A method, device, equipment and storage medium for adjusting the feedback torque during vehicle coasting

Abstract

The present invention discloses a method, device, equipment and storage medium for adjusting the coasting feedback torque of a vehicle. The method includes the steps of: determining whether the vehicle is currently in the coasting feedback state; when it is determined that the vehicle is in the coasting feedback state, determining the parameters of the vehicle during coasting based on the current vehicle speed, where the parameters include: the initial value of the coasting feedback torque, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration; calculating the target value of the coasting feedback torque for the current control cycle of the vehicle based on the parameters; and making the coasting feedback torque of the current control cycle of the vehicle approach the target value of the coasting feedback torque at a certain step size to adjust the coasting feedback torque of the vehicle. This application ensures the smooth deceleration of the vehicle, improves the energy recovery during coasting feedback, helps to increase the overall vehicle cruising range, and at the same time reduces the active braking action frequency and improves the driving experience.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a method, device, equipment and storage medium for adjusting the coasting feedback torque of a vehicle. Background Art

[0002] In the current coasting feedback strategy of electric vehicles, the coasting feedback torque is usually determined by the actual vehicle calibration of the vehicle manufacturer according to a fixed curve of vehicle speed. It is impossible to distinguish the vehicle conditions when the vehicle is fully loaded, unloaded, going uphill or downhill. As a result, when a large braking feedback is required under full load or downhill, sufficient feedback torque cannot be provided. Especially for electric commercial vehicles, when going down a steep slope under full load, the vehicle may slide faster and the driver needs to take active braking actions. Some vehicles provide two or more different levels of energy feedback intensity for the driver to choose. After the driver selects a certain intensity of feedback level, the vehicle will decelerate according to the motor torque pre-matched by the program. This multi-level adjustment of feedback torque requires the driver to select through manual operation, and the selectable intensities are not continuous, and the number of selectable levels is limited, which is not intelligent enough.

[0003] Therefore, how to adaptively adjust the coasting feedback torque of the vehicle and thus improve the driving experience is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, equipment and storage medium for adjusting the coasting feedback torque of a vehicle. By torque compensation, the vehicle deceleration is ensured to be stable, the energy recovered by coasting feedback is increased, which helps to improve the overall vehicle driving range. At the same time, the frequency of the driver's active braking actions is reduced, the load on the braking system is alleviated, and the driving comfort is improved.

[0005] In a first aspect, the present application provides a method for adjusting the coasting feedback torque of a vehicle, and the method includes the steps of:

[0006] Determine whether the vehicle is currently in a coasting feedback state;

[0007] When it is determined that the vehicle is in a coasting feedback state, based on the current vehicle speed, determine the parameters of the vehicle during coasting, and the parameters include: the initial value of the coasting feedback torque, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration;

[0008] Based on the parameters, calculate the target value of the coasting feedback torque for the current control cycle of the vehicle;

[0009] Make the coasting feedback torque of the current control cycle of the vehicle approach the target value of the coasting feedback torque at a certain step size to adjust the coasting feedback torque of the vehicle.

[0010] Combined with the above first aspect, as an optional implementation, calculate the target value of the coasting feedback torque for the current control cycle of the vehicle according to the formula: Tidleregentarg(n - 1)+k*(a - A), where Tidleregentarg(n - 1) is the target value of the coasting feedback torque for the previous control cycle (n - 1), K is the deceleration compensation coefficient, a is the instantaneous deceleration of the vehicle, and A is the currently desired driving deceleration;

[0011] Perform a minimum operation on the target value of the coasting feedback torque for the current control cycle, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, and the maximum allowable feedback torque value of the battery, and use the final result as the target value of the coasting feedback torque for the current control cycle of the vehicle.

[0012] Combined with the above first aspect, as an optional implementation, obtain the coasting feedback torque for the current control cycle of the vehicle, and determine the step size for the current control cycle of the vehicle through the feedback torque increase and decrease step size MAP table;

[0013] Adjust the coasting feedback torque for the current control cycle of the vehicle to be close to the target value of the coasting feedback torque with the step size for the current control cycle of the vehicle.

[0014] Combined with the above first aspect, as an optional implementation, when the throttle pedal value is 0 and the brake pedal switch is invalid, determine that the vehicle is currently in the coasting feedback state;

[0015] When any one of the throttle pedal value and the brake pedal switch does not meet the conditions, determine that the vehicle is in a non-coasting feedback state.

