Vehicle coasting motor control method and device, computer equipment, readable storage medium and program product

Abstract

The application relates to a vehicle coasting motor control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: judging the running state of the vehicle according to the throttle pedal opening degree and the brake pedal opening degree, acquiring the target vehicle speed at the initial moment when the vehicle starts to coast in the case that the vehicle is in a coasting state; acquiring the motor braking total torque according to the real-time vehicle speed and the target vehicle speed; and sending the motor braking total torque to the motor to request the motor to brake according to the motor braking total torque. The method can adaptively adjust the control parameters according to the real-time vehicle speed, meet the demand of vehicle speed control in the coasting energy recovery state, recover the vehicle energy to the maximum extent, does not depend on manual calibration, and improves the stability of the coasting energy recovery effect.

Description

Technical Field

[0001] This application relates to the field of power control technology for new energy vehicles, and in particular to a method, device, computer equipment, computer-readable storage medium, and computer program product for controlling a vehicle coasting motor. Background Technology

[0002] The worsening global energy and environmental crises, coupled with national plans for new energy technologies, have spurred the rapid development of vehicle electrification. Driven by policy, users are gradually accepting this alternative to traditional automobiles. Throughout the research, development, and use of these products, effectively reducing overall vehicle energy consumption has been a key focus for both customers and manufacturers.

[0003] During downhill driving, pure electric vehicles utilize coasting energy recovery, which is an effective solution for reducing overall vehicle energy consumption. In this process, the adjustment of the motor's braking torque plays a crucial role. The key challenge lies in how to adjust the motor's braking torque to ensure appropriate braking torque, preventing excessive speed reduction due to excessive braking torque and insufficient speed due to insufficient braking torque. This adaptive adjustment of braking torque maximizes energy recovery, achieving the goal of overall vehicle energy conservation.

[0004] Currently, the calculation of motor braking torque under regenerative braking conditions mostly relies on environmental signals such as vehicle weight and gradient. This type of processing method has high control precision, but the vehicle needs to have additional gradient or weight sensors, and the adjustment of motor braking torque is also highly dependent on the accuracy of gradient and weight signals. If the vehicle weight or gradient signals are inaccurate, it may lead to poor coasting energy recovery effect, and it places extremely high demands on the calibration personnel.

[0005] Currently, the recovery of coasting energy in new energy pure electric vehicles relies on manual calibration of parameters by calibration personnel, which is costly and results in unstable recovery of coasting energy. Summary of the Invention

[0006] Therefore, it is necessary to provide a vehicle coasting motor control method, device, computer equipment, computer-readable storage medium, and computer program product that can improve the stability of coasting energy recovery effect in response to the above-mentioned technical problems.

[0007] In a first aspect, this application provides a vehicle coasting motor control method, including:

[0008] The vehicle's driving status is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a coasting state, the target vehicle speed at the initial moment when the vehicle begins to coast is obtained.

[0009] The total braking torque of the motor is obtained based on the vehicle's real-time speed and the target speed.

[0010] Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0011] In one embodiment, detecting the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening includes:

[0012] When both the accelerator pedal opening and the brake pedal opening are 0, the vehicle is determined to be in a coasting state.

[0013] In one embodiment, the method further includes:

[0014] If the accelerator pedal opening is not 0 or the brake pedal opening is not 0, the vehicle is determined not to be in a coasting state.

[0015] If the vehicle is not in a coasting state, return to the step of determining the vehicle's driving state based on the accelerator pedal opening and brake pedal opening; if the vehicle is in a coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins to coast.

[0016] In one embodiment, the total braking torque of the electric motor is obtained based on the vehicle's real-time speed and the target speed, including:

[0017] Based on the vehicle's real-time speed at each moment and the preset relationship curve between the vehicle speed and the motor's basic braking torque, the motor's basic braking torque at each moment is obtained.

[0018] Based on the vehicle's real-time speed and target speed at each moment, the motor braking compensation torque of the vehicle at each moment is obtained.

