Control method and device of vehicle driving motor, vehicle and computer readable storage medium

Abstract

The application relates to the technical field of vehicles and discloses a control method and device of a vehicle driving motor, a vehicle and a computer readable storage medium, which comprises the following steps: detecting the current opening degree of an accelerator pedal of the vehicle; when it is detected that the current opening degree is zero, determining a target recovery torque based on the current vehicle speed, and controlling the driving motor to work at the target recovery torque to perform energy recovery; wherein a preset relationship exists between the target recovery torque and the vehicle speed; when it is detected that the current opening degree is greater than zero and less than a first preset opening degree, controlling the driving motor to work at a preset recovery torque based on the current opening degree; wherein the preset recovery torque is smaller than the current recovery torque of the driving motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases with the increase of the opening degree of the accelerator pedal. Therefore, the driver can realize the adjustment of the energy recovery intensity by adjusting the opening degree of the accelerator pedal, so that the vehicle deceleration feeling in the energy recovery process meets the expectation of the driver, thereby improving the driving comfort.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, specifically to a control method, device, vehicle, and computer-readable storage medium for a vehicle drive motor. Background Technology

[0002] Energy recovery is a very common and basic function in new energy vehicles. Energy recovery converts the kinetic energy of the vehicle during coasting into electrical energy through the drive motor and stores it in an energy storage device to reduce the overall energy consumption of the vehicle and increase its driving range.

[0003] Energy recovery is accompanied by a feeling of deceleration, the magnitude of which is related to the intensity of energy recovery. Currently, drivers cannot effectively adjust the intensity of energy recovery according to actual needs, leading to unexpected deceleration during driving and thus affecting driving comfort. Summary of the Invention

[0004] In view of the above problems, this application provides a control method, device, vehicle, and computer-readable storage medium for a vehicle drive motor. The driver can adjust the intensity of energy recovery by adjusting the opening of the accelerator pedal so that the vehicle deceleration during the energy recovery process meets the driver's expectations, thereby improving driving comfort.

[0005] The first aspect of this application provides a control method for a vehicle drive motor, comprising: detecting the current opening degree of the vehicle's accelerator pedal; detecting that the current opening degree is zero, determining a target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery; wherein, there is a preset relationship between the target recovery torque and the vehicle speed; detecting that the current opening degree is greater than zero and less than a first preset opening degree, controlling the drive motor to operate at a preset recovery torque based on the current opening degree; wherein, the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the accelerator pedal opening degree increases.

[0006] In some specific embodiments, after the step of detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery, the method further includes: detecting that the current opening degree is greater than or equal to a first preset opening degree and less than a second preset opening degree, and then controlling the drive motor to operate at a preset drive torque based on the current opening degree to drive the vehicle; wherein, when the drive motor is in the driving state, there is a preset relationship between the opening degree of the accelerator pedal and the target drive torque of the drive motor; the preset drive torque is less than the target drive torque corresponding to the current opening degree, and the preset drive torque increases as the opening degree of the accelerator pedal increases.

[0007] In some specific embodiments, the step of controlling the drive motor to operate with a preset recovery torque based on the current opening degree when it is detected that the current opening degree is greater than zero and less than the first preset opening degree includes: when it is detected that the current opening degree is greater than zero, obtaining the first preset opening degree; when it is detected that the current opening degree is less than the first preset opening degree, determining the preset recovery torque based on the current opening degree, the first preset opening degree and the current recovery torque of the drive motor, and controlling the drive motor to operate with the preset recovery torque.

[0008] In some specific embodiments, the step of determining the preset recovery torque based on the current opening degree, the first preset opening degree, and the current recovery torque of the drive motor includes: determining the ratio of the current recovery torque to the first preset opening degree, and taking the product of the current opening degree and the ratio as the preset recovery torque.

[0009] In some specific embodiments, the step of obtaining the first preset opening degree includes: obtaining the current recovery torque of the drive motor and obtaining the target drive torque corresponding to the second preset opening degree; determining the first preset opening degree based on the current recovery torque, the target drive torque corresponding to the second preset opening degree and the second preset opening degree.

[0010] In some specific embodiments, the step of determining the first preset opening based on the current recovered torque, the target driving torque corresponding to the second preset opening, and the second preset opening includes: determining the sum of the torques of the current recovered torque and the target driving torque corresponding to the second preset opening, determining the torque ratio between the current recovered torque and the sum of the torques, and using the product of the torque ratio and the second preset opening as the first preset opening.

