Power control method, device, equipment and vehicle for electric commercial vehicle when starting

Abstract

The present application relates to the field of vehicle technology, and specifically to a method, device, equipment and vehicle for power control when an electric commercial vehicle starts. The method includes: determining the starting acceleration state and starting steering based on the starting related information of the electric commercial vehicle, and the starting related information includes vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle; when it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a rapid acceleration, the maximum torque and steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle; the electric commercial vehicle is power controlled according to the maximum torque and steering assist. The present application solves the problem in the prior art that the braking force required for the vehicle cannot be controlled according to the vehicle load and the urgency of starting.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology. Specifically, the present application relates to a method, device, equipment and vehicle for controlling power when an electric commercial vehicle starts. Background Art

[0002] With the popularity of commercial vehicles, there are more and more commercial vehicle collision accidents, so commercial vehicle blind spot detection technology has been widely used. At present, commercial vehicle blind spot detection mainly uses cameras, ultrasonic radars, millimeter wave radars, laser sensors or infrared devices to detect whether there are pedestrians, non-motor vehicles and other obstacle avoidance objects in the blind spot, so as to remind the driver to perform obstacle avoidance operations. Therefore, in the starting rapid acceleration mode, due to the heavy load and large body size of commercial vehicles, the driver's blind spot is large, resulting in the operation not being as sensitive as passenger cars. Once the driver does not have enough reaction time, the occurrence of collision accidents cannot be avoided. At the same time, since the vehicle acceleration is inconsistent when the vehicle is empty and fully loaded, it is impossible to accurately control the braking force required for vehicles with different loads. Summary of the invention

[0003] The present application provides a method, device, electronic device, non-volatile storage medium and vehicle for controlling power when an electric commercial vehicle starts, which can solve the problem. The technical solution is as follows:

[0004] In a first aspect of an embodiment of the present application, a method for controlling power when an electric commercial vehicle starts is provided, the method comprising:

[0005] Determine the starting acceleration state and starting steering based on the starting related information of the electric commercial vehicle, the starting related information including vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle;

[0006] When it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a rapid acceleration, the corresponding maximum torque and the steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle;

[0007] Power control of electric commercial vehicles based on maximum torque and steering assistance.

[0008] In a second aspect of the embodiment of the present application, a power control device for starting an electric commercial vehicle is provided, the device comprising:

[0009] A starting information determination module, used to determine the starting acceleration state and starting steering based on the starting related information of the electric commercial vehicle, the starting related information including vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle;

[0010] A limiting parameter determination module, for determining the corresponding maximum torque and the steering assist corresponding to the starting steering according to the load of the electric commercial vehicle when it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a rapid acceleration;

[0011] The power control processing module is used to control the power of the electric commercial vehicle based on the maximum torque and steering assist.

[0012] In a third aspect of an embodiment of the present application, an electronic device is disclosed, which includes a memory storing computer-readable instructions, and a processor for executing the computer-readable instructions, wherein the computer-readable instructions execute the steps of the above-mentioned method for controlling power when the electric commercial vehicle starts when the computer-readable instructions are executed.

[0013] In a fourth aspect of an embodiment of the present application, a non-volatile storage medium is disclosed. The non-volatile storage medium includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute the steps of the above-mentioned method for controlling the power when the electric commercial vehicle starts.

[0014] In a fifth aspect of the embodiments of the present application, a vehicle is disclosed, including: the above-mentioned power control device for starting the electric commercial vehicle, or the above-mentioned electronic device.