[0019] The total motor braking torque of the vehicle at each moment is obtained by summing the base motor braking torque and the motor braking compensation torque at each moment.

[0020] In one embodiment, after sending the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque, the method further includes:

[0021] Obtain the actual braking torque fed back by the motor in real time;

[0022] The actual braking torque is compared with the total braking torque of the motor. When the actual braking torque and the total braking torque of the motor are inconsistent, the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor are obtained.

[0023] If the duration exceeds the duration threshold and the torque difference is greater than the torque threshold, the total motor braking torque is sent to the chassis to request the chassis to perform mechanical braking based on the total motor braking torque.

[0024] In one embodiment, the method further includes:

[0025] If the duration exceeds the duration threshold and the torque difference is not greater than the torque threshold, the torque difference is sent to the chassis to request the chassis to perform mechanical braking based on the torque difference.

[0026] Secondly, this application also provides a vehicle coasting motor control device, comprising:

[0027] The acquisition module is used to determine the vehicle's driving status based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a coasting state, it acquires the target vehicle speed at the initial moment when the vehicle begins to coast.

[0028] The calculation module is used to obtain the total braking torque of the motor based on the vehicle's real-time speed and the target speed.

[0029] The control module is used to send the total braking torque of the motor to the motor, so as to request the motor to brake according to the total braking torque of the motor.

[0030] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0031] The vehicle's driving status is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a coasting state, the target vehicle speed at the initial moment when the vehicle begins to coast is obtained.

[0032] The total braking torque of the motor is obtained based on the vehicle's real-time speed and the target speed.

[0033] Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0034] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0035] The vehicle's driving status is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a coasting state, the target vehicle speed at the initial moment when the vehicle begins to coast is obtained.

[0036] The total braking torque of the motor is obtained based on the vehicle's real-time speed and the target speed.

[0037] Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0038] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0039] The vehicle's driving status is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a coasting state, the target vehicle speed at the initial moment when the vehicle begins to coast is obtained.

[0040] The total braking torque of the motor is obtained based on the vehicle's real-time speed and the target speed.

[0041] Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0042] The aforementioned vehicle coasting motor control method, device, computer equipment, computer-readable storage medium, and computer program product determine the vehicle's driving state based on the accelerator pedal opening and brake pedal opening. When the vehicle is in a coasting state, it acquires the target vehicle speed at the initial moment of initiation of coasting; based on the real-time vehicle speed and the target vehicle speed, it acquires the total motor braking torque; and it sends the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque. It can adaptively adjust control parameters according to the real-time vehicle speed, meeting the vehicle speed control requirements under coasting energy recovery conditions, and maximizing the recovery of the entire vehicle's energy. It does not rely on manual calibration, thus improving the stability of the coasting energy recovery effect. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a diagram illustrating the application environment of a vehicle coasting motor control method in one embodiment.

[0045] Figure 2 This is a flowchart illustrating a vehicle coasting motor control method in one embodiment;

[0046] Figure 3 This is a structural block diagram of a vehicle coasting motor control device in one embodiment;

[0047] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] The vehicle coasting motor control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the vehicle controller 102 communicates with the motor 104 and chassis 106 via a CAN bus. The vehicle controller 102 uses real-time data from the vehicle's CAN bus, with the target vehicle speed as the objective, and employs a more efficient algorithm for adaptive motor torque control. It controls the motor's braking torque using a PID controller with feedforward control. The error of the PID controller is defined as the difference between the target vehicle speed and the current vehicle speed, with the feedforward part based on the current vehicle speed.

[0050] In one exemplary embodiment, such as Figure 2 As shown, a vehicle coasting motor control method is provided, which is applied to... Figure 1 Taking the vehicle controller 102 as an example, the explanation includes the following steps 202 to 206. Wherein:

[0051] Step 202: Determine the vehicle's driving state based on the accelerator pedal opening and brake pedal opening. If the vehicle is in a coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins to coast.

