Electric vehicle control method, device, program product, medium and electric vehicle

Abstract

This application discloses an electric vehicle control method, device, program product, medium, and electric vehicle. The method includes: obtaining motor characteristic parameters of a drive motor in the electric vehicle during parking; based on the motor characteristic parameters, monitoring whether the rear wheels of the electric vehicle currently contact a parking limiter; if the rear wheels of the electric vehicle are detected to have contacted the limiter, controlling the electric vehicle to perform a parking adjustment action, wherein the parking adjustment action is used to adjust the electric vehicle to a suitable parking area. The technical solution provided by this application can improve the safety of electric vehicle parking.

Description

Technical Field

[0001] The present application belongs to the field of electric vehicle control technology, and in particular relates to an electric vehicle control method, device, program product, medium and electric vehicle. Background Art

[0002] At present, it has become an inevitable trend to realize the intelligence of electric vehicles in various application scenarios. For example, in parking scenarios, parking is generally assisted by the parking space limit device. If the rear wheel of the vehicle touches the limit device, it means that the vehicle is basically parked in place. In the existing scheme, whether the rear wheel of the vehicle touches the limit device is generally detected by detecting whether the speed of the vehicle changes suddenly or by using a sensor to detect whether the wheel collides with the limit device. However, when the wheel touches the limit device, the speed detection or collision detection scheme has a certain lag in the feedback of the detection result. The vehicle may not be able to reduce the torque in time, resulting in impacting the limit device or even crossing the limit device, causing a safety accident. Based on this, how to improve the safety of electric vehicle parking is a technical problem that needs to be solved urgently. Summary of the Invention

[0003] The embodiments of the present application provide an electric vehicle control method, device, computer program product, computer-readable storage medium, and electric vehicle, thereby improving the parking safety of electric vehicles at least to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0005] According to a first aspect of an embodiment of the present application, a method for controlling an electric vehicle is provided, the method comprising: in an electric vehicle parking condition, obtaining motor characteristic parameters of a drive motor in the electric vehicle; based on the motor characteristic parameters, monitoring whether the rear wheels of the electric vehicle touch a limiting device installed in a parking space at a current moment; if it is monitored that the rear wheels of the electric vehicle touch the limiting device at the current moment, controlling the electric vehicle to perform a parking adjustment action, the parking adjustment action being used to adjust the electric vehicle to a reasonable parking area.

[0006] In some embodiments of the present application, based on the aforementioned solution, the motor characteristic parameters at least include motor current values of the drive motor at various moments in the parking condition of the electric vehicle.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the electric vehicle includes a drive motor, a power controller, a signal transmission network, an action execution unit, and a parking controller. The method is executed on the parking controller. The power controller is used to collect the motor speed and motor output torque of the drive motor in the parking condition of the electric vehicle, and calculate the motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network; obtaining the motor characteristic parameters of the drive motor in the electric vehicle includes: obtaining the motor current value of the drive motor in the electric vehicle from the signal transmission network.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the power controller transmits the motor current value to the signal transmission network, including: the power controller converts the motor current value into a network signal, and transmits the motor current value to the signal transmission network in the form of a network signal.

[0009] In some embodiments of the present application, based on the aforementioned scheme, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the motor characteristic parameters includes: constructing a first function curve based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, the first function curve being used to characterize the correspondence between the motor current value and each moment in the parking condition of the electric vehicle; and monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the first function curve.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the first function curve includes: calculating the rate of change of the motor current value in a first time interval based on the first function curve, wherein an interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than the preset interval length; if the rate of change is greater than the first rate of change calibration value and less than the second rate of change calibration value, it is determined that the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the motor characteristic parameters includes: constructing a second function curve based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and the reference current value, the second function curve being used to characterize the correspondence between the current difference and each moment in the parking condition of the electric vehicle, the reference current value being the motor current value of the drive motor at the initial moment of parking; based on the second function curve, monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0012] In some embodiments of the present application, based on the aforementioned scheme, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the second function curve includes: calculating the integral value of the second function curve in the second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment, respectively; if the integral value is greater than the integral calibration value, it is determined that the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0013] In some embodiments of the present application, based on the aforementioned scheme, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the motor characteristic parameters includes: constructing a first function curve based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, the first function curve being used to characterize the correspondence between the motor current value and each moment in the parking condition of the electric vehicle; constructing a second function curve based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value, the second function curve being used to characterize the correspondence between the current difference and each moment in the parking condition of the electric vehicle, the reference current value being the motor current value of the drive motor at the initial moment of parking; based on the first function curve and the second function curve, monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0014] In some embodiments of the present application, based on the aforementioned scheme, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the first function curve and the second function curve includes: calculating the change rate of the motor current value in the first time interval based on the first function curve, wherein an interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than the preset interval length; calculating the integral value of the second function curve in the second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment respectively; if the change rate is greater than the first change rate calibration value and less than the second change rate calibration value, and the integral value is greater than the integral calibration value, it is determined that the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0015] In some embodiments of the present application, based on the aforementioned solution, controlling the electric vehicle to perform a parking adjustment action includes: controlling the electric vehicle to travel a preset distance in a direction away from the limiting device.