[0015] The embodiment of the present application determines the starting acceleration state and starting steering through the starting related information of the electric commercial vehicle, the starting related information including vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle, and when it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a sudden acceleration situation, the maximum torque and steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle, so as to control the power of the electric commercial vehicle according to the maximum torque and steering assist. This method of limiting the torque and steering assist in combination with the load and starting steering of the commercial vehicle solves the problem in the prior art that the braking force required for the vehicle cannot be controlled according to the vehicle load and the urgency of starting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0017] Figure 1 A schematic diagram of the structure of a method for controlling the power of an electric commercial vehicle when starting provided by an embodiment of the present application;

[0018] Figure 2 A schematic diagram of blind area classification provided by an embodiment of a method for controlling power when an electric commercial vehicle starts provided by an embodiment of the present application;

[0019] Figure 3A schematic diagram of the installation position of a travel sensor of an embodiment of a method for controlling power during starting of an electric commercial vehicle provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of a power control device for starting an electric commercial vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0022] The present application embodiment provides a method for controlling the power of an electric commercial vehicle when starting. Figure 1 As shown, the method includes: step S101 to step S103.

[0023] Step S101: determining a starting acceleration state and a starting steering based on starting related information of the electric commercial vehicle, wherein the starting related information includes vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle.

[0024] In the embodiment of the present application, the acceleration state is used to characterize the speed of the vehicle starting. Specifically, the acceleration state may include two states: rapid acceleration and slow acceleration.

[0025] In the embodiment of the present application, the throttle opening change rate represents the rate at which the throttle pedal opening changes over time. Specifically, the greater the slope of the throttle opening change rate, the faster the vehicle starts to accelerate.

[0026] Step S102: When it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a rapid acceleration, the corresponding maximum torque and the steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle.

[0027] Specifically, obstacle avoidance objects include non-motor vehicles, pedestrians, etc.

[0028] Specifically, different loads correspond to different maximum torques.

[0029] Step S103: Power control of the electric commercial vehicle is performed according to the maximum torque and the steering assist.

[0030] Specifically, when the starting turn is a straight start, the corresponding steering assist is generally zero, that is, no steering assist is required; while in turning start, the assist corresponding to the steering wheel steering is limited, that is, the steering assist corresponding to the starting turn is less than the steering assist corresponding to the steering wheel angle. This limitation avoids collision with obstacle avoidance objects.

[0031] When applied, the driver can also be reminded by sound and light, that is, before starting (such as when the vehicle is in the ON gear), a reminder is given, such as "The system detects obstacles around the vehicle, please confirm and then drive safely". After the driver performs the corresponding operation, if it is detected that the accelerator pedal opening is zero or the vehicle is in the ON gear, etc., the execution of steps S102 and S103 is stopped.

[0032] The embodiment of the present application determines the starting acceleration state and starting steering through the starting related information of the electric commercial vehicle, the starting related information including vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle, and when it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a sudden acceleration situation, the maximum torque and steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle, so as to control the power of the electric commercial vehicle according to the maximum torque and steering assist. This method of limiting the torque and steering assist in combination with the load and starting steering of the commercial vehicle solves the problem in the prior art that the braking force required for the vehicle cannot be controlled according to the vehicle load and the urgency of starting.

[0033] In some embodiments, step S101 further includes:

[0034] When the vehicle speed is greater than a preset vehicle speed threshold, the gear is in D gear or R gear, the throttle opening is greater than a preset throttle opening threshold, the throttle opening change slope is greater than the throttle pedal opening change slope threshold, and the steering wheel angle is greater than the preset steering wheel angle threshold, it is determined that the starting acceleration state is a sudden acceleration and a steering start;

[0035] When the vehicle speed is greater than the preset vehicle speed threshold, the gear is in D or R, the throttle opening is greater than the preset throttle opening threshold, the throttle opening change slope is greater than the throttle pedal opening change slope threshold, and the steering wheel angle is not greater than the preset steering wheel angle threshold, it is determined that the starting acceleration state is rapid acceleration and is a straight-line start.

[0036] Specifically, the vehicle speed threshold is generally set to 5 km / h.

[0037] Specifically, the steering wheel angle can be determined according to the vehicle model. For example, generally speaking, the steering wheel angle threshold is set to be no greater than 13, at which point the wheel steering is less than 1 degree, and the vehicle starting steering can be ignored, and the vehicle starts in a straight line.