[0052] Optionally, the vehicle controller determines whether to enter coasting energy recovery by using the brake pedal and the brake pedal. When both the brake pedal opening and the brake pedal opening are 0, it is determined that the coasting energy recovery state has been entered, and the vehicle speed at the first entry is recorded as the target vehicle speed for coasting energy recovery.

[0053] Step 204: Obtain the total braking torque of the motor based on the vehicle's real-time speed and the target speed.

[0054] Optionally, the vehicle controller obtains the basic motor braking torque of the vehicle at each moment based on the real-time vehicle speed at each moment, then obtains the motor braking compensation torque of the vehicle at each moment based on the real-time vehicle speed and the target vehicle speed at each moment, and finally obtains the total motor braking torque of the vehicle at each moment based on the sum of the basic motor braking torque and the motor braking compensation torque at each moment.

[0055] Step 206: Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0056] Optionally, the vehicle controller sends the total braking torque of the motor to the motor in real time, requesting the motor to output the total braking torque of the motor for motor braking.

[0057] In the aforementioned vehicle coasting motor control method, the vehicle's driving state is determined based on the accelerator pedal opening and brake pedal opening. When the vehicle is in a coasting state, the target vehicle speed at the initial moment of starting the coasting state is obtained. Based on the real-time vehicle speed and the target vehicle speed, the total motor braking torque is obtained. The total motor braking torque is sent to the motor to request the motor to brake according to the total motor braking torque. This method can adaptively adjust control parameters according to the real-time vehicle speed, meeting the vehicle speed control requirements under coasting energy recovery conditions, and maximizing the recovery of the entire vehicle's energy. It does not rely on manual calibration, thus improving the stability of the coasting energy recovery effect.

[0058] In one embodiment, the method further includes: determining that the vehicle is not in a coasting state when the accelerator pedal opening is not 0 or the brake pedal opening is not 0; when the vehicle is not in a coasting state, returning to the step of determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; and when the vehicle is in a coasting state, obtaining the target vehicle speed at the initial moment when the vehicle begins to coast.

[0059] Optionally, after the driver presses the brake or accelerator during driving, the vehicle controller determines that the vehicle has exited the coasting energy recovery state and jumps to step 202. When coasting energy recovery is re-entered, the target speed for coasting energy recovery is updated.

[0060] In this embodiment, the vehicle can be determined to start or stop coasting based on the opening of the accelerator pedal and the opening of the brake pedal.

[0061] In one embodiment, obtaining the total motor braking torque based on the vehicle's real-time speed and target speed includes: obtaining the vehicle's basic motor braking torque at each moment based on the vehicle's real-time speed and a preset relationship curve between vehicle speed and basic motor braking torque; obtaining the vehicle's motor braking compensation torque at each moment based on the vehicle's real-time speed and target speed; and obtaining the vehicle's total motor braking torque at each moment by summing the vehicle's basic motor braking torque and motor braking compensation torque at each moment.

[0062] Optionally, real-time vehicle speed can be obtained. As shown in Table 1, the correspondence between real-time vehicle speed and motor braking base torque can be pre-calibrated, and the motor braking base torque can be obtained based on the real-time vehicle speed.

[0063] Table 1. Correspondence between real-time vehicle speed and basic electric braking torque

[0064]

[0065] The interpolation of the real-time vehicle speed and the target vehicle speed is processed by PID to obtain the motor braking compensation torque, which is then summed with the motor braking base torque at the same moment to obtain the total motor braking torque.

[0066] In this embodiment, the control parameters can be adaptively adjusted according to the real-time vehicle speed to meet the vehicle speed control requirements under coasting energy recovery conditions, and to recover the energy of the entire vehicle to the greatest extent possible. This does not rely on manual calibration and improves the stability of coasting energy recovery effect.