[0016] According to a second aspect of an embodiment of the present application, an electric vehicle control device is provided, the device comprising: an acquisition unit for acquiring motor characteristic parameters of a drive motor in an electric vehicle during parking conditions of the electric vehicle; a monitoring unit for monitoring, based on the motor characteristic parameters, whether the rear wheels of the electric vehicle touch a limiting device installed in a parking space at a current moment; and a control unit for controlling the electric vehicle to perform a parking adjustment action if it is monitored that the rear wheels of the electric vehicle touch the limiting device at a current moment, the parking adjustment action being used to adjust the electric vehicle to a reasonable parking area.

[0017] According to a third aspect of an embodiment of the present application, a computer program product is provided, which includes computer instructions, which are stored in a computer-readable storage medium and are suitable for being read and executed by a processor, so that a computer device having the processor executes to implement the operations performed by the method described in any one of the first aspects above.

[0018] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which at least one computer program instruction is stored. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described in any one of the first aspects above.

[0019] According to a fifth aspect of an embodiment of the present application, an electric vehicle is provided, comprising one or more processors and one or more memories, wherein at least one computer program instruction is stored in the one or more memories, and the at least one computer program instruction is loaded and executed by the one or more processors to implement the operations performed by the method described in any one of the first aspects above.

[0020] Based on the technical solution proposed in this application, in the parking condition of an electric vehicle, by monitoring whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment based on the motor characteristic parameters, when it is monitored that the rear wheels of the electric vehicle touch the limit device at the current moment, the electric vehicle can be controlled to perform a parking adjustment action to adjust the electric vehicle to a reasonable parking area. This application actually uses the motor characteristic parameters to monitor whether the wheels touch the limit device, replacing the existing solution that monitors whether the wheels touch the limit device based on speed detection and collision detection. In this way, since the drive motor has the characteristics of a high reduction ratio, the motor characteristic parameters at the drive motor end can amplify the vehicle travel parameters by thousands or tens of thousands of times, and have high sensitivity characteristics. Therefore, the drive motor characteristic parameters can be used to more accurately, reliably, and timely detect whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment, thereby improving the safety of electric vehicle parking.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0023] Figure 1 A schematic diagram showing a parking scenario of an electric vehicle to which the embodiments of the present application can be applied;

[0024] Figure 2 A flow chart showing an electric vehicle control method in an embodiment of the present application is shown;

[0025] Figure 3 A parking system architecture diagram for electric vehicles to which embodiments of the present application can be applied is shown;

[0026] Figure 4 A schematic diagram of a function curve of a motor current to which the embodiments of the present application can be applied is shown;

[0027] Figure 5 A block diagram of an electric vehicle control device in an embodiment of the present application is shown;

[0028] Figure 6 A schematic structural diagram of an electric vehicle in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0031] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices. It should also be noted that in the accompanying drawings, certain components that do not affect the explanation of the technical solutions of this application have been omitted for clarity.

[0032] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0033] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0034] In order to make those skilled in the art better understand this application, first combine Figure 1 A brief description of the application scenarios involved in this application is given.

[0035] See also Figure 1 , showing a schematic diagram of a parking scenario for an electric vehicle to which an embodiment of the present application can be applied.

[0036] like Figure 1 As shown, electric vehicle 101 can use a stopper 103 to assist in parking in parking space 102. If the rear wheels of the vehicle contact the stopper 103, it indicates that the vehicle is basically parked. Therefore, accurately and promptly detecting when the wheels contact the stopper is key to achieving precise and safe parking. In this context, this application proposes an electric vehicle control solution to improve the safety of electric vehicle parking.

[0037] Reference Figure 2 , shows a flow chart of an electric vehicle control method in an embodiment of the present application, the electric vehicle control method can be executed by a device with a computing and processing function, refer to Figure 2 As shown, the electric vehicle control method includes at least steps 210 to 230, which are described in detail as follows:

[0038] In step 210 , in a parking condition of the electric vehicle, motor characteristic parameters of a drive motor in the electric vehicle are obtained.

[0039] In the present application, the motor characteristic parameters may at least include motor current values of the drive motor at various moments in the parking condition of the electric vehicle.