[0011] In some specific embodiments, after detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to work at the target recovery torque to recover energy, the method further includes: if the current opening degree is detected to be greater than zero and less than a second preset opening degree, then obtaining the change in the opening degree of the accelerator pedal within a preset time period; if the change is detected to be less than a preset change, then controlling the vehicle to enter a constant speed driving state so that the vehicle maintains a constant speed driving.

[0012] In some specific embodiments, the step of controlling the vehicle to enter a constant speed driving state so that the vehicle maintains a constant speed driving state when the detected change is less than a preset change includes: if the detected change is less than a preset change, the vehicle speed when entering the constant speed driving state is taken as the target vehicle speed vtarget, and the real-time vehicle speed vreal and real-time acceleration areal are obtained; the target torque of the drive motor is determined based on the calculation formula (vtarget-vreal)·C1+∑(vtarget-vreal)·C2+∑(-areal)·C3, and the drive motor is controlled to work at the target torque to achieve constant speed driving; wherein, C1, C2, and C3 are preset constant coefficients.

[0013] In some specific embodiments, after the step of detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to work at the target recovery torque to perform energy recovery, the method further includes: detecting that the current opening degree is greater than or equal to a second preset opening degree, and controlling the drive motor to work at the target drive torque to drive the vehicle; wherein, the target drive torque increases as the opening degree of the accelerator pedal increases.

[0014] A second aspect of this application provides a control device for a vehicle drive motor, comprising: a detection module for detecting the current opening degree of the vehicle's accelerator pedal; and a control module for determining a target recovery torque based on the current vehicle speed when the current opening degree is zero, and controlling the drive motor to operate at the target recovery torque for energy recovery; wherein a preset relationship exists between the target recovery torque and the vehicle speed; and for controlling the drive motor to operate at a preset recovery torque based on the current opening degree when the current opening degree is detected to be greater than zero and less than a first preset opening degree; wherein the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the accelerator pedal opening degree increases.

[0015] A third aspect of this application provides a vehicle, comprising: a processor; a memory for storing a computer program, wherein when the computer program is executed by the processor, a method for controlling a vehicle drive motor as described above is provided.

[0016] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the vehicle drive motor control method as described above.

[0017] The present application possesses at least the following beneficial technical effects: Based on the vehicle drive motor control method, device, vehicle, and computer-readable storage medium provided in this application, the method includes: detecting the current opening degree of the vehicle's accelerator pedal; detecting that the current opening degree is zero, determining a target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery; wherein, a preset relationship exists between the target recovery torque and the vehicle speed; detecting that the current opening degree is greater than zero and less than a first preset opening degree, controlling the drive motor to operate at the preset recovery torque based on the current opening degree; wherein, the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the accelerator pedal opening degree increases. Therefore, when the current opening degree is less than the first preset opening degree, the current recovery torque can be determined based on the current opening degree to achieve control of the drive motor, allowing the driver to adjust the energy recovery intensity by adjusting the accelerator pedal opening degree, thereby ensuring that the vehicle deceleration during the energy recovery process meets the driver's expectations and improving driving comfort.

[0018] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0019] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a flowchart illustrating an embodiment of the vehicle drive motor control method provided in this application; Figure 2 This is a schematic diagram showing the relationship between vehicle speed and target recovery torque; Figure 3 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application; Figure 4 This is a schematic diagram showing the relationship between the torque of the drive motor and the opening of the accelerator pedal; Figure 5 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application; Figure 6 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application; Figure 7 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application; Figure 8 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application; Figure 9 This is a schematic diagram of the structural framework of an embodiment of the vehicle drive motor control device provided in this application; Figure 10 This is a schematic diagram of the structural frame of the vehicle provided in this application; Figure 11 This is a schematic diagram of the structural framework of an embodiment of the computer scale storage medium provided in this application. Detailed Implementation

[0020] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited to the embodiments set forth herein. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0021] If the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, if the word "and / or" appears throughout the text, it means including three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] The first aspect of this application provides a control method for a vehicle drive motor. This method is applied to new energy vehicles that can be driven by electric energy, and the executing entity of this method can be the vehicle controller. Figure 1 This is a flowchart illustrating an embodiment of the vehicle drive motor control method provided in this application, in conjunction with... Figure 1 This method includes the following steps: S11: Detects the current opening of the vehicle's accelerator pedal.

