Electric vehicle control method, device, electronic equipment and storage medium

Abstract

The present invention discloses an electric vehicle control method, device, electronic device and storage medium. The method comprises: when the accelerator of the electric vehicle is stepped on, the speed correspondence is determined according to the travel range of the actual travel of the accelerator, and the target speed is determined according to the actual travel and the speed correspondence; wherein the speed correspondence is the correspondence between the travel of the accelerator and the target speed of the motor of the electric vehicle; different travel ranges correspond to different speed correspondences; according to the acceleration speed range of the target speed, the target acceleration is determined, and the target acceleration is used to control the operation of the motor. The technical solution of the present invention can better control the speed of the electric vehicle and improve the user experience.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to an electric vehicle control method, device, electronic equipment and storage medium. Background Art

[0002] With the rapid development of new energy technologies, electric vehicles are increasingly being used. Electric vehicles can include electric road vehicles and electric non-road vehicles. Non-road vehicles can include forklifts, ball cars, and aerial work platforms.

[0003] In an electric vehicle, when the accelerator of the vehicle is pressed, the vehicle controller will control the motor to accelerate according to the target speed corresponding to the accelerator stroke, so that the motor reaches the target speed. When the accelerator of the vehicle is released, the vehicle controller will determine the target speed according to the accelerator release stroke, control the motor to decelerate, and make the motor reach the target speed.

[0004] However, when the controller controls the motor to run, it generally uses an acceleration to control the motor to accelerate, and uses a deceleration (negative acceleration) to control the motor to decelerate. When the acceleration is large, the driver feels that it is difficult to control, and the vehicle's micro-motion performance is poor; when the acceleration is small, the acceleration is slow, which affects the efficiency, making the driver feel that the power is insufficient, affecting the user experience. When the absolute value of the deceleration is large, the vehicle brakes too hard, affecting the driving experience. When the absolute value of the deceleration is small, the vehicle brakes slowly and the efficiency is low. Therefore, the existing technology for the control strategy of vehicle speed has the problem of being unable to better control the vehicle speed and poor user experience. Summary of the invention

[0005] The present invention provides an electric vehicle control method, device, electronic device and storage medium to solve the problem that the vehicle speed cannot be well controlled and the user experience is poor.

[0006] According to one aspect of the present invention, there is provided an electric vehicle control method, the electric vehicle control method comprising:

[0007] When the accelerator of the electric vehicle is depressed, a speed correspondence is determined according to a travel range of the actual travel of the accelerator, and a target speed of the motor of the electric vehicle is determined according to the actual travel and the speed correspondence; wherein the speed correspondence is a correspondence between the travel of the accelerator and the target speed of the motor of the electric vehicle; different travel ranges correspond to different speed correspondences;

[0008] A target acceleration is determined according to an acceleration speed range in which the target speed is located, and the operation of the motor is controlled using the target acceleration.

[0009] Optionally, the travel range includes a first travel range and a second travel range;

[0010] The determining the rotation speed correspondence according to the travel range of the actual travel of the accelerator includes:

[0011] When the actual stroke is less than the preset stroke, determining that the actual stroke is within a first stroke range, determining a first slope according to the zero point coordinate, the preset stroke and the preset speed, and determining the speed correspondence according to the first slope;

[0012] When the actual stroke is greater than or equal to the preset stroke, it is determined that the actual stroke is in a second stroke range, and a second slope is determined according to the preset stroke, the preset speed, the maximum stroke of the accelerator and the maximum speed of the motor, and the speed correspondence is determined according to the second slope, the preset stroke and the preset speed; wherein the second slope is greater than the first slope.

[0013] Optionally, determining the second slope according to the preset stroke, the preset speed, the maximum stroke of the accelerator and the maximum speed of the motor includes:

[0014] Dividing the difference between the maximum rotation speed and the preset rotation speed by the difference between the maximum stroke and the preset stroke to determine the second slope;

[0015] The determining the speed correspondence relationship according to the second slope, the preset stroke and the preset speed includes:

[0016] An intercept value is determined according to the second slope, the preset stroke and the preset speed, and the speed correspondence is determined according to the second slope and the intercept value.

[0017] Optionally, determining a target acceleration according to an acceleration speed range in which the target speed is located, and using the target acceleration to control the operation of the motor includes:

[0018] When the absolute value of the target speed is less than the preset acceleration speed, determining the target acceleration to be a first acceleration, and using the first acceleration to control the operation of the motor;

[0019] When the absolute value of the target speed is greater than or equal to the preset acceleration speed, the target acceleration is determined to be a second acceleration, and the second acceleration is used to control the operation of the motor; wherein the second acceleration is greater than the first acceleration.