[0016] Combined with the above first aspect, as an optional implementation, calculate the current vehicle speed;

[0017] Based on the current vehicle speed of the vehicle, obtain the initial value of the coasting feedback torque and the upper limit value of the coasting feedback torque through the standard MAP table and the upper limit MAP table of the coasting feedback torque;

[0018] Obtain the maximum available feedback torque of the motor according to the vehicle microcontroller unit MCU;

[0019] According to the vehicle battery management system BMS, obtain the maximum allowable charging current of the battery, and calculate the maximum allowable feedback torque value of the battery at the current vehicle speed limited by the battery charging capacity through the maximum allowable charging current of the battery;

[0020] Determine the instantaneous deceleration of the vehicle and the currently desired driving deceleration according to the current vehicle speed of the vehicle.

[0021] Combined with the above first aspect, as an optional implementation, the vehicle speed at different moments during vehicle driving is collected by a wheel speed sensor, and the collected vehicle speed is filtered to calculate the average vehicle speed at different moments.

[0022] The average vehicle speed is used as the current vehicle speed.

[0023] Combined with the above first aspect, as an optional implementation, the current road condition of the vehicle is judged according to the instantaneous deceleration of the vehicle;

[0024] When the instantaneous deceleration is less than the set threshold, it is judged that the vehicle is in a normal coasting state;

[0025] When the instantaneous deceleration is greater than the set threshold, it is judged that the vehicle is in a steep downhill state.

[0026] In a second aspect, the present application provides a vehicle coasting feedback torque adjustment device, which includes:

[0027] A judgment module, which is used to judge whether the vehicle is currently in a coasting feedback state;

[0028] A determination module, which is used to determine the parameters during vehicle coasting based on the current vehicle speed when it is determined that the vehicle is in a coasting feedback state. The parameters include: the initial value of the coasting feedback torque base value, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration;

[0029] A calculation module, which is used to calculate the target value of the coasting feedback torque of the current control cycle of the vehicle based on the parameters;

[0030] An adjustment module, which is used to make the coasting feedback torque of the current control cycle of the vehicle approach the target value of the coasting feedback torque at a certain step length to adjust the coasting feedback torque of the vehicle.

[0031] In a third aspect, the present application further provides an electronic device, which includes: a processor; a memory, and a computer-readable instruction is stored on the memory. When the computer-readable instruction is executed by the processor, the method described in any item of the first aspect is implemented.

[0032] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are executed by a computer, the computer is made to execute the method described in any item of the first aspect.

[0033] A method, device, equipment and storage medium for adjusting the coasting feedback torque of a vehicle provided by the present application. The method includes the steps of: determining whether the vehicle is currently in a coasting feedback state; when it is determined that the vehicle is in a coasting feedback state, determining the parameters of the vehicle during coasting based on the current vehicle speed, where the parameters include: the initial value of the coasting feedback torque, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the desired driving deceleration of the current vehicle; calculating the target value of the coasting feedback torque for the current control cycle of the vehicle based on the parameters; and approaching the coasting feedback torque of the current control cycle of the vehicle to the target value of the coasting feedback torque at a certain step size to adjust the coasting feedback torque of the vehicle. The present application ensures a smooth deceleration of the vehicle through torque compensation, improves the energy recovery during coasting feedback, helps to increase the overall vehicle driving range, reduces the frequency of the driver's active braking actions, reduces the load on the braking system, and improves driving comfort.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention and, together with the specification, are used to explain the principles of the present invention.

[0036] Figure 1 It is a flowchart of a method for adjusting the coasting feedback torque of a vehicle provided in an embodiment of the present application;

[0037] Figure 2 It is a schematic diagram of a device for adjusting the coasting feedback torque of a vehicle provided in an embodiment of the present application;

[0038] Figure 3 It is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0039] Figure 4 It is a schematic diagram of a computer-readable program medium provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0040] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are only examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0041] In addition, the attached drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the attached drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0042] The embodiments of the present application provide a method, device, equipment and storage medium for adjusting the torque of vehicle coasting feedback. By torque compensation, the vehicle deceleration is ensured to be stable, the energy recovered during coasting feedback is increased, which helps to improve the overall vehicle cruising range. At the same time, the frequency of the driver's active braking actions is reduced, improving driving comfort.

