and the torque change rate interval is [100, 150, 200, 250, 300, 350], in Nmps. If the current gear of the electric sanitation vehicle is forward gear and its current speed is 4.5 km / h, then there is no speed of 4.5 km / h in this speed interval. At this time, it can be determined that the first preset speed is 5 km / h, and its corresponding preset torque limit value and preset torque change rate limit value are 80 Nm and 250 Nmps respectively. The second preset speed is 4 km / h, and its corresponding preset torque limit value and preset torque change rate limit value are 70 Nm and 200 Nmps respectively. Furthermore, a first torque limit value of the motor at the current vehicle speed can be determined based on the preset torque limit values ​​of 80 Nm and 70 Nm, and a second torque change rate limit value of the motor at the current vehicle speed can be determined based on the preset torque change rate limit values ​​of 250 Nmps and 200 Nmps.

[0052] For example, when the electric sanitation vehicle is in reverse gear, the speed range is [2, 3, 4, 5, 6, 7, 8], in km / h. The torque limit value range corresponding to this speed range is [-30, -40, -50, -60, -70, -80], in Nm, and the torque change rate range is [50, 100, 150, 200, 250, 300], in Nmps. If the current gear of the electric sanitation vehicle is reverse gear and its current speed is 3.5km / h, there is no speed of 3.5km / h in this speed range. At this time, it can be determined that the first preset speed is 4km / h, and its corresponding preset torque limit value and preset torque change rate limit value are -50Nm and 150Nmps respectively. The second preset speed is 3km / h, and its corresponding preset torque limit value and preset torque change rate limit value are -40Nm and 100Nmps respectively. Furthermore, the first limit value of the torque of the motor at the current vehicle speed can be determined according to the preset torque limit values ​​of -50Nm and -40Nm, and the second limit value of the torque change rate of the motor at the current vehicle speed can be determined according to the preset torque change rate limit values ​​of 150Nmps and 100Nmps.

[0053] In one embodiment, determining the first limit value and the second limit value based on the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, includes: determining a first torque average between the preset torque limit value corresponding to the first preset vehicle speed and the preset torque limit value corresponding to the second preset vehicle speed; determining a second torque average between the preset torque change rate limit value corresponding to the first preset vehicle speed and the preset torque change rate limit value corresponding to the second preset vehicle speed; and determining the first torque average and the second torque average as the first limit value and the second limit value, respectively.

[0054] The vehicle controller may determine a first torque average value between a preset torque limit value corresponding to a first preset vehicle speed and a preset torque limit value corresponding to a second preset vehicle speed, and may determine a second torque average value between a preset torque change rate limit value corresponding to the first preset vehicle speed and a preset torque change rate limit value corresponding to the second preset vehicle speed. The vehicle controller may then determine the first torque average value as a first torque limit value for the motor, and may determine the second torque average value as a second torque change rate limit value for the motor.

[0055] For example, if the preset torque limit corresponding to the first preset vehicle speed is 80 Nm and the preset torque limit corresponding to the second preset vehicle speed is 70 Nm, the first torque limit of the motor can be determined to be 75 Nm. If the preset torque change rate limit corresponding to the first preset vehicle speed is 250 Nmps and the preset torque change rate limit corresponding to the second preset vehicle speed is 200 Nmps, the second torque change rate limit of the motor can be determined to be 225 Nmps.

[0056] If the preset torque limit value corresponding to the first preset vehicle speed is -50 Nm and the preset torque limit value corresponding to the second preset vehicle speed is -40 Nm, the first torque limit value of the motor can be determined to be -45 Nm. If the preset torque change rate limit value corresponding to the first preset vehicle speed is 150 Nmps and the preset torque change rate limit value corresponding to the second preset vehicle speed is 100 Nmps, the second torque change rate limit value of the motor can be determined to be 125 Nmps.

[0057] In one embodiment, determining the first limit value of the torque and the second limit value of the torque change rate of the motor based on the current vehicle speed, vehicle speed range, torque limit value range and torque change rate range of the electric sanitation vehicle also includes: when the current vehicle speed matches any one of a plurality of preset vehicle speeds, determining the preset torque limit value corresponding to the matched preset vehicle speed as the first limit value, and determining the preset torque change rate limit value corresponding to the matched preset vehicle speed as the second limit value.

[0058] After determining the speed range corresponding to the electric sanitation vehicle's current gear, as well as the torque limit value range and torque change rate range corresponding to the speed range, the vehicle controller can determine whether the current vehicle speed matches multiple preset vehicle speeds in the speed range. If the current vehicle speed matches any of the multiple preset vehicle speeds in the speed range, the vehicle controller can determine the preset torque limit value corresponding to the matching preset vehicle speed as the first torque limit value of the motor, and can determine the preset torque change rate limit value corresponding to the matching preset vehicle speed as the second torque change rate limit value of the motor.

