Hill start control method, device, storage medium for pure electric vehicles and pure electric vehicles

Abstract

This invention relates to the field of pure electric vehicle technology, providing a method, device, storage medium, and pure electric vehicle for hill start control. The method involves acquiring pure electric vehicle information while the vehicle is on a slope, determining whether the vehicle meets the start-up conditions based on this information, and then, upon confirming that the conditions are met, firstly controlling the vehicle to enter a speed control mode during the start-up phase for rapid start-up. Secondly, a preset speed is set; when the vehicle speed is greater than or equal to the preset speed, the vehicle exits the speed control mode and enters a torque control mode during the start-up phase. This achieves both rapid start-up and smooth start-up for the pure electric vehicle. This solves the problem of slow hill start-up of pure electric vehicles in related technologies, enabling rapid start-up on slopes.

Description

Technical Field

[0001] This invention relates to the field of pure electric vehicle technology, and in particular to a method, device, storage medium, and pure electric vehicle for controlling hill start of a pure electric vehicle. Background Technology

[0002] As the electrification of vehicles accelerates, drivers are placing higher demands on the driving experience and safety of pure electric vehicles.

[0003] Parking on a slope is a common problem for pure electric vehicles. How to enable pure electric vehicles to start quickly after exiting the slope and preventing them from rolling back has become a key focus in this field. Summary of the Invention

[0004] This invention provides a method, device, storage medium, and pure electric vehicle for controlling hill starts on a pure electric vehicle, in order to solve the problem of slow hill starts in the prior art and achieve rapid starts on hills for pure electric vehicles.

[0005] This invention provides a method for hill start control of a pure electric vehicle, comprising:

[0006] Obtain information about the pure electric vehicle when it is on a slope.

[0007] Based on the information of the pure electric vehicle, determine whether the pure electric vehicle meets the starting conditions;

[0008] If the pure electric vehicle meets the starting conditions, control the pure electric vehicle to enter the speed control mode in the starting phase.

[0009] When the vehicle speed in the pure electric vehicle information is greater than or equal to the preset vehicle speed, the pure electric vehicle is controlled to enter the torque control mode in the starting phase.

[0010] According to the present invention, a method for controlling hill start of a pure electric vehicle is provided, wherein the pure electric vehicle information includes gear position signal, accelerator pedal depth, handbrake signal, brake pedal signal, and motor speed;

[0011] The step of determining whether the pure electric vehicle meets the starting conditions based on the pure electric vehicle information includes:

[0012] Based on the gear position signal, the handbrake signal, the brake pedal signal, and the motor speed, determine whether the pure electric vehicle meets the anti-rollover conditions;

[0013] If the conditions are met, control the pure electric vehicle to enter the anti-slip-up mode;

[0014] When the pure electric vehicle is in the anti-rollback mode, if the accelerator pedal depth is greater than the preset accelerator pedal depth, it is determined that the pure electric vehicle meets the starting conditions.

[0015] According to the present invention, a method for controlling the start-up of a pure electric vehicle on a slope includes controlling the pure electric vehicle to enter a speed control mode during the start-up phase, comprising:

[0016] Send a speed control mode start signal and speed request to the motor controller;

[0017] The control of the pure electric vehicle to enter the torque control mode during the start-up phase includes: sending a torque control mode start signal and a torque request to the motor controller.

[0018] According to a method for hill start control of a pure electric vehicle provided by the present invention, after sending a torque control mode start signal and a torque request to the motor controller, the method includes:

[0019] Determine the average executed torque under the speed control mode and obtain the current torque in real time;

[0020] Based on the relationship between the average executed torque under the speed control mode and the current torque, the motor controller is controlled to return to the torque corresponding to the torque request.

[0021] According to the present invention, a method for controlling a pure electric vehicle to start on a slope includes controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average executed torque under the speed control mode and the current torque.

[0022] If the current torque is greater than or equal to the average execution torque under the speed control mode;

[0023] The motor controller is controlled to return to the torque corresponding to the torque request according to a preset gradient.

[0024] According to the present invention, a method for controlling a pure electric vehicle to start on a slope includes controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average executed torque under the speed control mode and the current torque.

[0025] If the current torque is less than the average execution torque under the speed control mode, the average execution torque under the speed control mode is used as the target execution torque under the torque control mode.

