Electric vehicle in-out garage control method, vehicle controller and electric vehicle

Abstract

The invention provides an electric vehicle in-out garage control method, a vehicle controller and an electric vehicle, is applied to the technical field of electric vehicles, and can improve the driving experience in the vehicle parking process. The control method is used for controlling a driving system of the electric vehicle to achieve garage exiting or garage entering of the electric vehicle after a user starts an agile garage exiting or garage entering function of the electric vehicle. The control method comprises the steps that at the first moment, the two front wheels are controlled to steer in the garage-out direction or the garage-in direction. And after the first moment, the driving motors of the two front wheels are controlled to rotate, and the rotating speed of the driving motor of the left rear wheel is controlled to be smaller than a preset rotating speed in the rotating process of the two front wheels, so that the electric vehicle is put out of the garage or put in the garage. On the basis, through coordinated control over the driving motors of all the wheels in the driving system, the electric vehicle can be accurately controlled to complete garage-out and garage-in actions, the parking distance is effectively shortened, the problem of pause and mistake in the garage-out and garage-in process is not prone to occurring, and the driving experience is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to a method for controlling the entry and exit of electric vehicles, a vehicle controller, and an electric vehicle. Background Art

[0002] During the process of parking in or out of the parking space, if the longitudinal distance of the parking space is too small, it will cause great difficulties for the vehicle to park smoothly. During conventional parking, the driver needs to frequently operate the vehicle to switch between forward and reverse gears to move the vehicle, and constantly adjust the steering wheel during the vehicle movement to park the vehicle in or out of the parking space. In this process, parking takes a long time and the operation is cumbersome. It is difficult for the driver to accurately control the dynamics of the vehicle body and cannot fully utilize the parking distance, which leads to a high risk of scratches. Summary of the invention

[0003] The embodiments of the present application provide a control method for electric vehicles entering and exiting a warehouse, a vehicle controller and an electric vehicle, which can assist the driver in accurately controlling the vehicle body dynamics, completing the actions of entering and exiting a warehouse, and effectively reducing the parking distance by coordinating the control of the drive motors of each wheel in the drive system.

[0004] In a first aspect, an embodiment of the present application provides a control method for an electric vehicle to exit a warehouse. The control method is used to control the drive system of the electric vehicle to enable the electric vehicle to exit the warehouse after the user starts the agile exit function of the electric vehicle. The control method includes: at a first moment, controlling the two front wheels of the electric vehicle to turn right; after the first moment, controlling the drive motors of the two front wheels of the electric vehicle to rotate forward and controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be less than a preset speed during the forward rotation of the two front wheels to enable the electric vehicle to exit the warehouse to the right.

[0005] The above method realizes controlling the electric vehicle to move out of the warehouse to the right. Correspondingly, the control method also includes: at a first moment, controlling the two front wheels of the electric vehicle to turn left; after the first moment, controlling the driving motors of the two front wheels of the electric vehicle to rotate forward and controlling the speed of the driving motor of the right rear wheel of the electric vehicle to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle can move out of the warehouse to the left.

[0006] In this embodiment, in the scenario of electric vehicle exiting the warehouse, after the user activates the agile exit function of the electric vehicle, the two front wheels of the electric vehicle can be controlled to turn in the exit direction, and then the speed of the drive motor of the outer rear wheel of the electric vehicle is controlled to be less than the preset speed to lock the outer rear wheel or make the speed of the outer rear wheel close to 0, and the drive motor of the two front wheels of the electric vehicle is controlled to rotate forward to drive the electric vehicle to rotate around the outer rear wheel, so as to realize the exit of the electric vehicle. During the exit process, the agile exit function can assist the driver to accurately control the vehicle body dynamics, effectively reduce the parking distance, and there will be no error problems in the entire exit process, ensuring the driving experience.

[0007] Among them, the right rear wheel of the electric wheel can be in a free state, which can avoid the control of the driving motor of the right rear wheel during the vehicle leaving the warehouse, reducing the complexity of the control logic.

[0008] Since in the above embodiments, the lateral force generated when the driving motors of the two front wheels of the electric vehicle are controlled to rotate forwardly may cause the electric vehicle to be unstable such as dragging or tail swinging. Therefore, in some embodiments, the control method further includes: in the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate forwardly, controlling the driving motor of the right rear wheel of the electric vehicle to rotate reversely.

[0009] In this embodiment, by controlling the drive motor of the right rear wheel of the electric vehicle to rotate in the opposite direction, the lateral force generated by the drive motor of the two front wheels of the electric vehicle when controlling the forward rotation can be balanced, so that the electric vehicle can rotate smoothly around the left rear wheel, avoiding the electric vehicle from experiencing unstable phenomena such as dragging or tail swinging, which makes the electric vehicle unable to leave the warehouse safely.

[0010] In some embodiments, at a first moment, the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle and operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

[0011] In this embodiment, by setting a first preset angle and a preset accelerator pedal opening, when the angle of the steering wheel of the electric vehicle turned to the right is greater than the first preset angle and the opening of the accelerator pedal is greater than the preset accelerator pedal opening, it is considered that the user has a strong intention to exit the warehouse to the right, thereby avoiding the situation in which the difficulty of subsequent exit control increases due to user's accidental touch, and improving the accuracy of the electric vehicle's response to the user's operation of the steering wheel and accelerator pedal.

[0012] In some embodiments, at a first moment, the user first turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, and then operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

[0013] In this embodiment, such a sequential arrangement helps the user to accurately grasp the movement direction of the electric vehicle when operating the accelerator pedal of the electric vehicle to control the movement of the vehicle.

[0014] In some implementations, at a first moment, the user chooses to exit the warehouse to the right.

[0015] In this embodiment, the direction of leaving the warehouse is determined by the user's selection. The electric vehicle automatically controls the two front wheels to turn right according to the user's selection, thereby realizing fully automatic control of the electric vehicle's leaving the warehouse process and improving the driving experience.

[0016] In some embodiments, after the first moment, the drive motors of the two front wheels of the electric vehicle are controlled to rotate forward and the speed of the drive motor of the left rear wheel of the electric vehicle is controlled to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle can move to the right out of the garage. The control method also includes: controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be less than a preset speed.

[0017] In this embodiment, the left rear wheel is first locked by controlling the speed of the driving motor of the left rear wheel of the electric vehicle to be less than a preset speed or the speed of the left rear wheel is controlled to be close to zero, thereby avoiding the unstable phenomenon of dragging or tail swinging of the electric vehicle after controlling the driving motors of the two front wheels of the electric vehicle to rotate forward, which is conducive to the safe exit of the electric vehicle from the warehouse.

[0018] Since the vehicle will exert a force on the left rear wheel when the driving motors of the two front wheels rotate forward and the driving motor of the right rear wheel rotates reversely, the force is generated by controlling the driving motors of the two front wheels to rotate forward. If the force is sufficient to overcome the static friction of the left rear wheel, the left rear wheel will be driven to rotate. Therefore, in some embodiments, the control method further includes: in the process of controlling the rotation speed of the driving motor of the left rear wheel to be less than the preset rotation speed, the torque output by the driving motor of the left rear wheel is controlled to be opposite to the torque output by the driving motors of the two front wheels, and the reverse torque output by the driving motor of the left rear wheel is controlled to increase with the increase of the torque output by the driving motors of the two front wheels.

[0019] In this embodiment, a torque in the opposite direction to the torque output by the driving motors of the two front wheels is given to the left rear wheel that is driven by the rotation of the two front wheels, and the torque increases with the increase of the torque output by the driving motors of the two front wheels, and decreases with the decrease of the torque, thereby offsetting the force applied to the left rear wheel when the vehicle moves, thereby locking the left rear wheel.

[0020] When the electric vehicle is moving out of the garage to the right, the electric vehicle turns right. Since the travel of the left front wheel is greater than that of the right front wheel in the same driving time, in some embodiments, the control method further includes: when the electric vehicle is moving out of the garage to the right, controlling the speed of the drive motor of the left front wheel of the electric vehicle to be greater than the speed of the drive motor of the right front wheel.

[0021] In this embodiment, by controlling the rotation speed of the driving motor of the left front wheel to be greater than the rotation speed of the driving motor of the right front wheel, the vehicle can smoothly rotate clockwise and exit the garage to the right.

[0022] In some embodiments, the control method also includes: at a second moment after the first moment, controlling the speed of the drive motors of the two front wheels to increase from zero to a preset speed at a first rate so that the electric vehicle can move out of the garage to the right; at a third moment after the second moment, during the process of the electric vehicle moving out of the garage to the right, in response to the opening of the brake pedal of the electric vehicle being greater than the preset opening, controlling the speed of the drive motors of the two front wheels to decrease to zero at a second rate less than the first rate.

[0023] In this embodiment, the driving motors of the two front wheels are controlled to increase the speed at a relatively high rate to achieve the effect of launching the vehicle, thereby shortening the time delay between the user's operation and the start of the movement of the electric vehicle. After the electric vehicle has completed or is about to complete the right exit, the driving motors of the two front wheels are controlled to reduce the speed at a relatively high rate to achieve a smooth parking effect, thereby improving the driving experience.

[0024] In some embodiments, the control method also includes: during the process of the electric vehicle moving out of the warehouse to the right, when the slip rate of the electric vehicle is greater than a first preset slip rate, controlling the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel to decrease; during the process of the electric vehicle moving out of the warehouse to the right, when the slip rate of the electric vehicle is less than a second preset slip rate, controlling the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel to increase, wherein the first preset slip rate is greater than the second preset slip rate.

[0025] In this embodiment, the first preset slip ratio and the second preset slip ratio are set to control the torque output by the drive motors of the two front wheels to the drive motors of the two front wheels and the right rear wheel, thereby achieving closed-loop control of the vehicle wheel speed. At the same time, the utilization rate of the torque output by the drive motor is improved and wheel slippage and loss of control are avoided, thereby improving the stability and controllability of the electric vehicle during the process of leaving the warehouse.

[0026] In some embodiments, the control method further includes: when the electric vehicle is moving to the right out of the garage, when the distance between the electric vehicle and an obstacle or the distance between the electric vehicle and other vehicles is less than a preset distance, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0027] In this embodiment, by setting a preset distance, it is avoided that the distance between the electric vehicle and obstacles or other vehicles is too small when the electric vehicle is moving out of the warehouse to the right, and the electric vehicle continues to move out of the warehouse causing a collision with the obstacles or other vehicles, thereby improving driving safety.