[0040] In this application, we will base Figure 3 A brief introduction is given to the parking system using the electric vehicle control solution of this application.

[0041] See also Figure 3 , shows an architecture diagram of a parking system for electric vehicles to which an embodiment of the present application can be applied.

[0042] like Figure 3 As shown, the parking system of the electric vehicle may include a drive motor 301 , a power controller 302 , a signal transmission network 303 , an action execution unit 305 , and a parking controller 304 .

[0043] In this application, the proposed electric vehicle control method may be executed in the parking controller 304. Specifically, the parking system or other controller equipped with parking system software algorithms (such as an intelligent driving domain controller, an intelligent cockpit controller) may be used as the data processing core.

[0044] Specifically, the power controller 302 can be used to collect the motor speed and motor output torque of the drive motor 301 in the electric vehicle parking condition, and calculate the motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network 303.

[0045] In one embodiment of the present application, the power controller 302 may be a PDCU controller, and the signal transmission network 303 may be a CAN network.

[0046] In the present application, the power controller transmits the motor current value to the signal transmission network. Specifically, the power controller converts the motor current value into a network signal and transmits the motor current value to the signal transmission network in the form of a network signal.

[0047] In the present application, the obtaining of the motor characteristic parameters of the driving motor in the electric vehicle may be that the parking controller obtains the motor current value of the driving motor in the electric vehicle from the signal transmission network.

[0048] Continue to refer to Figure 2 In step 220, based on the motor characteristic parameters, it is monitored whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0049] In the present application, based on the motor characteristic parameters, monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment can be based on the motor current value of the driving motor at each moment in the parking condition of the electric vehicle, monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0050] In order to help those skilled in the art better understand the present application, the theoretical basis of the technical solution of the present application will be briefly explained below:

[0051] First, establish relational expressions based on the characteristics of the drive motor, such as formula (1) to formula (4):

[0052]

[0053] e(t)=k×Ω(t) (2)

[0054] m(t)=k×I(t) (3)

[0055]

[0056] Where U(t) is the voltage across the drive motor at time t; e(t) is the back electromotive force of the drive motor at time t; I(t) is the motor current of the drive motor at time t; Ω(t) is the motor speed of the drive motor at time t; m(t) is the motor output torque of the drive motor at time t; R is the equivalent resistance of the drive motor; L is the self-inductance of the drive motor; k is the adjustment coefficient; J is the moment of inertia of the drive motor; and f is the resistance and friction factor during the drive motor's rotation. Parameters such as U(t), e(t), I(t), Ω(t), and m(t) change with the signal cycle. These parameters are converted into CAN signals by the PDCU power controller and transmitted to the CAN bus for reception by the parking control module.

[0057] Next, Laplace transform is performed on the above formulas (1) to (4) to obtain the following formulas (5) to (6):

[0058]

[0059] Among them, J(s) is the complex function of the moment of inertia J (since the measurement time is a constant, it is a constant at s or t). In fact, (s) represents the Laplace change within the time period (t), that is, (s) is the signal bit mark after the Laplace transform (t), which is updated in real time; the decomposition of s is s=σ+tω, where σ and ω are real numbers, and s is s=|σ+tω|, that is (t corresponds to the duration from time t0 to time t).

[0060] Based on the above theoretical foundation, as shown in formula (5), since the voltage across the electric vehicle's drive motor remains essentially constant (fluctuates within a reasonable range and is known), the drive motor's moment of inertia remains fixed, and when the resistance f during the drive motor's rotation increases, I(s) will also increase. That is, when the vehicle touches the limiter during parking, the resistance increases, the drive motor's speed decreases, and the motor current value increases accordingly. Therefore, based on the motor current value of the drive motor at various moments during the electric vehicle's parking condition, it is possible to monitor whether the rear wheels of the electric vehicle are touching the limiter installed in the parking space at the current moment.

[0061] Furthermore, because the wheels of electric vehicles are not rigidly connected to a gearbox, they possess a uniquely high reduction ratio (i.e., a high ratio between the number of rotations of the drive motor and the number of rotations of the wheels). In other words, even if the vehicle moves a small distance, the drive motor still needs to rotate a large number of times, resulting in a highly sensitive characteristic where the vehicle's travel distance to the drive motor end is amplified thousands or tens of thousands of times. Therefore, by monitoring the changes in the drive motor's characteristic parameters, such as the motor current value, it is possible to more accurately, reliably, and promptly detect whether the rear wheels of the electric vehicle are currently contacting the parking limit device installed in the parking space, thereby improving the parking safety of the electric vehicle.

