Motor controller for controlling transverse movement of vehicle, control method and electric vehicle

Abstract

The invention discloses a motor controller for controlling transverse movement of a vehicle, a control method and an electric vehicle, and relates to the technical field of new energy automobiles. The motor controller is used for controlling a driving motor of the electric vehicle to output torque so as to drive the electric vehicle to go straight, and the motor controller is used for controlling the torque output by the driving motor to be increased along with the increase of the opening degree of an accelerator pedal of the electric vehicle in the going straight process of the electric vehicle. After the transverse running function of the electric vehicle is started, the motor controller is used for controlling the driving motor to output torque so as to drive the electric vehicle to transversely run and used for controlling a rear wheel steering mechanism of the electric vehicle to adjust the steering angle of rear wheels of the electric vehicle in the transverse running process of the electric vehicle. In this way, the vehicle body posture of the electric vehicle can be kept stable in the transverse running process, the danger caused by the fact that the vehicle body posture is out of control is avoided, and the driving and riding safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a motor controller, a control method and an electric vehicle for controlling the lateral movement of a vehicle. Background Art

[0002] The vehicle's sideways movement is a lateral movement of the vehicle produced by the cooperation of the vehicle's front-wheel steering mechanism, rear-wheel steering mechanism, drive system and brake system. In the process of the vehicle's sideways movement, it is specifically necessary to control the vehicle's front-wheel steering mechanism and rear-wheel steering mechanism to make the front and rear wheels of the vehicle produce opposite steering angles, and apply driving force and braking force in different directions through the drive system and brake system respectively, so that the front and rear axles of the vehicle generate lateral force (that is, lateral force), thereby driving the vehicle to move sideways.

[0003] In the prior art, when driving a vehicle sideways, it is difficult to maintain a stable vehicle body posture due to objective problems such as wear of steering system connectors (such as the front-wheel steering mechanism and the rear-wheel steering mechanism, etc.), suspension deformation, and initial tire angles, which greatly reduces the safety of the vehicle sideways.

[0004] Based on this, how to keep the vehicle body posture stable while it is moving sideways and improve driving safety has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The present application provides a motor controller, a control method and an electric vehicle for controlling the sideways movement of a vehicle, which are used to keep the vehicle body posture stable during the sideways movement of the vehicle and improve driving safety.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0007] In a first aspect, a motor controller for controlling the transverse running of a vehicle is provided, wherein the motor controller is used to control the output torque of a driving motor of an electric vehicle to drive the electric vehicle to move straight, and the motor controller is used to control the output torque of the driving motor to increase as the opening degree of the accelerator pedal of the electric vehicle increases during the straight running of the electric vehicle; after the electric vehicle starts the transverse running function, the motor controller is used to control the output torque of the driving motor to drive the electric vehicle to move transversely, and is used to control the rear wheel steering mechanism of the electric vehicle to adjust the steering angle of the rear wheels of the electric vehicle during the transverse running of the electric vehicle.

[0008] In the above technical solution, straight driving means that the driving direction of the electric vehicle is consistent with the body direction of the electric vehicle, and horizontal driving means that the driving direction of the electric vehicle is perpendicular to the body direction of the electric vehicle. During the straight driving of the electric vehicle, when the user steps on the accelerator pedal of the electric vehicle, the opening of the accelerator pedal increases. In order to respond to the user's operation, the motor controller can control the torque output by the drive motor to increase according to the opening of the accelerator pedal to provide the straight driving force for the wheels of the electric vehicle. After the user chooses to start the horizontal driving function of the electric vehicle, the motor controller can control the drive motor to output torque to provide the horizontal driving force for the wheels of the electric vehicle. And during the horizontal driving of the electric vehicle, the motor controller can control the rear wheel steering mechanism to adjust the steering angle of the rear wheels of the electric vehicle to achieve the purpose of correcting the body posture, so that the electric vehicle can keep the body posture stable during the horizontal driving process, avoiding the danger caused by the body posture out of control, and improving the driving safety.

[0009] In any possible implementation of the first aspect, the motor controller is specifically used to: after the electric vehicle starts the sideways function, first control the rear wheel steering mechanism to drive the rear wheels to steer, and then control the drive motor to output torque to drive the electric vehicle sideways. In the above possible implementation, the torque output by the drive motors of the two rear wheels is related to the steering angle of the two rear wheels. Before driving the electric vehicle sideways, the steering angle is first determined and then the torque is output, so that the electric vehicle can be driven to the target position at the expected angle, thereby achieving the purpose of accurately controlling the electric vehicle to sideways.

[0010] In any possible implementation of the first aspect, the motor controller is specifically used to: after the electric vehicle starts the transverse function, after the two front wheels of the electric vehicle are turned, control the rear wheel steering mechanism to drive the rear wheels to turn. In the above possible implementation, when the electric vehicle is driven transversely, the forward trend of the two front wheels in the straight direction can be balanced with the backward trend of the two rear wheels in the straight direction, and then offset each other, thereby avoiding unexpected longitudinal movement of the electric vehicle.

[0011] In any possible implementation of the first aspect, the motor controller is specifically used to: in the process of driving the electric vehicle to move sideways, control the rear-wheel steering mechanism to adjust the steering angle of the two rear wheels to change with the change of the heading angle of the electric vehicle. In the above possible implementation, in the process of driving the electric vehicle to move sideways, the heading angle should be fixed, that is, the electric vehicle does not yaw. However, when the heading angle changes, it means that the direction of the front of the electric vehicle has changed, that is, the body posture of the electric vehicle has deflected. At this time, controlling the rear-wheel steering mechanism to adjust the steering angles of the two rear wheels can correct the body posture of the electric vehicle, so that the electric vehicle can maintain a stable body posture during the process of moving sideways.

[0012] In any possible implementation of the first aspect, the motor controller is specifically used to: in the process of driving the electric vehicle to run sideways, the greater the deviation of the heading angle of the electric vehicle, the greater the steering angle of the two rear wheels adjusted by the rear wheel steering mechanism. In the above possible implementation, the greater the deviation of the heading angle indicates that the driving direction of the electric vehicle during the sideways running process is relatively large, and increasing the adjustment of the steering angle of the two rear wheels can correct the driving direction of the electric vehicle as soon as possible, so that the electric vehicle can maintain a stable body posture during the sideways running process.

[0013] In any possible implementation of the first aspect, the motor controller is also used to: in the process of driving the electric vehicle to move sideways, in response to the slip rate of the wheel driven by the drive motor being greater than a preset slip rate, control the drive motor to reduce the torque output; in the process of driving the electric vehicle to move sideways, in response to the slip rate of the wheel driven by the drive motor being less than a preset slip rate, control the drive motor to increase the torque output. The above possible implementation can control the slip rate of the wheel driven by the drive motor to be stable at the preset slip rate, thereby ensuring that the sliding speeds of the two front wheels and the two rear wheels of the electric vehicle remain consistent, that is, when the two front wheels move sideways for a certain distance, the two rear wheels can move sideways for the same distance, ensuring that the electric vehicle can maintain a stable body posture during the process of moving sideways.