[0043] To achieve the above technical effects, the general idea of the present application is as follows:

[0044] A method for adjusting the torque of vehicle coasting feedback, the method includes the steps of:

[0045] S101: Determine whether the vehicle is currently in the coasting feedback state.

[0046] S102: When it is determined that the vehicle is in the coasting feedback state, based on the current vehicle speed, determine the parameters of the vehicle during coasting, and the parameters include: the initial value of the coasting feedback torque, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration.

[0047] S103: Based on the parameters, calculate the target value of the coasting feedback torque for the current control cycle of the vehicle.

[0048] S104: Make the coasting feedback torque of the current control cycle of the vehicle approach the target value of the coasting feedback torque in a certain step size to adjust the coasting feedback torque of the vehicle.

[0049] The following further elaborates on the embodiments of the present application with reference to the attached drawings.

[0050] Refer to Figure 1 , Figure 1 shown is a flowchart of a method for adjusting the torque of vehicle coasting feedback provided by the present invention. As Figure 1 shown, the method includes the steps of:

[0051] Step S101: Determine whether the vehicle is currently in the coasting feedback state.

[0052] Specifically, when the throttle pedal value is 0 and the brake pedal switch is invalid (closed state), it is determined that the vehicle is currently in the coasting feedback state; when any one of the throttle pedal value and the brake pedal switch does not meet the condition, it is determined that the vehicle is in the non-coasting feedback state, that is, when the throttle pedal value is not 0 or the brake pedal switch is effective (open state), it is determined that the vehicle is in the non-coasting feedback state.

[0053] In one embodiment, the vehicle controller identifies whether the current driving state is in the coasting feedback state. The vehicle controller determines based on the accelerator pedal value and the brake pedal switch state. When the accelerator pedal value is 0 and the brake pedal switch is invalid, the vehicle is in the coasting state.

[0054] Step S102: When it is determined that the vehicle is in the coasting feedback state, based on the current vehicle speed, determine the parameters of the vehicle during coasting. The parameters include: the initial value of the coasting feedback torque, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration.

[0055] Specifically, when it is determined that the vehicle is in the coasting feedback state, calculate the current vehicle speed of the vehicle; based on the current vehicle speed of the vehicle, obtain the initial value of the coasting feedback torque and the upper limit value of the coasting feedback torque through the standard MAP table and the upper limit MAP table of the coasting feedback torque; according to the vehicle battery system BMS, obtain the maximum allowable charging current of the vehicle;

[0056] According to the vehicle microcontroller unit MCU, obtain the maximum available feedback torque of the motor;

[0057] According to the vehicle battery management system BMS, obtain the maximum allowable charging current of the battery, and calculate the maximum allowable feedback torque value of the battery at the current vehicle speed limited by the battery charging capacity through the maximum allowable charging current of the battery;

[0058] According to the current vehicle speed of the vehicle, determine the instantaneous deceleration of the vehicle and the current desired driving deceleration.

[0059] For easy understanding, an example is given. If the vehicle is in the coasting feedback state, the vehicle controller obtains the standard value Tidleregen0 of the coasting feedback torque by looking up the standard MAP table of the coasting feedback torque according to the current vehicle speed of the vehicle; the vehicle controller obtains the upper limit value TidleregenH of the coasting feedback torque by looking up the upper limit MAP table of the coasting feedback torque according to the current vehicle speed of the vehicle; at the same time, the vehicle controller calculates the maximum available feedback torque value Tmotormax of the current motor and the maximum allowable feedback torque value Tbattmax of the battery according to the maximum allowable charging current of the BMS (CAN signal sent from the BMS to the VCU) and the maximum available feedback torque of the motor (CAN signal sent from the MCU to the VCU). It should be noted that calculating the maximum allowable feedback torque value of the battery at the current vehicle speed limited by the battery charging capacity through the maximum allowable charging current of the battery is to convert the maximum allowable charging current of the battery into a torque value, and then obtain the maximum allowable feedback torque value.

[0060] The vehicle controller calculates the instantaneous deceleration a of the vehicle according to the current vehicle speed of the vehicle. It can be understood that the deceleration is obtained by taking the derivative of the calculated vehicle speed.