[0038] Specifically, the vehicle speed threshold, accelerator pedal opening threshold, and accelerator pedal opening change slope threshold corresponding to different vehicle models can be pre-configured. In this way, after the default vehicle model is selected according to the actual application, the vehicle speed threshold, accelerator pedal opening threshold, and brake pedal change slope for the vehicle model can be determined.

[0039] In some embodiments, the step of determining the steering assist corresponding to the start steering in step S102 further includes:

[0040] When the starting turn is a turning start, the primary blind spot and the secondary blind spot of the electric commercial vehicle are determined, wherein the steering wheel angle corresponding to the electric commercial vehicle entering the secondary blind spot is greater than the steering wheel angle corresponding to the electric commercial vehicle entering the primary blind spot;

[0041] When the obstacle avoidance object is in the secondary blind spot, the corresponding first steering assist is determined according to the distance difference between the secondary blind spot and the primary blind spot, so that the electric commercial vehicle is turned to the primary blind spot according to the first steering assist;

[0042] When the obstacle avoidance object is in the primary blind spot, the corresponding second steering assist is determined according to the steering wheel angle, so that the electric commercial vehicle controls the steering wheel to return to the center according to the second steering assist and drives forward.

[0043] Specifically, the primary blind spot and the secondary blind spot can be determined according to the direction and distance of the visual field blind spot. For example, the visual field blind spot close to the side is the primary blind spot, and the slightly farther one is the secondary blind spot.

[0044] Electric commercial vehicle blind spots can be Figure 2 As shown, it is divided into a primary blind spot and a secondary blind spot, so that the steering assist can be controlled according to the blind spot where the obstacle is located, thereby achieving the purpose of grading the steering assist according to the blind spot classification.

[0045] In some embodiments, the step of determining the steering assist corresponding to the start steering in step S102 further includes:

[0046] When the starting steering is a straight-line start, the steering assist force corresponding to the starting steering is a preset first threshold value.

[0047] Specifically, the first threshold is zero, that is, the steering assist is zero, and there is no need to correct the steering wheel angle.

[0048] This embodiment associates the straight-line starting direction with the steering assist, and limits the steering assist to prevent large changes in the straight-line starting direction, thereby reducing the incidence of accidents caused by large changes in the vehicle's steering.

[0049] In some embodiments, determining the corresponding maximum torque according to the load of the electric commercial vehicle in step S102 includes:

[0050] Determine torque-related information, including the distance L between the obstacle avoidance object and the electric commercial vehicle, and the safety reaction time of the driver of the electric commercial vehicle , tire rolling radius r, gearbox ratio and final reduction ratio and maximum deceleration a;

[0051] Determine the maximum torque corresponding to the load based on torque related information , maximum torque The calculation formula is as follows:

[0052] .

[0053] Specifically, the driver's safety reaction time can be a preset default value, or it can be determined based on the user's personal information (such as age). For example, the safety reaction time corresponding to each of the multiple age groups can be provided in advance, and a user interface for multiple age groups can be provided during application, and the corresponding safety reaction time can be determined based on the user's selection operation in the user interface. Specifically, the corresponding safety reaction time can also be determined according to the driver's historical driving record. For example, the recent (such as the past week) driving record of the driver of the electric commercial vehicle can be obtained, and the driving record can be sent to the cloud, which can be analyzed by the cloud to obtain the corresponding safety reaction time and then fed back to the electric commercial vehicle; or the driving record can be analyzed using a locally preset analysis model to obtain the corresponding safety reaction time. Specifically, a safety reaction time test question and answer can be provided in advance to obtain the driver's question and answer record, and then the corresponding safety reaction time can be determined based on the score of the question and answer record.

[0054] When applied, the distance L of the electric commercial vehicle to be avoided and the safety reaction time of the driver of the electric commercial vehicle are known. , tire rolling radius r, gearbox ratio and final reduction ratio Under the conditions of and maximum deceleration a, it can be seen that the way the vehicle collides is: , since the dynamic equation of the vehicle power system is: ,therefore, Therefore, the maximum torque of the vehicle when starting is different under different load conditions.