[0014] In any possible implementation of the first aspect, the motor controller is also used to: in the process of driving the electric vehicle sideways, control the rear-wheel steering mechanism to adjust the steering angle of the two rear wheels to change with the steering angle of the two front wheels of the electric vehicle. In the above possible implementation, when the steering angle of the two front wheels changes, the longitudinal torque component and the lateral torque component distributed in the electric vehicle will change. Timely control of the rear-wheel steering mechanism to adjust the steering angle of the two rear wheels to change with the steering angle of the two front wheels can maintain the longitudinal torque component of the electric vehicle in a balanced state, avoiding unexpected longitudinal movement of the electric vehicle.

[0015] In any possible implementation of the first aspect, the motor controller is also used to: in the process of driving the electric vehicle to run sideways, control the speed of the drive motor to be less than a preset speed and control the speed of the drive motor to increase with the increase of the opening of the accelerator pedal. In the above possible implementation, the preset speed can be the safety speed threshold of the sideways function. When the drive motor is controlled to work at a speed less than the preset speed, the electric vehicle can run sideways at a relatively gentle speed. In the process of driving the electric vehicle to run sideways, the motor controller controls the speed of the drive motor to increase with the increase of the opening of the accelerator pedal, and the speed of the electric vehicle also increases with the increase of the opening of the accelerator pedal. When the speed of the drive motor increases to the preset speed, that is, the safety speed threshold of the sideways function is reached, the motor controller can control the speed of the drive motor to maintain at the preset speed, and not increase with the increase of the opening of the accelerator pedal, so that the electric vehicle can run sideways at a relatively gentle and safe speed during the sideways process, thereby improving driving safety.

[0016] In any possible implementation of the first aspect, the motor controller is also used to: in the process of driving the electric vehicle to run sideways, in response to the opening of the brake pedal of the electric vehicle being greater than the preset brake pedal opening, control the drive motor to first stop torque output, and then control the rear wheel steering mechanism to drive the two rear wheels back to the normal position. In the above possible implementation, in the process of driving the electric vehicle to run sideways, when the user steps on the brake pedal of the electric vehicle, the opening of the brake pedal increases under the operation of the user until the opening of the brake pedal is greater than the preset brake pedal opening. In order to respond to the user's operation, the motor controller can first control the drive motor to stop torque output according to the brake signal output by the brake pedal, so that the electric vehicle stops running sideways, and when the electric vehicle is in a parking state, control the rear wheel steering mechanism to drive the two rear wheels back to the normal position, so that the rotation direction of the two rear wheels is consistent with the direction of the vehicle body. That is to say, in the embodiment of the present application, when the user expects the electric vehicle to exit the sideways function, only the brake pedal needs to be stepped on to return the electric vehicle to a normal driving state, which is convenient to operate and improves the driving experience.

[0017] In any possible implementation of the first aspect, the motor controller is also used to: after the electric vehicle starts the horizontal running function, control the torque output by the drive motor to increase at a first rate; in the process of driving the electric vehicle to run horizontally, in response to the opening of the brake pedal of the electric vehicle being greater than the preset brake pedal opening, control the torque output by the drive motor to decrease at a second rate less than the first rate. In the above possible implementation, after starting the horizontal running function, the motor controller needs to control the torque output by the drive motor to increase at a first rate, that is, control the driving force output by the drive motor to the driven wheels to increase at a larger rate, so that the four wheels of the electric vehicle can be driven to start rotating and slipping as soon as possible. When the opening of the brake pedal is greater than the preset brake pedal opening, it means that the user expects to control the electric vehicle to stop running horizontally, and the motor controller controls the torque output by the drive motor to decrease at a second rate, that is, control the driving force output by the drive motor to the driven wheels to decrease at a smaller rate until the vehicle stops. In this way, the frustration of the electric vehicle during parking can be avoided and the user's driving experience can be improved.

[0018] In a second aspect, a method for controlling the transverse movement of an electric vehicle is provided, and the method is used to control the vehicle to move sideways after the user turns on the transverse movement function. The method comprises: after the user turns the steering wheel to an angle greater than a preset angle, in response to the accelerator pedal opening being greater than a preset throttle opening, starting the transverse movement function of the electric vehicle; in the process of controlling the transverse movement of the electric vehicle, controlling the steering angles of the two front wheels of the electric vehicle to remain unchanged and controlling the rear wheel steering mechanism of the electric vehicle to adjust the steering angles of the rear wheels of the electric vehicle. The preset angle and the preset throttle opening are trigger thresholds for the transverse movement function of the electric vehicle. When the user turns the steering wheel to an angle greater than the preset angle and steps on the accelerator pedal until the opening is greater than the preset throttle opening, it indicates that the user wishes to drive the transverse movement function of the electric vehicle.

[0019] In any possible implementation of the second aspect, the transverse control method also includes: after starting the transverse function of the electric vehicle, first controlling the steering of the two front wheels of the electric vehicle, and then controlling the rear wheel steering mechanism to drive the steering of the two rear wheels of the electric vehicle; after controlling the steering of the two rear wheels, controlling the drive motor of the electric vehicle to output torque to drive the electric vehicle to move sideways.

[0020] In any possible implementation of the second aspect, the transverse control method also includes: in the process of controlling the electric vehicle to travel transversely, controlling the rear-wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the change of the heading angle of the electric vehicle; or, controlling the rear-wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the change of the steering angles of the two front wheels.

[0021] In any possible implementation of the second aspect, the lateral running control method further includes: after the user operates the brake pedal to an opening greater than a preset brake pedal opening, controlling the electric vehicle to exit the lateral running function of the electric vehicle.

[0022] In a third aspect, an electric vehicle is provided, which includes a drive system and a power battery. The drive system includes a drive motor and a motor controller provided in the above-mentioned motor controller embodiment. The power battery is used to power the drive system, and the drive motor is used to output torque under the control of the motor controller.

[0023] It can be understood that the beneficial effects that can be achieved by any of the above-mentioned methods for controlling the lateral movement of an electric vehicle and electric vehicle can correspond to the beneficial effects of the motor controller for controlling the lateral movement of the vehicle provided above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a vehicle coordinate system provided in an embodiment of the present application;

[0025] Figure 2 A schematic diagram of an electric vehicle running sideways provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of an electric vehicle provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of the structure of a braking system provided in an embodiment of the present application;

[0028] Figure 5 A schematic diagram of activating a horizontal function provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of controlling the lateral movement of a vehicle provided in an embodiment of the present application;

[0030] Figure 7 A schematic diagram of the relationship between a heading angle and a yaw angle provided in an embodiment of the present application;

[0031] Figure 8 A signal timing diagram for controlling the lateral movement of a vehicle provided in an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of the relationship between a preset slip ratio and the output torque of a drive motor provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of the structure of a motor controller provided in an embodiment of the present application;

[0034] Fig.11A schematic diagram of a flow chart for controlling the lateral movement of an electric vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will discuss the making and use of each embodiment in detail. However, it should be understood that many applicable inventive concepts provided by this application can be implemented in a variety of specific environments. The specific embodiments discussed are only illustrative of the specific ways to implement and use this application and this technology, and do not limit the scope of this application.

[0036] Before introducing the embodiments of the present application, the application scenarios involved in the present application are first introduced and explained.