[0026] When the accelerator pedal depth decreases, the motor controller is controlled to return to the torque corresponding to the torque request according to a preset gradient.

[0027] According to the present invention, a method for controlling hill start of a pure electric vehicle includes determining whether the pure electric vehicle meets the anti-rollover conditions based on the gear position signal, the handbrake signal, the brake pedal signal, and the motor speed.

[0028] When the gear position signal is a forward gear signal, the handbrake signal is 0, the brake pedal signal is 0, and the motor speed is less than 0, it is determined that the pure electric vehicle meets the anti-rollover condition.

[0029] The present invention also provides a hill start control device for pure electric vehicles, comprising:

[0030] The acquisition module is used to acquire information about the pure electric vehicle when it is on a slope.

[0031] The determination module is used to determine whether the pure electric vehicle meets the starting conditions based on the pure electric vehicle information.

[0032] The first control module is used to control the pure electric vehicle to enter the speed control mode in the starting phase if the pure electric vehicle meets the starting conditions.

[0033] The second control module is used to control the pure electric vehicle to enter the torque control mode in the starting phase when the vehicle speed is greater than or equal to the preset vehicle speed.

[0034] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the pure electric vehicle hill start control method described in any of the above claims.

[0035] The present invention also provides a pure electric vehicle for executing the pure electric vehicle hill start control method described in any of the above claims, or including the pure electric vehicle hill start control device described in the above claims, or including the non-transitory computer-readable storage medium described in the above claims.

[0036] This invention provides a method, device, storage medium, and pure electric vehicle for hill start control. In traditional hill start control methods for pure electric vehicles, the pure electric vehicle uses torque control mode after exiting the anti-rollback mode and entering the start mode. However, this motor control method has a long waiting time because the pure electric vehicle needs to wait for the torque corresponding to the accelerator pedal depth to exceed the start torque before it can exit the hill-holding state and enter the start mode. Moreover, the long hill-holding time will cause the motor to overheat and trigger protection, affecting the hill-holding ability and posing a risk of rolling back. It also gives the driver the illusion of insufficient power, affecting the driving experience. To solve the above problems, this invention determines whether the pure electric vehicle meets the start conditions by acquiring pure electric vehicle information. After determining that the pure electric vehicle meets the start conditions, it first controls the pure electric vehicle to enter the speed control mode in the start stage to achieve rapid start. Secondly, a preset speed is set. When the speed of the pure electric vehicle is greater than or equal to the preset speed, it controls the pure electric vehicle to exit the speed control mode and enter the torque control mode in the start stage. This allows the pure electric vehicle to start quickly while ensuring the smoothness of the start. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is one of the flowcharts illustrating a hill start control method for pure electric vehicles provided in an embodiment of the present invention;

[0039] Figure 2 This is a second schematic flowchart of a hill start control method for pure electric vehicles provided in an embodiment of the present invention;

[0040] Figure 3 This is the third flowchart of a pure electric vehicle hill start control method provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the structure of a pure electric vehicle hill start control device provided in one embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] The following is combined with Figures 1 to 5 The present invention describes a method, apparatus, storage medium, and pure electric vehicle for controlling hill starts on a pure electric vehicle.

[0045] This invention provides a method for controlling hill starts of a pure electric vehicle, which may include:

[0046] Step 110: Obtain information on pure electric vehicles;

[0047] Step 120: Determine whether the pure electric vehicle meets the starting conditions based on the pure electric vehicle information;

[0048] Step 130: When the pure electric vehicle meets the starting conditions, control the pure electric vehicle to enter the speed control mode during the starting phase.

[0049] Step 140: When the speed of the pure electric vehicle is greater than or equal to the preset speed, control the pure electric vehicle to enter the torque control mode in the starting stage.

[0050] Specifically, in this embodiment, the speed and torque refer to the motor speed and the motor torque.

[0051] Specifically, pure electric vehicles may include multiple operating modes, such as anti-rollback mode, start-up mode (i.e., the start-up phase in this embodiment), speed control mode, torque control mode, parking mode, etc.

[0052] To elaborate further, speed control mode and torque control mode are two control methods for the motor. Speed ​​control mode refers to adjusting the motor's output power by controlling its speed; in other words, the control parameter in speed control mode is the motor speed. Torque control mode refers to adjusting the motor's output power by controlling its output torque; in other words, the control parameter in torque control mode is the motor's output torque.