[0020] Optionally, in the process of controlling the operation of the motor by using the second acceleration, the method further includes:

[0021] When the difference between the target speed and the actual speed of the motor is less than a preset speed difference, the target acceleration is determined to be a third acceleration, and the motor is controlled to operate according to the third acceleration; wherein the third acceleration is less than the second acceleration.

[0022] Optionally, the electric vehicle control method further includes:

[0023] When the accelerator is partially released, controlling the operation of the motor using a first target deceleration;

[0024] When the accelerator is fully released, a second target deceleration of the motor is determined according to a braking speed range in which an actual speed of the motor is located, and the motor is controlled to operate according to the second target deceleration.

[0025] Optionally, determining the second target deceleration of the motor according to a braking speed range in which an actual speed of the motor is located includes:

[0026] When the actual rotation speed of the motor is less than the preset braking rotation speed, determining the second target deceleration to be the first preset deceleration;

[0027] When the actual rotation speed of the motor is greater than or equal to the preset braking rotation speed, the second target deceleration is determined to be a second preset deceleration; wherein the absolute value of the second preset deceleration is greater than the absolute value of the first preset deceleration.

[0028] According to another aspect of the present invention, there is provided an electric vehicle control device, the electric vehicle control device comprising:

[0029] A speed correspondence determination module, used for determining a speed correspondence according to a travel range of an actual travel of the accelerator when the accelerator of the electric vehicle is stepped on, and determining a target speed of the motor of the electric vehicle according to the actual travel and the speed correspondence; wherein the speed correspondence is a correspondence between the travel of the accelerator and the target speed of the motor of the electric vehicle; different travel ranges correspond to different speed correspondences;

[0030] The target acceleration determination module is used to determine the target acceleration according to the acceleration speed range of the target speed, and use the target acceleration to control the operation of the motor.

[0031] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0032] at least one processor; and

[0033] a memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electric vehicle control method described in any embodiment of the present invention.

[0035] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the electric vehicle control method described in any embodiment of the present invention when executed.

[0036] According to another aspect of the present invention, a computer program product is provided. The computer program product comprises a computer program. When the computer program is executed by a processor, the electric vehicle control method according to any one of the embodiments of the present invention is implemented.

[0037] The technical solution of the embodiment of the present invention sets different speed correspondences corresponding to different travel ranges. When the accelerator of the electric vehicle is stepped on, the speed correspondence is determined according to the travel range of the actual travel of the accelerator, so that the speed correspondence corresponding to the actual travel of the accelerator can be determined more accurately, so that the target speed of the motor can be accurately determined according to actual needs, and the speed of the electric vehicle can be better controlled. After determining the target speed of the motor, the target acceleration is determined according to the acceleration speed range where the target speed is located, so that the target acceleration of the motor is related to the target speed, and the target speed is related to the actual travel of the accelerator, so that the target acceleration corresponds to the actual travel of the acceleration, so that the target acceleration is neither too large nor too small, and the size of the target acceleration can adapt to user needs, which is conducive to improving user experience.

[0038] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 is a flow chart of an electric vehicle control method provided by an embodiment of the present invention;

[0041] Figure 2 is a flow chart of another electric vehicle control method provided by an embodiment of the present invention;

[0042] Figure 3 is a flow chart of another electric vehicle control method provided by an embodiment of the present invention;

[0043] Figure 4 is a flow chart of another electric vehicle control method provided by an embodiment of the present invention;

[0044] Figure 5 is a structural schematic diagram of an electric vehicle control device provided by an embodiment of the present invention;

[0045] Figure 6 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] An embodiment of the present invention provides an electric vehicle control method, wherein the electric vehicle may be an electric road vehicle or an electric non-road vehicle. Non-road vehicles may include forklifts, ball carts, and aerial work platforms. The electric vehicle control method may be executed by an electric vehicle control device. The electric vehicle control method may be applied to speed control of an electric vehicle. The electric vehicle may include an accelerator, and when the accelerator is stepped on, the vehicle accelerates. When the accelerator is released, the vehicle brakes, wherein when the accelerator is partially released, the vehicle decelerates; when the accelerator is fully released, the vehicle decelerates to zero.

[0049] Figure 1is a flow chart of an electric vehicle control method provided by an embodiment of the present invention, with reference to Figure 1 , the electric vehicle control method comprises:

[0050] S110. When the accelerator of the electric vehicle is pressed, the speed correspondence is determined according to the travel range of the actual stroke of the accelerator, and the target speed of the electric vehicle's motor is determined according to the actual stroke and the speed correspondence; wherein the speed correspondence is the correspondence between the accelerator stroke and the target speed of the electric vehicle's motor; different travel ranges correspond to different speed correspondences.