[0037] With the development of electric vehicles, the convenience and passability of electric vehicles have attracted more and more attention from consumers. For example, in the scenarios of entering and exiting a narrow parking space, extreme off-roading, or construction sites with complex road conditions, driving an electric vehicle sideways can simplify the movement and operation of the electric vehicle, reduce the space occupied, and improve the mobility efficiency of the electric vehicle. At the same time, it can also bring users more freedom of path planning and intelligent driving experience, greatly improving the passability and convenience of electric vehicles.

[0038] Combining the vehicle coordinate system with Newton's second law of motion, the motion equations of the electric vehicle are as follows (1) to (3). Figure 1 As shown, the electric vehicle coordinate system takes the center of mass of the electric vehicle as its origin, the X-axis is parallel to the ground and points to the front of the driver's field of view, which is consistent with the body direction of the electric vehicle, the Y-axis points to the driver's left hand side, which is perpendicular to the body direction of the electric vehicle, and the Z-axis is perpendicular to the ground and points to the top of the electric vehicle.

[0039]

[0040] In the above equations, equation (1) is the longitudinal motion equation (along the X-axis) of the electric vehicle, equation (2) is the lateral motion equation (along the Y-axis) of the electric vehicle, and equation (3) is the yaw motion equation (around the Z-axis) of the electric vehicle. Where m is the mass of the electric vehicle, v x ' is the longitudinal acceleration of the electric vehicle, v y is the lateral speed of the electric vehicle, ω is the yaw rate, v y The product of F and ω is the longitudinal centripetal acceleration, F x1 、F x2 、F x3 and F x4 are the longitudinal forces of the four wheels of the electric vehicle; v y ' is the lateral acceleration of the electric vehicle, v x represents the longitudinal speed of the electric vehicle, v xThe product of F and ω is the lateral centripetal acceleration, F y1 、F y2 、F y3 and F y4 are the lateral forces acting on the four wheels of the electric vehicle; J Z is the moment of inertia, ω' is the yaw angular acceleration, a is the wheelbase between the front and rear axles of the electric vehicle, and b is the wheelbase between the coaxial left and right wheels of the electric vehicle.

[0041] Combining the above equations, it can be seen that in order to avoid the electric vehicle from going straight and swaying during the horizontal movement, it is necessary to control the longitudinal speed v of the electric vehicle when controlling the electric vehicle to move horizontally. x And the yaw angular velocity ω is 0, so that the electric vehicle moves only along the Y axis.

[0042] The following combination Figure 2 , introducing two ways in which electric vehicles can run rampant.

[0043] As a first example, when the four wheels of an electric vehicle can achieve a 90° large-angle turn, when controlling the electric vehicle to travel sideways, it is necessary to control the drive system to apply a driving force in the target running direction to drive the electric vehicle to travel sideways. The target running direction is the direction in which the electric vehicle is expected to travel. For example, Figure 2 As shown in Figure (a), the four wheels of the electric vehicle can all turn 90° to the left, and the drive system applies a leftward driving force to the four wheels of the electric vehicle respectively. The front and rear axles of the electric vehicle will generate a leftward lateral force to drive the electric vehicle to move laterally to the left. This method is less difficult to control, but has higher requirements for the configuration of the electric vehicle, requiring the wheels to have the function of turning at a large angle of 90°.

[0044] As a second example, when the four wheels of an electric vehicle cannot achieve a large steering angle of 90°, when controlling the electric vehicle to move sideways, it is necessary to control the drive system and the brake system to cooperate with each other to apply driving force and braking force in different directions to the four wheels of the electric vehicle. Specifically, the front wheel steering mechanism and the rear wheel steering mechanism of the electric vehicle are controlled to make the front wheels and rear wheels of the electric vehicle produce opposite steering angles, and the drive system and the brake system are controlled to apply driving force and braking force in different directions respectively, so that the front axle and rear axle of the electric vehicle produce a lateral force to the left, thereby driving the electric vehicle to move sideways. For example, Figure 2 As shown in FIG. (b) of FIG. 1 , the steering angles of the coaxial wheels of the electric vehicle are opposite, the steering angles of the wheels on the same side are also opposite, and the steering angles of the diagonal wheels are the same. Alternatively, as Figure 2As shown in Figure (c), the steering angles of the coaxial wheels of the electric vehicle are the same, and the steering angles of the wheels on the same side are opposite. Among them, the two front wheels of the electric vehicle are coaxial wheels or the two rear wheels of the electric vehicle are coaxial wheels, the two left wheels of the electric vehicle are wheels on the same side or the two right wheels of the electric vehicle are wheels on the same side, the left front wheel and the right rear wheel of the electric vehicle are diagonal wheels or the right front wheel and the left rear wheel of the electric vehicle are diagonal wheels. This method requires simultaneous control of the motor torque or speed corresponding to the front wheels, the motor torque or speed corresponding to the rear wheels, and the steering angles of the front and rear wheels, which is difficult to control.

[0045] In addition, due to the objective existence of problems such as wear of steering system connectors (such as front-wheel steering mechanism and rear-wheel steering mechanism, etc.), suspension deformation, and tire initial angle, as the vehicle speed changes, the above two types of electric vehicle sideways driving modes are difficult to maintain a stable body posture, which will reduce the safety of the electric vehicle sideways driving.

[0046] In view of this, the embodiments of the present application provide a motor controller for controlling the vehicle to run sideways, a sideways control method, and an electric vehicle. In the process of controlling the electric vehicle to run sideways, the motor controller adjusts the steering angle of the rear wheels of the electric vehicle by controlling the rear wheel steering mechanism of the electric vehicle, so as to timely correct the body posture deviation of the electric vehicle during the sideways running process, so that the electric vehicle can achieve the purpose of accurately controlling the sideways running of the electric vehicle before and after the sideways running.

[0047] The electric vehicle provided in the embodiments of the present application will be described in detail below in conjunction with specific embodiments.

[0048] See also Figure 3 , Figure 3 A schematic diagram of an electric vehicle provided in an embodiment of the present application. Figure 3 As shown, the electric vehicle 01 includes a drive system 10, a power battery 30 and a brake system 20. The drive system 10 may also be referred to as a powertrain. The drive system 10 is used to drive the electric vehicle 01. The power battery 30 is used to provide electrical energy to the drive system 10. The drive system 10 is used to receive the electrical energy provided by the power battery 30 and provide driving force for the electric vehicle 01. The brake system 20 is used to provide braking force for the electric vehicle 01.

[0049] Optionally, the running state of the electric vehicle 01 includes a driving state and a braking state. Among them, the driving state may refer to the process in which the driving motor 12 of the electric vehicle 01 outputs a positive torque to drive the wheels so that the electric vehicle 01 travels. The braking state may refer to the process in which the braking system 20 outputs a braking force to the wheels of the electric vehicle 01 so that the speed of the electric vehicle 01 gradually decreases. When the electric vehicle 01 is running in the driving state, the driving system 10 is used to output torque to drive the wheels to rotate. When the electric vehicle 01 is running in the braking state, the driving system 10 stops driving the wheels to rotate, and the braking system 20 is used to provide braking force to the wheels so that the electric vehicle 01 reduces the speed under the action of the braking force. Alternatively, in the case where the electric vehicle 01 has an energy recovery function, when the electric vehicle 01 is running in the braking state, the driving system 10 of the electric vehicle 01 can also output a reverse torque to provide feedback braking force for the electric vehicle 01, and the reverse torque output by the driving system 10 can also convert the kinetic energy of the electric vehicle 01 into electrical energy and charge the power battery 30.