[0067] In one embodiment, after sending the total braking torque of the motor to the motor to request the motor to brake according to the total braking torque of the motor, the method further includes: obtaining the actual braking torque fed back by the motor in real time; comparing the actual braking torque with the total braking torque of the motor; and if the actual braking torque and the total braking torque of the motor are inconsistent, obtaining the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor.

[0068] If the duration exceeds the duration threshold and the torque difference is greater than the torque threshold, the total motor braking torque is sent to the chassis to request the chassis to perform mechanical braking based on the total motor braking torque.

[0069] If the duration exceeds the duration threshold and the torque difference is not greater than the torque threshold, the torque difference is sent to the chassis to request the chassis to perform mechanical braking based on the torque difference.

[0070] Optionally, the vehicle controller sends a total braking torque request to the motor, requesting motor braking. Then, based on the actual braking torque feedback, if the actual braking torque matches the total braking torque request, the motor torque request is maintained. If the duration of the discrepancy between the actual and total braking torque exceeds a time threshold, the motor is considered to have malfunctioned, and the vehicle controller further determines the severity of the motor malfunction. The vehicle controller obtains the torque difference between the actual braking torque and the total braking torque at each moment during the period of discrepancy. It calculates the average torque difference across these moments. If the average torque difference is greater than a torque threshold, the motor malfunction is considered severe, and the vehicle controller sends the total braking torque to the chassis, requesting mechanical braking to control the target vehicle speed. At this point, the motor can stop braking, and the chassis provides complete mechanical braking. If the average torque difference is not greater than the torque threshold, the motor malfunction is considered minor, and the vehicle controller sends the torque difference to the chassis in real-time, requesting mechanical braking. In this case, the motor continues to brake, and the chassis provides auxiliary braking.

[0071] In this embodiment, the control parameters can be adaptively adjusted according to the real-time vehicle speed to meet the vehicle speed control requirements under coasting energy recovery conditions, and to recover the energy of the entire vehicle to the greatest extent possible. This does not rely on manual calibration and improves the stability of coasting energy recovery effect.

[0072] In one exemplary embodiment, a vehicle coasting motor control method includes:

[0073] The vehicle's driving status can be determined by the opening of the accelerator pedal and the brake pedal.

[0074] When both the accelerator pedal opening and the brake pedal opening are 0, the vehicle is determined to be in a coasting state, and the target vehicle speed at the initial moment when the vehicle begins to coast is obtained.

[0075] Based on the vehicle's real-time speed at each moment and the preset relationship curve between the vehicle speed and the motor's basic braking torque, the motor's basic braking torque at each moment is obtained; based on the vehicle's real-time speed at each moment and the target speed, the motor's compensation torque at each moment is obtained; based on the sum of the vehicle's basic braking torque and the motor's compensation torque at each moment, the total motor braking torque at each moment is obtained.

[0076] Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0077] Obtain the actual braking torque fed back by the motor in real time.

[0078] The actual braking torque is compared with the total braking torque of the motor. When the actual braking torque and the total braking torque of the motor are inconsistent, the torque difference between the actual braking torque and the total braking torque of the motor are obtained, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor.

[0079] If the duration exceeds the duration threshold and the torque difference is greater than the torque threshold, the total motor braking torque is sent to the chassis to request the chassis to perform mechanical braking based on the total motor braking torque.

[0080] If the duration exceeds the duration threshold and the torque difference is not greater than the torque threshold, the torque difference is sent to the chassis to request the chassis to perform mechanical braking based on the torque difference.

[0081] If the accelerator pedal opening is not 0, or the brake pedal opening is not 0, the vehicle is determined not to be in a coasting state; if the vehicle is not in a coasting state, return to the step of determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening.

[0082] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0083] Based on the same inventive concept, this application also provides a vehicle coasting motor control device for implementing the vehicle coasting motor control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more vehicle coasting motor control device embodiments provided below can be found in the limitations of the vehicle coasting motor control method described above, and will not be repeated here.