[0059] For example, the speed range for an electric sanitation vehicle in forward gear is [2, 3, 4, 5, 6, 7, 8], measured in km / h. The corresponding torque limit value range for this speed range is [50, 60, 70, 80, 90, 100], measured in Nm, and the torque change rate range is [100, 150, 200, 250, 300, 350] Nmps. If the electric sanitation vehicle is currently in forward gear and its current speed is 4 km / h, then a speed of 4 km / h exists in this speed range. Therefore, the first torque limit value of the motor can be determined to be 70 Nm, and the second torque change rate limit value of the motor can be determined to be 200 Nmps.

[0060] For example, the speed range for an electric sanitation vehicle in reverse gear is [2, 3, 4, 5, 6, 7, 8], measured in km / h. The corresponding torque limit value range for this speed range is [-30, -40, -50, -60, -70, -80], measured in Nm, and the torque change rate range is [50, 100, 150, 200, 250, 300] Nmps. If the electric sanitation vehicle is in reverse gear and its current speed is 3 km / h, then a speed of 3 km / h exists in this speed range. Therefore, the first torque limit value of the motor can be determined to be -40 Nm, and the second torque change rate limit value of the motor can be determined to be 100 Nmps.

[0061] In one embodiment, the method further includes: when the electric sanitation vehicle is in a high-voltage power-on state, obtaining the current operating parameters of the electric sanitation vehicle; when it is determined based on the current operating parameters that the electric sanitation vehicle meets the preset conditions at the current moment, controlling the electric sanitation vehicle to enter the electric creeping state.

[0062] If the user turns the key to the ST position, the electric sanitation vehicle is in a high-voltage power-on state. When the electric sanitation vehicle is in a high-voltage power-on state, the vehicle controller can obtain the current operating parameters of the electric sanitation vehicle. The vehicle controller can then determine whether the electric sanitation vehicle meets the preset conditions at the current moment based on the current operating parameters. If the electric sanitation vehicle meets the preset conditions at the current moment, the vehicle controller can control the electric sanitation vehicle to enter the electric creep mode.

[0063] In one embodiment, the electric sanitation vehicle further includes a brake pedal and an accelerator pedal, and the current operating parameters include at least the current gear position and current vehicle speed of the electric sanitation vehicle, the current speed of the motor, a first opening of the brake pedal, and a second opening of the accelerator pedal; when all of the following conditions are met, it is determined that the electric sanitation vehicle meets the preset conditions at the current moment: the current gear position is in the forward gear or the reverse gear; the current vehicle speed is in the preset vehicle speed range; the current speed is in the preset speed range; the first opening of the brake pedal is in the first opening range; the second opening of the accelerator pedal is in the second opening range.

[0064] The electric sanitation vehicle also includes a brake pedal and an accelerator pedal. The current operating parameters of the electric sanitation vehicle include at least the current gear position and current vehicle speed of the electric sanitation vehicle, the current rotational speed of the motor, the first opening of the brake pedal, and the second opening of the accelerator pedal. Among them, the current gear position may refer to the driving gear position of the electric sanitation vehicle, and the driving gear position may include a forward gear position and a reverse gear position. When the current gear position of the electric sanitation vehicle is in a forward gear position or a reverse gear position, the current vehicle speed is in a preset vehicle speed range, the current rotational speed of the motor is in a preset rotational speed range, the first opening of the brake pedal is in the first opening range, and the second opening of the accelerator pedal is in the second opening range, the vehicle controller can determine that the electric sanitation vehicle meets the preset conditions.

[0065] Among them, the current gear is in the forward gear or the reverse gear, that is, the electric sanitation vehicle is in the driving gear at this time. The preset speed range can be determined according to the vehicle speed in different gears. For example, the preset speed range corresponding to the vehicle speed in the forward gear can be less than 8km / h, and the preset speed range corresponding to the vehicle speed in the reverse gear can be less than 6km / h. The preset speed range can be determined according to the speed in different gears. For example, the preset speed range corresponding to the vehicle speed in the forward gear can be less than 320rpm, and the preset speed range corresponding to the vehicle speed in the reverse gear can be less than 240rpm. The first opening of the brake pedal is in the first opening range, that is, the brake pedal is not depressed at this time. The second opening of the accelerator pedal is in the second opening range, that is, the accelerator pedal is not depressed at this time.