[0050] Optional, such as Figure 3 As shown, the drive system 10 includes a motor controller 11 and a drive motor 12. When the electric vehicle 01 is running in a driving state, the motor controller 11 converts the direct current provided by the power battery 30 into three-phase alternating current, and the three-phase alternating current is used to drive the drive motor 12 to output torque to drive the wheels to rotate. Optionally, the drive motor 12 can output positive torque or reverse torque under the control of the motor controller 11. Among them, outputting positive torque means that the output direction of the drive motor 12 is the same as the rotational speed direction of the drive motor 12, and outputting reverse torque means that the output direction of the drive motor 12 is opposite to the rotational speed direction of the drive motor 12.

[0051] Optionally, the drive system 10 also includes a resolver sensor ( Figure 3 Each motor controller 11 is connected to a resolver sensor through a signal interface. The resolver sensor is used to detect the rotation speed of the drive motor 12 controlled by the motor controller 11. The motor controller 11 is used to receive a resolver signal from the resolver sensor and adjust the rotation speed of the controlled drive motor 12 according to the resolver signal. Exemplarily, the resolver sensor can accurately detect the position, direction and speed of the rotor of the drive motor 12, and is responsible for monitoring and collecting the rotation speed of the drive motor 12.

[0052] Furthermore, when the electric vehicle 01 is a multi-motor electric vehicle, such as a three-motor driven electric vehicle or a four-motor driven electric vehicle, the rotary signal output by the rotary sensor can also be used to indicate the wheel speed of the wheel driven by the drive motor 12. Based on this, the motor controller 11 can directly obtain the corresponding wheel state according to the rotary signal, and calculate the current speed of the electric vehicle according to the wheel speed indicated by the rotary signal. Compared with obtaining the wheel speed of the corresponding wheel through the wheel speed sensor, the sampling rate of the rotary sensor is higher, and it is directly connected to the motor controller 11 by signal, which can shorten the signal transmission link. In the process of the electric vehicle 01 running sideways, the rotary signal output by the rotary sensor can improve the detection speed of the slip and slip of the wheel. At the same time, the detection and control of the slip and slip of the wheel of the electric vehicle 01 can be completed inside the drive system 10, which can further improve the control stability of the electric vehicle 01 during the running process.

[0053] For example, the braking system 20 in the electric vehicle 01 may be as follows: Figure 4 The braking system 20 includes a brake pedal 21, a brake controller 22, and four wheel-end brake devices 23. When the user steps on the brake pedal 21, the brake controller 22 can generate a brake signal according to the opening of the brake pedal 21, and the four wheel-end brake devices 23 are used to output braking force to the corresponding wheels according to the instructions of the brake signal to reduce the speed of the electric vehicle 01. For example, Figure 4 Taking the direction shown in as an example, the wheel-end brake device 23 at the upper left corner is used to brake the left front wheel LF, the wheel-end brake device 23 at the upper right corner is used to brake the right front wheel RF, the wheel-end brake device 23 at the lower left corner is used to brake the left rear wheel LR, and the wheel-end brake device 23 at the lower right corner is used to brake the right rear wheel RR.

[0054] Optionally, during the braking process of the electric vehicle 01, the greater the opening of the brake pedal 21, the greater the braking force indicated by the braking signal, the greater the braking force output by the four wheel-end brake devices 23, and the faster the speed of the electric vehicle 01 decreases.

[0055] Optionally, the electric vehicle 01 further includes a vehicle control unit (VCU). When the user steps on the accelerator pedal or the accelerator pedal, the VCU can generate a torque signal according to the opening of the accelerator pedal or the accelerator pedal, and send the torque signal to the motor controller 11. After receiving the torque signal, the motor controller 11 controls the drive motor 12 to output torque based on the torque value indicated by the torque signal, thereby driving the electric vehicle 01 to travel.

[0056] In practical applications, the brake controller 22 may be a central controller, a VCU or a domain control unit (DCU), which is not specifically limited in the embodiments of the present application.

[0057] Furthermore, the drive system 10, the brake system 20 and the VCU can be communicatively connected via a controller area network (CAN). Optionally, the VCU can also obtain a driving mode signal via CAN, and the driving mode signal is used to indicate the current driving mode of the electric vehicle 01, for example, the driving mode may include any one of a sports mode, a comfort mode, and an intelligent mode. The VCU can also obtain a gear signal via CAN, and the gear signal is used to indicate the current gear of the electric vehicle 01, for example, the gear may include a forward gear, a reverse gear, etc.

[0058] The architecture of the embodiment of the present application is introduced above. The technical solution provided by the embodiment of the present application is described in detail below in conjunction with specific embodiments.

[0059] In a possible embodiment, the motor controller in the electric vehicle 01 is used to control the output torque of the drive motor of the electric vehicle to drive the electric vehicle to go straight. During the process of the electric vehicle going straight, the motor controller is used to control the torque output by the drive motor to increase as the opening of the accelerator pedal of the electric vehicle increases. After the electric vehicle starts the sideways function, the motor controller is used to control the output torque of the drive motor to drive the electric vehicle to go sideways, and control the rear wheel steering mechanism of the electric vehicle to adjust the steering angle of the rear wheels of the electric vehicle during the sideways process of the electric vehicle.

[0060] Among them, the straight line indicates that the driving direction of the electric vehicle 01 is consistent with the body direction of the electric vehicle 01 , and the horizontal line indicates that the driving direction of the electric vehicle 01 is perpendicular to the body direction of the electric vehicle 01 .

[0061] For example, when the electric vehicle is moving straight, when the user steps on the accelerator pedal of the electric vehicle, the opening of the accelerator pedal increases under the operation of the user. In response to the operation of the user, the motor controller can control the torque output by the drive motor to increase according to the opening of the accelerator pedal. Similarly, when the user releases the accelerator pedal, the opening of the accelerator pedal decreases under the operation of the user. In response to the operation of the user, the motor controller can control the torque output by the drive motor to decrease according to the opening of the accelerator pedal.

[0062] Optionally, when starting the horizontal function of the electric vehicle, the user can start the horizontal function in a variety of ways. For example, the electric vehicle 01 may be provided with a horizontal button for the user to operate to select and start the horizontal function. The horizontal button may be a physical button, and the user can start the horizontal function of the electric vehicle 01 by pressing the physical button. Figure 5 As shown, the horizontal button can also be a virtual button on the vehicle display screen or the central control display screen. The user can select the virtual button through the vehicle display screen or the central control display screen to start the horizontal function of the electric vehicle 01.

[0063] Furthermore, when the electric vehicle 01 is in the forward gear, the user can activate the horizontal function; when the electric vehicle 01 is in a gear other than the forward gear, the user cannot activate the horizontal function. For example, when the electric vehicle 01 is in the reverse gear, the physical button cannot be pressed, or the virtual button is in an unselectable state.

[0064] In a possible embodiment, after the electric vehicle starts the sideways function, the motor controller is specifically used to: first control the rear wheel steering mechanism to drive the rear wheels of the electric vehicle to steer, and then control the drive motor to output torque to drive the electric vehicle to sideways.

