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

Abstract

The invention relates to a vehicle control method and device, computer equipment, a storage medium and a program product, and relates to the technical field of electric vehicle control. The method comprises the following steps: receiving a wheel rotation direction of a vehicle and a gear of the vehicle sent by a linear control system through a whole vehicle control system; in response to the fact that the vehicle control system detects that the wheel rotating direction of the vehicle is opposite to the direction corresponding to the gear of the vehicle, a torque control instruction is determined through the vehicle control system; the torque control instruction is one of a torque rising slope increasing instruction and a dragging torque eliminating instruction; a torque control instruction sent by the whole vehicle control system is received through the driving control system; and executing a torque control operation corresponding to the torque control instruction through the driving control system. According to the scheme, the vehicle control effect can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of electric vehicle control technology, and in particular to a vehicle control method, device, computer equipment, storage medium and program product. Background Art

[0002] With the continuous advancement of electric vehicle technology, electric vehicles have provided great convenience to people's lives, and the safety requirements for electric vehicles have also been continuously improved. Among them, the driving safety strategy is particularly important.

[0003] In the relevant technology, electric vehicles have an energy recovery function. When the electric vehicle is driving forward and the brake is applied, the vehicle controller requests the motor to perform negative torque, and the motor operates in regenerative braking mode, that is, when the vehicle is decelerating or coasting, the kinetic energy is converted into electrical energy through reverse torque and fed back to the battery, and the electric vehicle enters an energy recovery state; when the electric vehicle is on a high-adhesion road, due to the high adhesion coefficient of the road surface, the tires and the ground are in a rolling friction stage, the resistance encountered by the electric vehicle is greater than the inertia force of the electric vehicle, and the electric vehicle decelerates normally.

[0004] However, in the above scheme, when the electric vehicle brakes from a high-adhesion road to a low-adhesion road, the wheels will reverse, which may easily cause the motor to reverse and run away, resulting in poor control effect of the electric vehicle and low stability of the electric vehicle. Summary of the invention

[0005] The embodiments of the present application provide a vehicle control method, device, computer equipment, storage medium and program product, which can effectively improve the control effect of the vehicle. The technical solution is as follows:

[0006] In one aspect, a vehicle control method is provided, the method being executed by a vehicle, the vehicle comprising a vehicle control system, a linear control system, and a drive control system, the method comprising:

[0007] Receiving, via the vehicle control system, the wheel rotation direction of the vehicle and the gear position of the vehicle sent by the linear control system;

[0008] In response to the vehicle control system detecting that the wheel rotation direction of the vehicle is opposite to the direction corresponding to the gear position of the vehicle, a torque control instruction is determined by the vehicle control system; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period;

[0009] Receiving the torque control instruction sent by the vehicle control system through the drive control system;

[0010] A torque control operation corresponding to the torque control command is performed by the drive control system.

[0011] In another aspect, a vehicle control device is provided, the device comprising:

[0012] An information receiving module, used for receiving the wheel rotation direction of the vehicle and the gear position of the vehicle sent by the linear control system through the vehicle control system;

[0013] a torque control instruction determination module, for determining a torque control instruction through the vehicle control system in response to the vehicle control system detecting that the wheel rotation direction of the vehicle is opposite to the direction corresponding to the gear position of the vehicle; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period;

[0014] A torque control instruction receiving module, used for receiving the torque control instruction sent by the vehicle control system through the drive control system;

[0015] The torque control operation execution module is used to execute the torque control operation corresponding to the torque control instruction through the drive control system.

[0016] In yet another aspect, a vehicle control system is provided, the system comprising a vehicle control system, a linear control system and a drive control system;

[0017] The vehicle control system is used to receive the wheel rotation direction of the vehicle and the gear position of the vehicle sent by the linear control system;

[0018] The vehicle control system is used to determine a torque control instruction in response to detecting that the wheel rotation direction of the vehicle is opposite to the direction corresponding to the gear position of the vehicle; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period;

[0019] The drive control system is used to receive the torque control instruction sent by the vehicle control system and execute a torque control operation corresponding to the torque control instruction.