[0055] In the embodiment of the present application, the safety reaction time can ensure that the driver has enough reaction time so that the time required for the vehicle to travel to the obstacle position does not exceed this time, thereby avoiding collision accidents caused by the driver's failure to fully observe the surrounding environment when starting.

[0056] The embodiment of the present application classifies blind spots, so that the torque restriction of obstacles in blind spots of different levels is also classified accordingly.

[0057] In some embodiments, the method for determining the load of the electric commercial vehicle includes:

[0058] When the time for the electric commercial vehicle to reach the creeping speed when starting and entering the driving state on a flat road is not greater than a preset first time threshold, it is determined that the electric commercial vehicle is unloaded;

[0059] When the time for an electric commercial vehicle to reach the creep speed when starting on a flat road and entering the driving state is not less than a preset second time threshold, it is determined that the electric commercial vehicle is fully loaded.

[0060] When the time for an electric commercial vehicle to reach the creep speed when starting on a flat road and entering the driving state is greater than the first time threshold and less than the second time threshold, the load of the electric commercial vehicle is determined based on the latest load in the load history information of the electric commercial vehicle.

[0061] After the vehicle enters the driving gear, when the driver releases the brake and does not step on the accelerator, the vehicle will enter the creep mode. In the creep mode, the vehicle will stabilize at a low speed, and the torque driving the vehicle during this period is the creep torque. When the vehicle starts on a flat road, it is possible to determine whether the vehicle is fully loaded by judging the time for the vehicle to reach the creep speed. Specifically, two time thresholds t1 (the first time threshold) and t2 (the second time threshold) can be set, where 0 < t1 < t2. If the time is less than t1, it is considered unloaded; if the time is greater than t2, it is considered fully loaded; if the time is between t1 and t2, the load state maintains the result of the previous judgment.

[0062] In some embodiments, at least one travel sensor with an air spring is installed on each of the left and right wheels of the front and rear axles of the electric commercial vehicle. The method for determining the load of the electric commercial vehicle includes:

[0063] When the electric commercial vehicle is stationary on a flat road, the load of the electric commercial vehicle is determined according to the average value of the deformation amounts of the air springs of the two travel sensors.

[0064] When the electric commercial vehicle is stationary on a slope, the load of the electric commercial vehicle is determined according to the average value of the deformation amounts of the air springs of the two travel sensors and the slope angle of the slope.

[0065] During application, it can be like Figure 3 Install the travel sensor L1 and the travel sensor L2 on the same side as shown in the installation. In this way, the deformation amounts of the air springs of the travel sensors in different load conditions of the vehicle can be recorded according to the state of the vehicle on a flat road or a slope. For example, when the vehicle is on a flat road, the deformation amounts of the air springs of the travel sensors in different load conditions of the vehicle are: ; when the vehicle is on a flat road, the deformation amounts of the air springs of the travel sensors in different load conditions of the vehicle are: , where θ is the slope angle, g is the acceleration of gravity, m is the vehicle load, and k is the spring constant. In this way, the sensor is calibrated when the vehicle is offline. When there is no cargo loaded, the mass at this time is recorded as the empty mass M0, and L1 and L2 are recorded as the initialization strokes L10 and L20. Load the trailer, and when it is fully loaded, record the full load at this time in t, and the full load mass M at this time and the real-time air spring strokes L1 and L2. Specifically, refer to Table 1 to find the load corresponding to the average deformation of the air springs of the two stroke sensors. When applied, the stroke sensor L1 and the stroke sensor L2 can also be installed on different sides.

[0066] Table 1

[0067]

[0068] Another embodiment of the present application provides a power control device for starting an electric commercial vehicle, such as Figure 4 As shown, the device 40 includes: a starting information determination module 401 , a restriction parameter determination module 402 and a power control processing module 403 .

[0069] A starting information determination module, used to determine the starting acceleration state and starting steering based on the starting related information of the electric commercial vehicle, the starting related information including vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle;

[0070] A limiting parameter determination module is used to determine the corresponding maximum torque and the steering assist corresponding to the starting steering according to the load of the electric commercial vehicle when it is detected that there is an obstacle avoidance object in the vehicle blind spot and the starting acceleration state is a rapid acceleration;

[0071] The power control processing module is used to control the power of the electric commercial vehicle according to the maximum torque and the steering assist.