[0065] For example, Figure 6 As shown, after starting the sideways function of the electric vehicle, the motor controller first controls the rear wheel steering mechanism to drive the two rear wheels (left rear wheel LR and right rear wheel RR) of the electric vehicle to steer. After detecting that the left rear wheel LR and the right rear wheel RR have completed steering, the motor controller then controls the drive motors corresponding to the left rear wheel LR and the right rear wheel RR to output corresponding torques to drive the electric vehicle to steer.

[0066] Optionally, the steering angles of the left rear wheel LR and the right rear wheel RR may be the same (eg Figure 6 ), or vice versa (as Figure 2 As shown in Figure b). Figure 6 Neutralization Figure 2 Taking the horizontal direction to the left as an example, when the steering angles of the left rear wheel LR and the right rear wheel RR are consistent, the motor controller controls the torque output of the drive motor corresponding to the left rear wheel LR and the right rear wheel RR to be consistent. When the steering angles of the left rear wheel LR and the right rear wheel RR are opposite, the motor controller controls the torque output of the drive motor corresponding to the left rear wheel LR and the right rear wheel RR to be opposite. In other words, the torque output by the drive motors of the two rear wheels is related to the steering angles of the two rear wheels. Before driving the electric vehicle to travel horizontally, the steering angle is determined first and then the torque is output, so that the electric vehicle can be driven to the target position at the expected angle.

[0067] In a possible embodiment, after the electric vehicle starts the sideways function, the motor controller is specifically used to: after the two front wheels of the electric vehicle are turned, control the rear wheel steering mechanism to drive the rear wheels to turn.

[0068] For example, Figure 6 As shown, after starting the sideways function of the electric vehicle, the two front wheels (left front wheel LF and right front wheel RF) are controlled to steer first. After detecting that the left front wheel LF and the right front wheel RF have completed steering, the motor controller controls the rear wheel steering mechanism to drive the left rear wheel LR and the right rear wheel RR to steer.

[0069] Optionally, the steering angles of the left front wheel LF and the right front wheel RF may be the same (eg Figure 6 ), or vice versa (as Figure 2 (as shown in Figure b in the figure). Still taking the horizontal direction to the left as an example, when the steering angles of the left front wheel LF and the right front wheel RF are consistent, the steering angles of the left rear wheel LR and the right rear wheel RR are also consistent, and are opposite to the steering angles of the left front wheel LF and the right front wheel RF. When the steering angles of the left front wheel LF and the right front wheel RF are opposite, the steering angles of the left rear wheel LR and the right rear wheel RR are also opposite. In other words, the steering angles of the two rear wheels are related to the steering angles of the two front wheels. Before driving the electric vehicle to run horizontally, the horizontal direction of the electric vehicle is first determined by the steering angles of the two front wheels, and then the steering angles of the two rear wheels are controlled according to the steering angles of the two front wheels. In this way, when driving the electric vehicle to run horizontally, the forward trend of the two front wheels in the straight direction can be balanced with the backward trend of the two rear wheels in the straight direction, and then offset each other, thereby avoiding unexpected movement of the electric vehicle in the longitudinal direction.

[0070] Exemplarily, the steering of the two front wheels can be controlled by the steering wheel of the electric vehicle. It is understandable that the steering angle of the steering wheel can be turned by the user or controlled by the VCU, and the embodiments of the present application do not specifically limit this. For example, after the user starts the sideways function of the electric vehicle, the user can be reminded through the vehicle display or the central control display to turn the steering wheel to the left or right, thereby controlling the two front wheels to turn left or right. For another example, after the user starts the sideways function of the electric vehicle, the VCU can control the steering wheel to automatically turn to control the two front wheels to turn left or right.

[0071] refer to Figure 6After the left front wheel LF and the right front wheel RF of the electric vehicle have completed the steering, and the left rear wheel LR and the right rear wheel RR have also completed the steering, the motor controller controls the drive motors of the left front wheel LF and the right front wheel RF to output positive torque to drive the left front wheel LF and the right front wheel RF to rotate forward, and controls the drive motors of the left rear wheel LR and the right rear wheel RR to output reverse torque to drive the left rear wheel LR and the right rear wheel RR to rotate in the opposite direction, so that the two front wheels and the two rear wheels of the electric vehicle 01 slip during the rotation process, and drive the electric vehicle 01 to move sideways from the current position to the target position. Figure 6 As shown, the location of the electric vehicle 01 is the current location of the electric vehicle 01, and the location where the electric vehicle 01 needs to be parked is the target location, and Figure 6 The dotted arrow in the figure is the target trajectory of the electric vehicle 01 during the horizontal movement.

[0072] In a possible embodiment, the motor controller is also used to: during the process of driving the electric vehicle 01 to move sideways, control the rear wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the steering angles of the two front wheels of the electric vehicle.

[0073] Exemplary, combined Figure 6 It can be seen that when the steering angles of the two front wheels change, the longitudinal torque component and the lateral torque component distributed on the electric vehicle 01 will change. Timely control of the rear wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the steering angles of the two front wheels can keep the longitudinal torque component of the electric vehicle 01 in a balanced state, avoiding the electric vehicle 01 from being displaced in the longitudinal direction, thereby avoiding deviation from the target trajectory and the target position.

[0074] Specifically, in the process of driving the electric vehicle 01 to run sideways, the motor controller can normally respond to the steering wheel angle of the rotation, and cooperate with the electric power steering system (electronic power steering, EPS) to promptly respond to the steering requirements of the two front wheels. Exemplarily, when the electric vehicle 01 encounters an obstacle that needs to be avoided during the sideways running, the user will avoid the obstacle by turning the steering wheel. The motor controller can receive the steering wheel angle transmitted by the vehicle controller or other buses (such as CAN), and judge the current steering command state according to the steering wheel angle, thereby generating a yaw rate command to offset the deviation caused by turning the steering wheel. For example, when the steering wheel is turned 30°, a yaw rate of 10rad / s will be generated. The motor controller can predict the yaw rate that will be generated according to the rotation angle of the steering wheel, and generate a corresponding yaw rate command to control the rear wheel steering mechanism to adjust the steering angle of the two rear wheels of the electric vehicle 01 to eliminate the yaw rate of 10rad / s, so that the electric vehicle 01 can maintain a yaw rate close to 0 during the sideways running process, and achieve the purpose of controlling the electric vehicle 01 to run sideways stably.

[0075] In a possible embodiment, the motor controller is specifically used to: during the process of driving the electric vehicle to move sideways, control the rear wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the change of the heading angle of the electric vehicle.

[0076] Among them, Figure 7 As shown, the horizontal axis x0 of the ground coordinate system points to any direction of the ground plane, and the vertical axis y0 of the ground coordinate system is perpendicular to the horizontal axis x0. The heading angle θ is the angle between the direction of the electric vehicle's center of mass velocity v and the horizontal axis x0. The center of mass slip angle β is the angle between the direction of the electric vehicle's center of mass velocity v and the direction of the vehicle head. The yaw angle is the angle between the front of the electric vehicle 01 and the horizontal axis x0. Optionally, the heading angle can be calculated based on the yaw angle and the center of mass sideslip angle. For example, the yaw angle of the electric vehicle 01 is By integrating, the yaw angular velocity ω of the electric vehicle 01 can be obtained. Correspondingly, by differentiating the yaw angular velocity ω of the electric vehicle 01, the yaw angle of the electric vehicle 01 can be obtained. Based on the yaw angle And the measured center of mass side slip angle β, the heading angle θ of the electric vehicle 01 can be obtained, that is,

[0077] For example, when the electric vehicle is driven to move sideways, the heading angle θ should be fixed, that is, the electric vehicle 01 does not yaw. However, when the heading angle θ changes, it means that the front direction of the electric vehicle 01 has changed, that is, the body posture of the electric vehicle 01 has deflected. At this time, the rear wheel steering mechanism is controlled to adjust the steering angles of the two rear wheels, which can correct the body posture of the electric vehicle 01, so that the electric vehicle 01 can maintain a stable body posture during the sideways movement.