[0020] On the other hand, a computer device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the vehicle control method as described above.

[0021] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the vehicle control method as described above.

[0022] In another aspect, a computer program product is provided, the computer program product comprising a computer program, the computer program being stored in a computer-readable storage medium. A processor of a computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the vehicle control method provided in the above-mentioned various optional implementations.

[0023] The technical solution provided by this application may have the following beneficial effects:

[0024] When the vehicle provides the wheel rotation direction and gear position information to the vehicle control system through the linear control system, the vehicle control system can monitor and analyze the vehicle dynamics in real time. When it is detected that the wheel rotation direction is opposite to the direction indicated by the gear position, the vehicle control system will select the appropriate torque control command: through the torque slope increase command, the vehicle can quickly increase the motor torque without causing the drive wheel to slip, and quickly respond to the driver's operation. Through the drag torque elimination command, the drag problem that may occur during the deceleration process of the vehicle can be effectively solved, avoiding unnecessary energy loss and improving the control efficiency of the vehicle. By determining different torque control commands, the stability of the vehicle under different driving conditions can be effectively improved, the power transmission efficiency can be optimized, the vehicle energy consumption can be reduced, the control efficiency of the vehicle can be effectively improved, and the control effect of the vehicle can be guaranteed.

[0025] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0027] Figure 1 is a structural diagram of a vehicle control system involved in one embodiment of the present application;

[0028] Figure 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0029] Figure 3 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0030] Figure 4 is a flow chart of a vehicle control method provided by an embodiment of the present application;

[0031] Figure 5 It is a schematic diagram of a method for preventing an electric vehicle from reversing and flying provided by an embodiment of the present application;

[0032] Figure 6 is a block diagram of a vehicle control device provided by an exemplary embodiment of the present application;

[0033] Figure 7 It is a structural diagram of a computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0034] Here, exemplary embodiments will be described in detail, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application.

[0035] Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as recited in the appended claims.

[0036] Figure 1 FIG. 1 is a structural diagram of a vehicle control system according to an embodiment of the present application. Figure 1 As shown, the vehicle control system is integrated in a vehicle 100, and the vehicle 100 includes a vehicle control system 101, a linear control system 102, and a drive control system 103;

[0037] The vehicle control system 101 is used to receive the wheel rotation direction and gear position of the vehicle sent by the linear control system 102;

[0038] The vehicle control system 101 is used to determine a torque control instruction in response to detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period;

[0039] The driving control system 103 is used to receive the torque control instruction sent by the vehicle control system 101 and execute the torque control operation corresponding to the torque control instruction.

[0040] In the embodiment of the present application, the vehicle control system integrates the vehicle control system 101, the linear control system 102 and the drive control system 103. When the wheel rotation direction of the vehicle 100 is opposite to the direction corresponding to the gear position, the vehicle control system 101 can quickly issue a torque control command, such as a torque slope increase command to ensure that the drive wheel does not slip, or a drag torque elimination command to reduce unnecessary energy loss; the instant response mechanism avoids possible operational delays in traditional systems, improves the speed and accuracy of torque adjustment, thereby enhancing the vehicle's handling stability, optimizing the driving experience, and improving the overall control efficiency.

[0041] Figure 2is a flow chart of a vehicle control method provided by an embodiment of the present application. The vehicle control method can be executed by a vehicle, which includes a vehicle control system, a linear control system, and a drive control system; for example, the vehicle can be the above-mentioned Figure 1 The vehicle 100 shown in the figure, the vehicle control system, the linear control system and the drive control system can be the above Figure 1 The vehicle control system 101, the linear control system 102 and the drive control system 103.

[0042] Among them, the above-mentioned vehicle control system is the core unit that integrates and manages the data of all vehicle subsystems, and is used to optimize the overall performance of the vehicle.