[0061] The vehicle controller looks up the target deceleration MAP according to the current vehicle speed to obtain the currently desired driving deceleration A.

[0062] In one embodiment, the vehicle speed at different moments during vehicle driving is collected by a wheel speed sensor, and the collected vehicle speed is filtered to calculate the average vehicle speed at different moments, and the average vehicle speed is used as the current vehicle speed. It can be understood that during vehicle driving, the vehicle speeds at different time points are collected, and their average value is calculated, and the calculated average value is used as the current vehicle speed. It should be noted that the filtering process is to process the vehicle speed values with large differences from other vehicle speed values.

[0063] In one embodiment, according to the instantaneous deceleration of the vehicle, the current road condition of the vehicle is judged;

[0064] When the instantaneous deceleration is less than the set threshold, it is judged that the vehicle is in a normal coasting state; when the instantaneous deceleration is greater than the set threshold, it is judged that the vehicle is in a steep downhill state. It can be understood that when the deceleration is less than 0, it is judged that the vehicle is in a normal coasting state, and when the deceleration is greater than 0, it is judged that the vehicle is in a steep downhill state.

[0065] Step S103: Based on the parameters, calculate the target value of the coasting feedback torque for the current control cycle of the vehicle.

[0066] Specifically, according to the formula: Tidleregentarg(n - 1)+k*(a - A), calculate the target value of the coasting feedback torque for the current control cycle of the vehicle, where Tidleregentarg(n - 1) is the target value of the coasting feedback torque for the previous control cycle (n - 1), K is the deceleration compensation coefficient, a is the instantaneous deceleration of the vehicle, and A is the currently desired driving deceleration;

[0067] Take the minimum value of the target value of the coasting feedback torque for the current control cycle, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, and the maximum allowable feedback torque value of the battery, and use the final result as the target value of the coasting feedback torque for the current control cycle of the vehicle. It can be understood that the purpose of taking the minimum value operation is to limit the coasting feedback torque. One is to ensure the maximum coasting feedback torque and avoid excessive torque from affecting the driving experience; the other is to avoid overcharging the battery, exceeding the output capacity of the motor, and causing damage to the motor.

[0068] It should be noted that according to the formula Tidleregentarg(n - 1)+k*(a - A), the target value of the coasting feedback torque for the current control cycle of the vehicle is calculated. It can be understood that if the calculated value is the smallest compared with the upper limit value of the coasting feedback torque and the maximum allowable feedback torque value, then this value is the target value of the coasting feedback torque for the current control cycle. If it is not the smallest, then the minimum value is taken as the target value. In addition, the target value of the coasting feedback torque for the next control cycle can be understood as being calculated based on the target value of the current control cycle. Additionally, the target value for the first control cycle is determined by looking up a table, where the first target value can be understood as the initial value of the coasting feedback torque.

[0069] Optionally, Tidleregentarg(n)=min{Tidleregentarg(n - 1)+k*(a - A), TidleregenH, Tmotormax, Tbattmax}. It can be understood that the result of calculating Tidleregentarg(n - 1)+k*(a - A) is compared with TidleregenH (the upper limit value of the coasting feedback torque), Tmotormax (the maximum available feedback torque value of the motor), and Tbattmax (the maximum allowable feedback torque value of the battery), and the smallest result is taken as the target value of the coasting feedback torque for the current control cycle of the vehicle.

[0070] Among them, Tidleregentarg(n - 1) is the target value of the coasting feedback torque for the previous control cycle (n - 1). K is the deceleration compensation coefficient, which is calibrated through actual vehicle tests. The target value of the coasting feedback torque Tidleregentarg(n) for the current control cycle (n) is based on the target value of the coasting feedback torque for the previous control cycle (n - 1) (determined by looking up a table), adding the deceleration compensation torque value, and being restricted by the upper limit value of the coasting feedback torque TidleregenH, the maximum allowable feedback torque Tmotormax that the current motor can provide, and the maximum allowable feedback torque value Tbattmax of the battery.

[0071] The vehicle control cycle refers to the repetitive time interval during the operation of a series of operations required in the vehicle control system, usually measured in milliseconds (ms). The size of the vehicle control cycle directly affects the sensitivity and accuracy of vehicle control. The smaller the control cycle, the faster the vehicle's response speed to the system, but at the same time, it will also increase the computational load of the controller. Usually, the size of the vehicle control cycle is between dozens of milliseconds and hundreds of milliseconds.