[0051] Among them, the electric vehicle includes an accelerator, which may include an accelerator pedal and a sensor, etc. The driver can accelerate the vehicle by stepping on the accelerator pedal. The accelerator pedal can be released to decelerate the vehicle and achieve braking. The sensor in the accelerator can obtain the stroke information of the accelerator pedal and send the stroke information to the electric vehicle control device. The stroke information can be converted into an electrical signal and sent, and the electrical signal can be a voltage signal. Thus, the electric vehicle control device can obtain the actual stroke of the accelerator.

[0052] Specifically, the accelerator's stroke from zero to maximum stroke can be divided into at least two stroke ranges, for example, 30% of the maximum stroke from zero to maximum stroke is the first stroke range, 30% of the maximum stroke to 60% of the maximum stroke is the second stroke range, and 60% of the maximum stroke to the maximum stroke is the third stroke range. Alternatively, 60% of the maximum stroke is the first stroke range, and 60% of the maximum stroke to the maximum stroke is the second stroke range, which is not limited in this embodiment. Different stroke ranges correspond to different speed correspondences. For example, the speed correspondence corresponding to the first stroke range and the speed correspondence corresponding to the second stroke range are both linear relationships, but the slopes of the speed correspondences corresponding to the first stroke range and the second stroke range are different. Thus, a more accurate speed correspondence can be determined based on the size of the actual stroke, thereby determining a more accurate target speed.

[0053] By determining the range of the actual stroke of the accelerator, the speed correspondence corresponding to the actual stroke can be determined. The speed correspondence is the correspondence between the accelerator stroke and the target speed of the motor of the electric vehicle. Substituting the actual stroke into the speed correspondence can determine the target speed of the motor.

[0054] In this way, compared with the related art in which all strokes and speeds have the same linear relationship, the speed correspondence between the actual stroke of the accelerator can be determined more accurately, so that the target speed of the motor can be accurately determined according to actual needs, and the speed of the electric vehicle can be better controlled.

[0055] S120, determining a target acceleration according to an acceleration speed range in which the target speed is located, and using the target acceleration to control the operation of the motor.

[0056] The actual speed of the motor here is the actual speed of the motor when the accelerator is pressed.

[0057] Specifically, the speed of the motor can be divided into at least two acceleration speed ranges, and the target accelerations corresponding to different acceleration speed ranges are different. For example, when the maximum speed in the acceleration speed range is large, the target acceleration is large, and when the maximum speed in the acceleration speed range is small, the target acceleration is small, so that the target acceleration can be accurately determined according to the target speed, and the motor is gradually accelerated by using the target acceleration, so as to control the motor operation, and then control the vehicle to accelerate until the target speed of the vehicle corresponding to the accelerator is reached. In this way, when the target speed is large, a larger target acceleration can be used to achieve faster acceleration to the target speed, improve the control efficiency, and can bring a stronger acceleration experience to the user, which is conducive to improving the user experience. When the target speed is small, a smaller target acceleration can be used to achieve a smoother acceleration, and the micro-motion performance is strong, so that the user can control the vehicle well, which is conducive to improving the user experience. Therefore, the corresponding target acceleration can be determined according to user needs, which is conducive to improving the user experience.

[0058] In this way, the target acceleration of the motor can be related to the target speed, and the target speed is related to the actual stroke of the accelerator, so that the target acceleration corresponds to the actual stroke of the acceleration, so that the target acceleration is neither too large nor too small, and the size of the target acceleration can adapt to user needs, which is conducive to improving user experience.

[0059] After determining the target acceleration of the motor, the motor is controlled to gradually accelerate according to the target acceleration until the target speed is reached, so that the vehicle reaches the target speed required by the user, thereby achieving control of the vehicle speed.

[0060] The technical solution of this embodiment sets different speed correspondences corresponding to different travel ranges. When the accelerator of the electric vehicle is stepped on, the speed correspondence is determined according to the travel range of the actual travel of the accelerator, so that the speed correspondence corresponding to the actual travel of the accelerator can be more accurately determined, so that the target speed of the motor can be accurately determined according to actual needs, and the speed of the electric vehicle can be better controlled. After determining the target speed of the motor, the target acceleration is determined according to the acceleration speed range where the target speed is located, so that the target acceleration of the motor is related to the target speed, and the target speed is related to the actual travel of the accelerator, so that the target acceleration corresponds to the actual travel of the acceleration, so that the target acceleration is neither too large nor too small, and the size of the target acceleration can adapt to user needs, which is conducive to improving user experience.