[0043] Among them, the above-mentioned linear control system is a system that focuses on monitoring the straight-line driving characteristics of the vehicle to ensure that the vehicle moves stably along the expected path.

[0044] The drive control system controls the motor to perform a specified operation based on a torque control instruction, so as to manage the torque output of the motor.

[0045] The above vehicle control method may include steps 210, 220, 230 and 240, which are specifically implemented as follows:

[0046] Step 210: Receive the wheel rotation direction and gear position of the vehicle sent by the linear control system through the vehicle control system.

[0047] The wheel rotation direction is the current rotation direction of the four wheels of the vehicle, and the wheel rotation direction may be forward (ie, the vehicle moves forward) or backward (ie, the vehicle moves backward).

[0048] Among them, the gear position of the above-mentioned vehicle can be P gear (parking gear, used to lock the transmission system when parking to prevent the vehicle from moving), R gear (reverse gear, used for the vehicle to move backward), N gear (neutral gear, used for the vehicle to glide without using engine power) or D gear (drive gear, used for the vehicle to move forward).

[0049] In an embodiment of the present application, during the operation of the vehicle, the linear control system of the vehicle can monitor the rotation direction of the wheels and the current gear position of the vehicle in real time through different vehicle sensors, and transmit the real-time monitored wheel rotation direction and gear position of the vehicle to the vehicle control system.

[0050] In some embodiments, the linear control system may obtain the wheel rotation direction of the vehicle through a steering angle sensor; the linear control system may monitor and collect the gear position of the vehicle through a gear position sensor.

[0051] Step 220: In response to the vehicle control system detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle, a torque control instruction is determined by the vehicle control system; the torque control instruction is one of a torque ramp slope increase instruction and a drag torque elimination instruction; the torque ramp slope increase instruction is used to indicate that a specified torque change rate is increased on the original torque change rate of the vehicle's motor so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the drive wheels of the vehicle do not slip; the drag torque elimination instruction is used to indicate that the negative torque of the motor is reduced to zero within a second time period.

[0052] The torque control command is a command issued by the vehicle control system according to the current vehicle state, and is used to adjust the motor output torque of the vehicle.

[0053] In an embodiment of the present application, the vehicle control system receives the wheel rotation direction and the gear position of the vehicle sent in real time by the linear control system, and dynamically adjusts the torque control instruction based on the wheel rotation direction and the gear position of the vehicle.

[0054] Step 230: Receive the torque control instruction sent by the vehicle control system through the drive control system.

[0055] In an embodiment of the present application, after the vehicle control system generates a torque control instruction, the torque control instruction can be sent to the drive control system. The drive control system receives the torque control instruction and immediately executes the torque adjustment operation corresponding to the torque control instruction. The torque adjustment operation can be to increase the specified torque change rate so that the motor reaches the target torque value, or to reduce the negative torque to zero within a second time period to ensure the safety and stability of the vehicle.

[0056] Step 240: Execute a torque control operation corresponding to the torque control command through the drive control system.

[0057] In the embodiment of the present application, after receiving the torque control instruction, the drive control system performs a torque control operation corresponding to the torque control instruction.

[0058] In the embodiment of the present application, when the vehicle provides the wheel rotation direction and gear information to the vehicle control system through the linear control system, the vehicle control system can monitor and analyze the vehicle dynamics in real time. When it is detected that the wheel rotation direction is opposite to the direction indicated by the gear position, the vehicle control system will select an appropriate torque control command: through the torque slope increase command, the vehicle can quickly increase the motor torque without causing the drive wheel to slip, and quickly respond to the driver's operation; through the drag torque elimination command, the drag problem that may occur during the deceleration of the vehicle can be effectively solved, unnecessary energy loss can be avoided, and the control efficiency of the vehicle can be improved; by determining different torque control commands, the stability of the vehicle under different driving conditions can be effectively improved, the power transmission efficiency can be optimized, the vehicle energy consumption can be reduced, the control efficiency of the vehicle can be effectively improved, and the control effect of the vehicle can be ensured.