[0072] Step S104: Make the coasting feedback torque of the vehicle for the current control cycle approach the target value of the coasting feedback torque at a certain step size to adjust the coasting feedback torque of the vehicle.

[0073] Specifically, obtain the coasting feedback torque of the vehicle in the current control cycle, and determine the step size of the vehicle in the current control cycle through the feedback torque increase and decrease step size MAP table;

[0074] Adjust the coasting feedback torque of the vehicle in the current control cycle to be close to the target value of the coasting feedback torque with the step size of the vehicle in the current control cycle.

[0075] For easy understanding, an example is given. Assume that the coasting feedback torque of the vehicle in the current control cycle is 15 N / m, and the target value of the coasting feedback torque calculated for the current control cycle of the vehicle is 30 N / m. Then, determine the step size of the current control cycle by looking up the step size MAP table. Assume the step size is 5. Then, in the current cycle, approach 15 to 30 with a step size of 5, that is, the coasting feedback torque in the next cycle is 20. If the step size obtained by looking up the table in the next cycle is 3, the coasting feedback torque in the second cycle is 23. By analogy, finally, the current torque (15) is slowly approached to the target value (30). It can be understood that the advantage of slowly approaching is to ensure the smooth deceleration of the vehicle, improve the energy recovery of coasting feedback, and help improve the overall vehicle driving range.

[0076] Optionally, the vehicle controller obtains the coasting feedback torque command Tidleregenout(n) output in the current control cycle by looking up the feedback torque increase and decrease step size MAP according to the target value Tidleregentarg(n) of the coasting feedback torque in the current control cycle (n), and sends it to the motor controller for execution.

[0077] This application designs the coasting feedback torque standard MAP and the coasting feedback torque upper limit MAP (calibrated according to the working conditions of the actual vehicle), and limits it according to the maximum allowable feedback torque that can be provided currently, obtains the target value of the coasting feedback torque, and finally obtains the coasting feedback torque command output in the current control cycle by looking up the feedback torque increase and decrease step size MAP, and sends it to the motor controller for execution. This method improves the energy recovery of the vehicle under full load or downhill working conditions while ensuring the safety of feedback charging and good driving feeling.

[0078] Refer to Figure 2 , Figure 2 As shown in the schematic diagram of a vehicle coasting feedback torque adjustment device provided by the present invention, as Figure 2 shown, the device includes:

[0079] A judgment module 201: It is used to judge whether the vehicle is currently in the coasting feedback state.

[0080] Determination module 202: It is used to determine the parameters during vehicle coasting when it is determined that the vehicle is in the coasting feedback state, based on the current vehicle speed. The parameters include: the initial value of the coasting feedback torque base value, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration.

[0081] Calculation module 203: It is used to calculate the target value of the coasting feedback torque for the current control cycle of the vehicle based on the parameters.

[0082] Adjustment module 204: It is used to approach the coasting feedback torque of the current control cycle of the vehicle to the target value of the coasting feedback torque in a certain step size to adjust the coasting feedback torque of the vehicle.

[0083] Further, in a possible implementation manner, the calculation module is further used to calculate the target value of the coasting feedback torque value for the current control cycle of the vehicle according to the formula: Tidleregentarg(n - 1)+k*(a - A), where Tidleregentarg(n - 1) is the target value of the coasting feedback torque in the previous control cycle (n - 1), K is the deceleration compensation coefficient, a is the instantaneous deceleration of the vehicle, and A is the current desired driving deceleration;

[0084] Perform a minimum operation on the target value of the coasting feedback torque of the current control cycle with the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, and the maximum allowable feedback torque value of the battery, and use the final result as the target value of the coasting feedback torque of the current control cycle of the vehicle.

[0085] Further, in a possible implementation manner, the adjustment module is further used to obtain the coasting feedback torque of the current control cycle of the vehicle, and determine the step size of the current control cycle of the vehicle through the feedback torque increase and decrease step size MAP table;

[0086] Adjust the coasting feedback torque of the current control cycle of the vehicle to approach the target value of the coasting feedback torque with the step size of the current control cycle of the vehicle.