[0078] Furthermore, the motor controller is specifically used for: in the process of driving the electric vehicle to move sideways, the greater the deviation of the heading angle of the electric vehicle is, the greater the steering angle of the two rear wheels is adjusted by controlling the rear wheel steering mechanism.

[0079] Among them, the larger the deviation of the heading angle, the larger the deviation of the driving direction of the electric vehicle 01 is during the sideways movement of the electric vehicle 01, and the larger the steering angle of the two rear wheels is adjusted by controlling the rear-wheel steering mechanism to correct the driving direction of the electric vehicle 01 as soon as possible; when the heading angle deviation is smaller, it means that the deviation of the driving direction of the electric vehicle 01 is smaller, and the adjustment of the steering angle of the two rear wheels can be reduced, or the steering of the two rear wheels may not be adjusted, so that the electric vehicle 01 can maintain a stable body posture during the sideways movement.

[0080] The following combination Figure 8 , describes in detail the process in which the motor controller controls the rear wheel steering mechanism of the electric vehicle to adjust the steering angle of the rear wheels of the electric vehicle during the sideways movement of the electric vehicle. Figure 8 The broken line shown in the figure only represents the general trend of change and does not represent the specific numerical correspondence.

[0081] The start-up phase is from before t0 to t1. Before t0, the steering angle of the two front wheels changes with the change of the steering wheel angle. At t0, the user starts the sideways function; during the period from t0 to t1, the motor controller controls the rear wheel steering mechanism of the electric vehicle to drive the two rear wheels to steer, and changes according to the change of the steering angle of the two front wheels; at t1, the steering of the two rear wheels is completed, and the steering angle of the two rear wheels is opposite to the steering angle of the two front wheels. The motor controller controls the drive motor to output torque to drive the electric vehicle 01 to start sideways.

[0082] The period from t1 to t2 is the horizontal movement phase. The target heading angle is Figure 6When the heading angle of the electric vehicle 01 deviates from the target heading angle during the horizontal running process, the motor controller controls the rear wheel steering mechanism to adjust the steering angles of the two rear wheels, and the steering angles of the two rear wheels change with the change of the heading angle.

[0083] After time t2 is the exit stage. At time t2, the user chooses to exit the horizontal driving function, and the steering angles of the two rear wheels slowly return to the center. At the same time, the user operates the steering wheel to return to the center, and the steering angles of the two front wheels return to the center synchronously under the control of the steering wheel.

[0084] In a possible embodiment, during the process of driving the electric vehicle 01 sideways, the motor controller is further used to: in response to the slip rate of the wheel driven by the drive motor being greater than a preset slip rate, control the drive motor to reduce the torque output; in response to the slip rate of the wheel driven by the drive motor being less than a preset slip rate, control the drive motor to increase the torque output. Fig. 9 As shown, the dotted line represents the preset slip ratio, and the solid line represents the actual slip ratio. When the slip ratio deviates from the preset slip ratio, the torque output by the driving motor also changes accordingly.

[0085] The slip rate is the proportion of the sliding component in the wheel motion when the wheel and the ground are in relative motion. The slip rate of the two front wheels can be equal to the preset slip rate of the two rear wheels. In this way, the sliding speed of the two front wheels and the two rear wheels can be kept consistent, that is, when the two front wheels travel a certain distance, the two rear wheels can travel the same distance.

[0086] Exemplarily, taking the left front wheel of the electric vehicle 01 as an example, when the slip rate of the left front wheel LF is greater than the preset slip rate, the motor controller can control the drive motor corresponding to the left front wheel LF to reduce the torque output so that the slip rate of the left front wheel LF is reduced to the preset slip rate; when the slip rate of the left front wheel LF is less than the preset slip rate, the motor controller can control the drive motor corresponding to the left front wheel LF to increase the torque output so that the slip rate of the left front wheel LF is increased to the preset slip rate.

[0087] Optionally, the motor controller can calculate the slip rate of the wheel driven by the drive motor according to the rotational speed of the drive motor and the output torque of the drive motor. Based on this, the embodiment of the present application provides that the motor controller can determine the slip rate of the wheel according to the rotational speed and output torque of the drive motor, so that the observation of whether the wheel is slipping and the adjustment of the slip rate of the wheel are both implemented inside the drive system, with a shorter time delay, and can almost achieve microsecond (us) level fast observation and millisecond (ms) level torque adjustment.

[0088] In a possible embodiment, in the process of driving the electric vehicle 01 sideways, the motor controller is also used to: control the rotation speed of the drive motor to be less than a preset rotation speed and control the rotation speed of the drive motor to increase as the opening of the accelerator pedal increases.

[0089] The preset speed may be a safety speed threshold of the sideways function. When the drive motor is controlled to operate at a speed lower than the preset speed, the electric vehicle 01 can sideways at a relatively gentle speed.

[0090] Exemplarily, the motor controller is used to receive an acceleration signal from the accelerator pedal and a resolver signal from a resolver sensor, and the resolver signal can be used to indicate the rotation speed of the drive motor. In the process of driving the electric vehicle 01 to run sideways, the motor controller controls the rotation speed of the drive motor to increase as the opening of the accelerator pedal increases, and the speed of the electric vehicle 01 also increases as the opening of the accelerator pedal increases. When the rotation speed of the drive motor increases to a preset rotation speed, that is, the safe rotation speed threshold of the running function is reached, the motor controller can control the rotation speed of the drive motor to maintain at the preset rotation speed, and does not increase with the increase of the opening of the accelerator pedal, so that the electric vehicle 01 can run sideways at a relatively gentle and safe speed during the running process, thereby improving driving safety.

[0091] In a possible embodiment, during the process of driving the electric vehicle 01 sideways, the motor controller is also used to: in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, control the drive motor to first stop torque output, and then control the rear-wheel steering mechanism to drive the two rear wheels back to the straight position.

[0092] Among them, the opening of the brake pedal is greater than the preset brake pedal opening, which indicates that the user has stepped on the brake pedal and hopes to exit the sideways function of the electric vehicle.

[0093] Exemplarily, in the process of driving the electric vehicle 01 to run sideways, when the user steps on the brake pedal of the electric vehicle, the opening of the brake pedal increases under the operation of the user. When the opening of the brake pedal is greater than the preset opening of the brake pedal, in order to respond to the user's operation, the motor controller can control the drive motor to stop the torque output according to the brake signal generated by the opening of the brake pedal, so that the electric vehicle 01 stops running sideways. Afterwards, when the electric vehicle 01 is in a parking state, the motor controller controls the rear wheel steering mechanism to drive the two rear wheels to return to the correct position so that the rotation direction of the two rear wheels is consistent with the direction of the vehicle body. After the two rear wheels of the electric vehicle 01 return to the correct position, it means that the electric vehicle 01 has exited the running sideways function. That is to say, in the embodiment of the present application, when the user expects the electric vehicle 01 to exit the running sideways function, only the brake pedal needs to be stepped on to return the electric vehicle 01 to a normal driving state, which is convenient to operate and improves the driving experience.