[0066] In one embodiment, the method further includes: when the current gear is in the forward gear or the reverse gear, and any one of the operating parameters of the current vehicle speed, the current rotational speed, the first opening of the brake pedal, and the second opening of the accelerator pedal is in a preset hysteresis interval corresponding to the operating parameter, obtaining the historical judgment result of the electric sanitation vehicle at the previous moment; when the historical judgment result is that the preset condition is met, determining that the electric sanitation vehicle meets the preset condition at the current moment; when the historical judgment result is that the preset condition is not met, determining that the electric sanitation vehicle does not meet the preset condition at the current moment.

[0067] When the current gear is in forward gear or reverse gear, and any one of the operating parameters including the current vehicle speed, current rotational speed, the first opening of the brake pedal, and the second opening of the accelerator pedal is within the preset hysteresis range, the vehicle controller can obtain the historical judgment result of the electric sanitation vehicle at the previous moment. Among them, the preset hysteresis range can be set according to different operating parameters. For example, the preset hysteresis range of the brake pedal can be set to 2%. The preset hysteresis range of the accelerator pedal can be set to 2%. The preset hysteresis range of the vehicle speed can be set to 1km / h, and the preset hysteresis range of the rotational speed can be set to 1km / h. If the historical judgment result is that the preset conditions are met, the vehicle controller can determine that the electric sanitation vehicle meets the preset conditions at the current moment; if the historical judgment result is that the preset conditions are not met, the vehicle controller can determine that the electric sanitation vehicle does not meet the preset conditions at the current moment. By setting the preset hysteresis range of the operating parameters, the instability caused by signal jumps is taken into account, thereby improving the stability of vehicle speed control.

[0068] For example, if the preset speed range corresponding to the vehicle speed in the forward gear is less than 8km / h, and the preset hysteresis range corresponding to the vehicle speed is 1km / h, then when the current vehicle speed is less than 8km / h, it is in the preset speed range. If the current vehicle speed is between 8km / h and 9km / h, it can be determined that the current vehicle speed is in the preset speed hysteresis range. At this time, the historical judgment results of the electric sanitation vehicle at the previous moment can be obtained. If the electric sanitation vehicle meets the preset conditions at the previous moment, that is, the speed of the electric sanitation vehicle at the previous moment is in the preset speed range. At this time, when the current gear is in the driving gear, the current speed is in the preset speed range, the first opening is in the first opening range, and the second opening is in the second opening range, it can be determined that the electric sanitation vehicle meets the preset conditions at the current moment, and the electric sanitation vehicle can be controlled to enter the electric creep working state.

[0069] Through the above technical solution, the first limit value of the motor's torque and the second limit value of the torque change rate are determined according to the current speed, speed range, torque limit value range and torque change rate range of the electric sanitation vehicle, and the motor controller is used to control the motor speed. The motor speed is adjusted to the target speed according to the first limit value of the motor's torque and the second limit value of the torque change rate, so that the current speed of the electric sanitation vehicle reaches the target speed, greatly improving the speed of the vehicle speed response, avoiding the dynamic impact caused by excessive motor torque adjustment or torque change rate adjustment, and enabling the electric sanitation vehicle to run smoothly under electric creep conditions.

[0070] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the control method for an electric sanitation vehicle is implemented.

[0071] In one embodiment, a vehicle controller is provided, which is used to run a program, wherein the above-mentioned control method for an electric sanitation vehicle is executed when the program is run.

[0072] Figure 2 The following schematically shows a flow chart of a control method for an electric sanitation vehicle according to an embodiment of the present application. Figure 2 As shown, in one embodiment of the present application, another control method for an electric sanitation vehicle is provided, which is applied to a motor controller. The electric sanitation vehicle includes a motor and a vehicle controller. The method includes the following steps:

[0073] Step 201: Receive a target speed of the motor, a first limit value of the motor torque, and a second limit value of the torque change rate from a vehicle controller, wherein the target speed is determined based on the current gear position and target speed of the electric sanitation vehicle, the first limit value is determined based on the current speed, speed range, and torque limit value range of the electric sanitation vehicle, and the second limit value is determined based on the current speed, speed range, and torque change rate range of the electric sanitation vehicle;

[0074] Step 202: Control the motor to enter a motor speed mode.

[0075] Step 203 : adjusting the rotation speed of the motor to the target rotation speed according to the first limit value and the second limit value, so that the current vehicle speed reaches the target vehicle speed.

[0076] The vehicle controller can determine the target speed of the motor based on the current gear position and target speed of the electric sanitation vehicle. The current gear position can refer to the driving gear position of the electric sanitation vehicle. For example, the current gear position can be a forward gear position or a reverse gear position. The vehicle controller can determine a first limit value for the motor torque based on the current speed, speed range, and torque limit value range of the electric sanitation vehicle, and can determine a second limit value for the motor torque change rate based on the current speed, speed range, and torque change rate range of the electric sanitation vehicle.