[0062] Specifically, in one embodiment of the present application, monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the motor characteristic parameters can be performed according to the following steps 221 to 222:

[0063] Step 221 : constructing a first function curve based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, wherein the first function curve is used to represent the correspondence between the motor current value and each moment in the parking condition of the electric vehicle.

[0064] Step 222: Based on the first function curve, monitor whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0065] In this application, based on the above theoretical basis, when an electric vehicle is driving in a parking scenario, it generally travels at a relatively low and uniform speed. At this time, the voltage across the drive motor in the electric vehicle is basically unchanged (fluctuates within a reasonable range and is known), the drive motor's rotational inertia is fixed, the resistance f during the drive motor's rotation is unchanged, the motor speed and the motor output torque are unchanged, and based on the above formula (5), I(s) will also remain unchanged or fluctuate with a small amplitude. At this time, the first function curve used to characterize the corresponding relationship between the motor current value and each moment in the electric vehicle's parking condition should be a relatively flat curve. If the rear wheel of the electric vehicle touches the limit device, the resistance during the parking process of the electric vehicle will suddenly increase due to the obstruction of the limit device, the drive motor speed will decrease, the motor current value will increase accordingly, and the first function curve will show a steep increase.

[0066] like Figure 4 , shows a schematic diagram of a function curve of the motor current that can be applied to the embodiment of the present application. When the resistance of an electric vehicle increases, the motor current value will increase sharply, and when the resistance decreases, the motor current value will return to its original state.

[0067] In this application, due to the high sensitivity of the vehicle's travel distance, which is amplified thousands or tens of thousands of times by the drive motor, any contact between the vehicle's rear wheels and the stopper is sensitively reflected by the drive motor's motor current. Therefore, based on the first function curve, it is possible to monitor whether the electric vehicle's rear wheels are currently contacting the stopper installed in the parking space, thereby improving the safety of electric vehicle parking.

[0068] Specifically, in this embodiment, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the first function curve can be performed according to the following steps 2221 to 2222:

[0069] Step 2221: Calculate the rate of change of the motor current value within a first time interval based on the first function curve, wherein an endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than a preset interval length.

[0070] Step 2222: If the change rate is greater than the first change rate calibration value and less than the second change rate calibration value, it is determined that the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0071] In this application, the rate of change of the motor current value can be calculated according to the following formula (7):

[0072]

[0073] Wherein, K is the rate of change of the motor current value in the first time interval; I a -I b is the current difference between the two endpoints of the first time interval; s a -s b is the length of the first time interval.

[0074] In this application, it should be noted that the length of the first time interval is limited to a shorter than predetermined time interval, primarily because the time during which the rear wheels of the electric vehicle contact the parking stop is extremely short. If the length of the first time interval is too long, the sensitivity of the monitoring may be reduced. Therefore, limiting the length of the first time interval to a shorter than predetermined time interval can improve the sensitivity of the monitoring, thereby increasing the accuracy of monitoring whether the rear wheels of the electric vehicle contact the parking stop at the current moment.

[0075] In this application, if the change rate is greater than the first change rate calibration value K MIN , and is less than the second change rate calibration value K MAX, it means that the motor current value will increase sharply at this time. At the same time, it also excludes the energy recovery triggered by normal braking and the occasional breakdown of the brush by current. Therefore, it can be determined that the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0076] In another embodiment of the present application, monitoring whether the rear wheels of the electric vehicle touch a limiting device installed in a parking space at the current moment based on the motor characteristic parameters may be performed according to the following steps 223 to 224:

[0077] Step 223: Construct a second function curve based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value. The second function curve is used to characterize the correspondence between the current difference and each moment in the parking condition of the electric vehicle. The reference current value is the motor current value of the drive motor at the initial moment of parking.

[0078] Step 224 : Based on the second function curve, monitor whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0079] In this application, based on the above theoretical basis, when an electric vehicle is driving in a parking scenario, it generally travels at a relatively low and uniform speed. At this time, the voltage across the electric vehicle drive motor is basically unchanged (fluctuates within a reasonable range and is known), the drive motor moment of inertia is fixed, the resistance f during the drive motor rotation is unchanged, the motor speed and the motor output torque are unchanged, and based on the above formula (5), I(s) will also remain unchanged or fluctuate with a small amplitude. At this time, the second function curve used to characterize the corresponding relationship between the current difference and each moment in the electric vehicle parking condition should be a curve with a function value close to 0. If the rear wheel of the electric vehicle touches the limit device, the resistance during the parking process of the electric vehicle will suddenly increase due to the obstruction of the limit device, the drive motor speed will decrease, the motor current value will increase accordingly, the second function curve will increase sharply, and its function value will be far away from 0.