[0028] In some embodiments, the control method further includes: during the process of the electric vehicle moving out of the garage to the right, in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0029] In this embodiment, by setting a preset brake pedal opening, when the brake pedal opening is greater than the preset brake pedal opening, it can be considered that the user has a strong intention to exit the warehouse to the right, thereby avoiding the situation where the subsequent exit control becomes more difficult due to user's accidental touch, and improving the accuracy of the electric vehicle's response to the user's operation of the brake pedal.

[0030] In some embodiments, the control method further includes: when the electric vehicle is moving to the right out of the garage, in response to the user returning the steering wheel angle to less than a second preset angle, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0031] In this embodiment, by setting the second preset angle, it is avoided that the user accidentally touches the steering wheel but triggers the exit of the agile exit function without actually intending to exit the function, resulting in increased difficulty in subsequent exit control, thereby improving the driving experience.

[0032] In some embodiments, the control method further includes: in the process of the electric vehicle moving out of the garage to the right, in response to the electric vehicle having a posture being a preset posture, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0033] In this embodiment, by setting a preset posture, it is possible to avoid triggering the exit of the agile exit function when the electric vehicle has not yet completed the exit or has not yet left the warehouse until the user can complete the exit with simple operations, thereby increasing the difficulty of subsequent exit control, thereby improving the driving experience.

[0034] In a second aspect, an embodiment of the present application provides a control method for an electric vehicle to enter a warehouse. The control method is used to control the drive system of the electric vehicle to enable the electric vehicle to exit the warehouse after the user starts the agile entry function of the electric vehicle. The control method includes: at a first moment, controlling the two front wheels of the electric vehicle to turn right; after the first moment, controlling the drive motors of the two front wheels of the electric vehicle to rotate in the opposite direction and controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be less than a preset speed during the process of controlling the drive motors of the two front wheels of the electric vehicle to rotate in the opposite direction so that the electric vehicle can enter the warehouse to the left.

[0035] The above method realizes controlling the electric vehicle to enter the garage to the left. Correspondingly, the control method also includes: at a first moment, controlling the two front wheels of the electric vehicle to turn left; after the first moment, controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction and controlling the speed of the driving motor of the right rear wheel of the electric vehicle to be less than a preset speed during the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction so that the electric vehicle can enter the garage to the right.

[0036] In this embodiment, in the electric vehicle parking scene, after the user starts the agile parking function of the electric vehicle, the two front wheels of the electric vehicle are controlled to rotate in the opposite direction of the parking direction of the electric vehicle, and then the speed of the driving motor of the outer rear wheel of the electric vehicle is controlled to be less than the preset speed to lock the outer rear wheel or make the speed of the outer rear wheel close to 0, so that the driving motor of the two front wheels of the electric vehicle is controlled to rotate in the opposite direction to drive the electric vehicle to rotate around the outer rear wheel, so as to realize the parking of the electric vehicle. During the parking process, the agile parking function can assist the driver to accurately control the vehicle body dynamics, effectively reduce the parking distance, and there will be no error problems in the entire parking process, ensuring the driving experience.

[0037] Among them, the right rear wheel of the electric wheel can be in a free state, which can avoid the control of the driving motor of the right rear wheel during the vehicle entering the warehouse, reducing the complexity of the control logic.

[0038] Since in the above embodiments, the lateral force generated when the driving motors of the two front wheels of the electric vehicle are controlled to rotate in the opposite direction may cause the electric vehicle to be unstable such as dragging or tail swinging, in some embodiments, the control method further includes: in the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction, controlling the driving motor of the right rear wheel of the electric vehicle to rotate in the forward direction.

[0039] In this embodiment, by controlling the drive motor of the right rear wheel of the electric vehicle to rotate forward, the lateral force generated by controlling the drive motor of the two front wheels of the electric vehicle to rotate reversely can be balanced, so that the electric vehicle can rotate smoothly around the left rear wheel, avoiding the electric vehicle from experiencing unstable phenomena such as dragging or tail swinging, which may cause the electric vehicle to be unable to be safely stored.

[0040] In some embodiments, the control method further includes: when the electric vehicle is entering a garage to the left, in response to the electric vehicle having a posture being a preset posture, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0041] In this embodiment, by setting a preset posture, it is possible to avoid triggering the exit of the agile exit function when the electric vehicle has not yet completed warehousing or has not yet entered the warehousing until the user can complete the warehousing with simple operations, thereby increasing the difficulty of subsequent warehousing control, thereby improving the driving experience.

[0042] In a third aspect, an embodiment of the present application provides a vehicle controller, which is used to execute a vehicle control method as described in any one of the embodiments of the first aspect and the second aspect.

[0043] In a fourth aspect, an embodiment of the present application provides an electric vehicle, which includes a vehicle controller as in the third aspect.

[0044] As for the supplementary and technical effects of the solutions provided in the third and fourth aspects above, please refer to the corresponding descriptions of the first and second aspects and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of an electric vehicle 100 provided in an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of the architecture of an electric vehicle 100 provided in an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of a user manually activating an agile parking-out function provided in an embodiment of the present application;

[0048] Figure 4 is a schematic diagram of a control process of a driving system of an electric vehicle 100 provided in an embodiment of the present application;

[0049] Figure 5 It is a schematic diagram of a scene in which an electric vehicle 100 is moving out of a warehouse to the right provided by an embodiment of the present application;

[0050] Figure 6 It is a timing diagram of the electric vehicle 100 leaving the warehouse provided in the embodiment of the present application;

[0051] Figure 7 It is a flow chart of a control method for an electric vehicle leaving a warehouse provided in an embodiment of the present application;

[0052] Figure 8 is a schematic diagram of a scene in which an electric vehicle 100 enters a warehouse to the left provided by an embodiment of the present application;

[0053] Fig. 9 It is a flow chart of a control method for electric vehicle storage provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0055] The prefixes such as "first" and "second" used in the embodiments of the present application are only used to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers used to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0056] During the process of parking in or out of the parking space, if the longitudinal distance of the parking space is too small, it will cause great difficulties for the vehicle to park smoothly. During conventional parking, the driver needs to frequently operate the vehicle to switch between forward and reverse gears to move the vehicle, and constantly adjust the steering wheel during the vehicle movement to park the vehicle in or out of the parking space. In this process, parking takes a long time and the operation is cumbersome. It is difficult for the driver to accurately control the dynamics of the vehicle body and cannot fully utilize the parking distance, which leads to a high risk of scratches.

[0057] In some embodiments, it is proposed to coordinate the control of the drive system and the brake system to accurately control the vehicle body dynamics, so that the vehicle body moves in a pendulum-like manner during the process of entering and exiting the garage, and the entry and exit are completed, which can effectively reduce the parking distance. However, in this method, the brake system needs to brake one rear wheel, and then control the drive system to drive other wheels to perform pendulum motion around the rear wheel, so as to control the vehicle to enter and exit the garage. In this process, the brake system intervenes in the control of the rear wheel and exits the control of the rear wheel, which is prone to setbacks, affecting the driving experience.

[0058] In view of this, the embodiments of the present application provide a control method for electric vehicles entering and exiting a warehouse, a vehicle controller and an electric vehicle. Through the coordinated control of the drive motors of each wheel in the drive system, the driver is assisted in accurately controlling the dynamics of the vehicle body, completing the actions of entering and exiting the warehouse, effectively reducing the parking distance, and less prone to errors during the process of entering and exiting the warehouse, thereby ensuring the driving experience.

[0059] See also Figure 1 , Figure 1 FIG. 1 shows a schematic diagram of an electric vehicle 100 provided in an embodiment of the present application. Figure 1 As shown, the electric vehicle 100 includes a drive system 110, a power battery 120 connected to the drive system 110, and a vehicle controller 130. The drive system 110 is used to drive the electric vehicle 100. The power battery 120 is used to provide electrical energy to the drive system 110. The drive system 110 is used to receive power from the power battery 120 and provide power to the electric vehicle 100. The vehicle controller 130 is used to control the drive system 110.

[0060] Optionally, the electric vehicle 100 further includes a braking system 140, and the braking system 140 is used to provide braking force for the electric vehicle 100 when the electric vehicle 100 is in a braking state. The drive system 110 may also be referred to as a powertrain.

[0061] According to the position of the wheels in the electric vehicle 100, they can be divided into a left front wheel FL, a right front wheel FR, a left rear wheel BL, and a right rear wheel BR. According to the axle, the left front wheel and the right front wheel are coaxial and connected by the front axle. The left rear wheel and the right rear wheel are coaxial and connected by the rear axle. According to the position, the left front wheel and the left rear wheel are on the same side and located on the left side, and the right front wheel and the right rear wheel are on the same side and located on the right side. That is to say, among the four wheels of the electric vehicle 100, the left front wheel and the right front wheel are coaxial wheels with each other, and the left rear wheel and the right rear wheel are coaxial wheels with each other; the left front wheel and the left rear wheel are wheels on the same side, and the right front wheel and the right rear wheel are wheels on the same side.

[0062] The electric vehicle 100 in the embodiment of the present application can be any one of different types of vehicles such as a sedan, a truck, a passenger bus, etc., and can also be a transport device for carrying people or goods such as a tricycle, a two-wheeled vehicle, a train, or other types of vehicles driven by power batteries, which are not limited in the embodiment of the present application. Among them, the vehicle includes but is not limited to a pure electric vehicle (pure electric vehicle / battery electric vehicle, pure EV / batteryEV), a hybrid electric vehicle (hybrid electric vehicle, HEV), a range extended electric vehicle (range extended electric vehicle, REEV), a plug-in hybrid electric vehicle (plug-in hybrid electric vehicle, PHEV), a new energy vehicle (new energy vehicle, NEV), etc.

[0063] The embodiment of the present application does not limit the specific type of the powertrain. As an example and not a limitation, the powertrain can be a centralized powertrain, a hub motor powertrain, or a wheel-side motor powertrain. Among them, the hub motor powertrain is to directly set the motor and the reducer in the wheel rim, eliminating the transmission components such as the half shaft, universal joint, differential, and transmission; the wheel-side motor powertrain is to set the motor on the subframe.

[0064] The power battery 120 in the embodiment of the present application can be a lithium-ion battery, a lithium metal battery, a lead-acid battery, a nickel-cadmium battery, a nickel-hydrogen battery, a lithium-sulfur battery, a lithium-air battery or a sodium-ion battery, etc., which is not limited in the present application. In terms of scale, the power battery 120 in the embodiment of the present application can be a single cell, or a battery module or a battery pack, which is not limited in the present application. The power battery 120 can also power other electrical devices in the vehicle, such as the air conditioner in the vehicle, the car player, etc.

[0065] Figure 2 A schematic diagram of the architecture of an electric vehicle 100 provided in an embodiment of the present application is shown.