[0094] In a possible embodiment, after the electric vehicle starts the sideways function, the motor controller is further used to: control the torque output by the drive motor to increase at a first rate. In the process of driving the electric vehicle sideways, the motor controller is further used to: in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, control the torque output by the drive motor to decrease at a second rate less than the first rate.

[0095] The increasing rate of the torque corresponds to the increasing rate of the driving force, and the decreasing rate of the torque corresponds to the decreasing rate of the driving force.

[0096] Exemplarily, after starting the sideways function, the motor controller needs to control the torque output by the drive motor to increase at a first rate, that is, control the driving force output by the drive motor to the driven wheels to increase at a larger rate, so that the four wheels of the electric vehicle 01 can be driven as soon as possible to start rotating and slipping. As mentioned above, when the opening of the brake pedal is greater than the opening of the preset brake pedal, it means that the user expects to control the electric vehicle 01 to stop sideways. After receiving the brake signal output by the brake pedal, the motor controller controls the torque output by the drive motor to decrease at a second rate, that is, controls the driving force output by the drive motor to the driven wheels to decrease at a smaller rate until the vehicle stops. In this way, the frustration of the electric vehicle during parking can be avoided and the user's driving experience can be improved.

[0097] Optional, such as Fig.10As shown, the motor controller 11 includes a trajectory estimation module 111, an observer 112, a dynamics calculation module 113 and a drive control unit 114. The output end of the trajectory estimation module 111 and the output end of the observer 112 are both connected to the input end of the dynamics calculation module 113, the output end of the dynamics calculation module 113 is respectively connected to the drive control unit 114 and the rear wheel steering mechanism of the electric vehicle 01, and the drive control unit 114 is connected to the drive motor of the electric vehicle 01.

[0098] The trajectory estimation module 111 can be used to determine the target trajectory and target lateral speed of the electric vehicle 01; the observer 112 is used to determine the target heading angle of the electric vehicle 01 during the lateral movement; the dynamic calculation module 113 is used to determine the lateral trajectory deviation, lateral speed deviation and heading angle deviation respectively according to the received actual trajectory, the calculated actual heading angle and the actual lateral speed, combined with the target trajectory, the target lateral speed and the target heading angle. After receiving the lateral trajectory deviation, the lateral speed deviation and the heading angle deviation, the calculation module 1131 outputs the steering angle of the two rear wheels to the rear-wheel steering mechanism in combination with the steering wheel angle output when the steering wheel is turned, and outputs the speed or output torque of the drive motor to the drive control unit 114.

[0099] For example, Fig.10 As shown, the output and input of the drive control unit 114 form a closed loop, which can achieve closed-loop control of the slip rate of the wheel. When the actual slip rate of the wheel is greater than the preset slip rate or less than the preset slip rate, the output torque of the drive motor is actively adjusted to make the slip rate of the wheel reach the preset slip rate, so that the electric vehicle 01 can maintain a stable speed during the sideways running process.

[0100] In the embodiment of the present application, during the sideways movement of the electric vehicle 01, the motor controller can obtain the actual speed and actual heading angle of the electric vehicle to locate the position of the electric vehicle 01, avoiding the difficulty of visual recognition by the user or by using a camera, and improving the sideways movement stability of the electric vehicle 01. At the same time, the motor controller can also timely obtain the body posture deviation of the electric vehicle 01 during the sideways movement according to the lateral trajectory deviation and the heading angle deviation, and control the rear wheel steering mechanism to adjust the steering angles of the two rear wheels to correct the body posture.

[0101] For ease of understanding, the following Fig.11 The scheme provided in the embodiment of the present application is illustrated by way of example. Fig.11 A schematic diagram of a process for controlling the lateral movement of an electric vehicle provided in an embodiment of the present application is shown. The method can be applied to a motor controller, and the method includes S601 to S604.

[0102] S601: Signal input. In the embodiment of the present application, the signal input at least includes the angle of the steering wheel turned by the user, the opening of the accelerator pedal, and the signal of starting the horizontal driving function triggered by the user.

[0103] S602: Calculate target parameters. After receiving the aforementioned input signal, the motor controller calculates the target parameters of the electric vehicle 01. Optionally, the target parameters include but are not limited to the aforementioned target trajectory, target heading angle, preset slip rate, etc.

[0104] S603: Calculate the steering angles of the two rear wheels, the output torque and the speed of the drive motor. Exemplarily, the steering angles of the two rear wheels of the electric vehicle 01, the output torque of the drive motor and the speed of the drive motor are calculated according to the target trajectory, target heading angle, preset slip ratio and other parameters.

[0105] S604: Control and adjust the steering angles of the two rear wheels, the output torque and the speed of the drive motor. Exemplarily, the rear wheel steering mechanism is controlled to adjust the steering angles of the two rear wheels based on the steering angles of the two rear wheels calculated in step S603, and the drive motor is controlled to drive the corresponding wheels based on the output torque and the speed of the drive motor calculated in step S603, so as to control the electric vehicle 01 to complete the sideways movement.

[0106] In the embodiment of the present application, the electric vehicle 01 can be a four-motor driven electric vehicle, a three-motor driven electric vehicle or a two-motor driven electric vehicle. Exemplarily, when the electric vehicle 01 is a four-motor driven electric vehicle, the electric vehicle 01 includes four motor controllers and four drive motors, and the four motor controllers are used to control the four drive motors respectively, and each of the four drive motors can drive one wheel of the electric vehicle 01 respectively. When the electric vehicle 01 is a three-motor driven electric vehicle, the electric vehicle 01 includes three motor controls and three drive motors, and the three motor controllers are used to control the three drive motors respectively, and two of the three drive motors are used to drive two coaxial wheels respectively, and another of the three drive motors is used to drive the other two coaxial wheels at the same time. When the electric vehicle 01 is a two-motor driven electric vehicle, the electric vehicle 01 includes two motor controls and two drive motors, and the two motor controllers are used to control the two drive motors respectively, and each drive motor is used to drive two front wheels or two rear wheels respectively. Furthermore, when the drive motor is used to drive one of the wheels of the electric vehicle 01, the slip rate described above may be the slip rate of the one wheel; when the drive motor is used to drive two coaxial wheels of the electric vehicle 01, the slip rate described above may be the slip rate of the two coaxial wheels.

[0107] The motor controller provided in the embodiment of the present application can be any one of the motor controllers in the above-mentioned four-motor driven electric vehicle, or any one of the motor controllers in the above-mentioned three-motor driven electric vehicle, or any one of the motor controllers in the above-mentioned two-motor driven electric vehicle, and the embodiment of the present application does not make specific limitations on this.

[0108] In another embodiment of the present application, a transverse control method for an electric vehicle is also provided. The transverse control method is used to control the vehicle to travel sideways after the user turns on the transverse function. The transverse control method includes: after the user turns the steering wheel to an angle greater than a preset angle and in response to the opening of the accelerator pedal of the electric vehicle being greater than the preset throttle opening, starting the transverse function of the electric vehicle; in the process of controlling the transverse travel of the electric vehicle, controlling the steering angles of the two front wheels of the electric vehicle to remain unchanged and controlling the rear wheel steering mechanism of the electric vehicle to adjust the steering angles of the rear wheels of the electric vehicle.