[0080] In this application, due to the high sensitivity of the vehicle's travel distance, which is amplified thousands or tens of thousands of times by the drive motor, any contact between the vehicle's rear wheels and the stopper is sensitively reflected by the drive motor's motor current. Therefore, based on the second function curve, it is possible to monitor whether the electric vehicle's rear wheels are currently contacting the stopper installed in the parking space, thereby improving the safety of electric vehicle parking.

[0081] Specifically, in this embodiment, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the second function curve can be performed according to the following steps 2241 to 2242:

[0082] Step 2241: Based on the second function curve, calculate the integral value of the second function curve in a second time interval, wherein the endpoints of the second time interval are the initial parking time and the current time, respectively.

[0083] Step 2242: If the integral value is greater than the integral calibration value, it is determined that the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0084] In this application, the rate of change of the motor current value can be calculated according to the following formula (8):

[0085]

[0086] Wherein, W is the integral value of the second function curve in the time interval [s0, s], s0 represents the initial parking moment, and s represents the current moment; I(s) is the first function curve; I(s)-I0 is the second function curve; and I0 is the motor current value of the drive motor at the initial parking moment.

[0087] In the present application, the integral calibration value can be a smaller value. If the integral value is greater than the integral calibration value W0, it means that the motor current value at this time has increased relative to the motor current value of the drive motor at the initial moment of parking. Therefore, it can be determined to a certain extent that the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0088] In the above-mentioned embodiments, if the first function curve is used alone to monitor whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment, some smaller obstacles may appear, causing the vehicle to misjudge that its rear wheels touch the limiting device. For example, if the rear wheels run over smaller obstacles such as beverage bottles and small stones, the first function curve will also show a sharp increase (that is, the rate of change may be greater than the first rate of change calibration value), but in this case the integral value calculated by the second function curve will generally be smaller.

[0089] Furthermore, if the second function curve alone is used to monitor whether the rear wheels of the electric vehicle are currently contacting the parking space limiter, some ground with a relatively small slope may cause the vehicle to mistakenly determine that its rear wheels have contacted the limiter. For example, if the ground slope beneath the rear wheels continues to increase slightly, the integral value calculated using the second function curve will generally be larger, even exceeding the integral calibration value. However, in this case, although the first function curve continues to increase slightly, it will not experience a sharp increase.

[0090] Based on the above problem, in another embodiment of the present application, monitoring whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the motor characteristic parameters can be performed according to the following steps 225 to 227:

[0091] Step 225 : constructing a first function curve based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, wherein the first function curve is used to represent the correspondence between the motor current value and each moment in the parking condition of the electric vehicle.

[0092] Step 226: Construct a second function curve based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value. The second function curve is used to characterize the correspondence between the current difference and each moment in the parking condition of the electric vehicle. The reference current value is the motor current value of the drive motor at the initial moment of parking.

[0093] Step 227 : Based on the first function curve and the second function curve, monitor whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0094] Furthermore, in this embodiment, the monitoring of whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the first function curve and the second function curve can be performed according to the following steps 2271 to 2273:

[0095] Step 2271: Calculate the rate of change of the motor current value within a first time interval based on the first function curve, wherein an endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than a preset interval length.

[0096] Step 2272: Based on the second function curve, calculate the integral value of the second function curve in a second time interval, wherein the endpoints of the second time interval are the initial parking time and the current time, respectively.

[0097] Step 2273: If the change rate is greater than the first change rate calibration value and less than the second change rate calibration value, and the integral value is greater than the integral calibration value, it is determined that the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0098] In the present application, in the embodiment of monitoring whether the rear wheel of the electric vehicle touches the limit device installed in the parking space at the current moment based solely on the first function curve or solely on the second function curve, some misjudgments may occur, resulting in the vehicle not being able to park accurately. Therefore, in this embodiment, by simultaneously monitoring whether the rear wheel of the electric vehicle touches the limit device installed in the parking space at the current moment based on the first function curve and the second function curve, that is, if the rate of change of the motor current value calculated based on the first function curve in the first time interval is greater than the first change rate calibration value and less than the second change rate calibration value, and the integral value of the second function curve calculated based on the second function curve in the second time interval is greater than the integral calibration value, then it is determined that the rear wheel of the electric vehicle touches the limit device installed in the parking space at the current moment. This embodiment can avoid the misjudgment that the rear wheel of the electric vehicle touches the limit device at the current moment, thereby improving the accuracy and safety of electric vehicle parking.

[0099] Continue to refer to Figure 2 In step 230, if it is monitored that the rear wheels of the electric vehicle touch the limiting device at the current moment, the electric vehicle is controlled to perform a parking adjustment action, and the parking adjustment action is used to adjust the electric vehicle to a reasonable parking area.