[0066] See also Figure 2 (a) The electric vehicle 100 is a three-wheel drive vehicle, and the drive system 110 includes a drive motor 111 for two front wheels and a motor controller 121 for the drive motor 111, a drive motor 112 for the left rear wheel and a motor controller 122 for the drive motor 112, and a drive motor 113 for the right rear wheel and a motor controller 123 for the drive motor 113.

[0067] The drive motor 111, the drive motor 112 and the drive motor 113 each include a stator winding and a rotor ( Figure 2 (not shown). The motor controller of each drive motor can change the stator magnetic field strength and direction by adjusting the magnitude of the stator winding current and the phase of the three-phase current, thereby changing the interaction force between the stator and the rotor, that is, the motor torque. Among them, the motor controller of each drive motor changes the phase of the three-phase current output to the drive motor, so that the rotor cuts the magnetic field generated by the stator winding, and the kinetic energy of the rotor is converted into electrical energy and input into the power battery. At this time, each drive motor outputs a negative torque. At the same time, the motor controller of each drive motor can also change the magnitude of the three-phase current output to the drive motor, thereby increasing or decreasing the positive torque or negative torque output by the drive motor. Among them, when the drive motor outputs a positive torque, the wheel connected to the drive motor rotates forward, so that the electric vehicle 100 obtains a speed of driving forward in the direction of the front of the vehicle or a trend of driving forward in the direction of the front of the vehicle. When the drive motor outputs a negative torque, the wheel connected to the drive motor rotates in the opposite direction, so that the electric vehicle 100 obtains a speed of driving backward in the direction of the rear of the vehicle or a trend of driving backward in the direction of the rear of the vehicle.

[0068] When the electric vehicle 100 is in the driving state, each drive motor in the drive system 110 is used to provide driving force for the electric vehicle 100. Specifically, when the electric vehicle 100 is in the driving state, the vehicle controller 130 calculates the torque demand of the electric vehicle according to the accelerator pedal movement state indicated by the pedal signal and outputs a torque signal to the motor controller of each drive motor. Each motor controller receives a torque signal from the power battery 120 (such as Figure 1The electric energy (as shown) is used to control the corresponding drive motor to output the torque indicated by the torque signal.

[0069] Continue to refer Figure 2 (a) in the figure, the braking system 140 mainly includes a brake pedal ( Figure 2 (a) (not shown), a brake controller 141 and four wheel-end brake devices 142. Among them, the brake controller 141 can generate a brake signal based on the opening of the brake pedal, and control one or more of the four wheel-end brake devices 142 to output a braking force to the corresponding wheel based on the indication of the brake signal to prevent the wheel from rotating or prevent the tendency of the wheel to rotate. Furthermore, during the braking process of the electric vehicle 100, the greater the opening of the brake pedal, the greater the braking force indicated by the brake signal, the greater the braking force output by the wheel-end brake device 142, and the faster the speed of the electric vehicle 100 decreases.

[0070] The brake in the braking system 140 in the embodiment of the present application may be an electronic hydraulic brake (EHB) or an electronic mechanical brake (EMB) or other types of brakes without limitation.

[0071] When the electric vehicle 100 is in a braking state, the drive system 110 stops driving the wheels to rotate, and the brake system 140 provides braking force to the wheels so that the electric vehicle 100 reduces its speed under the action of the braking force. In the braking state of the electric vehicle 100, each drive motor in the electric vehicle 100 with an energy recovery function can also be used to provide braking force for the electric vehicle 100. Specifically, when the electric vehicle 100 is in a braking state, the vehicle controller 130 receives a braking signal and sends an energy recovery instruction to each motor controller. Each motor controller controls the corresponding drive motor to operate in a power generation state in response to the energy recovery instruction. Each drive motor converts the kinetic energy of the wheels of the electric vehicle into electrical energy and outputs a negative torque to the wheels of the electric vehicle 100 to provide braking force to the electric vehicle 100.

[0072] Among them, the drive system 110, the brake system 140 and the vehicle controller 130 are communicatively connected via a CAN network, and the embodiments of the present application do not limit the specific communication connection method. For example, the motor controller in the drive system 110 and the vehicle controller 130 can communicate through a private CAN network, the brake controller 141 of the brake system 140 and the vehicle controller 130 can communicate through a public CAN network, and the brake controller 141 and each wheel-end brake device 142 can communicate through another private CAN network. For another example, the vehicle controller 130 can communicate with the motor controller in the drive system 110 and the brake controller 141 in the brake system 140 through the same CAN network.

[0073] In some embodiments, the vehicle controller 130 can also obtain a driving mode signal through the CAN network, where the driving mode signal is used to indicate the current driving mode of the electric vehicle 100. For example, the driving mode may include one or more of a sports mode, a comfort mode, and an intelligent mode.

[0074] In some embodiments, the vehicle controller 130 may also obtain a vehicle gear signal through a CAN network, where the vehicle gear signal is used to indicate the current gear of the electric vehicle 100 . For example, the gear may include a forward gear, a reverse gear, etc.

[0075] See also Figure 2 (b) The electric vehicle 100 is a four-wheel drive vehicle, and the drive system 110 includes a drive motor 114 for the left front wheel and a motor controller 124 for the drive motor 114, a drive motor 115 for the right front wheel and a motor controller 125 for the drive motor 115, a drive motor 112 for the left rear wheel and a motor controller 122 for the drive motor 112, and a drive motor 113 for the right rear wheel and a motor controller 123 for the drive motor 113.

[0076] The magnitude and / or direction of the driving force output by each drive motor to the corresponding wheel may be the same or different. For example, the drive motor 113 and the drive motor 116 may respectively drive the left front wheel and the right rear wheel to rotate in opposite directions.

[0077] The above describes the architecture of the embodiment of the present application. The following describes the control method for electric vehicle entry and exit provided by the present application in conjunction with a specific embodiment.

[0078] It should be noted that the control method provided in the embodiment of the present application is used to control the drive system of the electric vehicle after the user starts the agile outbound / inbound function of the electric vehicle to realize the inbound and outbound of the electric vehicle.

[0079] The embodiment of the present application provides a control method for an electric vehicle to exit a warehouse, which is used to control the electric vehicle to exit the warehouse to the right. The control method includes: at a first moment, controlling the two front wheels of the electric vehicle to turn right. After the first moment, controlling the driving motors of the two front wheels of the electric vehicle to rotate forward, and controlling the speed of the driving motor of the left rear wheel of the electric vehicle to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle exits the warehouse to the right.

[0080] Similar to controlling the electric vehicle to exit the warehouse to the right, the control method for an electric vehicle exiting the warehouse provided in an embodiment of the present application is used to control the electric vehicle to exit the warehouse to the left, and the control method further includes: at a first moment, controlling the two front wheels of the electric vehicle to turn left. After the first moment, controlling the driving motors of the two front wheels of the electric vehicle to rotate forward and controlling the speed of the driving motor of the right rear wheel of the electric vehicle to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle exits the warehouse to the left.

[0081] The control method for electric vehicle exit provided by the embodiment of the present application can control the two front wheels of the electric vehicle to turn in the exit direction after the user starts the agile exit function of the electric vehicle in the scenario of electric vehicle exit, and then control the speed of the drive motor of the outer rear wheel of the electric vehicle to be less than the preset speed to lock the outer rear wheel or make the speed of the outer rear wheel close to 0, and control the drive motor of the two front wheels of the electric vehicle to rotate forward to drive the electric vehicle to rotate around the outer rear wheel, so as to realize the exit of the electric vehicle. During the exit process, the agile exit function can assist the driver to accurately control the vehicle body dynamics, effectively reduce the parking distance, and there will be no error problems in the entire exit process, ensuring the driving experience.

[0082] The embodiment of the present application provides a control method for electric vehicle entering a warehouse, which is used to control the electric vehicle to enter the warehouse to the left. The control method includes: at a first moment, controlling the two front wheels of the electric vehicle to turn right. After the first moment, controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction, and in the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction, controlling the speed of the driving motor of the right rear wheel of the electric vehicle to be less than a preset speed so that the electric vehicle enters the warehouse to the left.

[0083] Similar to controlling the electric vehicle to enter a warehouse to the left, an embodiment of the present application provides a control method for controlling the electric vehicle to enter a warehouse to the right, and the control method further includes: at a first moment, controlling the two front wheels of the electric vehicle to turn left. After the first moment, controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction, and in the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction, controlling the speed of the driving motor of the left rear wheel of the electric vehicle to be less than a preset speed so that the electric vehicle enters the warehouse to the right.

[0084] The control method for electric vehicle parking provided in the embodiment of the present application can control the two front wheels of the electric vehicle to rotate in the opposite direction of the parking direction of the electric vehicle after the user starts the agile parking function of the electric vehicle, and then control the speed of the driving motor of the outer rear wheel of the electric vehicle to be less than the preset speed to lock the outer rear wheel or make the speed of the outer rear wheel close to 0, so that the driving motor of the two front wheels of the electric vehicle is controlled to rotate in the opposite direction to drive the electric vehicle to rotate around the outer rear wheel, so as to realize the parking of the electric vehicle. During the parking process, the agile parking function can assist the driver to accurately control the dynamics of the vehicle body, effectively reduce the parking distance, and there will be no error problems in the entire parking process, ensuring the driving experience.

[0085] That is to say, the control method provided in the embodiment of the present application can support the electric vehicle to exit the warehouse to the left, exit the warehouse to the right, enter the warehouse to the left, and enter the warehouse to the right.

[0086] Furthermore, the control method for electric vehicle entering and exiting a garage provided in the above embodiment only requires that the two rear wheels of the electric vehicle can be controlled by a drive motor respectively, and does not require whether the two front wheels are controlled by the same drive motor or by separate drive motors.

[0087] In the control method for electric vehicle exiting the warehouse provided in the embodiment of the present application, taking a three-wheel drive electric vehicle as an example, the process of controlling the drive system of the electric vehicle to make the electric vehicle exit the warehouse to the right is described in detail. The process of controlling the drive system of the electric vehicle to make the electric vehicle exit the warehouse to the left is the opposite side of the process described in the embodiment of the present application, and will not be repeated here.

[0088] The control method for an electric vehicle to leave a warehouse provided in an embodiment of the present application includes the following steps:

[0089] S1. The user starts the agile outbound function of the electric vehicle.

[0090] In some embodiments, Figure 3 As shown, the user starts the agile outbound function of the electric vehicle including: the user clicks the agile outbound function button on the central control screen of the electric vehicle. Alternatively, the user clicks the agile outbound function button physically set in the cockpit of the electric vehicle.

[0091] In this embodiment, the user can activate the agile exit function of the electric vehicle through a shortcut button, which is easy to operate.