[0084] In one exemplary embodiment, such as Figure 3 As shown, a vehicle coasting motor control device 300 is provided, including: an acquisition module 301, a calculation module 302, and a control module 303, wherein:

[0085] The acquisition module 301 is used to determine the driving state of the vehicle based on the opening of the accelerator pedal and the opening of the brake pedal, and to acquire the target vehicle speed at the initial moment when the vehicle begins to coast when it is in a coasting state.

[0086] The calculation module 302 is used to obtain the total braking torque of the motor based on the real-time vehicle speed and the target vehicle speed.

[0087] The control module 303 is used to send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0088] In one embodiment, the acquisition module 301 is further configured to determine that the vehicle is in a coasting state when both the accelerator pedal opening and the brake pedal opening are 0.

[0089] In one embodiment, the acquisition module 301 is further configured to determine that the vehicle is not in a coasting state when the accelerator pedal opening is not 0 or the brake pedal opening is not 0; when the vehicle is not in a coasting state, return to the step of determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; and when the vehicle is in a coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins to coast.

[0090] In one embodiment, the calculation module 302 is further configured to obtain the basic motor braking torque of the vehicle at each moment based on the real-time vehicle speed at each moment and the preset relationship curve between the vehicle speed and the basic motor braking torque; obtain the motor braking compensation torque of the vehicle at each moment based on the real-time vehicle speed at each moment and the target vehicle speed; and obtain the total motor braking torque of the vehicle at each moment based on the sum of the basic motor braking torque and the motor braking compensation torque at each moment.

[0091] In one embodiment, the control module 303 is further configured to obtain the actual braking torque fed back by the motor in real time; compare the actual braking torque with the total braking torque of the motor; if the actual braking torque and the total braking torque of the motor are inconsistent, obtain the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor; if the duration is greater than the duration threshold and the torque difference is greater than the torque threshold, send the total braking torque of the motor to the chassis to request the chassis to perform mechanical braking according to the total braking torque of the motor.

[0092] In one embodiment, the control module 303 is further configured to send a torque difference to the chassis when the duration is greater than a duration threshold and the torque difference is not greater than a torque threshold, in order to request the chassis to perform mechanical braking based on the torque difference.

[0093] Each module in the aforementioned vehicle coasting motor control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0094] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores vehicle speed data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When executed by the processor, the computer program implements a vehicle coasting motor control method.

[0095] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0096] In one exemplary embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: determining the driving state of the vehicle based on the opening of the accelerator pedal and the opening of the brake pedal; when the vehicle is in a coasting state, obtaining the target vehicle speed at the initial moment when the vehicle begins to coast; obtaining the total motor braking torque based on the real-time vehicle speed and the target vehicle speed; and sending the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0097] In one embodiment, when the processor executes the computer program, it further performs the following steps: when both the accelerator pedal opening and the brake pedal opening are 0, it determines that the vehicle is in a coasting state.

[0098] In one embodiment, when the processor executes the computer program, it further implements the following steps: if the accelerator pedal opening is not 0 or the brake pedal opening is not 0, determine that the vehicle is not in a coasting state; if the vehicle is not in a coasting state, return to execute the step of determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; and if the vehicle is in a coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins to coast.

[0099] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the basic motor braking torque of the vehicle at each moment based on the real-time vehicle speed at each moment and a preset relationship curve between the vehicle speed and the basic motor braking torque; obtaining the motor braking compensation torque of the vehicle at each moment based on the real-time vehicle speed at each moment and the target vehicle speed; and obtaining the total motor braking torque of the vehicle at each moment based on the sum of the basic motor braking torque and the motor braking compensation torque.

[0100] In one embodiment, when the processor executes the computer program, it further performs the following steps: obtaining the actual braking torque fed back by the motor in real time; comparing the actual braking torque with the total braking torque of the motor; if the actual braking torque and the total braking torque of the motor are inconsistent, obtaining the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor; if the duration is greater than a duration threshold and the torque difference is greater than a torque threshold, sending the total braking torque of the motor to the chassis to request the chassis to perform mechanical braking according to the total braking torque of the motor.