[0061] On the basis of the above technical solution, optionally, the travel range includes a first travel range and a second travel range. The electric vehicle control method is further described below in conjunction with a specific determination method of the speed correspondence, but is not intended to limit the present invention.

[0062] Figure 2 is a flowchart of another electric vehicle control method provided by an embodiment of the present invention. Optionally, refer to Figure 2 , the electric vehicle control method comprises:

[0063] S210, when the accelerator of the electric vehicle is pressed, determine whether the actual travel is less than the preset travel, if so, execute step S220; if not, execute step S230.

[0064] The preset stroke may be 50% of the maximum stroke of the accelerator, 60% of the maximum stroke of the accelerator, 70% of the maximum stroke of the accelerator, or other values, which are not limited in this embodiment.

[0065] Specifically, by setting a preset stroke, the stroke of the accelerator can be divided into a first stroke range and a second stroke range, zero to the preset stroke is the first stroke range, and the preset stroke to the maximum stroke is the second stroke range. By comparing the actual stroke with the preset stroke, the stroke range in which the actual stroke is located can be determined. When the actual stroke is less than the preset stroke, it is determined that the actual stroke is in the first stroke range, and when the actual stroke is greater than or equal to the preset stroke, it is determined that the actual stroke is in the second stroke range.

[0066] In some other implementations, when the actual travel is equal to the preset travel, the actual travel may be within the first travel range, which is not limited in this embodiment.

[0067] S220, determining that the actual stroke is within the first stroke range, and determining a first slope according to the zero point coordinate, the preset stroke and the preset speed, and determining a speed correspondence according to the first slope; and determining a target speed of the motor of the electric vehicle according to the actual stroke and the speed correspondence.

[0068] Specifically, the zero point coordinate is (0,0). The preset speed is the target speed corresponding to the preset stroke. For example, the speed correspondence corresponding to each stroke range is a linear relationship, the preset stroke is R_fst, and the preset speed is Vspd_crawl. The first slope can be determined based on the two coordinate points (0,0) and (R_fst, Vspd_crawl). The first slope is the ratio of the preset speed Vspd_crawl and the preset stroke R_fst. For example, if the first slope is k1, the speed correspondence corresponding to the first stroke range is y=k1*x. x represents the stroke of the accelerator, and y represents the target speed of the motor. In this way, it is convenient to determine the target acceleration of the motor based on the speed correspondence and the actual stroke.

[0069] By setting the first slope of the speed correspondence relationship to be smaller when the actual stroke of the accelerator is smaller (the actual stroke is within the first stroke range), the motor target speed is smaller when the actual stroke is smaller, and the motor target speed changes less when the actual stroke changes, so that the vehicle travels at a smaller speed, the driver can better control the vehicle, which is conducive to improving user experience.

[0070] S230, determining that the actual stroke is within the second stroke range, and determining a second slope based on a preset stroke, a preset speed, the maximum stroke of the accelerator and the maximum speed of the motor, and determining a speed correspondence based on the second slope, the preset stroke and the preset speed; and determining a target speed of the motor of the electric vehicle based on the actual stroke and the speed correspondence; wherein the second slope is greater than the first slope.

[0071] Specifically, for example, the preset stroke is R_fst, the preset speed is Vspd_crawl, the maximum stroke of the accelerator is R_max, and the maximum speed of the motor is Vspd_max. The second slope can be determined based on the coordinate points (R_fst, Vspd_crawl) corresponding to the preset stroke and the preset speed, and the coordinate points (R_max, Vspd_max) corresponding to the maximum stroke and the maximum speed. The speed correspondence is a linear relationship, and the speed correspondence can be determined by substituting the second slope, the preset stroke, and the coordinate points corresponding to the preset speed into the linear relationship expression. In this way, it is convenient to determine the target speed of the motor according to the speed correspondence and the actual stroke. In addition, the speed correspondence corresponding to different stroke ranges is different, so the target speed of the motor can be accurately determined according to the actual stroke, so that the motor speed is more in line with the speed expected by the driver, which is conducive to improving the user experience.

[0072] When the actual stroke of the accelerator is large, the second slope of the speed correspondence can be set larger, so that when the actual stroke is large, the motor target speed is large, and when the actual stroke changes, the motor target speed changes greatly, so that the vehicle travels at a higher speed, which can make the driver feel the acceleration and is conducive to improving the user experience.

[0073] S240: Determine a target acceleration according to an acceleration speed range in which the target speed is located, and use the target acceleration to control the operation of the motor.