[0053] In traditional hill start control methods for pure electric vehicles, the electric vehicle uses torque control mode after exiting the anti-rollback mode and entering the start-up phase. However, this motor control method has a long waiting time because the electric vehicle needs to wait for the torque corresponding to the accelerator pedal depth to exceed the start-up torque before it can exit the hill-holding state and enter the start-up mode. Moreover, the long hill-holding time will cause the motor to overheat and trigger protection, affecting the hill-holding ability and posing a risk of rolling back. It also gives the driver the illusion of insufficient power, affecting the driving experience. To solve the above problems, in this embodiment, after determining that the pure electric vehicle meets the start-up conditions, it first controls the pure electric vehicle to enter the speed control mode in the start-up phase to achieve a rapid start. Secondly, a preset speed is set. When the speed of the pure electric vehicle is greater than or equal to the preset speed, the pure electric vehicle is controlled to exit the speed control mode and enter the torque control mode in the start-up phase. This allows the pure electric vehicle to start quickly while ensuring the smoothness of the start-up.

[0054] Specifically, step 140, "When the speed of the pure electric vehicle is greater than or equal to the preset speed, control the pure electric vehicle to enter the torque control mode in the starting phase," means that when the speed of the pure electric vehicle is greater than or equal to the preset speed, control the pure electric vehicle to exit the speed control mode in the starting mode (starting phase) and enter the torque control mode in the starting mode (starting phase) to complete the start of the pure electric vehicle.

[0055] Specifically, information for pure electric vehicles may include gear position signal, accelerator pedal depth, handbrake signal, brake pedal signal, and motor speed;

[0056] Determining whether a pure electric vehicle meets the starting conditions based on its information can include: determining whether the pure electric vehicle meets the anti-rollover conditions based on gear position signals, handbrake signals, brake pedal signals, and motor speed; if so, controlling the pure electric vehicle to enter the anti-rollover mode; while the pure electric vehicle is in the anti-rollover mode, if the accelerator pedal depth is greater than a preset accelerator pedal depth, it is determined that the pure electric vehicle meets the starting conditions, and the pure electric vehicle enters the starting mode. The preset accelerator pedal depth can be 10%.

[0057] Furthermore, determining whether a pure electric vehicle meets the anti-rollover conditions based on gear position signal, handbrake signal, brake pedal signal, and motor speed can include: when the gear position signal is a forward gear signal, the handbrake signal is 0, the brake pedal signal is 0, and the motor speed is less than 0, it can be determined that the pure electric vehicle meets the anti-rollover conditions.

[0058] Specifically, a pure electric vehicle may include a controller, which may include a vehicle controller (VCU) and a motor controller (MCU).

[0059] In one specific embodiment, during the uphill driving process of a pure electric vehicle, the vehicle controller (VCU) collects real-time information about the pure electric vehicle, including gear position signal, handbrake signal, accelerator pedal signal, brake pedal signal, motor speed, motor rotation direction, target torque, anti-rollback enable command, and hill start enable command. The motor controller (MCU) determines whether the pure electric vehicle has entered the anti-rollback mode based on the gear position signal, anti-rollback enable command, motor speed signal, rotation direction, and hill start enable command. If the conditions for entering the anti-rollback mode are met, the motor control system quickly and smoothly transitions from torque control mode to parking mode; otherwise, it exits the anti-rollback mode. The parking mode can be referred to in the principle description of relevant technologies, which will not be elaborated here.

[0060] In this embodiment, during the anti-slip-up mode, the motor controller MCU uses segmented PI control to ensure a smooth transition of motor torque, and by adding speed feedforward control, it accelerates the speed adjustment response, reduces the slip-up distance, and improves the stability of the pure electric vehicle when starting on a slope.

[0061] When the output torque of the vehicle controller MCU is greater than the output torque of the motor controller MCU, the anti-slip mode is exited and the starting mode is entered.

[0062] In an exemplary embodiment, controlling a pure electric vehicle to enter a speed control mode during the start-up phase may include: sending a speed control mode start signal and a speed request to the motor controller;

[0063] Controlling the torque control mode during the start-up phase of a pure electric vehicle can include sending a torque control mode activation signal and a torque request to the motor controller.