[0077] The vehicle controller can send the target speed of the motor, the first limit value of the motor's torque, and the second limit value of the torque change rate to the motor controller. The motor controller can receive the target speed of the motor, the first limit value of the motor's torque, and the second limit value of the torque change rate. Thereafter, the motor controller can control the motor to enter the motor speed mode. The motor speed mode refers to a mode for adjusting the vehicle speed by adjusting the motor speed. Then, the motor controller can adjust the motor speed to the target speed based on the first limit value of the motor's torque and the second limit value of the torque change rate, so that the current vehicle speed reaches the target vehicle speed.

[0078] In one embodiment, adjusting the motor speed to the target speed according to the first limit value and the second limit value so that the current vehicle speed reaches the target speed includes: when the current vehicle speed does not reach the target speed, controlling the motor to operate according to a preset drive current to obtain the current speed and current torque when the motor is running; adjusting the current torque so that the current torque is less than or equal to the first limit value, and the rate of change of the current torque is less than or equal to the second limit value; when the adjusted current torque and the current load of the motor meet a preset relationship, determining that the adjusted current speed reaches the target speed so that the current vehicle speed reaches the target speed.

[0079] If the current vehicle speed does not reach the target speed, the current speed of the motor can be adjusted based on the speed closed-loop PID control method. Specifically, in this case, the motor controller can control the motor to operate according to the preset drive current to obtain the current speed and current torque when the motor is running. The preset drive current can refer to the IGBT drive current. Thereafter, the motor controller can adjust the current torque so that the current torque is less than or equal to the first limit value, and the torque change rate of the current torque is less than or equal to the second limit value. When the adjusted current torque and the current load of the motor meet the preset relationship, the motor controller can determine that the adjusted current speed has reached the target speed. At this point, the current speed of the electric sanitation vehicle has reached the target speed. During the motor speed control process, the current torque is limited by the first limit value of the motor torque and the second limit value of the torque change rate to ensure that the current torque is less than or equal to the first limit value, and the current torque change rate is less than or equal to the second limit value, thereby improving the smoothness of the operation of the electric sanitation vehicle during the speed control process and also improving the comfort of the user driving the electric sanitation vehicle.

[0080] Through the above technical solution, the motor controller can adjust the motor speed through the speed closed loop on the basis of meeting the first limit value of the motor torque and the second limit value of the torque change rate, thereby controlling the speed of the electric sanitation vehicle, improving the smoothness of the operation of the electric sanitation vehicle during the speed control process, and improving the comfort of users driving the electric sanitation vehicle.

[0081] In one embodiment, a storage medium is provided, on which a program is stored, and when the program is executed by a processor, the control method for an electric sanitation vehicle is implemented.

[0082] In one embodiment, a motor controller is provided, which is used to run a program, wherein the above-mentioned control method for an electric sanitation vehicle is executed when the program is run.

[0083] In one embodiment, Figure 3 As shown, a flow chart of another control method for an electric sanitation vehicle is provided.

[0084] The VCU refers to the vehicle controller, and the MCU refers to the motor controller. When the electric sanitation vehicle is in the high-voltage power-on state, the VCU can obtain vehicle information. Vehicle information refers to the operating parameters of the electric sanitation vehicle. These operating parameters include at least the vehicle's gear position and speed, motor speed (rotational speed), brake pedal position, and accelerator pedal position. The VCU can then determine the electric creep condition based on the vehicle information. Specifically, if the electric sanitation vehicle is in forward or reverse gear, the vehicle speed is within a preset speed range, the motor speed is within a preset speed range, the brake pedal position is within a first range, and the accelerator pedal position is within a second range, the VCU can determine that the electric sanitation vehicle meets the electric creep condition. If any of the gear position and speed, motor speed (rotational speed), brake pedal position, and accelerator pedal position do not meet these conditions, the VCU can determine that the electric sanitation vehicle does not meet the electric creep condition. At this time, the VCU can reacquire the vehicle information and further determine whether the electric sanitation vehicle meets the electric creep conditions based on the updated vehicle information.