[0092] In some embodiments, the user starts the vehicle agile exit function including: the user turns the steering wheel of the vehicle at an angle greater than a preset angle and operates the driving pedal of the vehicle. In other words, the user does not need to operate the central control screen or press an activation button, but only needs to turn the steering wheel and operate the driving pedal of the electric vehicle to start the agile exit function.

[0093] After the user starts the agile outbound function, the electric vehicle is controlled to leave the warehouse, otherwise, the electric vehicle does not enter the agile outbound function.

[0094] S2. Control the electric vehicle to leave the warehouse.

[0095] Among them, the scenarios of controlling the electric vehicle to leave the warehouse include controlling the electric vehicle to leave the warehouse to the right and controlling the electric vehicle to leave the warehouse to the left.

[0096] Taking controlling an electric vehicle to move out of a warehouse to the right as an example, in an embodiment of the present application, a control method for moving an electric vehicle out of a warehouse includes: at a first moment, controlling the two front wheels of the electric vehicle to turn right; after the first moment, controlling the drive motors of the two front wheels of the electric vehicle to rotate forward and controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle moves out of the warehouse to the right.

[0097] The maximum speed of the drive motor of the left rear wheel cannot be equal to the preset speed. The preset speed is a very small value. The purpose of setting the preset speed is to lock the left rear wheel or control the speed of the left rear wheel to be close to 0, and control the drive motors of other wheels to drive other wheels to drive the electric vehicle to rotate so that the electric vehicle rotates around the left rear wheel.

[0098] It should be noted that the control of the drive motor is usually torque control. When the speed of the drive motor controlling the left rear wheel is less than a preset speed, the torque control of the drive motor of the left rear wheel needs to be switched to speed control.

[0099] When the electric vehicle is out of the warehouse, the user needs to operate the gear of the electric vehicle to the forward gear (D gear). In some embodiments, the user can be prompted to engage the D gear through the central control screen, which is easy to operate.

[0100] In this process, the two front wheels of the electric vehicle are controlled to turn right, and then the speed of the driving motor of the left rear wheel of the electric vehicle is controlled to be less than the preset speed to lock the left rear wheel or make the speed of the left rear wheel close to 0, and the driving motor of the two front wheels of the electric vehicle is controlled to rotate forward to drive the electric vehicle to rotate clockwise around the left rear wheel, so as to realize the electric vehicle out of the warehouse. During the out-of-warehouse process, the agile out-of-warehouse function can assist the driver to accurately control the vehicle body dynamics, effectively reduce the parking distance, and there will be no error problems in the entire out-of-warehouse process, ensuring the driving experience.

[0101] Correspondingly, in the process of controlling the electric vehicle to leave the warehouse to the left, the two front wheels of the electric vehicle are controlled to turn left, and then the speed of the right rear wheel drive motor of the electric vehicle is controlled to be lower than the preset speed to lock the right rear wheel or make the speed of the right rear wheel close to 0, and the drive motors of the two front wheels of the electric vehicle are controlled to rotate forward to drive the electric vehicle to rotate counterclockwise around the right rear wheel, thereby enabling the electric vehicle to leave the warehouse.

[0102] In some implementations, at a first moment, the user chooses to exit the warehouse to the right.

[0103] The user can select to exit the warehouse to the right in the central control screen of the electric vehicle, or select to exit the warehouse to the right in a terminal device connected to the electric vehicle by wire or wirelessly.

[0104] In this embodiment, the direction of leaving the warehouse is determined by the user's selection. The electric vehicle automatically controls the two front wheels to turn right according to the user's selection. During the whole process, the user does not need to turn the steering wheel, and even does not need the user to be in the cockpit. This realizes fully automatic control of the electric vehicle's leaving the warehouse process and improves the driving experience.

[0105] In other embodiments, at a first moment, the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle and operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

[0106] Among them, the first preset angle is the angle that the user needs to reach when turning the steering wheel, which is a larger angle, which can be 500 degrees, 520 degrees, etc. The embodiment of the present application does not limit the specific value of the first preset angle.

[0107] When the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, it can be considered that the user has a strong intention to exit the garage to the right, and the two front wheels of the electric vehicle are controlled to turn right.

[0108] When the angle at which the user turns the steering wheel of the electric vehicle to the right is less than or equal to the first preset angle, it can be considered that the user's intention to exit the garage to the right is not strong enough, and the two front wheels are not controlled to turn right.

[0109] In this embodiment, by setting the first preset angle, it is possible to avoid the situation where, after the agile exit function is activated, the user turns the steering wheel but has no intention of exiting the warehouse, or turns the steering wheel in the wrong direction, which makes subsequent exit control more difficult. This improves the accuracy of the electric vehicle's response to the user's steering wheel operation and improves the driving experience.

[0110] Among them, the preset accelerator pedal opening is the opening required to control the forward rotation of the drive motor of the two front wheels and the reverse rotation of the drive motor of the right rear wheel. The preset opening can be 20%, 25%, etc., and can be a smaller value. The embodiment of the present application does not limit the specific value of the preset accelerator pedal opening.

[0111] When the user operates the accelerator pedal and the opening of the accelerator pedal increases to a value greater than the preset accelerator pedal opening, it can be considered that the user has a strong intention to exit the garage to the right, and expects to control the drive motors of the two front wheels to rotate forward and control the speed of the drive motor of the left rear wheel of the electric vehicle to be less than the preset speed during the forward rotation of the two front wheels so that the electric vehicle can exit the garage to the right.

[0112] When the opening of the accelerator pedal is less than or equal to the first preset opening, it can be considered that the user's intention to exit the garage to the right is not strong enough, and it is not expected to control the drive motors of the two front wheels to rotate forward and control the speed of the drive motor of the left rear wheel of the electric vehicle to be less than the preset speed during the forward rotation of the two front wheels to allow the electric vehicle to exit the garage to the right.

[0113] In this embodiment, by setting a first preset angle and a preset accelerator pedal opening, when the angle of the steering wheel of the electric vehicle turned to the right is greater than the first preset angle and the opening of the accelerator pedal is greater than the preset accelerator pedal opening, it is considered that the user has a strong intention to exit the warehouse to the right, thereby avoiding the situation in which the difficulty of subsequent exit control increases due to user's accidental touch, and improving the accuracy of the electric vehicle's response to the user's operation of the steering wheel and accelerator pedal.

[0114] Further, at a first moment, the user first turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, and then operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

[0115] In this embodiment, such a sequential arrangement helps the user to accurately grasp the movement direction of the electric vehicle when operating the accelerator pedal of the electric vehicle to control the movement of the vehicle.

[0116] In some embodiments, after the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, the rotation speed of the drive motor controlling the left rear wheel of the electric vehicle is less than a preset rotation speed.

[0117] For easier understanding, see Figure 4 , Figure 4 FIG. 1 is a schematic diagram showing a control process of the driving system of the electric vehicle 100 after the agile exit function is activated. Figure 2 Take the three-wheel drive model shown in (a) as an example.

[0118] After the user turns the steering wheel, Figure 4 As shown, the body sensor of the electric vehicle 100 sends the detected steering wheel angle signal to the vehicle controller. If the steering wheel angle signal indicates that the angle of turning the steering wheel to the right is greater than the first preset angle, the vehicle controller controls the two front wheels to turn right.

[0119] At the same time, the vehicle controller sends a torque / speed control signal and a torque / speed command signal to the motor controller 122 of the drive motor 112 of the left rear wheel, so that the motor controller 122 controls the drive motor 112 according to the torque / speed control signal and the torque / speed command signal.

[0120] Here, the torque / speed control signal indicates that the drive motor 112 is speed controlled, and the torque / speed command signal indicates that the speed of the speed control is 0.

[0121] It is understandable that the torque / speed control signal and the torque / speed command signal can be the same signal, and the value of a specific digit of the signal is used to determine whether the drive motor is under torque control or speed control, as well as the specific torque or speed under torque control or speed control.

[0122] After the user operates the accelerator pedal, Figure 4 As shown, the body sensor of the electric vehicle 100 sends the detected pedal signal to the vehicle controller. If the accelerator pedal opening indicated by the pedal signal is greater than the preset accelerator pedal opening, the vehicle controller sends a torque / speed control signal and a torque / speed command signal to the motor controller 121 of the drive motor 111 of the two front wheels, so that the motor controller 121 controls the drive motor 111 to rotate forward according to the torque / speed control signal and the torque / speed command signal.

[0123] The torque / speed control signal here indicates that the drive motor 112 is torque controlled, and the torque / speed command signal indicates the torque of the torque control, and the torque / speed command signal here is a positive torque / speed command signal. The torque of the torque control indicated by the torque / speed command signal is determined according to the opening of the accelerator pedal indicated by the pedal signal.

[0124] In this embodiment, the left rear wheel is first locked by controlling the speed of the driving motor of the left rear wheel of the electric vehicle to be less than a preset speed or the speed of the left rear wheel is controlled to be close to 0, so as to avoid the electric vehicle from dragging or skidding after the driving motors of the two front wheels of the electric vehicle are controlled to rotate forward, which makes it impossible for the electric vehicle to leave the warehouse safely.

[0125] After the first moment, while the driving motors controlling the two front wheels of the electric vehicle are being controlled to rotate forward, the driving motor of the right rear wheel of the electric vehicle is controlled to rotate reversely.

[0126] exist Figure 4 As shown, after the user operates the accelerator pedal, the vehicle controller also sends a torque / speed control signal and a torque / speed command signal to the motor controller 123 of the drive motor 113 of the right rear wheel, so that the motor controller 123 controls the drive motor 113 to rotate in the opposite direction according to the torque / speed control signal and the torque / speed command signal.

[0127] The torque / speed control signal here indicates that the drive motor 113 is in torque control, and the torque / speed command signal indicates the torque value of the torque control. The torque / speed command signal here is a negative torque / speed command signal.

[0128] exist Figure 4 In the process of controlling the forward rotation of the drive motor 111 and the reverse rotation of the drive motor 113, the vehicle controller periodically receives the actual speed signal and the actual torque signal returned by the motor controller 121, the motor controller 122 and the motor controller 123 to monitor the actual speed and actual torque of the drive motor 111, the drive motor 112 and the drive motor 113 when the electric vehicle moves out of the warehouse to the right.

[0129] At the same time, the vehicle controller also periodically sends a torque / speed command signal to the motor controller 122 so that the motor controller 122 controls the speed of the drive motor 112 to be 0.

[0130] During this process, controlling the drive motor of the right rear wheel to rotate in the opposite direction can balance the lateral force generated by the drive motor of the two front wheels of the electric vehicle rotating forward, allowing the electric vehicle to rotate smoothly around the left rear wheel, avoiding unstable phenomena such as dragging or tail-swinging, which may make the electric vehicle unable to leave the warehouse safely.