[0023] The accelerator pedal in a vehicle is used to adjust the output torque of the vehicle's drive motor, thereby regulating the driving force exerted by the drive motor on the vehicle. The accelerator pedal's opening range is 0-100%. When the driver does not press the accelerator pedal, it is fully released, with an opening of 0. When the driver presses the accelerator pedal, the opening is greater than 0, and the deeper the pedal is pressed, the greater the opening. At 100% opening, the accelerator pedal is fully depressed.

[0024] S12: If the current opening degree is detected to be zero, the target recovery torque is determined based on the current vehicle speed, and the drive motor is controlled to work at the target recovery torque to recover energy; there is a preset relationship between the target recovery torque and the vehicle speed.

[0025] When the current accelerator pedal opening is detected to be 0, it indicates that the accelerator pedal is fully released, and the vehicle is in a coasting state. While the vehicle is coasting, energy recovery can be performed, converting the vehicle's kinetic energy into electrical energy for storage. This process, due to the conversion of kinetic energy, causes the vehicle to decelerate. At this time, the drive motor acts as a generator, performing its power generation function, and the torque of the drive motor is the recovery torque. Furthermore, the greater the recovery torque of the drive motor, the higher the energy recovery intensity of the vehicle.

[0026] Among these methods, the relationship between vehicle speed and target recovery torque can be determined in advance through actual vehicle calibration and stored as a preset relationship.

[0027] Figure 2 This is a schematic diagram showing the relationship between vehicle speed and target recovery torque.

[0028] Combination Figure 2 The x-axis represents vehicle speed, the y-axis represents torque, and the negative half of the y-axis represents the target recovered torque, which is negative. It should be understood that a negative torque value only indicates that the torque is the recovered torque during the energy recovery process, not its magnitude. The magnitude of the target recovered torque is determined by the absolute value of the torque. For example... Figure 2 In some specific embodiments, the magnitude of the target recovery torque first increases and then decreases as the vehicle speed increases, but it is not limited to this.

[0029] After obtaining the current vehicle speed, the target recovery torque corresponding to the current vehicle speed can be determined based on the preset relationship between the current vehicle speed and the target recovery torque. Once the target recovery torque is obtained, the drive motor can be controlled to operate at the target recovery torque, so that the vehicle has a good energy recovery effect at the current vehicle speed.

[0030] S13: If the current opening degree is detected to be greater than zero and less than the first preset opening degree, the drive motor is controlled to work with a preset recovery torque based on the current opening degree; wherein, the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the accelerator pedal opening degree increases.

[0031] During energy recovery, if the driver depresses the accelerator pedal, the system will detect that the current opening is greater than zero, at which point the vehicle ends its coasting state. When the vehicle ends its coasting state, current technology directly transitions the vehicle from energy recovery mode to driving mode, at which point the drive motor outputs drive torque to propel the vehicle.

[0032] In this embodiment, when the vehicle ends its coasting state, if the accelerator pedal opening is detected to be less than a first preset opening, the vehicle will not directly transition from the energy recovery state to the driving state, but will remain in the energy recovery state. At this time, the drive motor will be controlled to operate at a preset recovery torque based on the current accelerator pedal opening, thereby achieving energy recovery. Specifically, when the accelerator pedal opening is within the range of 0 to the first preset opening, a preset relationship exists between the opening and the preset recovery torque; therefore, the preset recovery torque can be obtained based on the current opening and this preset relationship.

[0033] It should be understood that since the vehicle was previously in a coasting state and in an energy recovery state, when the current opening degree is detected to be greater than 0, the torque of the drive motor is the recovery torque, that is, the current recovery torque.

[0034] Since the preset recovery torque is less than the current recovery torque, when the drive motor is controlled to operate at the preset recovery torque to continue energy recovery in subsequent processes, the recovery torque of the drive motor will decrease, meaning the energy recovery intensity will decrease. Furthermore, since the preset recovery torque decreases as the accelerator pedal opening increases, the preset recovery torque will decrease when the current opening increases within the range of 0 to the first preset opening.