[0085] When an electric sanitation vehicle meets the electric creep conditions, it enters the electric creep mode. The VCU then calculates the creep target parameters, which include the motor creep target speed, motor torque limit, and motor torque change rate limit. Specifically, the VCU obtains the current gear and target speed of the electric sanitation vehicle and determines the motor creep target speed based on the current gear and target speed. The VCU determines the actual speed of the electric sanitation vehicle based on the vehicle load and determines the motor torque limit and torque change rate limit based on the actual speed, speed range, torque limit range, and torque change rate range. The VCU then sends the creep target parameters to the MCU, which then enters the motor speed mode. The MCU uses closed-loop PID control of the motor speed and drives the motor through the IGBT drive current to determine the actual motor speed and torque. The MCU then limits the actual torque based on the maximum torque (motor torque limit) and torque change rate (motor torque change rate limit). When the motor load and actual motor torque meet a preset relationship, the MCU determines that the actual motor speed has reached the target speed. At this time, the actual vehicle speed reaches the target speed.

[0086] This technical solution eliminates the VCU's closed-loop PID speed control, saving the calibration data overhead of the VCU software algorithm strategy, as well as the CPU and memory resources of the controller hardware supporting the algorithm. It also replaces motor torque control with motor speed control, directly converting motor speed to vehicle speed, improving real-time speed response and enhancing speed control stability. Furthermore, motor torque limits and torque rate limits are added to avoid dynamic shock caused by excessive torque adjustment or torque rate of change during the motor PID closed-loop process, ensuring driving comfort and a better driving experience during creep speed regulation.

[0087] In one embodiment, Figure 4 As shown, an electric sanitation vehicle 400 is provided, comprising:

[0088] Motor 401;

[0089] Vehicle controller 402;

[0090] Motor controller 403.

[0091] Motor 401 can provide power for the electric sanitation vehicle. Vehicle controller 402 and motor controller 403 communicate via CAN. When the electric sanitation vehicle is in a high-voltage power-on state, vehicle controller 402 can obtain the current operating parameters of the electric sanitation vehicle. Vehicle controller 402 can then determine whether the electric sanitation vehicle meets preset conditions based on the current operating parameters. Specifically, if the electric sanitation vehicle is in forward or reverse gear, the current vehicle speed is within a preset speed range, the current motor speed is within a preset speed range, the first brake pedal opening is within a first opening range, and the second accelerator pedal opening is within a second opening range, vehicle controller 402 can determine that the electric sanitation vehicle meets the preset conditions. If the current gear is in forward or reverse gear, and any of the current vehicle speed, current speed, first brake pedal opening, and second accelerator pedal opening is within a preset hysteresis range, vehicle controller 402 can obtain the previous historical determination results of the electric sanitation vehicle. The preset hysteresis range can be set based on different operating parameters. For example, the preset hysteresis interval of the brake pedal can be set to 2%. The preset hysteresis interval of the accelerator pedal can be set to 2%. The preset hysteresis interval of the vehicle speed can be set to 1km / h, and the preset hysteresis interval of the rotational speed can be set to 1km / h. When the historical judgment result is that the preset conditions are met, the vehicle controller 402 can determine that the electric sanitation vehicle meets the preset conditions at the current moment; when the historical judgment result is that the preset conditions are not met, the vehicle controller 402 can determine that the electric sanitation vehicle does not meet the preset conditions at the current moment. By setting the preset hysteresis interval of the operating parameters, the instability factors caused by signal jumps are taken into account, and the stability of the vehicle speed control is improved. If the electric sanitation vehicle meets the preset conditions at the current moment, the vehicle controller 402 can control the electric sanitation vehicle to enter the electric creep state.

[0092] When controlling the electric sanitation vehicle to enter the electric creep mode, the vehicle controller 402 can obtain the current gear position and target speed of the electric sanitation vehicle. The current gear position can refer to the driving gear position of the electric sanitation vehicle. For example, the current gear position can be a forward gear position or a reverse gear position. The vehicle controller 402 can determine the target speed of the motor based on the current gear position and the target speed. That is, the target speed corresponds to different target speeds for different current gear positions. The vehicle controller 402 can determine the speed range corresponding to the electric sanitation vehicle in the current gear position, as well as the torque limit value range and torque change rate range corresponding to each speed range. The vehicle controller 402 can then determine the first torque limit value and the second torque change rate limit value of the motor based on the current speed, speed range, torque limit value range, and torque change rate range of the electric sanitation vehicle. The current speed refers to the speed of the electric sanitation vehicle in the current gear position.