[0100] In the present application, the control of the electric vehicle to perform the parking adjustment action may be performed according to the following step 231:

[0101] Step 231: Control the electric vehicle to travel a preset distance in a direction away from the limiting device.

[0102] Specifically, in this application, when it is detected that the rear wheels of the electric vehicle touch the limit device at the current moment, the vehicle terminal target position can be replanned, such as a position 10 cm in front of the limit device, such as Figure 3 As shown, at this time, the action execution unit in the parking system can be controlled to control the electric vehicle to travel a preset distance in the direction away from the limiting device to adjust the electric vehicle to a reasonable parking area.

[0103] Based on the technical solution proposed in this application, in the parking condition of an electric vehicle, by monitoring whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment based on the motor characteristic parameters, when it is monitored that the rear wheels of the electric vehicle touch the limit device at the current moment, the electric vehicle can be controlled to perform a parking adjustment action to adjust the electric vehicle to a reasonable parking area. This application actually uses the motor characteristic parameters to monitor whether the wheels touch the limit device, replacing the existing solution that monitors whether the wheels touch the limit device based on speed detection and collision detection. In this way, since the drive motor has the characteristics of a high reduction ratio, the motor characteristic parameters at the drive motor end can amplify the vehicle travel parameters by thousands or tens of thousands of times, and have high sensitivity characteristics. Therefore, the drive motor characteristic parameters can be used to more accurately, reliably, and timely detect whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment, thereby improving the safety of electric vehicle parking.

[0104] The following describes an embodiment of the device of the present application, which can be used to implement the electric vehicle control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the electric vehicle control method in the above embodiment of the present application.

[0105] See also Figure 5 , shows a block diagram of the electric vehicle control device in an embodiment of the present application.

[0106] like Figure 5 As shown, the electric vehicle control device 500 according to an embodiment of the present application includes: an acquisition unit 501, a monitoring unit 502 and a control unit 503.

[0107] Among them, the acquisition unit 501 is used to obtain the motor characteristic parameters of the drive motor in the electric vehicle during the parking condition of the electric vehicle; the monitoring unit 502 is used to monitor whether the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment based on the motor characteristic parameters; the control unit 503 is used to control the electric vehicle to perform a parking adjustment action if it is monitored that the rear wheels of the electric vehicle touch the limiting device at the current moment, and the parking adjustment action is used to adjust the electric vehicle to a reasonable parking area.

[0108] In some embodiments of the present application, based on the aforementioned solution, the motor characteristic parameters at least include motor current values of the drive motor at various moments in the parking condition of the electric vehicle.

[0109] In some embodiments of the present application, based on the aforementioned scheme, the electric vehicle includes a drive motor, a power controller, a signal transmission network, an action execution unit, and a parking controller. The method is executed on the parking controller. The power controller is used to collect the motor speed and motor output torque of the drive motor in the parking condition of the electric vehicle, and calculate the motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network; the acquisition unit 501 is configured to: obtain the motor current value of the drive motor in the electric vehicle from the signal transmission network.

[0110] In some embodiments of the present application, based on the aforementioned scheme, the power controller transmits the motor current value to the signal transmission network, including: the power controller converts the motor current value into a network signal, and transmits the motor current value to the signal transmission network in the form of a network signal.

[0111] In some embodiments of the present application, based on the aforementioned scheme, the monitoring unit 502 is configured to: construct a first function curve based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, and the first function curve is used to characterize the correspondence between the motor current value and each moment in the parking condition of the electric vehicle; based on the first function curve, monitor whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0112] In some embodiments of the present application, based on the aforementioned scheme, the monitoring unit 502 is further configured to: calculate the rate of change of the motor current value within a first time interval based on the first function curve, wherein an interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than the preset interval length; if the rate of change is greater than the first rate of change calibration value and less than the second rate of change calibration value, it is determined that the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0113] In some embodiments of the present application, based on the aforementioned scheme, the monitoring unit 502 is further configured to: construct a second function curve based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and the reference current value, the second function curve being used to characterize the correspondence between the current difference and each moment in the parking condition of the electric vehicle, the reference current value being the motor current value of the drive motor at the initial moment of parking; based on the second function curve, monitor whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0114] In some embodiments of the present application, based on the aforementioned scheme, the monitoring unit 502 is further configured to: calculate the integral value of the second function curve in a second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment, respectively; if the integral value is greater than the integral calibration value, it is determined that the rear wheels of the electric vehicle touch the limiting device installed in the parking space at the current moment.