[0035] In summary, if the current opening degree is detected to be greater than zero and less than the first preset opening degree, the drive motor is controlled to operate at a preset recovery torque, allowing the vehicle to continue in an energy recovery state, albeit with a reduced intensity of energy recovery. During energy recovery, kinetic energy is converted into electrical energy, causing the vehicle to decelerate. Based on this embodiment, the driver can depress the accelerator pedal, keeping its opening between 0 and the first preset opening degree, thereby reducing the intensity of energy recovery while maintaining it, and consequently reducing the degree of vehicle deceleration.

[0036] Furthermore, as the current opening degree increases, the preset regenerative torque decreases, and the energy recovery intensity decreases. Therefore, the driver can adjust the energy recovery intensity by adjusting the opening degree of the accelerator pedal within the range of 0 to the first preset opening degree, thereby ensuring that the vehicle deceleration during the energy recovery process matches the driver's expectations and improving driving comfort. For example, if the driver feels that the vehicle is decelerating too strongly, they can further depress the accelerator pedal, increasing the opening degree and thus reducing the energy recovery intensity to lessen the feeling of deceleration. Conversely, if the driver feels that the vehicle is decelerating too weakly and wants to increase the energy recovery intensity, they can release the accelerator pedal slightly, decreasing the opening degree and thus increasing the energy recovery intensity.

[0037] Figure 3 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application. In conjunction with the above, in some specific embodiments, after detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery, i.e., after step S12 above, the method further includes: S21: If the current opening degree is detected to be greater than or equal to the first preset opening degree and less than the second preset opening degree, the drive motor is controlled to work with a preset drive torque to drive the vehicle based on the current opening degree; wherein, when the drive motor is in the driving state, there is a preset relationship between the opening degree of the accelerator pedal and the target drive torque of the drive motor; the preset drive torque is less than the target drive torque corresponding to the current opening degree, and the preset drive torque increases as the opening degree of the accelerator pedal increases.

[0038] When the current accelerator pedal opening is detected to be greater than or equal to a first preset opening and less than a second preset opening, it indicates that the accelerator pedal opening is too large. At this point, the driver is highly likely to intend to drive the vehicle via the drive motor rather than recover energy through the motor's power generation, and is likely to further increase the accelerator pedal opening. In this situation, the drive motor is controlled to operate at a preset drive torque based on the current opening to drive the vehicle; the engine torque serves as the driving torque for the vehicle.

[0039] When the drive motor is in normal driving mode, there is a preset relationship between the opening degree of the accelerator pedal and the target driving torque of the drive motor. Specifically, this preset relationship means that as the opening degree of the accelerator pedal increases, the target driving torque increases.

[0040] Figure 4 This is a schematic diagram showing the relationship between the torque of the drive motor and the opening of the accelerator pedal.

[0041] Combination Figure 4 The straight line L1 represents the relationship between the accelerator pedal opening and the target driving torque under normal driving conditions, where the target driving torque is positive. At this point, the accelerator pedal opening and the target driving torque are directly proportional, but this relationship is not limited to this.

[0042] It should be understood that if the drive motor delivers the target drive torque corresponding to the current opening of the accelerator pedal, the vehicle is in a normal driving state, and the drive motor has a good driving effect on the vehicle.

[0043] Based on the above, if the preset drive torque is less than the target drive torque corresponding to the current accelerator pedal opening, the vehicle is in a driving state, but the drive motor's torque is less than the target torque, and the vehicle is not in a normal driving state. Furthermore, when the accelerator pedal opening is within the range of the first preset opening and the second preset opening, the preset drive torque increases as the accelerator pedal opening increases.

[0044] It should be understood that when the opening is within the range of k1-k2, the driving force on the vehicle is relatively small when the drive motor operates at a preset driving torque. This puts the vehicle in a pre-drive state, transitioning from energy recovery mode to normal driving mode. Due to the presence of this pre-drive state, the vehicle can smoothly transition from energy recovery mode to normal driving mode, without any abrupt gear shifts, thus ensuring driving comfort.

[0045] Figure 5 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application. (In conjunction with...) Figure 5 In some specific embodiments, the step of detecting a current opening degree greater than zero and less than a first preset opening degree, and then controlling the drive motor to operate with a preset recovery torque based on the current opening degree, includes: S31: If the current opening degree is detected to be greater than zero, then obtain the first preset opening degree.