[0101] In one embodiment, when the processor executes the computer program, it further performs the following steps: when the duration is greater than a duration threshold and the torque difference is not greater than a torque threshold, it sends the torque difference to the chassis to request the chassis to perform mechanical braking based on the torque difference.

[0102] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. When the computer program is executed by a processor, it performs the following steps: determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; when the vehicle is in a coasting state, obtaining the target vehicle speed at the initial moment when the vehicle begins to coast; obtaining the total motor braking torque based on the vehicle's real-time speed and the target vehicle speed; and sending the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0103] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining that the vehicle is in a coasting state when both the accelerator pedal opening and the brake pedal opening are 0.

[0104] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the accelerator pedal opening is not 0, or the brake pedal opening is not 0, determine that the vehicle is not in a coasting state; if the vehicle is not in a coasting state, return to execute the step of determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; and if the vehicle is in a coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins to coast.

[0105] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the basic motor braking torque of the vehicle at each moment based on the real-time vehicle speed at each moment and a preset relationship curve between the vehicle speed and the basic motor braking torque; obtaining the motor braking compensation torque of the vehicle at each moment based on the real-time vehicle speed at each moment and the target vehicle speed; and obtaining the total motor braking torque of the vehicle at each moment based on the sum of the basic motor braking torque and the motor braking compensation torque.

[0106] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the actual braking torque fed back by the motor in real time; comparing the actual braking torque with the total braking torque of the motor; if the actual braking torque and the total braking torque of the motor are inconsistent, obtaining the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor; if the duration is greater than a duration threshold and the torque difference is greater than a torque threshold, sending the total braking torque of the motor to the chassis to request the chassis to perform mechanical braking according to the total braking torque of the motor.

[0107] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when the duration is greater than a duration threshold and the torque difference is not greater than a torque threshold, sending the torque difference to the chassis to request the chassis to perform mechanical braking based on the torque difference.

[0108] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps: determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; when the vehicle is in a coasting state, obtaining the target vehicle speed at the initial moment when the vehicle begins to coast; obtaining the total motor braking torque based on the vehicle's real-time speed and the target vehicle speed; and sending the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque.

[0109] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: determining that the vehicle is in a coasting state when both the accelerator pedal opening and the brake pedal opening are 0.

[0110] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: if the accelerator pedal opening is not 0, or the brake pedal opening is not 0, determine that the vehicle is not in a coasting state; if the vehicle is not in a coasting state, return to execute the step of determining the vehicle's driving state based on the accelerator pedal opening and the brake pedal opening; and if the vehicle is in a coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins to coast.

[0111] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the basic motor braking torque of the vehicle at each moment based on the real-time vehicle speed at each moment and a preset relationship curve between the vehicle speed and the basic motor braking torque; obtaining the motor braking compensation torque of the vehicle at each moment based on the real-time vehicle speed at each moment and the target vehicle speed; and obtaining the total motor braking torque of the vehicle at each moment based on the sum of the basic motor braking torque and the motor braking compensation torque.

[0112] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: obtaining the actual braking torque fed back by the motor in real time; comparing the actual braking torque with the total braking torque of the motor; if the actual braking torque and the total braking torque of the motor are inconsistent, obtaining the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor; if the duration is greater than a duration threshold and the torque difference is greater than a torque threshold, sending the total braking torque of the motor to the chassis to request the chassis to perform mechanical braking according to the total braking torque of the motor.

[0113] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when the duration is greater than a duration threshold and the torque difference is not greater than a torque threshold, sending the torque difference to the chassis to request the chassis to perform mechanical braking based on the torque difference.