[0059] Based on the solutions shown in any one or more of the above embodiments, based on Figure 2 , please refer to Figure 3 , Figure 3 This is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 2 Step 220 in the embodiment can be implemented as step 220a and step 220b, as follows:

[0060] Step 220a: receiving the vehicle's driving wheel status information sent by the braking system through the vehicle control system; the driving wheel status information is used to indicate whether the vehicle's driving wheels are slipping.

[0061] In an embodiment of the present application, when the vehicle is driving, the vehicle's braking system can monitor the vehicle's driving wheel information in real time, and determine whether the vehicle's driving wheels are slipping based on the driving wheel information. The driving wheel information includes but is not limited to: the driving wheel's rotational speed, the driving wheel's acceleration and / or deceleration, the driving wheel's lateral acceleration, longitudinal acceleration, steering angle, and the driving wheel's road friction coefficient; the vehicle's braking system determines whether the vehicle's driving wheels are slipping based on the driving wheel information, and generates driving wheel status information indicating whether the vehicle's driving wheels are slipping, and sends the driving wheel status information to the vehicle control system.

[0062] In some embodiments, the above-mentioned driving wheel status information can be sent to the vehicle control system in the form of a 1-bit signal. The 1-bit signal can be "0" or "1". For example, the 1-bit signal value is "0", indicating that the driving wheel of the vehicle is in normal working condition and the driving wheel of the vehicle is not slipping; the 1-bit signal value is "1", indicating that the driving wheel of the vehicle is slipping.

[0063] Step 220b: Determine the torque control command based on the driving wheel state information through the vehicle control system.

[0064] In an embodiment of the present application, after receiving the driving wheel status information, the vehicle control system analyzes the driving wheel status information, determines whether the driving wheels of the current vehicle are slipping, and determines the torque control command based on whether the driving wheels of the current vehicle are slipping.

[0065] In an embodiment of the present application, the vehicle control system assists in decision-making through the drive wheel status information sent by the braking system. The drive wheel status information can indicate the current grip condition of the vehicle. The vehicle control system determines the torque control command based on the drive wheel status information, which can effectively ensure that the torque control command fits the current state of the vehicle, thereby improving the generation quality of the torque control command.

[0066] Based on the scheme shown in any one or more of the above-mentioned embodiments, the above-mentioned step 220b can be implemented as follows: when the driving wheel status information indicates that the driving wheels of the vehicle are slipping, a torque slope increase instruction is generated based on the target torque value through the vehicle control system; when the driving wheel status information indicates that the driving wheels of the vehicle are not slipping, a drag torque elimination instruction is determined through the vehicle control system.

[0067] In some embodiments, when the driving wheel status information indicates that the driving wheels of the vehicle are slipping, the target torque value is determined by the vehicle control system based on the current driving state of the vehicle and the road conditions; a torque slope increase instruction is generated based on the target torque value; the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip.

[0068] In an embodiment of the present application, when the driving wheel status information indicates that the driving wheels of the vehicle are slipping, the vehicle control system can set a target torque value based on the current state of the vehicle (such as the vehicle speed) and the road conditions on which the vehicle is currently located (such as the road surface conditions), and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; for example, when the road surface on which the vehicle is traveling is an icy or snowy road and the current vehicle speed is high, the target torque value can be set to a lower torque value to prevent the vehicle's motor output from being too large, causing the vehicle to slip severely; when the road surface on which the vehicle is currently traveling is a dry road and the current vehicle speed is slow, the target torque value can be set to a higher torque value to facilitate vehicle acceleration.

[0069] In an embodiment of the present application, after the vehicle control system determines the target torque value, the vehicle control system generates a torque change rate (i.e., a torque rise slope) based on the current vehicle's torque change rate and the target torque value, so as to allow the torque value of the vehicle's motor to rise to the target torque value within a first time period (e.g., a few milliseconds to several hundred milliseconds); in some embodiments, the above-mentioned torque rise slope can be dynamically adjusted according to the vehicle's current driving state and the road conditions.