[0072] The embodiment of the present application determines the starting acceleration state and starting steering through the starting related information of the electric commercial vehicle, the starting related information including vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle, and when it is detected that there is an obstacle avoidance object in the blind spot of the vehicle and the starting acceleration state is a sudden acceleration situation, the maximum torque and steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle, so as to control the power of the electric commercial vehicle according to the maximum torque and steering assist. This method of limiting the torque and steering assist in combination with the load and starting steering of the commercial vehicle solves the problem in the prior art that the braking force required for the vehicle cannot be controlled according to the vehicle load and the urgency of starting.

[0073] Furthermore, the starting information determination module includes:

[0074] A steering start determination submodule is used to determine that the start acceleration state is a sudden acceleration and a steering start when the vehicle speed is greater than a preset vehicle speed threshold, the gear is in D gear or R gear, the throttle opening is greater than a preset throttle opening threshold, the throttle opening change slope is greater than the throttle pedal opening change slope threshold, and the steering wheel angle is greater than a preset steering wheel angle threshold;

[0075] The straight-line start determination submodule is used to determine that the starting acceleration state is rapid acceleration and is a straight-line start when the vehicle speed is greater than a preset vehicle speed threshold, the gear is in D or R, the throttle opening is greater than a preset throttle opening threshold, the throttle opening change slope is greater than the throttle pedal opening change slope threshold, and the steering wheel angle is not greater than a preset steering wheel angle threshold.

[0076] Furthermore, the restriction parameter determination module includes:

[0077] A blind spot position determination submodule, for determining a primary blind spot and a secondary blind spot of the electric commercial vehicle when the starting turn is a turning start, wherein the steering wheel angle corresponding to the electric commercial vehicle entering the secondary blind spot is greater than the steering wheel angle corresponding to the electric commercial vehicle entering the primary blind spot;

[0078] A first power assist determination submodule is used to determine a corresponding first steering assist according to a distance difference between the secondary blind spot and the primary blind spot when the obstacle avoidance object is in the secondary blind spot, so that the electric commercial vehicle is turned to the primary blind spot according to the first steering assist;

[0079] The second power assist determination submodule is used to determine the corresponding second steering assist according to the steering wheel angle when the obstacle avoidance object is in the primary blind spot, so that the electric commercial vehicle controls the steering wheel to return to the center according to the second steering assist and drives forward.

[0080] Furthermore, the restriction parameter determination module also includes:

[0081] The third assistance determining submodule is used for, when the starting steering is a straight-line start, the steering assistance corresponding to the starting steering is a preset first threshold.

[0082] Furthermore, the restriction parameter determination module includes:

[0083] The torque information determination submodule is used to determine torque related information, including the distance L between the obstacle avoidance object and the electric commercial vehicle, the safety reaction time of the driver of the electric commercial vehicle, and the torque related information. , tire rolling radius r, gearbox ratio and final reduction ratio and maximum deceleration a;

[0084] The maximum torque determination submodule is used to determine the maximum torque corresponding to the load based on the torque related information , maximum torque The calculation formula is as follows:

[0085] .

[0086] Furthermore, the method of determining the load of the electric commercial vehicle includes:

[0087] An unloaded determination submodule, for determining that the electric commercial vehicle is unloaded when the time for the electric commercial vehicle to reach a creeping speed when starting and entering a driving state on a flat road is not greater than a preset first time threshold;

[0088] A full load determination submodule, used to determine that the electric commercial vehicle is fully loaded when the time for the electric commercial vehicle to reach a creeping speed when starting and entering a driving state on a flat road is not less than a preset second time threshold;

[0089] The load determination submodule is used to determine the load of the electric commercial vehicle based on the latest load in the load history information of the electric commercial vehicle when the time for the electric commercial vehicle to reach the creeping speed when starting on a flat road is greater than the first time threshold and less than the second time threshold.