[0115] In some embodiments of the present application, based on the aforementioned scheme, the monitoring unit 502 is further configured to: construct a first function curve based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, and the first function curve is used to characterize the correspondence between the motor current value and each moment in the parking condition of the electric vehicle; construct a second function curve based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value, and the second function curve is used to characterize the correspondence between the current difference and each moment in the parking condition of the electric vehicle, and the reference current value is the motor current value of the drive motor at the initial moment of parking; based on the first function curve and the second function curve, monitor whether the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0116] In some embodiments of the present application, based on the aforementioned scheme, the monitoring unit 502 is further configured to: calculate the rate of change of the motor current value in a first time interval based on the first function curve, wherein an interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than the preset interval length; calculate the integral value of the second function curve in a second time interval based on the second function curve, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment respectively; if the rate of change is greater than the first rate of change calibration value and less than the second rate of change calibration value, and the integral value is greater than the integral calibration value, it is determined that the rear wheels of the electric vehicle touch the limit device installed in the parking space at the current moment.

[0117] In some embodiments of the present application, based on the aforementioned solution, the control unit 503 is configured to: control the electric vehicle to travel a preset distance in a direction away from the limiting device.

[0118] Based on the same inventive concept, an embodiment of the present application provides a computer program product, which includes computer instructions stored in a computer-readable storage medium and suitable for being read and executed by a processor, so that a computer device with the processor executes to implement the operations performed by the electric vehicle control method as described above.

[0119] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, which stores at least one computer program instruction. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the electric vehicle control method described above.

[0120] Based on the same inventive concept, the present application also provides an electric vehicle, referring to Figure 6 , shows a schematic structural diagram of an electric vehicle in an embodiment of the present application, wherein the electric vehicle includes one or more memories 604, one or more processors 602, and at least one computer program (computer program instruction) stored in the memory 604 and executable on the processor 602. When the processor 602 executes the computer program, the electric vehicle control method as described above is implemented.

[0121] Among them, Figure 6 In the embodiment of the present invention, a bus architecture (represented by bus 600) is shown. Bus 600 may include any number of interconnected buses and bridges, and bus 600 links together various circuits including one or more processors represented by processor 602 and memory represented by memory 604. Bus 600 may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 605 provides an interface between bus 600 and receiver 601 and transmitter 603. Receiver 601 and transmitter 603 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 602 is responsible for managing bus 600 and general processing, while memory 604 may be used to store data used by processor 602 when performing operations.

[0122] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0123] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0124] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0125] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store computer program instructions.

[0126] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for controlling an electric vehicle, characterized in that: The method comprises: In a parking condition of the electric vehicle, obtaining motor characteristic parameters of a drive motor in the electric vehicle, the motor characteristic parameters at least including motor current values of the drive motor at various moments in the parking condition of the electric vehicle; Based on the motor characteristic parameters, monitoring whether the rear wheels of the electric vehicle touch a limiting device installed in the parking space at a current moment; If it is detected that the rear wheel of the electric vehicle touches the limiting device at the current moment, the electric vehicle is controlled to perform a parking adjustment action, wherein the parking adjustment action is used to adjust the electric vehicle to a reasonable parking area; The monitoring, based on the motor characteristic parameters, of whether the rear wheels of the electric vehicle touch a limiting device installed in the parking space at a current moment includes: Based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, a first function curve is constructed, where the first function curve is used to characterize the corresponding relationship between the motor current value and each moment in the parking condition of the electric vehicle; based on the first function curve, a change rate of the motor current value in a first time interval is calculated, wherein an interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than a preset interval length; if the change rate is greater than a first change rate calibration value and less than a second change rate calibration value, it is determined that the rear wheel of the electric vehicle touches a limit device installed in the parking space at the current moment; or, Based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value, a second function curve is constructed, wherein the second function curve is used to represent the corresponding relationship between the current difference and each moment in the parking condition of the electric vehicle, and the reference current value is the motor current value of the drive motor at the initial moment of parking; based on the second function curve, an integral value of the second function curve in a second time interval is calculated, wherein the interval endpoints of the second time interval are the initial moment of parking and the current moment, respectively; if the integral value is greater than the integral calibration value, it is determined that the rear wheel of the electric vehicle has touched the limiting device installed in the parking space at the current moment; or, Based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, a first function curve is constructed, and the first function curve is used to characterize the corresponding relationship between the motor current value and each moment in the parking condition of the electric vehicle; based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value, a second function curve is constructed, and the second function curve is used to characterize the corresponding relationship between the current difference and each moment in the parking condition of the electric vehicle, and the reference current value is the motor current value of the drive motor at the initial moment of parking; based on the first function curve , calculating the rate of change of the motor current value within a first time interval, wherein one endpoint of the first time interval is the current moment and the interval length of the first time interval is less than a preset interval length; based on the second function curve, calculating the integral value of the second function curve within a second time interval, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment, respectively; if the rate of change is greater than a first change rate calibration value and less than a second change rate calibration value, and the integral value is greater than an integral calibration value, it is determined that the rear wheels of the electric vehicle have touched a limit device installed in the parking space at the current moment.