[0074] On the basis of the above technical solution, optionally, in step S230, determining the second slope according to the preset stroke, the preset speed, the maximum stroke of the accelerator and the maximum speed of the motor includes:

[0075] The second slope is determined by dividing the difference between the maximum rotation speed and the preset rotation speed by the difference between the maximum stroke and the preset stroke.

[0076] Specifically, for example, the preset stroke is R_fst, the preset speed is Vspd_crawl, the maximum stroke of the accelerator is R_max, and the maximum speed of the motor is Vspd_max. Then the second slope k2 can be

[0077]

[0078] Optionally, in step S230, determining the speed correspondence relationship according to the second slope, the preset stroke and the preset speed includes:

[0079] An intercept value is determined according to the second slope, a preset stroke and a preset rotation speed, and a rotation speed correspondence is determined according to the second slope and the intercept value.

[0080] Specifically, the speed correspondence is a linear relationship, and the speed correspondence corresponding to the second travel range is y=k2*x+b, where b is the intercept. Substituting the calculated second slope, the preset travel and the coordinate point corresponding to the preset speed (R_fst, Vspd_crawl) into y=k2*x+b, the intercept value can be determined, and thus the speed correspondence corresponding to the second travel range can be determined.

[0081] On the basis of the above technical solutions, the electric vehicle control method is further described below in combination with a specific method for determining the target acceleration, but this is not intended to limit the present invention.

[0082] Figure 3 is a flowchart of another electric vehicle control method provided by an embodiment of the present invention. Optionally, refer to Figure 3 , the electric vehicle control method comprises:

[0083] S310. When the accelerator of the electric vehicle is pressed, determine whether the actual travel is less than the preset travel. If so, execute step S320; if not, execute step S330.

[0084] S320, determining that the actual stroke is within the first stroke range, and determining a first slope according to the zero point coordinate, the preset stroke and the preset speed, and determining a speed correspondence according to the first slope; and determining a target speed of the motor of the electric vehicle according to the actual stroke and the speed correspondence.

[0085] S330, determining that the actual stroke is within the second stroke range, and determining a second slope according to a preset stroke, a preset speed, the maximum stroke of the accelerator and the maximum speed of the motor, and determining a speed correspondence according to the second slope, the preset stroke and the preset speed; and determining a target speed of the motor of the electric vehicle according to the actual stroke and the speed correspondence.

[0086] S340, determine whether the absolute value of the target speed is less than the preset acceleration speed, if so, execute step S350; if not, execute step S360.

[0087] Specifically, by setting a preset acceleration speed, a speed less than the preset acceleration speed can be divided into a first acceleration speed range, and a speed greater than or equal to the preset acceleration speed can be divided into a second acceleration speed range. That is, the acceleration speed range includes the first acceleration speed range and the second acceleration speed range. Therefore, if the absolute value of the target speed is less than the preset acceleration speed, the target speed is in the first acceleration speed range; if the absolute value of the target speed is greater than or equal to the preset acceleration speed, the target speed is in the second acceleration speed range.

[0088] In some other implementations, if the target speed is equal to the preset acceleration speed, the target speed may also be in the first acceleration speed range, which is not limited in this embodiment.

[0089] S350: Determine that the target acceleration is a first acceleration, and use the first acceleration to control the operation of the motor.

[0090] Specifically, when the absolute value of the target speed is less than the preset acceleration speed, it is determined that the target speed is in the first acceleration speed range, then the target speed is small, and the target acceleration can be determined to be a smaller first acceleration. Moreover, when the target speed is small, it indicates that the actual stroke of the accelerator is small. Therefore, when the actual stroke of the accelerator is small, a smaller first acceleration is used to control the operation of the motor, so that the motor accelerates slowly, and then the vehicle accelerates slowly, improving the micro-motion performance of the vehicle, so that the driver can better control the vehicle, which is conducive to improving the user experience. In other words, when the actual stroke of the accelerator is small, it indicates that the driver expects the vehicle to accelerate slowly. By setting a smaller first acceleration, user needs can be better met and the user experience can be improved.

[0091] Exemplarily, the target speed of the motor is Vref_arm, and the preset acceleration speed is Vref_acc_fst. When |Vref_arm| < Vref_acc_fst, the target acceleration is determined to be a smaller first acceleration.

[0092] S360. Determine that the target acceleration is a second acceleration, and control the operation of the motor using the second acceleration; wherein, the second acceleration is greater than the first acceleration.