[0064] After sending the torque control mode start signal and torque request to the motor controller, the process can include: determining the average execution torque under the speed control mode and acquiring the current torque in real time; and controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average execution torque under the speed control mode and the current torque.

[0065] In an exemplary embodiment, controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average executed torque under the speed control mode and the current torque may include:

[0066] If the current torque is greater than or equal to the average execution torque under speed control mode;

[0067] The motor controller returns to the torque corresponding to the torque request according to a preset gradient.

[0068] In an exemplary embodiment, controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average executed torque under the speed control mode and the current torque may include:

[0069] If the current torque is less than the average execution torque under the speed control mode, the average execution torque under the speed control mode will be used as the target execution torque under the torque control mode.

[0070] When the accelerator pedal depth decreases, the motor controller returns to the torque corresponding to the torque request according to the preset gradient.

[0071] In one specific implementation, combined with Figure 2 , Figure 3 Tables 1 and 2 provide a detailed description of the flow of the hill start control method for pure electric vehicles provided by this invention. The pure electric vehicle includes a controller, which comprises a vehicle control unit (VCU), a motor control unit (MCU), and a gearbox.

[0072] like Figure 2 As shown, the MCU of the pure electric vehicle determines whether the pure electric vehicle meets the first condition, namely the anti-rollover condition. If it does, the MCU controls the pure electric vehicle to enter the zero-speed control stage of the motor; if it does not, it ends.

[0073] The VCU determines whether the second condition is met: the accelerator pedal is depressed and the brake pedal is not depressed. If the condition is met, the VCU sends a speed control mode start signal and a speed request to the MCU for execution.

[0074] The VCU determines whether the third condition is met: whether the current vehicle speed is greater than or equal to the preset vehicle speed of 5 km / h. If not, the MCU continues to execute the speed control mode. If it is met, the VCU sends a torque control mode start signal and a torque request to the MCU for execution.

[0075] The MCU can execute the speed control mode according to Table 1. After entering the torque control mode, as shown... Figure 3 As shown, the VCU determines whether the fourth condition is met: whether the current torque is greater than the average execution torque of the MCU in the previous stage, i.e., the speed control mode. If the condition is met, the MCU reverts to the torque requested by the VCU according to a preset gradient. If the condition is not met, the MCU executes the average execution torque in the previous stage, i.e., the speed control mode. The torque requested by the VCU is the torque corresponding to the torque request issued by the VCU.

[0076] The VCU determines whether the fifth condition is met: whether the accelerator pedal depth has decreased. If the accelerator pedal depth has decreased, the MCU returns to the torque requested by the VCU according to the preset gradient. If not, the VCU continues to determine whether the fourth condition is met, until the MCU returns to the torque requested by the VCU according to the preset gradient, thus completing the start-up of the pure electric vehicle.

[0077] The MCU can execute the torque control mode according to Table 2.

[0078] Table 1: Relationship between accelerator pedal depth and target engine speed

[0079] ＜10％ 0rpm [10％,20％) 300rpm 1km / h [20％,30％) 600rpm 2km / h [30％,40％) 900rpm 3km / h [40％,50％) 1200rpm 4km / h ≥50％ 1500rpm 5km / h

[0080] Table 2: Relationship between accelerator pedal depth (accelerator opening) and motor torque

[0081]

[0082] The following describes the hill start control device for pure electric vehicles provided by the present invention. The hill start control device for pure electric vehicles described below can be referred to in correspondence with the hill start control method for pure electric vehicles described above.

[0083] like Figure 4 As shown, this embodiment of the invention also provides a hill start control device for pure electric vehicles, which may include:

[0084] The acquisition module 410 is used to acquire information about the pure electric vehicle when it is on a slope.

[0085] The determination module 420 is used to determine whether the pure electric vehicle meets the starting conditions based on the pure electric vehicle information.

[0086] The first control module 430 is used to control the pure electric vehicle to enter the speed control mode in the starting phase if the pure electric vehicle meets the starting conditions.

[0087] The second control module 440 is used to control the pure electric vehicle to enter the torque control mode in the starting stage when the vehicle speed is greater than or equal to the preset vehicle speed.

[0088] In an exemplary embodiment, the acquisition module 410 is specifically used for:

[0089] It acquires gear position signal, accelerator pedal depth, handbrake signal, brake pedal signal, motor speed, and vehicle speed.