[0093] Specifically, the vehicle controller 402 can determine whether the current vehicle speed matches a plurality of preset speeds within the speed range. If the current vehicle speed matches any of the plurality of preset speeds within the speed range, the vehicle controller 402 can determine the preset torque limit value corresponding to the matching preset speed as the first limit value for the torque of the motor, and can determine the preset torque change rate limit value corresponding to the matching preset speed as the second limit value for the torque change rate of the motor. If the current vehicle speed does not match any of the plurality of preset speeds within the speed range, the vehicle controller 402 can determine the smallest first preset speed from among the preset speeds greater than the current speed, and can determine the largest second preset speed from among the preset speeds less than the current speed. Subsequently, the vehicle controller 402 can determine the first limit value for the torque of the motor based on the preset torque limit value corresponding to the first preset speed and the preset torque limit value corresponding to the second preset speed, and can determine the second limit value for the torque change rate of the motor based on the preset torque change rate limit value corresponding to the first preset speed and the preset torque change rate limit value corresponding to the second preset speed. Furthermore, the vehicle controller 402 may determine a first torque average between the preset torque limit value corresponding to the first preset vehicle speed and the preset torque limit value corresponding to the second preset vehicle speed, and may determine a second torque average between the preset torque change rate limit value corresponding to the first preset vehicle speed and the preset torque change rate limit value corresponding to the second preset vehicle speed. The vehicle controller 402 may then determine the first torque average as the first torque limit value for the motor torque and the second torque average as the second torque change rate limit value for the motor torque. The vehicle controller 402 may then send the target speed, the first limit value, and the second limit value to the motor controller 403.

[0094] The motor controller 403 can receive the target speed of the motor, a first limit value for the motor torque, and a second limit value for the rate of change of torque. The motor controller 403 can then control the motor to enter a motor speed mode. The motor speed mode refers to a mode in which the vehicle speed is adjusted by adjusting the motor speed. The motor controller 403 can then adjust the motor speed to the target speed based on the first limit value for the motor torque and the second limit value for the rate of change of torque, so that the current vehicle speed reaches the target speed. Specifically, if the current vehicle speed does not reach the target speed, the current motor speed can be adjusted using a closed-loop PID control scheme. Specifically, in this case, the motor controller 403 can control the motor to operate at a preset drive current to determine the current speed and current torque of the motor during operation. The motor controller 403 can then adjust the current torque so that the current torque is less than or equal to the first limit value and the rate of change of the current torque is less than or equal to the second limit value. If the adjusted current torque and the current load of the motor satisfy a preset relationship, the motor controller 403 can determine that the adjusted current speed has reached the target speed. At this point, the current speed of the electric sanitation vehicle has reached the target speed. During the motor speed control process, the current torque is limited by the first limit value of the motor torque and the second limit value of the torque change rate to ensure that the current torque is less than or equal to the first limit value, and the change rate of the current torque is less than or equal to the second limit value, thereby improving the smoothness of the operation of the electric sanitation vehicle during the vehicle speed control process and also improving the comfort of users driving the electric sanitation vehicle.

[0095] Figure 1-3 FIG. 1 is a flow chart of a control method for an electric sanitation vehicle in one embodiment. It should be understood that although Figure 1-3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1-3 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0096] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the first limit value of the torque of the motor and the second limit value of the torque change rate. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a control method for an electric sanitation vehicle is implemented.

[0097] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0098] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: when controlling an electric sanitation vehicle to enter an electric creep state, determining the target speed of the motor according to the current gear position and the target vehicle speed of the electric sanitation vehicle; determining the speed range corresponding to the current gear position of the electric sanitation vehicle, as well as the torque limit value range and the torque change rate range corresponding to the speed range; determining the first limit value of the torque of the motor and the second limit value of the torque change rate according to the current vehicle speed, speed range, torque limit value range, and torque change rate range of the electric sanitation vehicle; sending the target speed, the first limit value, and the second limit value to the motor controller, so that the motor controller controls the motor to enter a motor speed mode, and adjusts the speed of the motor to the target speed according to the first limit value and the second limit value, so that the current vehicle speed reaches the target vehicle speed.

[0099] In one embodiment, the vehicle speed interval includes multiple preset vehicle speeds, the torque limit value interval includes a preset torque limit value corresponding to each preset vehicle speed, and the torque change rate interval includes a preset torque change rate limit value corresponding to each preset vehicle speed; determining the first limit value of the torque of the motor and the second limit value of the torque change rate according to the current vehicle speed, vehicle speed interval, torque limit value interval and torque change rate interval of the electric sanitation vehicle includes: when the current vehicle speed does not match multiple preset vehicle speeds in the vehicle speed interval, determining the first preset vehicle speed with the smallest value from the preset vehicle speeds whose values ​​are greater than the current vehicle speed, and determining the second preset vehicle speed with the largest value from the preset vehicle speeds whose values ​​are less than the current vehicle speed; determining the first limit value and the second limit value respectively according to the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed.