[0093] Specifically, when the absolute value of the target speed is greater than or equal to the preset acceleration speed, it is determined that the target speed is in the second acceleration speed range. Since the target speed is relatively large, the target acceleration can be determined to be a larger second acceleration. Moreover, when the target speed is large, it indicates that the actual stroke of the accelerator is large. Therefore, when the actual stroke of the accelerator is large, the motor is controlled to operate using a larger second acceleration, enabling the motor to accelerate faster, ensuring the power performance of the vehicle, allowing the user to feel the vehicle's acceleration, and being conducive to enhancing the user experience. In other words, when the actual stroke of the accelerator is large, it indicates that the driver expects the vehicle to accelerate faster. By setting a larger second acceleration, the user's needs can be better met, and the user experience can be improved.

[0094] Exemplarily, the target speed of the motor is Vref_arm, and the preset acceleration speed is Vref_acc_fst. When |Vref_arm| ≥ Vref_acc_fst, the target acceleration is determined to be a larger second acceleration.

[0095] Based on the above technical solution, optionally, during the process of controlling the motor to operate using the second acceleration, the electric vehicle control method further includes:

[0096] When the difference between the target speed and the actual speed of the motor is less than the preset speed difference, determine that the target acceleration is a third acceleration, and control the operation of the motor according to the third acceleration; wherein, the third acceleration is less than the second acceleration.

[0097] Specifically, during the process of controlling the motor operation using the second acceleration, the actual speed of the motor can be obtained in real time or periodically. When the difference between the actual speed and the target speed of the motor is small, a corresponding target acceleration (the third acceleration) can be set to be small to achieve smooth acceleration, enabling the user to control the vehicle well and facilitating the improvement of the user experience. Thus, when the actual stroke of the accelerator is large and the target speed is high, at the beginning of acceleration, a large second acceleration is used to control the motor to accelerate. After a period of acceleration, when the actual speed of the motor is close to the target speed (the difference between the actual speed and the target speed is small), a small third acceleration is used to reduce the acceleration. When the actual speed is near the target speed, the acceleration is small, so the change amount of speed each time is small, making the speed change stably and improving the driving stability.

[0098] Exemplarily, for example, the target speed of the motor is Vspd_arm, the actual speed of the motor obtained during the acceleration process using the second acceleration is Vspd_currt, and the preset speed difference is Sdec. If (Vspd_arm - Vspd_currt) < Sdec, the motor operation is controlled according to the third acceleration.

[0099] Based on the above technical solutions, during the driving process of the vehicle, in addition to stepping on the accelerator, the accelerator may also be released. When the accelerator is released, the vehicle starts to brake until it decelerates to the target speed corresponding to the accelerator.

[0100] Next, in combination with the control strategy during the braking process, the electric vehicle control method will be further described, but it is not a limitation to the present invention.

[0101] Figure 4 It is a flowchart of another electric vehicle control method provided by an embodiment of the present invention. Optionally, referring to Figure 4 , the electric vehicle control method includes:

[0102] S410. When the accelerator of the electric vehicle is stepped on, determine the speed correspondence relationship according to the stroke range where the actual stroke of the accelerator is located, and determine the target speed of the motor of the electric vehicle according to the actual stroke and the speed correspondence relationship; wherein, the speed correspondence relationship is the correspondence relationship between the stroke of the accelerator and the target speed of the motor of the electric vehicle.

[0103] S420. Determine the target acceleration according to the acceleration speed range where the target speed is located, and control the motor operation using the target acceleration.

[0104] S430. When the accelerator is partially released, control the motor operation using the first target deceleration.

[0105] Among them, when the accelerator is pressed, the vehicle is controlled to accelerate, and when the accelerator is released, the vehicle is controlled to decelerate. If the accelerator is completely released, the vehicle is controlled to decelerate to zero. The accelerator can convert the stroke of the accelerator pedal into an electrical signal output. For example, the positive or negative of the electrical signal can be used to determine whether the accelerator is pressed or released. For example, when the electrical signal corresponding to the stroke of the accelerator is positive, the accelerator is pressed; when the electrical signal corresponding to the stroke of the accelerator is negative, the accelerator is released. Alternatively, when the electrical signal corresponding to the stroke of the accelerator is positive, the accelerator is released; when the electrical signal corresponding to the stroke of the accelerator is negative, the accelerator is pressed. In some other embodiments, an identifier or the like can be used to identify whether the accelerator is released or pressed, and this embodiment does not limit this.

[0106] Specifically, when the accelerator is partially released, indicating that the driver wants the vehicle to slow down but not stop completely, the motor can be controlled by using a first target deceleration with a smaller absolute value, that is, the motor is controlled to gradually decelerate so that the motor speed reaches the speed corresponding to the accelerator, and then the vehicle speed is controlled to reach the speed corresponding to the accelerator. In this way, the motor can be decelerated slowly, and then the vehicle can be decelerated slowly, so that the vehicle control is more adapted to the actual working conditions, which is conducive to improving the user experience. Among them, for example, deceleration refers to negative acceleration.