[0090] In an exemplary embodiment, the determining module 420 is specifically used for:

[0091] Based on the gear position signal, handbrake signal, brake pedal signal, and motor speed, determine whether the pure electric vehicle meets the anti-rollover conditions; if it does, control the pure electric vehicle to enter the anti-rollover mode stage; when the pure electric vehicle is in the anti-rollover mode, when the accelerator pedal depth is greater than the preset accelerator pedal depth, determine that the pure electric vehicle meets the starting conditions, and the pure electric vehicle enters the starting mode stage.

[0092] Specifically, module 420 is further specifically used for:

[0093] Determining whether a pure electric vehicle meets the anti-rollover conditions based on gear position signal, handbrake signal, brake pedal signal, and motor speed can include: when the gear position signal is a forward gear signal, the handbrake signal is 0, the brake pedal signal is 0, and the motor speed is less than 0, the pure electric vehicle meets the anti-rollover conditions.

[0094] In an exemplary embodiment, the first control module 430 is specifically used for:

[0095] The motor controller sends a speed control mode start signal and a speed request.

[0096] In an exemplary embodiment, the second control module 440 is specifically used for:

[0097] Send a torque control mode start signal and a torque request to the motor controller.

[0098] In an exemplary embodiment, the second control module 440 is specifically used for:

[0099] Determine the average executed torque under the speed control mode and obtain the current torque in real time; based on the relationship between the average executed torque under the speed control mode and the current torque, control the motor controller to return to the torque corresponding to the torque request.

[0100] In an exemplary embodiment, the second control module 440 is specifically used for:

[0101] If the current torque is greater than or equal to the average execution torque under the speed control mode, the motor controller will return to the torque corresponding to the torque request according to the preset gradient.

[0102] In an exemplary embodiment, the second control module 440 is further specifically used for:

[0103] If the current torque is less than the average execution torque under the speed control mode, the average execution torque under the speed control mode will be used as the target execution torque under the torque control mode.

[0104] When the accelerator pedal depth decreases, the motor controller returns to the torque corresponding to the torque request according to the preset gradient.

[0105] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include a processor 510, a communication interface 520, a memory 530, and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 may call logical instructions in the memory 530 to execute the pure electric vehicle ramp start control method in any of the above embodiments. The method may include: acquiring pure electric vehicle information when the pure electric vehicle is on a ramp; determining whether the pure electric vehicle meets the start conditions based on the pure electric vehicle information; if the pure electric vehicle meets the start conditions, controlling the pure electric vehicle to enter the speed control mode in the start phase; and when the vehicle speed in the pure electric vehicle information is greater than or equal to a preset vehicle speed, controlling the pure electric vehicle to enter the torque control mode in the start phase.

[0106] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer can execute the pure electric vehicle hill start control method in any of the above embodiments, the method including: when the pure electric vehicle is on a slope, acquiring pure electric vehicle information; determining whether the pure electric vehicle meets the start conditions based on the pure electric vehicle information; if the pure electric vehicle meets the start conditions, controlling the pure electric vehicle to enter the speed control mode in the start phase; when the vehicle speed in the pure electric vehicle information is greater than or equal to a preset vehicle speed, controlling the pure electric vehicle to enter the torque control mode in the start phase.

[0108] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform the pure electric vehicle ramp start control method in any of the above embodiments. The method may include: acquiring pure electric vehicle information when the pure electric vehicle is on a ramp; determining whether the pure electric vehicle meets the start conditions based on the pure electric vehicle information; if the pure electric vehicle meets the start conditions, controlling the pure electric vehicle to enter the speed control mode in the start phase; and controlling the pure electric vehicle to enter the torque control mode in the start phase when the vehicle speed in the pure electric vehicle information is greater than or equal to a preset vehicle speed.

[0109] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0110] This invention also provides a pure electric vehicle for executing the pure electric vehicle hill start control method in any of the above embodiments, or may include the pure electric vehicle hill start control device in any of the above embodiments, or may include the non-transitory computer-readable storage medium in any of the above embodiments.

[0111] The pure electric vehicle provided in this embodiment enables the pure electric vehicle to start quickly and stably on a slope.