[0100] In one embodiment, determining the first limit value and the second limit value based on the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, includes: determining a first torque average between the preset torque limit value corresponding to the first preset vehicle speed and the preset torque limit value corresponding to the second preset vehicle speed; determining a second torque average between the preset torque change rate limit value corresponding to the first preset vehicle speed and the preset torque change rate limit value corresponding to the second preset vehicle speed; and determining the first torque average and the second torque average as the first limit value and the second limit value, respectively.

[0101] In one embodiment, determining the first limit value of the torque and the second limit value of the torque change rate of the motor based on the current vehicle speed, vehicle speed range, torque limit value range and torque change rate range of the electric sanitation vehicle also includes: when the current vehicle speed matches any one of a plurality of preset vehicle speeds, determining the preset torque limit value corresponding to the matched preset vehicle speed as the first limit value, and determining the preset torque change rate limit value corresponding to the matched preset vehicle speed as the second limit value.

[0102] In one embodiment, the method further includes: when the electric sanitation vehicle is in a high-voltage power-on state, obtaining the current operating parameters of the electric sanitation vehicle; when it is determined based on the current operating parameters that the electric sanitation vehicle meets the preset conditions at the current moment, controlling the electric sanitation vehicle to enter the electric creeping state.

[0103] In one embodiment, the electric sanitation vehicle further includes a brake pedal and an accelerator pedal, and the current operating parameters include at least the current gear position and current vehicle speed of the electric sanitation vehicle, the current speed of the motor, a first opening of the brake pedal, and a second opening of the accelerator pedal; when all of the following conditions are met, it is determined that the electric sanitation vehicle meets the preset conditions at the current moment: the current gear position is in the forward gear or the reverse gear; the current vehicle speed is in the preset vehicle speed range; the current speed is in the preset speed range; the first opening of the brake pedal is in the first opening range; the second opening of the accelerator pedal is in the second opening range.

[0104] In one embodiment, the method further includes: when the current gear is in the forward gear or the reverse gear, and any one of the operating parameters of the current vehicle speed, the current rotational speed, the first opening of the brake pedal, and the second opening of the accelerator pedal is in a preset hysteresis interval corresponding to the operating parameter, obtaining the historical judgment result of the electric sanitation vehicle at the previous moment; when the historical judgment result is that the preset condition is met, determining that the electric sanitation vehicle meets the preset condition at the current moment; when the historical judgment result is that the preset condition is not met, determining that the electric sanitation vehicle does not meet the preset condition at the current moment.

[0105] The present application also provides a computer program product which, when executed on a data processing device, is suitable for executing a program for initializing steps of a control method for an electric sanitation vehicle.

[0106] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0110] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0111] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0112] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0113] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0114] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for an electric sanitation vehicle, characterized in that: Applied to a vehicle controller, the electric sanitation vehicle includes a motor and a motor controller, and the method includes: When the electric sanitation vehicle is controlled to enter an electric creeping state, a target speed of the motor is determined according to a current gear position and a target vehicle speed of the electric sanitation vehicle; Determining a speed range corresponding to the electric sanitation vehicle in the current gear, and a torque limit value range and a torque change rate range corresponding to the speed range; Determining a first torque limit value and a second torque change rate limit value of the motor according to the current vehicle speed of the electric sanitation vehicle, the vehicle speed range, the torque limit value range, and the torque change rate range; The target speed, the first limit value, and the second limit value are sent to the motor controller so that the motor controller controls the motor to enter the motor speed mode, and adjusts the speed of the motor to the target speed according to the first limit value and the second limit value, so that the current vehicle speed reaches the target vehicle speed.

2. The control method for an electric sanitation vehicle according to claim 1, characterized in that: The vehicle speed interval includes a plurality of preset vehicle speeds, the torque limit value interval includes a preset torque limit value corresponding to each preset vehicle speed, and the torque change rate interval includes a preset torque change rate limit value corresponding to each preset vehicle speed; The determining of the first torque limit value and the second torque change rate limit value of the motor according to the current vehicle speed of the electric sanitation vehicle, the vehicle speed range, the torque limit value range, and the torque change rate range includes: If the current vehicle speed does not match any of the multiple preset vehicle speeds in the speed range, determining a first preset vehicle speed with the smallest value from the preset vehicle speeds whose values ​​are greater than the current vehicle speed, and determining a second preset vehicle speed with the largest value from the preset vehicle speeds which are less than the current vehicle speed; The first limit value and the second limit value are determined based on preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, and preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively.