[0087] Further, in a possible implementation manner, the judgment module is further used to judge that the vehicle is currently in the coasting feedback state when the throttle pedal value is 0 and the brake pedal switch is invalid;

[0088] When any one of the throttle pedal value and the brake pedal switch does not meet the condition, it is judged that the vehicle is in the non - coasting feedback state.

[0089] Further, in a possible implementation manner, the determination module is further used to calculate the current vehicle speed;

[0090] Based on the current vehicle speed, obtain the initial value of the coasting feedback torque and the upper limit value of the coasting feedback torque through the standard MAP table and the upper limit MAP table of the coasting feedback torque;

[0091] According to the vehicle microcontroller unit (MCU), obtain the maximum available feedback torque of the motor;

[0092] According to the vehicle battery management system (BMS), obtain the maximum allowable charging current of the battery, and calculate the maximum allowable feedback torque value of the battery at the current vehicle speed limited by the battery charging capacity through the maximum allowable charging current of the battery;

[0093] Based on the current vehicle speed of the vehicle, determine the instantaneous deceleration of the vehicle and the current desired driving deceleration.

[0094] Further, in a possible implementation manner, the calculation module is further configured to collect the vehicle speeds at different moments during the vehicle driving process according to the wheel speed sensor, and perform filtering processing on the collected vehicle speeds to calculate the average vehicle speed at different moments

[0095] Use the average vehicle speed as the current vehicle speed.

[0096] Further, in a possible implementation manner, the judgment module is further configured to judge the current road condition of the vehicle according to the instantaneous deceleration of the vehicle;

[0097] When the instantaneous deceleration is less than the set threshold, it is judged that the vehicle is in a normal coasting state;

[0098] When the instantaneous deceleration is greater than the set threshold, it is judged that the vehicle is in a state of driving down a steep slope.

[0099] Next, refer to Figure 3 to describe the electronic device 300 according to this embodiment of the present invention. Figure 3 The displayed electronic device 300 is only an example, and should not bring any limitation to the functions and usage scopes of the embodiments of the present invention.

[0100] As Figure 3 shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include but are not limited to: at least one of the above-mentioned processing units 310, at least one of the above-mentioned storage units 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0101] Among them, the storage unit stores program codes, and the program codes can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" part of this specification.

[0102] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 321 and / or a cache storage unit 322, and may further include a read-only storage unit (ROM) 323.

[0103] The storage unit 320 may also include a program / utilities 324 having a set (at least one) of program modules 325. Such program modules 325 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0104] The bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0105] The electronic device 300 may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or may communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be carried out through an input / output (I / O) interface 350. Moreover, the electronic device 300 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 360. As shown in the figure, the network adapter 360 communicates with other modules of the electronic device 300 through the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0106] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by a combination of software and necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which may be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0107] According to the solution of the present disclosure, there is also provided a computer-readable storage medium, on which a program product capable of implementing the above-mentioned method in this specification is stored. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above-mentioned "Exemplary Method" section of this specification.

[0108] Referring Figure 4 As shown, a program product 400 for implementing the above-mentioned method according to an embodiment of the present invention is described. It can be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited to this. In this document, a readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0109] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The 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 of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0110] The computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, in which the readable program code is carried. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium can also be any readable medium other than the readable storage medium, and this readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device.

[0111] The program code contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

[0112] The program code for performing the operations of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., and also including conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., by using an Internet service provider to connect through the Internet).

[0113] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously, for example, in multiple modules.

[0114] The above description is only the specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

[0115] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks

Claims

1. A method for adjusting the coasting feedback torque of a vehicle, characterized in that, it includes: judging whether the vehicle is currently in the coasting feedback state; when it is determined that the vehicle is in the coasting feedback state, based on the current vehicle speed, determining the parameters during vehicle coasting, and the parameters include: the initial value of the coasting feedback torque, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the current deceleration of the vehicle, and the current desired driving deceleration; calculating the target value of the coasting feedback torque for the current control cycle of the vehicle based on the parameters; making the coasting feedback torque of the current control cycle of the vehicle approach the target value of the coasting feedback torque at a certain step size to adjust the coasting feedback torque of the vehicle; wherein, according to the formula: Tidleregentarg(n - 1)+k*(a - A), calculating the target value of the coasting feedback torque value for the current control cycle of the vehicle, where Tidleregentarg(n - 1) is the target value of the coasting feedback torque in the previous control cycle (n - 1), K is the deceleration compensation coefficient, a is the instantaneous deceleration of the vehicle, and A is the current desired driving deceleration; performing a minimum operation on the target value of the coasting feedback torque in the current control cycle with the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, and the maximum allowable feedback torque value of the battery, and taking the final result as the target value of the coasting feedback torque for the current control cycle of the vehicle.