[0112] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0113] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling hill starts of a pure electric vehicle, characterized in that, include: Obtain information about the pure electric vehicle when it is on a slope. Based on the information of the pure electric vehicle, determine whether the pure electric vehicle meets the starting conditions; If the pure electric vehicle meets the starting conditions, control the pure electric vehicle to enter the speed control mode in the starting phase. When the vehicle speed in the pure electric vehicle information is greater than or equal to the preset vehicle speed, the pure electric vehicle is controlled to enter the torque control mode of the starting phase. The speed control mode for controlling the pure electric vehicle to enter the start-up phase includes: Sending a speed control mode activation signal and a speed request to the motor controller; controlling the pure electric vehicle to enter the torque control mode during the start-up phase includes: sending a torque control mode activation signal and a torque request to the motor controller; after sending the torque control mode activation signal and torque request to the motor controller, the process includes: determining the average execution torque under the speed control mode and acquiring the current torque in real time; based on the relationship between the average execution torque under the speed control mode and the current torque, controlling the motor controller to return to the torque corresponding to the torque request.

2. The method for controlling hill starts of a pure electric vehicle according to claim 1, characterized in that, The information of the pure electric vehicle includes gear position signal, accelerator pedal depth, handbrake signal, brake pedal signal, and motor speed; The step of determining whether the pure electric vehicle meets the starting conditions based on the pure electric vehicle information includes: Based on the gear position signal, the handbrake signal, the brake pedal signal, and the motor speed, determine whether the pure electric vehicle meets the anti-rollover conditions; If the conditions are met, control the pure electric vehicle to enter the anti-slip-up mode; When the pure electric vehicle is in the anti-rollback mode, if the accelerator pedal depth is greater than the preset accelerator pedal depth, it is determined that the pure electric vehicle meets the starting conditions.

3. The hill start control method for pure electric vehicles according to claim 1, characterized in that, The method of controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average executed torque under the speed control mode and the current torque includes: If the current torque is greater than or equal to the average execution torque under the speed control mode; The motor controller is controlled to return to the torque corresponding to the torque request according to a preset gradient.

4. The hill start control method for pure electric vehicles according to claim 1, characterized in that, The method of controlling the motor controller to return to the torque corresponding to the torque request based on the relationship between the average executed torque under the speed control mode and the current torque includes: If the current torque is less than the average execution torque under the speed control mode, the average execution torque under the speed control mode is used as the target execution torque under the torque control mode. When the accelerator pedal depth is reduced, the motor controller is controlled to return to the torque corresponding to the torque request according to a preset gradient.

5. The method for controlling hill starts of a pure electric vehicle according to claim 2, characterized in that, The process of determining whether the pure electric vehicle meets the anti-rollover conditions based on the gear position signal, the handbrake signal, the brake pedal signal, and the motor speed includes: When the gear position signal is a forward gear signal, the handbrake signal is 0, the brake pedal signal is 0, and the motor speed is less than 0, it is determined that the pure electric vehicle meets the anti-rollover condition.

6. A hill start control device for pure electric vehicles, characterized in that, include: The acquisition module is used to acquire information about the pure electric vehicle when it is on a slope. The determination module is used to determine whether the pure electric vehicle meets the starting conditions based on the pure electric vehicle information. The first control module is used to control the pure electric vehicle to enter the speed control mode in the starting phase if the pure electric vehicle meets the starting conditions. The first control module is also used to send a speed control mode start signal and a speed request to the motor controller; The process of controlling the pure electric vehicle to enter the torque control mode during the start-up phase includes: sending a torque control mode start signal and a torque request to the motor controller; after sending the torque control mode start signal and torque request to the motor controller, the process includes: determining the average execution torque under the speed control mode and acquiring the current torque in real time; based on the relationship between the average execution torque under the speed control mode and the current torque, controlling the motor controller to return to the torque corresponding to the torque request; The second control module is used to control the pure electric vehicle to enter the torque control mode in the starting phase when the vehicle speed is greater than or equal to the preset vehicle speed.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the hill start control method for pure electric vehicles as described in any one of claims 1 to 5.

8. A pure electric vehicle, characterized in that, Used to perform the pure electric vehicle hill start control method as described in any one of claims 1 to 5, or includes the pure electric vehicle hill start control device as described in claim 6, or includes the non-transitory computer-readable storage medium as described in claim 7.

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