[0046] When the current opening degree is detected to be greater than 0, the first preset opening degree is obtained first. The first preset opening degree can be obtained according to preset rules. In different application scenarios, the first preset opening degree can be different, that is, the first preset opening degree can be a variable value.

[0047] S32: If the current opening degree is detected to be less than the first preset opening degree, the preset recovery torque is determined based on the current opening degree, the first preset opening degree and the current recovery torque of the drive motor, and the drive motor is controlled to work at the preset recovery torque.

[0048] After obtaining the first preset opening degree, the current opening degree is further compared with the first preset opening degree, so that when the current opening degree is detected to be less than the first preset opening degree, the preset recovery torque is further determined.

[0049] The current recovery torque of the drive motor reflects the magnitude of the recovery torque at the moment when the current opening degree is detected to be less than the first preset opening degree. It is the key data that determines the magnitude of the subsequent recovery torque, that is, the subsequent recovery torque cannot be greater than the current recovery torque.

[0050] The relationship between the current accelerator pedal opening and the first preset opening reflects the magnitude of the current opening relative to the first preset opening. Combined with the setting that the preset recovery torque decreases as the opening increases, the smaller the difference between the current opening and the first preset opening, the smaller the required preset recovery torque. Therefore, the preset recovery torque determined based on the current opening, the first preset opening, and the current recovery torque of the drive motor is more suitable for the energy recovery requirements when the accelerator pedal has a certain opening.

[0051] For a more specific method of determining the preset recovery torque, in some specific embodiments, the step of determining the preset recovery torque based on the current opening degree, the first preset opening degree, and the current recovery torque of the drive motor includes: determining the ratio of the current recovery torque to the first preset opening degree, and taking the product of the current opening degree and the ratio as the preset recovery torque.

[0052] Combination Figure 4 The current recoverable torque is D1, and the first preset opening is k1. The dashed line L2 between k1 and D1 represents the relationship between the opening and the preset recoverable torque. It should be understood that although the preset recoverable torque is negative at this point, its magnitude is still determined by its absolute value. At this time, regardless of the opening, the preset recoverable torque is always less than the current recoverable torque, and the preset recoverable torque decreases as the opening increases.

[0053] Based on the method for determining the preset recovery torque provided in this embodiment, the change in the preset recovery torque can be quantitatively determined according to the magnitude of the change in the accelerator pedal opening, resulting in a relatively balanced change in the preset recovery torque. Of course, this embodiment only provides one specific method for determining the preset recovery torque; in other embodiments, the relationship between the accelerator pedal opening and the preset recovery torque is not limited to this.

[0054] Figure 6 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application. (In conjunction with...) Figure 6 In some specific embodiments, the step of obtaining the first preset opening degree, i.e., step S31 above, includes: S41: Obtain the current recovery torque of the drive motor and obtain the target drive torque corresponding to the second preset opening degree.

[0055] The second preset opening can be a preset fixed value, which does not need to be calculated further through a relational formula. It can be obtained through actual vehicle calibration and stored for direct use.

[0056] When the current opening degree is detected to be greater than zero, the current recovery torque of the drive motor can be directly obtained. Specifically, the current recovery torque can be obtained from the motor controller of the drive motor.

[0057] Based on the above, there is a preset relationship between the opening degree and the target driving torque. At this time, the target driving torque can be directly obtained by predicting the preset relationship according to the second preset opening degree.

[0058] S42: Determine the first preset opening based on the current recovery torque, the target driving torque corresponding to the second preset opening, and the second preset opening.

[0059] The current recovered torque and the target drive torque corresponding to the second preset opening degree reflect the span of the drive motor's transition from the current recovered torque to the target drive torque, i.e., the span from the energy recovery state with the highest energy recovery intensity to the pre-drive state with the best driving effect. The first preset opening degree separates the energy recovery state from the pre-drive state; therefore, the current recovered torque and the target drive torque corresponding to the second preset opening degree are key information for determining the first preset opening degree. Since the first preset opening degree is located between 0 and the second preset opening degree and separates the energy recovery state from the pre-drive state, the second preset opening degree is crucial information for determining the first preset opening degree.

[0060] Therefore, determining the first preset opening based on the current recovery torque, the target driving torque corresponding to the second preset opening, and the second preset opening is more in line with the actual needs of different state transitions and more in line with actual application scenarios.