[0131] In some embodiments, during the process of the electric vehicle moving out of the garage to the right, when the opening of the accelerator pedal is greater than or equal to the first preset opening and less than the third preset opening, the torque output by the drive motor controlling the two front wheels and the drive motor controlling the right rear wheel increases with the increase of the opening of the accelerator pedal; when the opening of the accelerator pedal is greater than or equal to the third preset opening, the torque output by the drive motor controlling the two front wheels and the drive motor controlling the right rear wheel is less than the preset torque.

[0132] The third preset opening is a larger value and is greater than the first preset opening. When the opening of the accelerator pedal is greater than or equal to the second preset opening, it can be considered that the driving torque output by the driving motors of the two front wheels and the right rear wheel is greater than or equal to the preset torque.

[0133] Among them, the preset torque can be any torque output under the capacity limit of the drive motor of each wheel, and can be specifically determined according to the parking space conditions and the model of the electric vehicle to ensure that the electric vehicle is controllable when the drive motor drives the wheels according to the preset torque.

[0134] During this process, the third preset opening is set to control the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel to be less than the preset torque, so as to ensure the smooth and controllable driving of the electric vehicle during the outbound transportation process and improve the driving experience.

[0135] Further, the torque output by the driving motors controlling the two front wheels is smaller than the first preset torque, and the torque output by the driving motor controlling the right rear wheel is smaller than the second preset torque.

[0136] Wherein, the first preset torque is greater than or equal to the second preset torque.

[0137] In some embodiments, before controlling the driving motors of the two front wheels of the electric vehicle to rotate forward and controlling the speed of the driving motor of the left rear wheel of the electric vehicle to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle can move to the right out of the garage, the control method also includes: controlling the speed of the driving motor of the left rear wheel of the electric vehicle to be less than a preset speed.

[0138] During actual use, after the user turns the steering wheel of the electric vehicle to the right at an angle greater than a first preset angle, the speed of the drive motor of the left rear wheel of the electric vehicle can be controlled to be less than a preset speed; after the user operates the accelerator pedal of the electric vehicle to an opening greater than the preset accelerator pedal opening, the drive motors of the two front wheels of the electric vehicle are controlled to rotate forward and during the forward rotation of the two front wheels, the speed of the drive motor of the left rear wheel of the electric vehicle is controlled to be less than the preset speed to enable the electric vehicle to move to the right out of the warehouse.

[0139] In this embodiment, such an arrangement avoids the unstable phenomenon of the electric vehicle such as dragging and tail swinging when the driving motors controlling the two front wheels of the electric vehicle rotate forward, which is conducive to the safe exit of the electric vehicle.

[0140] As the drive motors of the two front wheels rotate forward and the drive motor of the right rear wheel rotates reversely, a force will be applied to the left rear wheel when the vehicle moves or tends to move. This force is generated by controlling the forward rotation of the drive motors of the two front wheels. If this force is sufficient to overcome the static friction of the left rear wheel, the left rear wheel will be driven to rotate.

[0141] Therefore, in some embodiments, the control method also includes: in the process of controlling the speed of the drive motor of the left rear wheel to be less than a preset speed, controlling the torque output by the drive motor of the left rear wheel to be in opposite directions to the torque output by the drive motors of the two front wheels and controlling the reverse torque output by the drive motor of the left rear wheel to increase as the torque output by the drive motors of the two front wheels increases.

[0142] In this embodiment, a torque in the opposite direction to the torque output by the driving motors of the two front wheels is given to the left rear wheel that is driven by the rotation of the two front wheels, and the torque increases with the increase of the torque output by the driving motors of the two front wheels, and decreases with the decrease of the torque, thereby offsetting the force applied to the left rear wheel when the vehicle moves, thereby locking the left rear wheel.

[0143] If the force is insufficient to overcome the static friction of the left rear wheel, in some embodiments, a speed control instruction is periodically sent to the drive motor of the left rear wheel to control the speed of the drive motor of the left rear wheel to be less than a preset speed. Preferably, the speed of the drive motor of the left rear wheel is controlled to be 0.

[0144] When the electric vehicle is moving out of the garage to the right, the electric vehicle turns right. Since the travel of the left front wheel is greater than that of the right front wheel under the same driving time, the travel of the left front wheel is greater than that of the right front wheel.

[0145] Therefore, in some embodiments, the control method further includes: when the electric vehicle is moving out of the garage to the right, controlling the rotation speed of the drive motor of the left front wheel of the electric vehicle to be greater than the rotation speed of the drive motor of the right front wheel.

[0146] In this embodiment, by controlling the rotation speed of the driving motor of the left front wheel to be greater than the rotation speed of the driving motor of the right front wheel, the vehicle can smoothly rotate clockwise and exit the garage to the right.

[0147] In some embodiments, the control method also includes: during the process of the electric vehicle leaving the warehouse, when the slip rate of the electric vehicle is greater than a first preset slip rate, controlling the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel to decrease; during the process of the electric vehicle leaving the warehouse, when the slip rate of the electric vehicle is less than a second preset slip rate, controlling the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel to increase; wherein the first preset slip rate is greater than the second preset slip rate.

[0148] During the control process of the electric vehicle, the actual slip rate of a front wheel can be calculated based on the wheel speed of one wheel, and when the difference between the actual slip rate of one wheel and the preset target slip rate is greater than a preset threshold, the torque output by the drive motor of the wheel is adjusted so that the actual slip rate of the drive motor reaches the target slip rate. For example, for a three-wheel drive electric vehicle, when the slip rate of the front axle is greater than the first preset slip rate, the torque output by the drive motors of the two front wheels is reduced so that the actual slip rate of the first two front wheels is reduced to the target slip rate. For another example, when the slip rate of the two front wheels is less than the second preset slip rate, the torque output by the drive motors of the two front wheels is increased so that the actual slip rate of the two front wheels is increased to the target slip rate.

[0149] The first preset slip ratio is the sum of the preset target slip ratio and the preset threshold, and the second preset slip ratio is the difference between the preset target slip ratio and the preset threshold. Therefore, the first preset slip ratio is greater than the second preset slip ratio.

[0150] In this embodiment, the first preset slip ratio and the second preset slip ratio are set to control the torque output by the drive motors of the two front wheels to the drive motors of the two front wheels and the right rear wheel, thereby achieving closed-loop control of the vehicle wheel speed. At the same time, the utilization rate of the torque output by the drive motor is improved and wheel slippage and loss of control are avoided, thereby improving the stability and controllability of the electric vehicle during the process of leaving the warehouse.

[0151] In some embodiments, the control method also includes: at a second moment after the first moment, controlling the speed of the drive motors of the two front wheels to increase from zero to a preset speed at a first rate so that the electric vehicle can move out of the garage to the right; at a third moment after the second moment, during the process of the electric vehicle moving out of the garage to the right, in response to the opening of the brake pedal of the electric vehicle being greater than the preset opening, controlling the speed of the drive motors of the two front wheels to decrease to zero at a second rate less than the first rate.

[0152] Among them, the preset speed refers to the speed value that the drive motor needs to reach when driving the two front wheels to rotate. The first rate is a larger rate, which can be 10,000 revolutions per second. In the embodiment of the present application, the specific values ​​of the first rate and the preset speed are not limited.

[0153] By controlling the driving motors of the two front wheels to increase the speed from zero to a preset speed at a higher rate, the driving motors can quickly drive the two front wheels to rotate, thereby improving the response efficiency of the electric vehicle when leaving the garage and enhancing the driving experience.

[0154] The second rate is any value less than the first rate, such as 5000 revolutions per second. The specific value of the second rate is not limited in the embodiment of the present application.

[0155] The preset opening is a relatively small value, and the third moment may be the moment when the electric vehicle completes the exit to the right or is about to complete the exit to the right.

[0156] When the user operates the brake pedal to an opening greater than a preset opening, the rotation speed of the drive motor controlling the two front wheels is reduced from the current rotation speed to zero at a second rate less than the first rate, and the wheels no longer rotate.

[0157] By controlling the driving motors of the two front wheels to reduce the speed from the current speed to 0 at a smaller rate, the electric vehicle can be controlled to stop smoothly, thereby improving the driving experience.

[0158] In this embodiment, when the electric vehicle starts to move out of the garage to the right, the driving motors of the two front wheels are first controlled to increase the rotation speed at a relatively high rate to achieve the effect of launching the vehicle, thereby shortening the time delay between the user's operation and the start of the movement of the electric vehicle. Afterwards, when the electric vehicle has completed or is about to complete moving out of the garage to the right, the driving motors of the two front wheels are controlled to reduce the rotation speed at a relatively high rate to achieve the effect of smooth parking, thereby improving the driving experience.

[0159] S3. Control the electric vehicle to exit the agile outbound function.

[0160] It can be understood that after certain parameters of the electric vehicle (for example, the vehicle's posture, the opening of the brake pedal, etc.) reach the trigger conditions for exiting the agile exit function, the electric vehicle is controlled to exit the agile exit function, that is, the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating.

[0161] In some embodiments, the control method further includes: when the electric vehicle is moving to the right out of the garage, when the distance between the electric vehicle and an obstacle or the distance between the electric vehicle and other vehicles is less than a preset distance, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0162] The obstacle may be any object with a collision risk, such as a pillar or a pedestrian. The preset distance may be the distance from when the drive motors of the two front wheels and the right rear wheel start to stop rotating to when the drive motors of the two front wheels and the right rear wheel stop rotating, and when the drive motors stop rotating, there will be no collision with obstacles or other vehicles.

[0163] In this embodiment, by setting a preset distance, it is avoided that the distance between the electric vehicle and obstacles or other vehicles is too small when the electric vehicle is moving out of the warehouse to the right, and the electric vehicle continues to move out of the warehouse causing a collision with the obstacles or other vehicles, thereby improving driving safety.

[0164] In some embodiments, the control method further includes: during the process of the electric vehicle moving out of the garage to the right, in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0165] Among them, the preset brake pedal opening is a relatively large opening, and the embodiment of the present application does not limit the specific value of the preset brake pedal opening.

[0166] When the opening of the brake pedal is greater than the preset brake pedal opening, it is considered that the user has a strong intention to exit the agile exit function, and the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating.

[0167] like Figure 4 As shown, the body sensor sends the detected pedal signal to the vehicle controller. If the brake pedal opening indicated by the pedal signal is greater than the preset brake pedal opening, a torque / speed command signal is sent to the motor controller 121 and the motor controller 123, so that the motor controller 121 controls the drive motor 111 to stop rotating and the motor controller 123 controls the drive motor 113 to stop rotating.