[0090] Furthermore, at least one travel sensor with an air spring built in is installed on each of the left and right wheels of the front rear axle of the electric commercial vehicle, and the limiting parameter determination module includes:

[0091] A flat road load determination submodule, used to determine the load of the electric commercial vehicle according to an average value of the deformation amount of the air spring of each of the two travel sensors when the electric commercial vehicle is stationary on a flat road;

[0092] The ramp load determination submodule is used to determine the load of the electric commercial vehicle according to the average value of the deformation amount of the air spring of each of the two travel sensors and the slope angle of the ramp when the electric commercial vehicle is stationary on the ramp.

[0093] The power control device for starting an electric commercial vehicle of this embodiment can execute the power control method for starting an electric commercial vehicle shown in the first embodiment of the present application. The implementation principle is similar and will not be repeated here.

[0094] Another embodiment of the present application provides an electronic device, including: a processor and a memory, wherein the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein when the computer-readable instructions are executed, the steps of the above-mentioned power control method for starting an electric commercial vehicle are executed.

[0095] Specifically, the processor may be a CPU, a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0096] Specifically, the processor is connected to the memory via a bus, and the bus may include a path for transmitting information. The bus may be a PCI bus or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0097] The memory may be a ROM or other type of static storage device that can store static information and instructions, a RAM or other type of dynamic storage device that can store information and instructions, or an EEPROM, CD-ROM or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0098] Optionally, the memory is used to store the code of the computer program for executing the solution of the present application, and the execution is controlled by the processor. The processor is used to execute the application program code stored in the memory to implement the action of the power control device for starting the electric commercial vehicle provided in the above embodiment.

[0099] Yet another embodiment of the present application provides a vehicle, comprising the above-mentioned power control device for starting an electric commercial vehicle, or the above-mentioned electronic device.

[0100] Another embodiment of the present application provides a non-volatile storage medium, which includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to implement the steps of the above-mentioned power control method when the electric commercial vehicle starts.

[0101] The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] It will be appreciated by those skilled in the art that all or some of the steps and systems in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0103] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present application. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A method for controlling power when an electric commercial vehicle starts, characterized in that: include: Determine the starting acceleration state and starting steering based on the starting related information of the electric commercial vehicle, wherein the starting related information includes vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle; When it is detected that there is an obstacle avoidance object in the vehicle blind spot and the starting acceleration state is a rapid acceleration, the corresponding maximum torque and the steering assist corresponding to the starting steering are determined according to the load of the electric commercial vehicle; The step of determining the steering assist corresponding to the start-up steering further includes: when the start-up steering is a steering start, determining the primary blind spot and the secondary blind spot of the electric commercial vehicle, wherein the steering wheel angle corresponding to the electric commercial vehicle entering the secondary blind spot is greater than the steering wheel angle corresponding to the electric commercial vehicle entering the primary blind spot; when the obstacle avoidance object is in the secondary blind spot, determining the corresponding first steering assist according to the distance difference between the secondary blind spot and the primary blind spot, so that the electric commercial vehicle turns to the primary blind spot according to the first steering assist; when the obstacle avoidance object is in the primary blind spot, determining the corresponding second steering assist according to the steering wheel angle, so that the electric commercial vehicle controls the steering wheel to return to the center according to the second steering assist and drives forward; The electric commercial vehicle is powered by a power control method according to the maximum torque and the steering assist.

2. The method according to claim 1, characterized in that The determining of the starting acceleration state and the starting steering based on the starting related information of the electric commercial vehicle includes: When the vehicle speed is greater than a preset vehicle speed threshold, the gear is in D gear or R gear, the throttle opening is greater than a preset throttle opening threshold, the throttle opening change slope is greater than an accelerator pedal opening change slope threshold, and the steering wheel angle is greater than a preset steering wheel angle threshold, it is determined that the starting acceleration state is a sudden acceleration and a steering start; When the vehicle speed is greater than a preset vehicle speed threshold, the gear is in D gear or R gear, the throttle opening is greater than a preset throttle opening threshold, the throttle opening change slope is greater than the throttle pedal opening change slope threshold, and the steering wheel angle is not greater than a preset steering wheel angle threshold, it is determined that the starting acceleration state is a sudden acceleration and a straight-line start.