[0070] In some embodiments, when the drive wheel status information indicates that the drive wheels of the vehicle are not slipping, the vehicle control system determines a drag torque elimination instruction based on the vehicle's current driving state and the road conditions; the drag torque elimination instruction is used to instruct the negative torque of the vehicle's motor to be reduced to zero within a second time period.

[0071] In an embodiment of the present application, when the driving wheel status information indicates that the driving wheels of the vehicle are not slipping, the vehicle control system can set a target speed according to the current state of the vehicle (such as vehicle speed) and the road conditions on which the vehicle is currently located (such as road surface conditions), and the target speed is a speed at which the motor of the vehicle is instructed to reduce the negative torque of the motor to zero within a second time period; for example, when the road surface on which the vehicle is traveling is an icy or snowy road and the current vehicle speed is high, the target speed can be set to a lower speed value to prevent the vehicle from reducing the negative torque of the motor too quickly, causing severe slipping of the vehicle; when the road surface on which the vehicle is currently traveling is a dry road and the current vehicle speed is slow, the target speed can be set to a higher speed so that the vehicle can quickly reduce the negative torque of the motor to zero under relatively stable conditions; in some embodiments, the above target speed can be dynamically adjusted according to the current driving state of the vehicle and the road conditions on which it is located.

[0072] In the embodiment of the present application, in the above-mentioned scheme, when the braking system detects that the vehicle's drive wheels are slipping, the vehicle control system generates a torque increase slope increase instruction based on the preset target torque value, which can effectively ensure that the motor increases the torque output in a short time, but the increased torque does not exceed the safety threshold for preventing tire slippage, thereby effectively restoring the vehicle's traction and avoiding the vehicle's loss of control due to insufficient or excessive power; when the braking system detects that the vehicle's drive wheels are not slipping, the vehicle control system gradually reduces and eliminates the negative torque of the motor through the drag torque elimination instruction, which not only improves the energy utilization efficiency, but also reduces the burden on the braking system, effectively ensuring that the vehicle runs more smoothly and stably; the embodiment of the present application can effectively improve the stability and control efficiency of the vehicle by dynamically adjusting the torque instruction according to the vehicle's drive wheel status information through the vehicle control system.

[0073] Based on the scheme shown in any one or more of the above-mentioned embodiments, when the torque control instruction is a drag torque elimination instruction, the torque boost operation is performed on the negative torque of the motor through the driving control system; in response to the negative torque of the motor being reduced to zero within a second time period, the torque boost operation is stopped.

[0074] In an embodiment of the present application, after the vehicle's drive control system receives a drag torque elimination instruction, it starts to perform a torque boost operation on the negative torque of the motor, that is, gradually reducing the negative torque of the motor so that the negative torque of the motor gradually decreases and reaches zero at the end of the second time period. At this time, the drive control system stops the torque boost operation.

[0075] In some embodiments, when the torque control instruction is a drag torque elimination instruction, the drag torque elimination instruction includes a target speed, and the driving control system performs a torque boost operation on the negative torque of the motor at the target speed; in response to the negative torque of the motor decreasing to zero within a second time period, the torque boost operation is stopped.

[0076] In other embodiments, when the torque control instruction is a drag torque elimination instruction, the torque boost operation is performed on the negative torque of the motor through the drive control system, and the speed of the torque boost operation is dynamically adjusted based on the current driving state of the vehicle and the current road condition of the vehicle; in response to the negative torque of the motor being reduced to zero within the second time period, the torque boost operation is stopped.

[0077] In an embodiment of the present application, when it is detected that the drive wheel is not slipping, the vehicle control system issues a drag torque elimination command, and the drive control system begins to perform a torque increase operation on the negative torque of the motor, gradually reducing the negative torque value of the motor, thereby avoiding the risk of tire locking or loss of control due to drag, and improving the stability of the vehicle and the efficiency of vehicle control.