[0168] In some embodiments, the preset brake pedal opening can be greater than the preset opening, so that when the user operates the brake pedal to the preset opening, the speed of the drive motor begins to decrease until the user operates the brake pedal to a speed greater than the preset brake pedal opening, the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating, so that the electric vehicle can smoothly exit the agile parking function, thereby improving the driving experience.

[0169] In this embodiment, by setting a preset brake pedal opening, when the brake pedal opening is greater than the preset brake pedal opening, it can be considered that the user has a strong intention to exit the warehouse to the right, thereby avoiding the situation where the subsequent exit control becomes more difficult due to user's accidental touch, and improving the accuracy of the electric vehicle's response to the user's operation of the brake pedal.

[0170] In some embodiments, the control method further includes: when the electric vehicle is moving to the right out of the garage, in response to the user returning the steering wheel angle to less than a second preset angle, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0171] Among them, the second preset angle is the angle that the steering wheel needs to reach when the user exits the agile parking function. It is a smaller angle, which can be 30 degrees, 40 degrees, etc. The embodiment of the present application does not limit the specific value of the second preset angle.

[0172] When the user returns the steering wheel to an angle less than the second preset angle, it can be considered that the user has a strong intention to exit the garage to the right, and the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating.

[0173] When the user returns the steering wheel to an angle greater than or equal to the second preset angle, it can be considered that the user's intention to exit the garage to the right is not strong enough, and the drive motors of the two front wheels and the drive motor of the right rear wheel are not controlled to stop rotating.

[0174] In this embodiment, by setting the second preset angle, it is avoided that the user accidentally touches the steering wheel but triggers the exit of the agile exit function without actually intending to exit the function, resulting in increased difficulty in subsequent exit control, thereby improving the driving experience.

[0175] In some embodiments, the control method further includes: in the process of the electric vehicle moving out of the garage to the right, in response to the electric vehicle having a posture being a preset posture, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0176] Among them, the preset posture is the posture that the electric vehicle needs to reach when it exits the agile outbound function. The preset posture can be the posture of the electric vehicle when the front of the electric vehicle leaves the parking space, or it can be any posture that the user can simply perform subsequent outbound operations. The embodiment of the present application does not limit the specific value of the preset posture.

[0177] It is understandable that the position and posture of the electric vehicle can be obtained by a variety of methods, as follows:

[0178] In some embodiments, the method for acquiring the posture of an electric vehicle includes: acquiring a yaw rate signal of the electric vehicle detected by a vehicle body sensor; and calculating the posture of the electric vehicle according to the yaw rate indicated by the yaw rate signal.

[0179] like Figure 4 As shown, the body sensor sends the detected yaw angular velocity signal to the vehicle controller, which calculates the posture of the electric vehicle. If the posture is a preset posture, a torque / speed command signal is sent to the motor controller 121 and the motor controller 123 to enable the motor controller 121 and the motor controller 123 to control the drive motor 111 and the drive motor 113 to stop rotating.

[0180] In other embodiments, the method for acquiring the position and posture of the electric vehicle includes: acquiring an image captured by a vehicle camera, performing feature matching based on the captured image, and determining the position and posture of the electric vehicle.

[0181] In some other embodiments, the method for obtaining the position and posture of the electric vehicle includes: obtaining three-dimensional point cloud data of the electric vehicle's surrounding environment through a laser radar, matching the three-dimensional point cloud data with the three-dimensional point cloud data obtained before the vehicle leaves the warehouse, and determining the position and posture of the electric vehicle.

[0182] In the embodiment of the present application, the specific method for obtaining the position and posture of the electric vehicle is not limited.

[0183] In this embodiment, by setting a preset posture, it is possible to avoid triggering the exit of the agile exit function when the electric vehicle has not yet completed the exit or has not yet left the warehouse until the user can complete the exit with simple operations, thereby increasing the difficulty of subsequent exit control, thereby improving the driving experience.

[0184] In the above embodiment, while controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating, it is also possible to stop controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be lower than the preset speed, and stop controlling the drive motor of the right rear wheel of the electric vehicle to rotate in the opposite direction, so that after exiting the agile outbound function, the user can operate the electric vehicle normally.

[0185] In order to further ensure that the user has a strong intention to leave the warehouse when the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating. In some embodiments, any multiple of the trigger conditions for controlling the electric vehicle to exit the agile exit function can be combined. For example, in response to the opening of the brake pedal of the electric vehicle being greater than the preset brake pedal opening and the angle of the user's steering wheel being returned to less than the second preset angle, the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating; in response to the posture of the electric vehicle being the preset posture, the opening of the brake pedal of the electric vehicle being greater than the preset brake pedal opening and the angle of the user's steering wheel being returned to less than the second preset angle, the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating.

[0186] In response to the electric vehicle's posture being a preset posture, the opening of the electric vehicle's brake pedal being greater than the preset brake pedal opening and the user returning the steering wheel to an angle less than a second preset angle, the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating. When the electric vehicle's posture is the preset posture, the user can be prompted to operate the brake pedal and the steering wheel through the electric vehicle's central control screen.

[0187] See also Figure 5 , Figure 5 A schematic diagram of a scenario in which an electric vehicle 100 is moving out of a garage to the right provided in an embodiment of the present application is shown.

[0188] exist Figure 5 Among them, electric vehicles are Figure 5 The posture shown in (a) is parked in the parking space.

[0189] After that, control the two front wheels to turn right, and control the left rear wheel speed to 0, such as Figure 5 As shown in (b) in .

[0190] Thereafter, the driving motors of the two front wheels are controlled to drive the two front wheels to rotate forwardly and the driving motor of the right rear wheel is controlled to rotate reversely. In the process of controlling the driving motors of the two front wheels to drive the two front wheels to rotate forwardly and controlling the driving motor of the right rear wheel to rotate reversely, the speed of the left rear wheel is controlled to be 0, such as Figure 5 As shown in (c) in FIG. 8 , the electric vehicle rotates clockwise around the left rear wheel.

[0191] Afterwards, the electric vehicle rotates clockwise around the left rear wheel until the front of the vehicle leaves the parking space. Figure 5 As shown in (d) in .

[0192] Finally, the electric vehicle is ready to leave the warehouse. Figure 5 As shown in (e) in .

[0193] See also Figure 6 , Figure 6The diagram shows the relationship between the rotation speed of the drive motor of the left rear wheel, the angle of the steering wheel, the opening of the accelerator pedal, the torque output by the drive motor, and the opening of the brake pedal when the electric vehicle 100 is moving out of the garage to the right.

[0194] like Figure 6 As shown, at the first moment t0 after the user starts the agile exit function, the user turns the steering wheel to an angle greater than a first preset angle R1, and operates the accelerator pedal to linearly increase the opening to a preset accelerator pedal opening L1.

[0195] During the period between the first moment t0 and the moment t1, the opening of the accelerator pedal increases to be greater than the first preset opening L1, the forward torque output by the drive motor of the two front wheels is controlled to increase linearly to be greater than the first preset torque T1, the reverse torque output by the drive motor of the right rear wheel is controlled to increase linearly to be greater than the second preset torque T2, and the speed of the drive motor of the left rear wheel is controlled to be less than the preset speed K1.

[0196] During the period between time t1 and time t2, the opening of the accelerator pedal always remains greater than the first preset opening L1, the forward torque output by the drive motors of the two front wheels is controlled to be reduced to less than the first preset torque T1, the reverse torque output by the drive motor of the right rear wheel is controlled to be reduced to less than the second preset torque T2, and the speed of the drive motor of the left rear wheel is controlled to be less than the preset speed K1.

[0197] During the period between t2 and t3, the opening of the accelerator pedal remains greater than the first preset opening L1, the forward torque output by the drive motor controlling the two front wheels remains less than the first preset torque T1, the reverse torque output by the drive motor controlling the right rear wheel remains less than the second preset torque T2, and the speed of the drive motor controlling the left rear wheel remains less than the preset speed K1.

[0198] After moment t3, the user reduces the opening of the accelerator pedal until the opening of the accelerator pedal is equal to zero, increases the opening of the brake pedal and returns the angle of the steering wheel to the center, controls the torque output by the drive motors of the two front wheels and the right rear wheel to decrease, and controls the speed of the drive motor of the left rear wheel to be less than the preset speed K1.

[0199] At time t4, the opening of the brake pedal increases to the preset brake pedal opening L2, the steering wheel angle is returned to less than the second preset angle R2, the torque output by the front wheel drive motor and the right rear wheel drive motor is reduced to 0, the speed of the left rear wheel drive motor is less than the preset speed K1, and the vehicle exits the agile exit mode.

[0200] It can be understood that after completing the above actions, the driver can operate the steering wheel and the opening of the accelerator pedal to control the normal driving of the vehicle.

[0201] See also Figure 7, Figure 7 A flow chart of a control method for an electric vehicle to exit a warehouse provided by an embodiment of the present application is shown. The control method is used to control an electric vehicle to exit the warehouse to the left, and includes the following steps:

[0202] S710: The user starts the agile outbound function of the electric vehicle.

[0203] S720: The central control screen prompts the user to shift into D gear and turn the steering wheel to the left.

[0204] S730: Determine whether the gear position and the angle of turning the steering wheel to the left meet the conditions.

[0205] The satisfying condition here means that the gear position is D gear and the angle of turning the steering wheel to the left is greater than a first preset angle.

[0206] If the gear position and the angle of turning the steering wheel to the left do not meet the requirements, the process returns to S720.

[0207] If the gear position and the angle of the steering wheel turned left meet the requirements, S740 is executed to control the speed of the drive motor of the right rear wheel to be less than the preset speed.

[0208] S750: When the opening degree of the accelerator pedal operated by the user is greater than the preset accelerator pedal opening degree, the drive motors of the two front wheels are controlled to rotate forward and the drive motor of the left rear wheel is controlled to rotate reversely.

[0209] In the process of controlling the driving motors of the two front wheels to rotate forward and the driving motor of the left rear wheel to rotate reversely, the rotation speed of the driving motor of the right rear wheel is controlled to be less than a preset rotation speed.

[0210] S760: Determine whether the opening degree of the brake pedal and the angle of the steering wheel after returning to the center position meet the conditions.

[0211] The satisfying condition here means that the opening of the brake pedal is greater than a preset brake pedal opening and the angle of the steering wheel after the user returns to the center is less than a second preset angle.

[0212] If the condition is not met, the process returns to execute S750.

[0213] If the conditions are met, execute S770 and exit the agile outbound function.