[0107] S440: When the accelerator is fully released, determine a second target deceleration of the motor according to a braking speed range in which the actual speed of the motor is located, and control the operation of the motor according to the second target deceleration.

[0108] Specifically, when the accelerator is fully released, the target speed of the motor is zero. When the accelerator is fully released, the actual speed of the motor is obtained. If the maximum value of the braking speed range in which the actual speed of the motor is located is small, indicating that the actual speed of the motor is small, then a second target deceleration with a smaller absolute value can be used to control the motor deceleration, which can make the vehicle decelerate slowly and improve driving comfort. When the maximum value of the braking speed range in which the actual speed of the motor is located is large, indicating that the actual speed of the motor is large, then a second target deceleration with a larger absolute value can be used to control the motor to gradually decelerate, which can make the vehicle decelerate faster, that is, it can stop in time under dangerous road conditions, which can improve the driver's sense of security and help improve user experience.

[0109] On the basis of the above technical solution, optionally, in step S440, determining the second target deceleration of the motor according to the braking speed range of the actual speed of the motor includes:

[0110] Step a1: when the actual rotation speed of the motor is less than the preset braking rotation speed, determining the second target deceleration to be the first preset deceleration.

[0111] Specifically, by setting a preset braking speed, speeds less than the preset braking speed can be classified into a first braking speed range, and speeds greater than or equal to the preset braking speed can be classified into a second braking speed range. That is, the braking speed range includes the first braking speed range and the second braking speed range. Therefore, if the actual speed of the motor is less than the preset braking speed, it is determined that the actual speed of the motor is within the first braking speed range; if the actual speed of the motor is greater than or equal to the preset braking speed, it is determined that the actual speed of the motor is within the second braking speed range. In some other embodiments, when the actual speed of the motor is equal to the preset braking speed, it can also be determined that the actual speed of the motor is within the first braking speed range, and this embodiment does not make a limitation.

[0112] Specifically, when the actual speed of the motor is less than the preset braking speed, determining the second target deceleration as the first preset deceleration with a smaller absolute value can cause the motor to decelerate slowly, so that the vehicle stops relatively slowly, which can improve driving comfort and is beneficial to enhancing the user experience.

[0113] Exemplarily, when the accelerator is fully released, for example, the actual speed of the motor is Vspd, and the preset braking speed is Vref_dec_fst. If Vspd < Vref_dec_fst, then the second target deceleration is determined as the first preset deceleration Dec_fst.

[0114] Step a2: When the actual speed of the motor is greater than or equal to the preset braking speed, determine the second target deceleration as the second preset deceleration; wherein, the absolute value of the second preset deceleration is greater than the absolute value of the first preset deceleration.

[0115] Specifically, when the actual speed of the motor is greater than or equal to the preset braking speed, determining the second target deceleration as the second preset deceleration with a larger absolute value can cause the motor to decelerate faster, that is, it can stop in time under dangerous road conditions, which can enhance the driver's sense of security and is beneficial to enhancing the user experience.

[0116] Exemplarily, when the accelerator is fully released, for example, the actual speed of the motor is Vspd, and the preset braking speed is Vref_dec_fst. If Vspd ≥ Vref_dec_fst, then the second target deceleration is determined as the second preset deceleration Dec_whole.

[0117] In this way, the speed control of the motor can be adjusted according to the actual working conditions, so as to control the vehicle operation according to the actual working conditions, which is beneficial to enhancing the user experience.

[0118] The embodiment of the present invention also provides an electric vehicle control device, and the electric vehicle control device is used to execute the electric vehicle control method provided in any embodiment of the present invention. Figure 5is a schematic diagram of the structure of an electric vehicle control device provided by an embodiment of the present invention, with reference to Figure 5 , the electric vehicle control device comprises:

[0119] The speed correspondence determination module 510 is used to determine the speed correspondence according to the travel range of the actual travel of the accelerator when the accelerator of the electric vehicle is stepped on, and determine the target speed of the motor of the electric vehicle according to the actual travel and the speed correspondence; wherein the speed correspondence is the correspondence between the travel of the accelerator and the target speed of the motor of the electric vehicle;

[0120] The target acceleration determination module 520 is used to determine the target acceleration according to the acceleration speed range of the target speed, and use the target acceleration to control the operation of the motor.