3. The method according to claim 1, characterized in that The determining the corresponding maximum torque according to the load of the electric commercial vehicle includes: Determine torque-related information, the torque-related information including the distance L between the obstacle avoidance object and the electric commercial vehicle, the safety reaction time of the driver of the electric commercial vehicle, the tire rolling radius r, the gearbox ratio and the main reduction ratio and the maximum deceleration a; The maximum torque corresponding to the load is determined according to the torque related information, and the calculation formula of the maximum torque is as follows: 。 4. The method according to claim 1, characterized in that The load determination method of the electric commercial vehicle includes: When the time for the electric commercial vehicle to reach a creeping speed when starting and entering a driving state on a flat road is not greater than a preset first time threshold, it is determined that the electric commercial vehicle is unloaded; When the time for the electric commercial vehicle to reach a creeping speed when starting and entering a driving state on a flat road is not less than a preset second time threshold, it is determined that the electric commercial vehicle is fully loaded; When the time for the electric commercial vehicle to reach a creeping speed when starting and entering a driving state on a flat road is greater than the first time threshold and less than the second time threshold, the load of the electric commercial vehicle is determined based on the latest load in the load history information of the electric commercial vehicle.

5. The method according to claim 1, characterized in that At least one travel sensor with an air spring built in is installed on each of the left and right wheels of the front rear axle of the electric commercial vehicle, and the load determination method of the electric commercial vehicle includes: When the electric commercial vehicle is stationary on a flat road, determining the load of the electric commercial vehicle according to an average value of the deformation amounts of the air springs of the two travel sensors; When the electric commercial vehicle is stationary on a slope, the load of the electric commercial vehicle is determined according to an average value of the deformation amounts of the air springs of the two travel sensors and the slope angle of the slope.

6. A power control device for starting an electric commercial vehicle, characterized in that: include: A starting information determination module, used to determine the starting acceleration state and starting steering based on the starting related information of the electric commercial vehicle, wherein the starting related information includes vehicle speed, gear position, throttle opening, throttle opening change slope and steering wheel angle; A limiting parameter determination module, for determining the corresponding maximum torque and the steering assist corresponding to the starting steering according to the load of the electric commercial vehicle when it is detected that there is an obstacle avoidance object in the vehicle blind spot and the starting acceleration state is a rapid acceleration; The restriction parameter determination module includes: a blind spot position determination submodule, which is used to determine the primary blind spot and the secondary blind spot of the electric commercial vehicle when the starting steering is a steering start, wherein the steering wheel angle corresponding to the electric commercial vehicle entering the secondary blind spot is greater than the steering wheel angle corresponding to the electric commercial vehicle entering the primary blind spot; a first power assistance determination submodule, which is used to determine the corresponding first steering assistance according to the distance difference between the secondary blind spot and the primary blind spot when the obstacle avoidance object is in the secondary blind spot, so that the electric commercial vehicle turns to the primary blind spot according to the first steering assistance; a second power assistance determination submodule, which is used to determine the corresponding second steering assistance according to the steering wheel angle when the obstacle avoidance object is in the primary blind spot, so that the electric commercial vehicle controls the steering wheel to return to the center according to the second steering assistance and drives forward; A power control processing module is used to control the power of the electric commercial vehicle according to the maximum torque and the steering assist.

7. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores computer-readable instructions, and the processor is used to execute the computer-readable instructions, wherein when the computer-readable instructions are executed, the steps of the method for controlling the power when the electric commercial vehicle starts are executed as claimed in any one of claims 1 to 5.

8. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the steps of the method for controlling the power when the electric commercial vehicle starts according to any one of claims 1 to 5.

9. A vehicle, characterized in that: include: The starting power control device for an electric commercial vehicle as claimed in claim 6, or the electronic device as claimed in claim 7.

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