[0214] In the control method for electric vehicle storage provided in the embodiment of the present application, taking a three-wheel drive electric vehicle as an example, the process of controlling the drive system of the electric vehicle to enable the electric vehicle to enter the garage to the left is described in detail. The process of controlling the drive system of the electric vehicle to enable the electric vehicle to enter the garage to the right is the opposite side of the process described in the embodiment of the present application, and will not be repeated here.

[0215] The control method for electric vehicle parking provided in the embodiment of the present application includes the following steps:

[0216] S1. The user starts the agile parking function of the electric vehicle.

[0217] In some embodiments, the user starts the agile storage function of the electric vehicle, including: the user clicks the agile storage function button on the central control screen of the electric vehicle. Alternatively, the user clicks the agile storage function button physically set in the cockpit of the electric vehicle. In this embodiment, the user can activate the agile storage function of the electric vehicle through a shortcut button, which is easy to operate.

[0218] Among them, other descriptions of the user starting the agile warehousing function are the same as the relevant descriptions of starting the agile warehousing function in the aforementioned embodiment, and are not repeated here.

[0219] S2. Control electric vehicles entering the warehouse.

[0220] Among them, the scenarios of controlling the electric vehicle to enter the warehouse include controlling the electric vehicle to enter the warehouse to the right and controlling the electric vehicle to enter the warehouse to the left.

[0221] Taking controlling an electric vehicle to enter a warehouse to the left as an example, in an embodiment of the present application, a control method for an electric vehicle to exit a warehouse includes: at a first moment, controlling the two front wheels of the electric vehicle to turn right; after the first moment, controlling the drive motors of the two front wheels of the electric vehicle to rotate in the opposite direction and in the process of controlling the drive motors of the two front wheels of the electric vehicle to rotate in the opposite direction, controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be less than a preset speed so that the electric vehicle can enter a warehouse to the left.

[0222] During the process of the electric vehicle entering the warehouse, the user needs to operate the gear of the electric vehicle to the reverse gear (R gear). In some embodiments, the user can be prompted to engage the R gear through the central control screen, which is easy to operate.

[0223] In this process, the two front wheels of the electric vehicle are controlled to turn right, and then the speed of the driving motor of the left rear wheel of the electric vehicle is controlled to be less than the preset speed to lock the left rear wheel or make the speed of the left rear wheel close to 0, so that the driving motor of the two front wheels of the electric vehicle rotates in the opposite direction to drive the electric vehicle to rotate counterclockwise around the left rear wheel, so that the electric vehicle can be parked. During the parking process, the agile parking function can assist the driver to accurately control the dynamics of the vehicle body, effectively reducing the parking distance, and there will be no problems of error during the entire parking process, ensuring the driving experience.

[0224] Correspondingly, in the process of controlling the electric vehicle to enter the warehouse to the right, the two front wheels of the electric vehicle are controlled to turn left, and then the speed of the right rear wheel drive motor of the electric vehicle is controlled to be lower than the preset speed to lock the right rear wheel or make the speed of the right rear wheel close to 0, and the two front wheels of the electric vehicle are controlled to rotate in the opposite direction to drive the electric vehicle to rotate clockwise around the right rear wheel, thereby realizing the electric vehicle entering the warehouse.

[0225] In some implementations, at a first moment, the user chooses to enter the warehouse to the left.

[0226] In this embodiment, the direction of entry into the warehouse is determined by the user's selection. The electric vehicle automatically controls the two front wheels to turn right according to the user's selection. During the entire process, the user does not need to turn the steering wheel, and even does not need to be in the cockpit. This achieves fully automatic control of the electric vehicle's entry into the warehouse, thereby improving the driving experience.

[0227] In other embodiments, at a first moment, the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle and operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

[0228] In this embodiment, by setting a first preset angle and a preset accelerator pedal opening, when the angle of the steering wheel of the electric vehicle turned to the right is greater than the first preset angle and the opening of the accelerator pedal is greater than the preset accelerator pedal opening, it is considered that the user has a strong intention to enter the warehouse to the left, thereby avoiding the situation where the subsequent exit control is more difficult due to accidental touch by the user, and improving the accuracy of the electric vehicle's response to the user's operation of the steering wheel and accelerator pedal.

[0229] Further, at a first moment, the user first turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, and then operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

[0230] In this embodiment, such a sequential arrangement helps the user to accurately grasp the movement direction of the electric vehicle when operating the accelerator pedal of the electric vehicle to control the movement of the vehicle.

[0231] In some embodiments, after the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, the rotation speed of the drive motor controlling the right rear wheel of the electric vehicle is less than a preset rotation speed.

[0232] After the first moment, in the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the reverse direction, the driving motor of the right rear wheel of the electric vehicle is controlled to rotate in the forward direction.

[0233] In this embodiment, controlling the drive motor of the right rear wheel to rotate forward can balance the lateral force generated by the reverse rotation of the drive motors of the two front wheels of the electric vehicle, so that the electric vehicle can rotate smoothly around the left rear wheel, avoiding the electric vehicle from dragging or skidding and other unstable phenomena, which may cause the electric vehicle to be unable to be safely stored.

[0234] In some embodiments, before the drive motors of the two front wheels of the electric vehicle are controlled to rotate in the opposite direction and the speed of the drive motor of the left rear wheel of the electric vehicle is controlled to be less than a preset speed during the reverse rotation of the two front wheels so that the electric vehicle can be parked to the left, the control method also includes: controlling the speed of the drive motor of the left rear wheel of the electric vehicle to be less than a preset speed.

[0235] In this embodiment, such an arrangement avoids the electric vehicle from being dragged or drifting when the driving motors of the two front wheels of the electric vehicle are controlled to rotate in the opposite direction, which is conducive to the safe storage of the electric vehicle. In some embodiments, the control method further includes: in the process of controlling the rotation speed of the driving motor of the left rear wheel to be less than the preset rotation speed, controlling the torque output by the driving motor of the left rear wheel to be opposite to the torque output by the driving motors of the two front wheels and controlling the reverse torque output by the driving motor of the left rear wheel to increase as the torque output by the driving motors of the two front wheels increases.

[0236] In this embodiment, a torque in the opposite direction to the torque output by the driving motors of the two front wheels is given to the left rear wheel that is rotated by the two front wheels, and the torque increases with the increase of the torque output by the driving motors of the two front wheels, and decreases with the decrease of the torque, thereby offsetting the force applied to the left rear wheel when the vehicle moves, so as to lock the left rear wheel.

[0237] If the force is insufficient to overcome the static friction of the right rear wheel, in some embodiments, a speed control instruction is periodically sent to the drive motor of the left rear wheel to control the speed of the drive motor of the left rear wheel to be less than a preset speed. Preferably, the speed of the drive motor of the left rear wheel is controlled to be 0.

[0238] In some embodiments, the control method further includes: when the electric vehicle is entering a garage to the left, controlling the rotation speed of the drive motor of the right front wheel of the electric vehicle to be greater than the rotation speed of the drive motor of the left front wheel.

[0239] In this embodiment, by controlling the rotation speed of the driving motor of the right front wheel to be greater than the rotation speed of the driving motor of the left front wheel, the vehicle can smoothly rotate counterclockwise and enter the parking space to the left.

[0240] In some embodiments, the control method also includes: during the process of the electric vehicle entering the warehouse, when the slip rate of the electric vehicle is greater than a first preset slip rate, controlling the torque output by the drive motor of the two front wheels and the drive motor of the right rear wheel to decrease; during the process of the electric vehicle leaving the warehouse, when the slip rate of the electric vehicle is less than a second preset slip rate, controlling the torque output by the drive motor of the two front wheels and the drive motor of the right rear wheel to increase; wherein the first preset slip rate is greater than the second preset slip rate.

[0241] During the process of the electric vehicle entering the warehouse, the torque output by the drive motors of the two front wheels to the drive motors of the two front wheels and the right rear wheel is controlled by setting the first preset slip rate and the second preset slip rate, thereby realizing closed-loop control of the vehicle wheel speed. At the same time, the utilization rate of the torque output by the drive motor is improved and the wheel slipping and loss of control is avoided, thereby improving the stability and controllability of the electric vehicle during the process of leaving the warehouse.

[0242] In some embodiments, the control method also includes: at a second moment after the first moment, controlling the speed of the drive motors of the two front wheels to increase from zero to a preset speed at a first rate so that the electric vehicle can park to the left; at a third moment after the second moment, during the process of the electric vehicle parking to the left, in response to the opening of the brake pedal of the electric vehicle being greater than the preset opening, controlling the speed of the drive motors of the two front wheels to decrease to zero at a second rate less than the first rate.

[0243] In this embodiment, when the electric vehicle starts to park to the left, the two front wheel drive motors are controlled to increase the rotation speed at a relatively high rate to achieve the effect of launching the vehicle, thereby shortening the time delay between the user's operation and the start of the movement of the electric vehicle. After the electric vehicle has completed or is about to complete parking to the left, the two front wheel drive motors are controlled to reduce the rotation speed at a relatively high rate to achieve a smooth parking effect, thereby improving the driving experience.

[0244] Among them, other descriptions of controlling the entry of electric vehicles are similar to the aforementioned descriptions of controlling the exit of electric vehicles, and will not be repeated here.

[0245] S3, control the electric vehicle to exit the agile storage function.

[0246] It can be understood that after certain parameters of the electric vehicle (for example, the vehicle's posture, the opening of the brake pedal, etc.) reach the trigger conditions for exiting the agile parking function, the electric vehicle is controlled to exit the agile parking function, that is, the drive motors of the two front wheels and the drive motor of the right rear wheel are controlled to stop rotating.

[0247] In some embodiments, the control method further includes: when the electric vehicle is entering a garage to the left, when the distance between the electric vehicle and an obstacle or the distance between the electric vehicle and other vehicles is less than a preset distance, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0248] In this embodiment, by setting a preset distance, it is avoided that when the electric vehicle is entering the garage to the left, the distance between the electric vehicle and obstacles or other vehicles is too small, and the electric vehicle continues to enter the garage, causing a collision with the obstacles or other vehicles, thereby improving driving safety.

[0249] In some embodiments, the control method further includes: when the electric vehicle is parking to the left, in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0250] In this embodiment, by setting a preset brake pedal opening, when the brake pedal opening is greater than the preset brake pedal opening, it can be considered that the user has a strong intention to enter the garage to the left, thereby avoiding the situation where the subsequent garage entry control becomes more difficult due to user's accidental touch, and improving the accuracy of the electric vehicle's response to the user's operation of the brake pedal.