[0109] The preset angle and the preset throttle opening are trigger thresholds for the electric vehicle's sideways function. When the user turns the steering wheel to an angle exceeding the preset angle and steps on the accelerator pedal to an opening greater than the preset throttle opening, it indicates that the user desires to drive the electric vehicle's sideways function.

[0110] Optionally, the sideways control method also includes: after starting the sideways function of the electric vehicle, first controlling the steering of the two front wheels of the electric vehicle, and then controlling the rear wheel steering mechanism to drive the steering of the two rear wheels of the electric vehicle; after controlling the steering of the two rear wheels, controlling the drive motor of the electric vehicle to output torque to drive the electric vehicle sideways.

[0111] Optionally, the transverse control method also includes: in the process of controlling the electric vehicle to travel sideways, controlling the rear-wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the change of the heading angle of the electric vehicle; or, controlling the rear-wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the change of the steering angles of the two front wheels.

[0112] Optionally, the sideways running control method further includes: after the user operates the brake pedal to an opening greater than a preset brake pedal opening, controlling the electric vehicle to exit the sideways running function of the electric vehicle.

[0113] In another embodiment of the present application, an electric vehicle is also provided, which includes a drive system and a power battery. The drive system includes a drive motor and a motor controller provided in the above-mentioned motor controller embodiment. The power battery is used to power the drive system, and the drive motor is used to output torque under the control of the motor controller.

[0114] It can be understood that all relevant contents involved in the above-mentioned motor controller embodiment can be referred to the embodiment of the lateral control method and the embodiment of the electric vehicle, and the embodiments of the present application will not be repeated here.

[0115] Finally, it should be noted that the above is only a specific implementation 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 motor controller for controlling the lateral movement of a vehicle, characterized in that: The motor controller is used to control the output torque of the driving motor of the electric vehicle to drive the electric vehicle to move straight, and the motor controller is used to control the torque output by the driving motor to increase as the opening degree of the accelerator pedal of the electric vehicle increases during the straight movement of the electric vehicle; After the electric vehicle starts the sideways function, the motor controller is used to control the drive motor to output torque to drive the electric vehicle sideways, and is used to control the rear wheel steering mechanism of the electric vehicle to adjust the steering angle of the rear wheels of the electric vehicle during the sideways running of the electric vehicle.

2. The motor controller according to claim 1, characterized in that: The motor controller is specifically used for: After the electric vehicle starts the transverse running function, the rear wheel steering mechanism is first controlled to drive the rear wheels to steer, and then the drive motor is controlled to output torque to drive the electric vehicle to run transversely.

3. The motor controller according to claim 1, characterized in that: The motor controller is specifically used for: After the electric vehicle starts the transverse function, the rear wheel steering mechanism is controlled to drive the rear wheels to steer after the two front wheels of the electric vehicle are steered.

4. The motor controller according to claim 1, characterized in that: The motor controller is specifically used for: In the process of driving the electric vehicle to travel sideways, the rear wheel steering mechanism is controlled to adjust the steering angles of the two rear wheels to change with the change of the heading angle of the electric vehicle.

5. The motor controller according to claim 4, characterized in that: The motor controller is specifically used for: In the process of driving the electric vehicle to travel sideways, the greater the deviation of the heading angle of the electric vehicle is, the greater the steering angle of the two rear wheels adjusted by controlling the rear wheel steering mechanism is.

6. The motor controller according to any one of claims 1 to 3, characterized in that: The motor controller is also used for: In the process of driving the electric vehicle to travel sideways, in response to a slip rate of the wheel driven by the driving motor being greater than a preset slip rate, controlling the driving motor to reduce torque output; In the process of driving the electric vehicle to travel sideways, in response to a slip ratio of the wheels driven by the driving motor being less than a preset slip ratio, the driving motor is controlled to increase torque output.

7. The motor controller according to any one of claims 1 to 4, characterized in that: The motor controller is also used for: In the process of driving the electric vehicle to travel sideways, the rear wheel steering mechanism is controlled to adjust the steering angles of the two rear wheels to change with the steering angles of the two front wheels of the electric vehicle.

8. The motor controller according to any one of claims 1 to 4, characterized in that: The motor controller is also used for: In the process of driving the electric vehicle to travel sideways, the rotation speed of the driving motor is controlled to be less than a preset rotation speed and the rotation speed of the driving motor is controlled to increase as the opening degree of the accelerator pedal increases.

9. The motor controller according to any one of claims 1 to 4, characterized in that: The motor controller is also used for: During the process of driving the electric vehicle sideways, in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, the drive motor is controlled to first stop torque output, and then the rear wheel steering mechanism is controlled to drive the two rear wheels back to the straight position.

10. The motor controller according to any one of claims 1 to 4, characterized in that: The motor controller is also used for: After the electric vehicle starts a lateral running function, controlling the torque output by the driving motor to increase at a first rate; During the process of driving the electric vehicle to travel sideways, in response to the opening of the brake pedal of the electric vehicle being greater than a preset brake pedal opening, the torque output by the driving motor is controlled to decrease at a second rate that is smaller than the first rate.

11. A method for controlling the lateral movement of an electric vehicle, characterized in that: The horizontal movement control method is used to control the electric vehicle to move horizontally after the user turns on the horizontal movement function, and the horizontal movement control method includes: After the user turns the steering wheel to an angle greater than a preset angle, in response to the opening of the accelerator pedal of the electric vehicle being greater than a preset accelerator opening, starting the sideways function of the electric vehicle; In the process of controlling the electric vehicle to travel sideways, the steering angles of the two front wheels of the electric vehicle are controlled to remain unchanged and the rear wheel steering mechanism of the electric vehicle is controlled to adjust the steering angles of the rear wheels of the electric vehicle.

12. The method according to claim 11, characterized in that The horizontal control method also includes: After starting the horizontal running function of the electric vehicle, firstly controlling the two front wheels of the electric vehicle to steer, and then controlling the rear wheel steering mechanism to drive the two rear wheels of the electric vehicle to steer; After the two rear wheels are controlled to turn, a driving motor of the electric vehicle is controlled to output torque to drive the electric vehicle to move sideways.

13. The method according to claim 11 or 12, characterized in that: The horizontal control method also includes: In the process of controlling the electric vehicle to travel sideways, controlling the rear wheel steering mechanism to adjust the steering angles of the two rear wheels to change with the change of the heading angle of the electric vehicle; or, The rear wheel steering mechanism is controlled to adjust the steering angles of the two rear wheels to change with the steering angles of the two front wheels.

14. The method according to any one of claims 11 to 13, characterized in that: The horizontal control method also includes: After the user operates the brake pedal to an opening greater than a preset brake pedal opening, the electric vehicle is controlled to exit the sideways function of the electric vehicle.

15. An electric vehicle, characterized in that: The electric vehicle includes a drive system and a power battery, the drive system includes a drive motor and a motor controller according to any one of claims 1 to 10, the power battery is used to power the drive system, and the drive motor is used to output torque under the control of the motor controller.

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