2. The method according to claim 1, characterized in that The electric vehicle includes a drive motor, a power controller, a signal transmission network, an action execution unit, and a parking controller. The method is executed by the parking controller. The power controller is used to collect the motor speed and motor output torque of the drive motor in a parking condition of the electric vehicle, calculate a motor current value based on the motor speed and the motor output torque, and transmit the motor current value to the signal transmission network. The step of obtaining motor characteristic parameters of a driving motor in an electric vehicle includes: A motor current value of a driving motor in an electric vehicle is obtained from the signal transmission network.

3. The method according to claim 2, characterized in that The power controller transmits the motor current value to the signal transmission network, including: The power controller converts the motor current value into a network signal, and transmits the motor current value to the signal transmission network in the form of the network signal.

4. The method according to claim 1, wherein The controlling the electric vehicle to perform a parking adjustment action includes: The electric vehicle is controlled to travel a preset distance in a direction away from the limiting device.

5. An electric vehicle control device, characterized in that: The device comprises: an acquiring unit, configured to acquire motor characteristic parameters of a drive motor in the electric vehicle in a parking condition of the electric vehicle, wherein the motor characteristic parameters include at least motor current values of the drive motor at various moments in the parking condition of the electric vehicle; a monitoring unit, configured to monitor, based on the motor characteristic parameters, whether the rear wheels of the electric vehicle touch a limiting device installed in the parking space at a current moment; a control unit, configured to control the electric vehicle to perform a parking adjustment action if it is detected that the rear wheels of the electric vehicle touch the limiting device at the current moment, wherein the parking adjustment action is used to adjust the electric vehicle to a reasonable parking area; The monitoring unit is configured as follows: Based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, a first function curve is constructed, where the first function curve is used to characterize the corresponding relationship between the motor current value and each moment in the parking condition of the electric vehicle; based on the first function curve, a change rate of the motor current value in a first time interval is calculated, wherein an interval endpoint of the first time interval is the current moment, and the interval length of the first time interval is less than a preset interval length; if the change rate is greater than a first change rate calibration value and less than a second change rate calibration value, it is determined that the rear wheel of the electric vehicle touches a limit device installed in the parking space at the current moment; or, Based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value, a second function curve is constructed, wherein the second function curve is used to represent the corresponding relationship between the current difference and each moment in the parking condition of the electric vehicle, and the reference current value is the motor current value of the drive motor at the initial moment of parking; based on the second function curve, an integral value of the second function curve in a second time interval is calculated, wherein the interval endpoints of the second time interval are the initial moment of parking and the current moment, respectively; if the integral value is greater than the integral calibration value, it is determined that the rear wheel of the electric vehicle has touched the limiting device installed in the parking space at the current moment; or, Based on the motor current value of the drive motor at each moment in the parking condition of the electric vehicle, a first function curve is constructed, and the first function curve is used to characterize the corresponding relationship between the motor current value and each moment in the parking condition of the electric vehicle; based on the current difference between the motor current value of the drive motor at each moment in the parking condition of the electric vehicle and a reference current value, a second function curve is constructed, and the second function curve is used to characterize the corresponding relationship between the current difference and each moment in the parking condition of the electric vehicle, and the reference current value is the motor current value of the drive motor at the initial moment of parking; based on the first function curve , calculating the rate of change of the motor current value within a first time interval, wherein one endpoint of the first time interval is the current moment and the interval length of the first time interval is less than a preset interval length; based on the second function curve, calculating the integral value of the second function curve within a second time interval, wherein the interval endpoints of the second time interval are the initial parking moment and the current moment, respectively; if the rate of change is greater than a first change rate calibration value and less than a second change rate calibration value, and the integral value is greater than an integral calibration value, it is determined that the rear wheels of the electric vehicle have touched a limit device installed in the parking space at the current moment.

6. A computer program product, characterized in that The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor, so as to enable a computer device having the processor to perform the method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that At least one program code is stored in the computer-readable storage medium, and the at least one program code is loaded and executed by a processor to implement the method according to any one of claims 1 to 4.

8. An electric vehicle, characterized in that: The electric vehicle includes one or more processors and one or more memories, wherein at least one program code is stored in the one or more memories, and the at least one program code is loaded and executed by the one or more processors to implement the method according to any one of claims 1 to 4.

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