2. The method according to claim 1, characterized in that, the making the coasting feedback torque of the current control cycle of the vehicle approach the target value of the coasting feedback torque at a certain step size to adjust the coasting feedback torque of the vehicle includes: acquiring the coasting feedback torque of the current control cycle of the vehicle, and determining the step size of the current control cycle of the vehicle through the coasting feedback torque increase and decrease step size MAP table; adjusting the coasting feedback torque of the current control cycle of the vehicle to approach the target value of the coasting feedback torque at the step size of the current control cycle of the vehicle.

3. The method according to claim 1, characterized in that, the judging whether the vehicle is currently in the coasting feedback state includes: when the throttle pedal value is 0 and the brake pedal switch is invalid, judging that the vehicle is currently in the coasting feedback state; when any one of the throttle pedal value and the brake pedal switch does not meet the condition, judging that the vehicle is in the non - coasting feedback state.

4. The method according to claim 1, characterized in that, the determining the parameters during vehicle coasting based on the current vehicle speed includes: calculating the current vehicle speed of the vehicle; based on the current vehicle speed of the vehicle, obtaining the initial value of the coasting feedback torque and the upper limit value of the coasting feedback torque through the standard MAP table and the upper limit MAP table of the coasting feedback torque; acquiring the maximum available feedback torque of the motor according to the vehicle micro - control unit MCU; acquiring the maximum allowable charging current of the battery according to the vehicle battery management system BMS, and calculating the maximum allowable feedback torque value of the battery at the current vehicle speed limited by the battery charging capacity through the maximum allowable charging current of the battery; determining the instantaneous deceleration of the vehicle and the current desired driving deceleration according to the current vehicle speed of the vehicle.

5. The method according to claim 4, characterized in that, Calculating the current vehicle speed includes: Collecting the vehicle speeds at different moments during vehicle driving by a wheel speed sensor, and performing filtering processing on the collected vehicle speeds to calculate the average vehicle speed at different moments Taking the average vehicle speed as the current vehicle speed.

6. The method according to claim 4, wherein, it further includes: Judging the current road condition of the vehicle according to the instantaneous deceleration of the vehicle; When the instantaneous deceleration is less than a set threshold, judging that the vehicle is in a normal coasting state; When the instantaneous deceleration is greater than the set threshold, judging that the vehicle is in a steep downhill state.

7. A vehicle coasting feedback torque adjustment device, wherein, it includes: A judging module, which is used to judge whether the vehicle is currently in a coasting feedback state; A determining module, which is used to determine the parameters during vehicle coasting based on the current vehicle speed when it is determined that the vehicle is in a coasting feedback state, and the parameters include: the initial value of the coasting feedback torque base value, the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, the maximum allowable feedback torque value of the battery, the deceleration of the current vehicle, and the current desired driving deceleration; A calculating module, which is used to calculate the target value of the coasting feedback torque for the current control cycle of the vehicle based on the parameters; An adjusting module, which is used to make the coasting feedback torque of the vehicle for the current control cycle approach the target value of the coasting feedback torque with a certain step size to adjust the coasting feedback torque of the vehicle; The calculating module is further used to calculate the target value of the coasting feedback torque value for the current control cycle of the vehicle according to the formula: Tidleregentarg(n - 1)+k*(a - A), where Tidleregentarg(n - 1) is the target value of the coasting feedback torque for the previous control cycle (n - 1), K is the deceleration compensation coefficient, a is the instantaneous deceleration of the vehicle, and A is the current desired driving deceleration; Performing a minimum operation on the target value of the coasting feedback torque for the current control cycle with the upper limit value of the coasting feedback torque, the maximum available feedback torque value of the motor, and the maximum allowable feedback torque value of the battery, and taking the final result as the target value of the coasting feedback torque for the current control cycle of the vehicle.

8. An electronic device, wherein, the electronic device includes: A processor; A memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, wherein, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer is made to execute the method according to any one of claims 1 to 6.

Images