[0061] For a more specific method of determining the first preset opening degree, in some specific embodiments, the step of determining the first preset opening degree based on the current recovery torque, the target driving torque corresponding to the second preset opening degree, and the second preset opening degree includes: The sum of the current recovered torque and the target driving torque corresponding to the second preset opening is determined, and the torque ratio between the current recovered torque and the sum of the torques is determined. The product of the torque ratio and the second preset opening is taken as the first preset opening.

[0062] Combination Figure 4 The current recovered torque is D1, the target drive torque corresponding to the second preset opening is D2, the first preset opening is k1, and the second preset opening is K2. At this time, the first preset opening k1 = -D1·k2 / (D2-D1). It should be understood that the current recovered torque in this equation is negative, hence the negative sign before it.

[0063] Based on this specific method of determining the first preset opening degree, the determined first preset opening degree meets the critical opening degree requirement for the transition from the energy recovery state to the pre-drive state. Of course, in other embodiments, the specific method of determining the first preset opening degree is not limited to this.

[0064] Figure 7 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application. (In conjunction with...) Figure 7 In some specific embodiments, after detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery, i.e. after step S12 above, the method further includes: S51: If the current opening degree is detected to be greater than zero and less than the second preset opening degree, then obtain the change in the opening degree of the accelerator pedal within a preset time period.

[0065] After detecting that the current opening degree is greater than 0 and less than the second preset opening degree, the current opening degree is likely to change over time. At this time, the change in the opening degree of the accelerator pedal within the preset time period will be detected. This change can reflect the speed of change of the accelerator pedal opening degree.

[0066] The preset time period can be determined in advance. It should be understood that the duration of the preset time period is fixed, and the start time of the preset time period is continuously advanced as time progresses.

[0067] S52: If the detected change is less than the preset change, control the vehicle to enter a constant speed driving state so that the vehicle maintains a constant speed.

[0068] The preset change amount is determined and stored in advance. When the detected change amount is less than the preset change amount, it indicates that the change in the accelerator pedal opening is small. When the accelerator pedal opening remains unchanged or changes only slightly, it indicates that the driver generally wants the vehicle to maintain a constant speed. In this case, the vehicle is controlled to enter a constant speed driving state to maintain a constant speed.

[0069] Based on the above, when the pedal opening is within the range of 0-k1, if the vehicle is performing energy recovery, the driver will generally adjust the pedal opening more frequently. In this case, the change will be greater than or equal to the preset change, and the vehicle will not enter a state of constant speed driving. When the pedal opening is within the range of k1-k2, the vehicle is in a pre-drive state. In this case, the change in pedal opening will generally be greater than or equal to the preset change, and the vehicle will not enter a state of constant speed driving.

[0070] Figure 8 This is a flowchart illustrating another embodiment of the vehicle drive motor control method provided in this application. (In conjunction with...) Figure 8 In some specific embodiments, if the detected change is less than a preset change, the vehicle is controlled to enter a constant speed driving state to maintain a constant speed driving, i.e., the above-mentioned step S52, includes: S61: If the detected change is less than the preset change, the vehicle speed when it enters the constant speed driving state is taken as the target vehicle speed vtarget, and the real-time vehicle speed vreal and real-time acceleration areal are obtained.

[0071] The moment the vehicle enters a constant-speed driving state can be any moment when the detected change is less than a preset change, without specific restrictions. Furthermore, the vehicle's real-time speed can be directly obtained from the vehicle's relevant controllers, and the real-time acceleration can be calculated based on the real-time speed.

[0072] S62: The target torque of the drive motor is determined based on the calculation formula (vtarget-vreal)·C1+∑(vtarget-vreal)·C2+∑(-areal)·C3, and the drive motor is controlled to work at the target torque to achieve uniform speed driving; where C1, C2, and C3 are preset constant coefficients.

[0073] ∑(vtarget-vreal) is the sum of multiple target vehicle speeds minus the real-time vehicle speed, and ∑(-areal) is the sum of multiple real-time accelerations. It should be understood that at each detection time, the real-time vehicle speed vreal and the real-time acceleration area are detected; therefore, there are multiple sets of real-time vehicle speed vreal and real-time acceleration areas, allowing for the summation of multiple sets of data.

[0074] When the drive motor operates at the target torque determined by the above calculation formula, it enables the vehicle to maintain a roughly constant speed, at which point the vehicle is in a constant speed driving state.