[0114] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0115] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0116] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0117] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling a vehicle coasting motor, characterized in that, The method includes: The vehicle's driving state is determined based on the accelerator pedal opening and the brake pedal opening. When the vehicle is in a coasting state, the target vehicle speed at the initial moment when the coasting state begins is obtained. The target vehicle speed remains unchanged during the current coasting process until the coasting state ends. Based on the vehicle's real-time speed at each moment and the preset relationship curve between the vehicle speed and the motor's basic braking torque, the motor's basic braking torque at each moment is obtained. Based on the vehicle's real-time speed at each moment and the target speed, a PID controller with feedforward control is used to perform PID processing on the difference between the real-time speed and the target speed to obtain the motor braking compensation torque of the vehicle at each moment. The total motor braking torque of the vehicle at each moment is obtained by summing the base motor braking torque and the motor braking compensation torque at each moment. Send the total motor braking torque to the motor to request the motor to brake according to the total motor braking torque; Obtain the actual braking torque fed back by the motor in real time; The actual braking torque is compared with the total braking torque of the motor. If the actual braking torque and the total braking torque of the motor are inconsistent, the torque difference between the actual braking torque and the total braking torque of the motor, as well as the duration of the inconsistency between the actual braking torque and the total braking torque of the motor are obtained. If the duration is greater than the duration threshold and the torque difference is greater than the torque threshold, the total motor braking torque is sent to the chassis to request the chassis to perform mechanical braking according to the total motor braking torque. If the duration is greater than the duration threshold and the torque difference is not greater than the torque threshold, the torque difference is sent to the chassis to request the chassis to perform mechanical braking based on the torque difference. The request is to maintain the total braking torque of the motor when the actual braking torque is consistent with the total braking torque of the motor.

2. The method according to claim 1, characterized in that, The method of detecting the vehicle's driving status based on the accelerator pedal opening and brake pedal opening includes: When both the accelerator pedal opening and the brake pedal opening are 0, the vehicle is determined to be in the coasting state.

3. The method according to claim 2, characterized in that, The method further includes: If the accelerator pedal opening is not 0, or the brake pedal opening is not 0, it is determined that the vehicle is not in the coasting state. If the vehicle is not in the coasting state, return to the step of determining the vehicle's driving state based on the accelerator pedal opening and brake pedal opening, and if the vehicle is in the coasting state, obtain the target vehicle speed at the initial moment when the vehicle begins the coasting state.

4. A vehicle coasting motor control device, characterized in that, The device includes: The acquisition module is used to determine the driving state of the vehicle based on the opening of the accelerator pedal and the opening of the brake pedal. When the vehicle is in a coasting state, it acquires the target vehicle speed at the initial moment when the vehicle begins the coasting state; wherein, the target vehicle speed remains unchanged during the current coasting process until the coasting state is exited. The calculation module is used to obtain the basic motor braking torque of the vehicle at each moment based on the real-time vehicle speed and the preset relationship curve between the vehicle speed and the basic motor braking torque; to obtain the motor braking compensation torque of the vehicle at each moment by performing PID processing on the difference between the real-time vehicle speed and the target vehicle speed; and to obtain the total motor braking torque of the vehicle at each moment by summing the basic motor braking torque and the motor braking compensation torque. The control module is used to send the total braking torque of the motor to the motor to request the motor to brake according to the total braking torque of the motor; The control module is further configured to: acquire the actual braking torque fed back by the motor in real time; compare the actual braking torque with the total braking torque of the motor; if the actual braking torque and the total braking torque of the motor are inconsistent, acquire the torque difference between the actual braking torque and the total braking torque of the motor, and the duration of the inconsistency; if the duration is greater than a duration threshold and the torque difference is greater than a torque threshold, send the total braking torque of the motor to the chassis to request the chassis to perform mechanical braking based on the total braking torque of the motor; if the duration is greater than a duration threshold and the torque difference is not greater than a torque threshold, send the torque difference to the chassis to request the chassis to perform mechanical braking based on the torque difference; and maintain the request for the total braking torque of the motor if the actual braking torque is consistent with the total braking torque of the motor.

5. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 3.

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