[0251] In some embodiments, the control method further includes: during the process of the electric vehicle parking to the left, in response to the steering wheel angle being less than a second preset angle after the user straightens the steering wheel, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0252] In this embodiment, by setting the second preset angle, it is avoided that the user accidentally touches the steering wheel but triggers the exit of the agile parking function without actually intending to exit the function, which makes subsequent parking control more difficult, thereby improving the driving experience.

[0253] In some embodiments, the control method further includes: when the electric vehicle is entering a garage to the left, in response to the electric vehicle having a posture being a preset posture, controlling the drive motors of the two front wheels and the drive motor of the right rear wheel to stop rotating.

[0254] Among them, the preset posture is the posture that the electric vehicle needs to reach when exiting the agile parking function. The preset posture here may be the same as or different from the preset posture during the electric vehicle's outbound parking process. For example, the preset posture may be the posture of the electric vehicle when the front of the electric vehicle leaves the parking space and the body of the electric vehicle is parallel to the parking space line, or it may be any posture that the user can simply perform subsequent parking operations. The embodiment of the present application does not limit the specific value of the preset posture.

[0255] In this embodiment, by setting a preset posture, it is possible to avoid triggering the exit of the agile parking function when the electric vehicle has not yet completed parking or has not yet entered the parking space until the user can complete the parking space with simple operations, thereby increasing the difficulty of subsequent parking control, thereby improving the driving experience.

[0256] Among them, other descriptions of controlling the electric vehicle to exit the agile entry function are similar to the relevant descriptions of controlling the electric vehicle to exit the agile exit function mentioned above, and will not be repeated here.

[0257] See also Figure 8 , Figure 8 A schematic diagram of a scenario in which an electric vehicle 100 enters a garage to the left according to an embodiment of the present application is shown.

[0258] exist Figure 8 In the process, control the two front wheels of the electric vehicle to turn right and reverse to the position as shown in the figure. Figure 8 As shown in (a), the rear end of the vehicle is positioned deep behind the parking space.

[0259] Afterwards, the driving motors of the two front wheels are controlled to drive the two front wheels to rotate in the opposite direction and the driving motor of the right rear wheel is controlled to rotate forward. In the process of controlling the driving motors of the two front wheels to drive the two front wheels to rotate in the opposite direction and controlling the driving motor of the right rear wheel to rotate forward, the speed of the left rear wheel is controlled to be 0, such as Figure 8 As shown in (b) in FIG. 1 , the electric vehicle rotates counterclockwise around the left rear wheel.

[0260] Afterwards, the posture of the electric vehicle at a certain moment during the counterclockwise rotation around the left rear wheel is as follows: Figure 8 As shown in (c) in .

[0261] Finally, after the electric vehicle rotates counterclockwise around the left rear wheel until the front of the vehicle enters the parking space and the vehicle body is parallel to the edge marking line of the parking space, the electric vehicle completes the left parking. Figure 8 As shown in (d) in .

[0262] See also Fig. 9 , Fig. 9 A flow chart of a control method for an electric vehicle entering a garage provided by an embodiment of the present application is shown. The control method is used to control an electric vehicle to enter a garage to the right, and includes the following steps:

[0263] S910. The user starts the agile parking function of the electric vehicle.

[0264] S920, the central control screen prompts the user to shift into R gear and turn the steering wheel to the left.

[0265] S930: Determine whether the gear position and the angle of the steering wheel turned left meet the conditions.

[0266] The satisfying condition here means that the gear position is R gear and the angle of turning the steering wheel to the left is greater than a first preset angle.

[0267] If the gear position and the angle of turning the steering wheel to the left do not meet the requirements, the process returns to S920.

[0268] If the gear position and the angle of the steering wheel turned left meet the requirements, S940 is executed to control the speed of the drive motor of the right rear wheel to be less than the preset speed.

[0269] S950: When the opening degree of the accelerator pedal operated by the user is greater than the preset accelerator pedal opening degree, the drive motors of the two front wheels are controlled to rotate in the reverse direction and the drive motor of the left rear wheel is controlled to rotate in the forward direction.

[0270] In the process of controlling the driving motors of the two front wheels to rotate in the reverse direction and the driving motor of the left rear wheel to rotate in the forward direction, the rotation speed of the driving motor of the right rear wheel is controlled to be less than the preset rotation speed.

[0271] S960: Check whether the opening degree of the brake pedal and the angle of the steering wheel after returning to the center position meet the requirements.

[0272] The satisfying condition here means that the opening of the brake pedal is greater than a preset brake pedal opening and the angle of the steering wheel after the user returns to the center is less than a second preset angle.

[0273] If the condition is not met, the process returns to execute S950.

[0274] If the conditions are met, execute S970 and exit the agile warehousing function.

[0275] In another embodiment of the present application, a vehicle controller for an electric vehicle is also provided, and the vehicle controller is used to control the electric vehicle to realize an agile outbound / inbound function.

[0276] In another embodiment of the present application, an electric vehicle is also provided, which includes a drive system and a vehicle controller provided in the above embodiment, wherein the drive system is used to control the drive motors of the four wheels of the electric vehicle, and the vehicle controller is used to control the drive system to realize the agile outbound / inbound function of the electric vehicle.

[0277] It can be understood that all relevant contents of each step involved in the above method embodiment can be referred to the embodiment of the controller and the embodiment of the electric vehicle, and the embodiments of the present application will not be repeated here.

[0278] Finally, it should be noted that the above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A control method for an electric vehicle leaving a warehouse, characterized in that: The control method is used to control the driving system of the electric vehicle to realize the electric vehicle leaving the warehouse after the user starts the agile exit function of the electric vehicle, and the control method includes: At a first moment, controlling the two front wheels of the electric vehicle to turn right; After the first moment, the driving motors of the two front wheels of the electric vehicle are controlled to rotate forwardly and the speed of the driving motor of the left rear wheel of the electric vehicle is controlled to be less than a preset speed during the forward rotation of the two front wheels so as to enable the electric vehicle to move out of the garage to the right.

2. The control method according to claim 1, characterized in that: The control method further comprises: In the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate forward, the driving motor of the right rear wheel of the electric vehicle is controlled to rotate reversely.

3. The control method according to claim 1, characterized in that: At the first moment, the user turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle and operates the accelerator pedal of the electric vehicle to an opening angle greater than a preset accelerator pedal opening angle.

4. The control method according to claim 3, characterized in that: At the first moment, the user first turns the steering wheel of the electric vehicle to the right by an angle greater than a first preset angle, and then operates the accelerator pedal of the electric vehicle to an opening greater than a preset accelerator pedal opening.

5. The control method according to claim 1, characterized in that: At the first moment, the user chooses to exit the warehouse to the right.

6. The control method according to claim 1, characterized in that: Before the driving motors of the two front wheels of the electric vehicle are controlled to rotate forward and the speed of the driving motor of the left rear wheel of the electric vehicle is controlled to be less than a preset speed during the forward rotation of the two front wheels so that the electric vehicle can exit the garage to the right, the control method further includes: The rotation speed of the driving motor controlling the left rear wheel of the electric vehicle is less than a preset rotation speed.

7. The control method according to claim 1, characterized in that: The control method further comprises: In the process of controlling the rotational speed of the driving motor of the left rear wheel to be less than a preset rotational speed, the torque output by the driving motor of the left rear wheel is controlled to be in opposite directions to the torque output by the driving motors of the two front wheels, and the reverse torque output by the driving motor of the left rear wheel is controlled to increase as the torque output by the driving motors of the two front wheels increases.

8. The control method according to claim 1, characterized in that: The control method further comprises: When the electric vehicle is moving out of the garage to the right, the rotation speed of the driving motor of the left front wheel of the electric vehicle is controlled to be greater than the rotation speed of the driving motor of the right front wheel.

9. The control method according to claim 1, characterized in that: The control method further comprises: At a second moment after the first moment, controlling the rotation speed of the driving motors of the two front wheels to increase from zero to a preset rotation speed at a first rate so that the electric vehicle moves out of the garage to the right; At a third moment after the second moment, when the electric vehicle is moving out of the garage to the right, in response to the opening of the brake pedal of the electric vehicle being greater than a preset opening, the speed of the drive motors of the two front wheels is controlled to decrease to zero at a second rate less than the first rate.

10. The control method according to claim 1, characterized in that: The control method further comprises: When the electric vehicle is moving out of the garage to the right, when the slip rate of the electric vehicle is greater than a first preset slip rate, the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle is controlled to decrease; When the electric vehicle is moving out of the garage to the right, when the slip rate of the electric vehicle is less than a second preset slip rate, the torque output by the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle is controlled to increase; Wherein, the first preset slip ratio is greater than the second preset slip ratio.

11. The control method according to claim 1, characterized in that: The control method further comprises: When the electric vehicle is moving out of the garage to the right, when the distance between the electric vehicle and an obstacle or the distance between the electric vehicle and other vehicles is less than a preset distance, the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle are controlled to stop rotating.

12. The control method according to claim 1, characterized in that: The control method further comprises: When the electric vehicle is moving out of the garage to the right, in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle are controlled to stop rotating.

13. The control method according to claim 1, characterized in that: The control method further comprises: When the electric vehicle is moving out of the garage to the right, in response to the user returning the steering wheel angle to less than a second preset angle, the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle are controlled to stop rotating.

14. The control method according to claim 1, characterized in that: The control method further comprises: When the electric vehicle is moving out of the garage to the right, in response to the electric vehicle taking a preset posture, the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle are controlled to stop rotating.

15. A method for controlling electric vehicle storage, characterized in that: The control method is used to control the driving system of the electric vehicle to achieve parking after the user starts the agile parking function of the electric vehicle, and the control method includes: At a first moment, controlling the two front wheels of the electric vehicle to turn right; After the first moment, the driving motors of the two front wheels of the electric vehicle are controlled to rotate in the opposite direction, and in the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the opposite direction, the speed of the driving motor of the left rear wheel of the electric vehicle is controlled to be lower than a preset speed so that the electric vehicle can be parked to the left.

16. The control method according to claim 15, characterized in that: The control method further comprises: In the process of controlling the driving motors of the two front wheels of the electric vehicle to rotate in the reverse direction, the driving motor of the right rear wheel of the electric vehicle is controlled to rotate in the forward direction.

17. The control method according to claim 15, characterized in that: The control method further comprises: When the electric vehicle is entering a garage to the left, in response to the electric vehicle taking a preset posture, the drive motors of the two front wheels and the drive motor of the right rear wheel of the electric vehicle are controlled to stop rotating.

18. A vehicle controller, characterized in that: The vehicle controller is configured to execute the control method according to any one of claims 1 to 14 and / or claims 15 to 17.

19. An electric vehicle, characterized in that: The electric vehicle includes the vehicle controller of claim 18.

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