3. The control method for an electric sanitation vehicle according to claim 2, characterized in that: The determining of the first limit value and the second limit value based on the preset torque limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, and the preset torque change rate limit values ​​corresponding to the first preset vehicle speed and the second preset vehicle speed, respectively, includes: determining a first torque average between a preset torque limit value corresponding to the first preset vehicle speed and a preset torque limit value corresponding to the second preset vehicle speed; determining a second torque average value between a preset torque change rate limit value corresponding to the first preset vehicle speed and a preset torque change rate limit value corresponding to the second preset vehicle speed; The first torque average value and the second torque average value are determined as the first limit value and the second limit value, respectively.

4. The control method for an electric sanitation vehicle according to claim 2, characterized in that: The determining of the first torque limit value and the second torque change rate limit value of the motor according to the current vehicle speed of the electric sanitation vehicle, the vehicle speed range, the torque limit value range, and the torque change rate range further includes: When the current vehicle speed matches any one of the multiple preset vehicle speeds, the preset torque limit value corresponding to the matched preset vehicle speed is determined as the first limit value, and the preset torque change rate limit value corresponding to the matched preset vehicle speed is determined as the second limit value.

5. The control method for an electric sanitation vehicle according to claim 1, characterized in that: The method further comprises: When the electric sanitation vehicle is in a high-voltage powered state, obtaining current operating parameters of the electric sanitation vehicle; When it is determined according to the current operating parameters that the electric sanitation vehicle meets the preset conditions at the current moment, the electric sanitation vehicle is controlled to enter the electric creeping state.

6. The control method for an electric sanitation vehicle according to claim 5, characterized in that: The electric sanitation vehicle further includes a brake pedal and an accelerator pedal, and the current operating parameters include at least a current gear and a current speed of the electric sanitation vehicle, a current speed of the motor, a first opening of the brake pedal, and a second opening of the accelerator pedal; If all of the following conditions are met, it is determined that the electric sanitation vehicle meets the preset condition at the current moment: The current gear is a forward gear or a reverse gear; The current vehicle speed is within a preset vehicle speed range; The current speed is within a preset speed range; The first opening degree of the brake pedal is in a first opening degree range; The second opening degree of the accelerator pedal is in a second opening degree range.

7. The control method for an electric sanitation vehicle according to claim 6, characterized in that: The method further comprises: When the current gear is in a forward gear or a reverse gear, and any one of the operating parameters of the current vehicle speed, the current rotational speed, the first opening of the brake pedal, and the second opening of the accelerator pedal is within a preset hysteresis interval corresponding to the operating parameter, obtaining a historical determination result of the electric sanitation vehicle at a previous moment; If the historical determination result is that the preset condition is met, determining that the electric sanitation vehicle meets the preset condition at the current moment; When the historical determination result is that the preset condition is not satisfied, it is determined that the electric sanitation vehicle does not satisfy the preset condition at the current moment.

8. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for an electric sanitation vehicle according to any one of claims 1 to 7.

9. A vehicle controller, characterized in that: The method is configured to execute the control method for an electric sanitation vehicle according to any one of claims 1 to 7.

10. A control method for an electric sanitation vehicle, characterized in that: Applied to a motor controller, the electric sanitation vehicle includes a motor and a vehicle controller, and the method includes: Receiving the target speed of the motor, the first limit value of the torque of the motor, and the second limit value of the torque change rate sent by the vehicle controller, wherein the target speed is determined according to the current gear position and target speed of the electric sanitation vehicle, the first limit value is determined according to the current speed of the electric sanitation vehicle, the speed range, and the torque limit value range, and the second limit value is determined according to the current speed of the electric sanitation vehicle, the speed range, and the torque change rate range; Controlling the motor to enter a motor speed mode; The rotation speed of the motor is adjusted to the target rotation speed according to the first limit value and the second limit value, so that the current vehicle speed reaches the target vehicle speed.

11. The control method for an electric sanitation vehicle according to claim 10, characterized in that: The step of adjusting the rotational speed of the motor to the target rotational speed according to the first limit value and the second limit value so as to make the current vehicle speed reach the target vehicle speed includes: When the current vehicle speed does not reach the target vehicle speed, controlling the motor to operate according to a preset driving current to obtain a current speed and a current torque of the motor when the motor is operating; adjusting the current torque so that the current torque is less than or equal to the first limit value, and the rate of change of the current torque is less than or equal to the second limit value; When the adjusted current torque and the current load of the motor satisfy a preset relationship, it is determined that the adjusted current speed reaches the target speed, so that the current vehicle speed reaches the target vehicle speed.

12. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for an electric sanitation vehicle according to claim 10 or 11.

13. A motor controller, characterized in that: The method is configured to execute the control method for an electric sanitation vehicle according to claim 10 or 11.

14. An electric sanitation vehicle, characterized in that: include: Motor; The vehicle controller according to claim 9; as well as The motor controller according to claim 13.

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