[0078] based on Figure 2 , please refer to Figure 4 , Figure 4 FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present application. Figure 4 The vehicle control method shown further includes step 250:

[0079] Step 250: When the drive control system detects that the reverse speed change rate of the motor exceeds the reverse speed change rate threshold, the drive control system stops the torque control operation and enters the zero torque mode; the zero torque mode is a mode in which the motor stops generating braking torque.

[0080] The above reverse speed change rate refers to the speed change rate of the vehicle's motor in an unexpected direction.

[0081] The above-mentioned reverse speed change rate threshold is a preset critical value, which is used to determine whether the reverse speed change of the motor exceeds a normal range.

[0082] The above-mentioned zero torque mode is a working mode. In the zero torque mode, the motor stops generating braking torque and does not apply additional pressure.

[0083] In an embodiment of the present application, when the vehicle is running, the drive control system continuously monitors the reverse speed change rate of the motor. When it detects that the reverse speed change rate exceeds a preset reverse speed change rate threshold, it stops the current torque control operation and switches to zero torque mode. In zero torque mode, the motor does not generate braking torque, which can effectively ensure that the vehicle can be restored to a safe and controllable state in a short time, effectively protecting the vehicle motor from potential damage.

[0084] In an embodiment of the present application, when the motor has an abnormally high reverse speed change rate, it indicates that the vehicle is in extreme or unexpected operating conditions, such as sharp turns or sudden deceleration. At this time, if the original torque control continues to be executed, it is easy to increase the risk of loss of control. When the drive control system recognizes this situation and switches the vehicle motor to zero torque mode, it can effectively prevent problems caused by inappropriate torque output; in zero torque mode, the motor stops generating braking torque, effectively preventing potential risks and ensuring that the vehicle is always in the best control state.

[0085] Based on the above Figures 2 to 4 The steps in the embodiment of the present application illustrate an anti-reverse running control scheme for an electric vehicle motor.

[0086] The scheme shown in the embodiment of the present application mainly involves a vehicle controller (hereinafter referred to as: VCU, Vehicle Control Unit), a linear control braking system (hereinafter referred to as: WCBS, Linear Control Braking System), a drive controller (hereinafter referred to as: MCU, Motor Control Unit), a drag torque control (hereinafter referred to as: DTC, Drag Torque Control), and a forward gear (hereinafter referred to as: D gear).

[0087] Working condition 1: When the vehicle is braking on a low-load road, the DTC function is triggered. When the WCBS detects that the tire speed is negative, the DTC requests the VCU to increase the slope of the torque increase request, and the VCU requests the MCU to increase the negative torque of the motor. The MCU executes the negative torque increase, which can suppress the reversal trend of the tire. If the reversal trend of the tire is not effectively curbed, the reversal speed change rate of the motor exceeds the set threshold, the motor does not respond to the VCU's request torque command, and executes 0 torque.

[0088] Working condition 2: When the vehicle brakes on a low-load road without triggering the DTC function, and the WCBS detects that the tire speed is negative, the VCU will increase the requested negative torque of the motor to 0 N·m within the set time. If the reversal trend of the tire is not effectively curbed, the reversal speed change rate of the motor exceeds the set threshold, and the motor does not respond to the VCU's request torque command and executes 0 torque.

[0089] Please refer to Figure 5 , Figure 5 It is a schematic diagram of a method for preventing an electric vehicle from reversing and flying provided by an embodiment of the present application.

[0090] Step 501: The linear control system detects the wheel steering and the gear position required steering.

[0091] In the embodiment of the present application, the triggering prerequisite of the vehicle motor anti-reverse running function is: WCBS detects the tire steering, tire speed, DTC function triggering status and other information in real time, and sends the information to the vehicle bus.