[0075] In conjunction with the above, in some specific embodiments, after the step of detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery, i.e., after step S12 above, the method further includes: If the current opening degree is detected to be greater than or equal to the second preset opening degree, the drive motor is controlled to operate at the target drive torque to drive the vehicle; wherein, the target drive torque increases as the opening degree of the accelerator pedal increases.

[0076] Based on the above, when the current accelerator pedal opening is between the first and second preset openings, the vehicle is in a pre-drive state. When the opening is greater than or equal to the second preset opening, it indicates that the accelerator pedal opening is relatively large, and the vehicle enters a normal drive state. At this time, the drive motor operates with the target drive torque corresponding to the current opening, thus enabling the drive motor to have a better driving effect.

[0077] Continuing with the above, when the opening degree is between 0 and k1, the relationship between the opening degree and the target recovery torque is the first relationship. When the opening degree is between k1 and k2, the relationship between the opening degree and the preset drive torque is the second relationship. The second relationship can be the same as the first relationship. For example, D1, k1, and D2 can be on the same straight line. Of course, the first relationship and the second relationship can also be different, without specific restrictions.

[0078] More specifically, when the second relationship is a direct proportional relationship, the dashed line between k1 and D2 represents the straight line relating the opening degree to the preset drive torque. At this time, the slope of the dashed line between k1 and D2 is greater than the slope of the straight line L1. As the opening degree increases, the difference between the preset drive torque and the target drive torque decreases, and at the second preset opening degree, the difference between the preset drive torque and the target drive torque is 0. Therefore, after the second preset opening degree, the vehicle can operate at the target drive torque. At this point, the pre-drive state allows the vehicle to smoothly transition from the energy recovery state to the normal drive state.

[0079] A second aspect of this application provides a control device 20 for a vehicle drive motor. Figure 9 This is a schematic diagram of the structural framework of an embodiment of the vehicle drive motor control device 20 provided in this application.

[0080] Combination Figure 9The vehicle drive motor control device 20 includes: a detection module 21 for detecting the current opening degree of the vehicle's accelerator pedal; and a control module 22 for determining a target recovery torque based on the current vehicle speed when the current opening degree is zero, and controlling the drive motor to operate at the target recovery torque for energy recovery; wherein, there is a preset relationship between the target recovery torque and the vehicle speed; and if the current opening degree is detected to be greater than zero and less than a first preset opening degree, the drive motor is controlled to operate at a preset recovery torque based on the current opening degree; wherein, the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the accelerator pedal opening degree increases.

[0081] For details on the specific execution method of the above modules for the above steps, please refer to the description of the method section of the above embodiments, which will not be repeated here.

[0082] A third aspect of this application provides a vehicle 30, Figure 10 This is a schematic diagram of the structural frame of the vehicle 30 provided in this application.

[0083] Combination Figure 10 The vehicle 30 includes: a processor 31; and a memory 32 for storing a computer program. When the computer program is executed by the processor, it is a control method for the vehicle drive motor of any of the above embodiments, and the method part can refer to the content of the above embodiments.

[0084] A fourth aspect of this application provides a computer-readable storage medium 40, Figure 11 This is a schematic diagram of the structural framework of an embodiment of the computer scale storage medium 40 provided in this application.

[0085] The computer-readable storage medium 40 stores a computer program 41, which, when executed by a processor, implements the vehicle drive motor control method as described in any of the above embodiments.

[0086] It should be noted that the computer-readable medium 40 shown in the embodiments of this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0087] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in the claims.

Claims

1. A control method for a vehicle drive motor, characterized in that, include: Detect the current opening of the vehicle's accelerator pedal; If the current opening degree is detected to be zero, the target recovery torque is determined based on the current vehicle speed, and the drive motor is controlled to operate at the target recovery torque to recover energy; wherein, there is a preset relationship between the target recovery torque and the vehicle speed; If the current opening degree is detected to be greater than zero and less than a first preset opening degree, the drive motor is controlled to operate with a preset recovery torque based on the current opening degree; wherein, the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the opening degree of the accelerator pedal increases; If the current opening degree is detected to be greater than or equal to the first preset opening degree and less than the second preset opening degree, then the drive motor is controlled to operate with a preset drive torque to drive the vehicle based on the current opening degree; When the drive motor is in driving mode, there is a preset relationship between the opening degree of the accelerator pedal and the target driving torque of the drive motor; the preset driving torque is less than the target driving torque corresponding to the current opening degree, and the preset driving torque increases as the opening degree of the accelerator pedal increases; The step of detecting that the current opening degree is greater than zero and less than the first preset opening degree, and then controlling the drive motor to operate with a preset recovery torque based on the current opening degree, includes: If the current opening degree is detected to be greater than zero, then the first preset opening degree is obtained; If the current opening degree is detected to be less than the first preset opening degree, a preset recovery torque is determined based on the current opening degree, the first preset opening degree, and the current recovery torque of the drive motor, and the drive motor is controlled to operate at the preset recovery torque.