[0121] The electric vehicle control device provided in the embodiment of the present invention can execute the electric vehicle control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0122] Figure 6 is a structural schematic diagram of an electronic device provided by an embodiment of the present invention, Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0123] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0124] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0125] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as an electric vehicle control method.

[0126] In some embodiments, the electric vehicle control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the electric vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the electric vehicle control method in any other appropriate manner (e.g., by means of firmware).

[0127] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0128] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0129] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0130] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0131] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0132] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0133] An embodiment of the present invention further provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the electric vehicle control method provided by any embodiment of the present invention is implemented.

[0134] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0135] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling an electric vehicle, characterized in that: include: When the accelerator of the electric vehicle is depressed, a speed correspondence is determined according to a travel range of the actual travel of the accelerator, and a target speed of the motor of the electric vehicle is determined according to the actual travel and the speed correspondence; wherein the speed correspondence is a correspondence between the travel of the accelerator and the target speed of the motor of the electric vehicle; different travel ranges correspond to different speed correspondences; Determining a target acceleration according to the acceleration speed range in which the target speed is located, and using the target acceleration to control the operation of the motor; The travel range includes a first travel range and a second travel range; The determining the rotation speed correspondence according to the travel range of the actual travel of the accelerator includes: When the actual stroke is less than the preset stroke, determining that the actual stroke is within a first stroke range, determining a first slope according to the zero point coordinate, the preset stroke and the preset speed, and determining the speed correspondence according to the first slope; When the actual stroke is greater than or equal to the preset stroke, the actual stroke is determined to be in a second stroke range, and a second slope is determined according to the preset stroke, the preset speed, the maximum stroke of the accelerator and the maximum speed of the motor, and the speed correspondence is determined according to the second slope, the preset stroke and the preset speed; wherein the second slope is greater than the first slope; The step of determining a target acceleration according to an acceleration speed range in which the target speed is located, and using the target acceleration to control the operation of the motor includes: When the absolute value of the target speed is less than the preset acceleration speed, determining the target acceleration to be a first acceleration, and using the first acceleration to control the operation of the motor; When the absolute value of the target speed is greater than or equal to the preset acceleration speed, the target acceleration is determined to be a second acceleration, and the second acceleration is used to control the operation of the motor; wherein the second acceleration is greater than the first acceleration; In the process of controlling the operation of the motor by using the second acceleration, the method further includes: When the difference between the target speed and the actual speed of the motor is less than a preset speed difference, the target acceleration is determined to be a third acceleration, and the motor is controlled to operate according to the third acceleration; wherein the third acceleration is less than the second acceleration.

2. The method according to claim 1, characterized in that The determining the second slope according to the preset stroke, the preset speed, the maximum stroke of the accelerator and the maximum speed of the motor comprises: Dividing the difference between the maximum rotation speed and the preset rotation speed by the difference between the maximum stroke and the preset stroke to determine the second slope; The determining the speed correspondence relationship according to the second slope, the preset stroke and the preset speed includes: An intercept value is determined according to the second slope, the preset stroke and the preset speed, and the speed correspondence is determined according to the second slope and the intercept value.

3. The method according to claim 1 or 2, characterized in that: Also includes: When the accelerator is partially released, controlling the operation of the motor using a first target deceleration; When the accelerator is fully released, a second target deceleration of the motor is determined according to a braking speed range in which an actual speed of the motor is located, and the motor is controlled to operate according to the second target deceleration.

4. The method according to claim 3, characterized in that The step of determining the second target deceleration of the motor according to the braking speed range in which the actual speed of the motor is located comprises: When the actual rotation speed of the motor is less than the preset braking rotation speed, determining the second target deceleration to be the first preset deceleration; When the actual rotation speed of the motor is greater than or equal to the preset braking rotation speed, the second target deceleration is determined to be a second preset deceleration; wherein the absolute value of the second preset deceleration is greater than the absolute value of the first preset deceleration.

5. An electric vehicle control device, characterized in that: Used to execute the electric vehicle control method according to any one of claims 1 to 4; the electric vehicle control device comprises: A speed correspondence determination module, used for determining a speed correspondence according to a travel range of an actual travel of the accelerator when the accelerator of the electric vehicle is stepped on, and determining a target speed of the motor of the electric vehicle according to the actual travel and the speed correspondence; wherein the speed correspondence is a correspondence between the travel of the accelerator and the target speed of the motor of the electric vehicle; different travel ranges correspond to different speed correspondences; The target acceleration determination module is used to determine the target acceleration according to the acceleration speed range of the target speed, and use the target acceleration to control the operation of the motor.

6. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the electric vehicle control method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the electric vehicle control method according to any one of claims 1 to 4 when executed.

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