2. The control method for a vehicle drive motor according to claim 1, characterized in that, The step of determining the preset recovery torque based on the current opening degree, the first preset opening degree, and the current recovery torque of the drive motor includes: The ratio of the current recovery torque to the first preset opening degree is determined, and the product of the current opening degree and the ratio is taken as the preset recovery torque.

3. The control method for a vehicle drive motor according to claim 1, characterized in that, The steps to obtain the first preset opening include: Obtain the current recovery torque of the drive motor, and obtain the target drive torque corresponding to the second preset opening degree; The first preset opening is determined based on the current recovery torque, the target driving torque corresponding to the second preset opening, and the second preset opening.

4. The control method for a vehicle drive motor according to claim 3, characterized in that, The step of determining the first preset opening based on the current recovery torque, the target drive torque corresponding to the second preset opening, and the second preset opening includes: The sum of the current recovered torque and the target driving torque corresponding to the second preset opening is determined, and the torque ratio between the current recovered torque and the sum of the torques is determined. The product of the torque ratio and the second preset opening is taken as the first preset opening.

5. The control method for a vehicle drive motor according to claim 1, characterized in that, After detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery, the method further includes: If the current opening degree is detected to be greater than zero and less than the second preset opening degree, then the change in the opening degree of the accelerator pedal within a preset time period is obtained; If the detected change is less than a preset change, the vehicle is controlled to enter a constant speed driving state so that the vehicle maintains a constant speed.

6. The control method for a vehicle drive motor according to claim 5, characterized in that, The step of controlling the vehicle to enter a constant speed driving state so that the vehicle maintains a constant speed driving state when the detected change is less than a preset change includes: If the change is detected to be less than the preset change, the vehicle speed when the vehicle enters the constant speed driving state is taken as the target vehicle speed vtarget, and the real-time vehicle speed vreal and real-time acceleration areal are obtained. The target torque of the drive motor is determined based on the calculation formula (vtarget-vreal)·C1+∑(vtarget-vreal)·C2+∑(-areal)·C3, and the drive motor is controlled to operate at the target torque to achieve uniform speed driving; where C1, C2, and C3 are preset constant coefficients.

7. The control method for a vehicle drive motor according to claim 1, characterized in that, After detecting that the current opening degree is zero, determining the target recovery torque based on the current vehicle speed, and controlling the drive motor to operate at the target recovery torque for energy recovery, the method further includes: If the current opening degree is detected to be greater than or equal to the second preset opening degree, the drive motor is controlled to operate at the target drive torque to drive the vehicle; wherein the target drive torque increases as the opening degree of the accelerator pedal increases.

8. A control device for a vehicle drive motor, used to execute the control method for a vehicle drive motor as described in any one of claims 1-7, characterized in that, include: The detection module is used to detect the current opening of the vehicle's accelerator pedal; The control module is configured to detect when the current opening degree is zero, determine a target recovery torque based on the current vehicle speed, and control the drive motor to operate at the target recovery torque for energy recovery; wherein, there is a preset relationship between the target recovery torque and the vehicle speed; if the current opening degree is detected to be greater than zero and less than a first preset opening degree, the control module is configured to control the drive motor to operate at a preset recovery torque based on the current opening degree; wherein, the preset recovery torque is less than the current recovery torque of the drive motor when the current opening degree is detected to be greater than zero, and the preset recovery torque decreases as the accelerator pedal opening degree increases.

9. A vehicle, characterized in that, include: processor; A memory for storing a computer program, which, when executed by the processor, implements the control method for the vehicle drive motor according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the control method for the vehicle drive motor as described in any one of claims 1-7.

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