[0092] In the embodiment of the present application, the VCU receives the wheel steering information and wheel speed information sent by the WCBS, and autonomously identifies the current gear information. The VCU sends the torque requested by the motor to the bus. The MCU receives and executes the torque command information and gear information of the VCU, and autonomously monitors the speed and steering information of the motor. When the VCU detects that the wheel steering sent by the WCBS is opposite to the direction required by the gear, the motor anti-reverse flying function is triggered.

[0093] In the embodiment of the present application, when the linear control system detects that the wheel steering is inconsistent with the gear required steering, step 502a is executed; when it detects that the wheel steering is consistent with the gear required steering, step 502b is executed.

[0094] Step 502a: The vehicle controller responds to the drag torque control request torque.

[0095] In the embodiment of the present application, when the DTC function of the WCBS is triggered, the WCBS needs to increase the original torque increase slope and send the torque value to the bus. The specific slope change adjustment needs to be calibrated according to the actual vehicle to avoid vehicle impact, slippage and other problems. When the DTC function is triggered, the VCU needs to immediately exit the braking torque mode, respond to the torque command of the WCBS, and convert it into the motor demand torque for the motor to execute.

[0096] Step 502b: The vehicle controller requests that the torque be reduced to zero within a set time.

[0097] In the embodiment of the present application, when the DTC function is not triggered, the VCU needs to reduce the original braking torque request to 0 N·m within the set time. The specific time needs to be calibrated according to the actual vehicle to avoid vehicle impact problems.

[0098] Step 503: The driving controller responds to the torque command of the vehicle controller; when the fault threshold is triggered, it does not respond to the command of the vehicle controller and executes zero torque.

[0099] In the embodiment of the present application, the MCU receives and executes the torque request instruction of the VCU. When the MCU detects that the direction of the motor is inconsistent with the direction required by the gear and the speed change rate of the motor reversal exceeds the limit, the MCU does not execute the VCU torque request and enters the 0 torque mode. The reversal speed limit needs to be calibrated according to the actual vehicle.

[0100] In summary, this technical solution specifically discloses a control strategy for preventing the motor of an electric vehicle from reversing and running away. Through the coordinated control of the WCBS, VCU, and MCU systems, the problem of the motor reversing and running away under the braking condition of the vehicle on a low-adhesion road can be effectively solved, greatly improving the safety performance of the vehicle.

[0101] The above is only an embodiment of the present application and should not be regarded as limiting the present application. Professionals should understand that various deformations and modifications can be made to the embodiments to adapt to different application requirements. Therefore, the scope of the present application should be limited by the claims attached to the claims.

[0102] Please refer to Figure 6 , which shows a block diagram of a vehicle control device provided by an exemplary embodiment of the present application, the vehicle control device can be implemented as all or part of a computer device by hardware or a combination of hardware and software to achieve the above Figures 2 to 4 All or part of the steps in the embodiments shown. Figure 6 As shown, the vehicle control device includes:

[0103] The information receiving module 601 is used to receive the wheel rotation direction and gear position of the vehicle sent by the linear control system through the vehicle control system;

[0104] The torque control instruction determination module 602 is used to determine the torque control instruction through the vehicle control system in response to the vehicle control system detecting that the direction of wheel rotation of the vehicle is opposite to the direction corresponding to the gear position of the vehicle; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase the specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period;

[0105] The torque control instruction receiving module 603 is used to receive the torque control instruction sent by the vehicle control system through the drive control system;

[0106] The torque control operation execution module 604 is used to execute the torque control operation corresponding to the torque control instruction through the drive control system.

[0107] Please refer to Figure 7 , Figure 7 7 is a schematic diagram of the structure of a computer device provided by an exemplary embodiment of the present application. The computer device 700 includes a central processing unit (CPU) 701, a system memory 704 including a random access memory (RAM) 702 and a read-only memory (ROM) 703, and a system bus 705 connecting the system memory 704 and the central processing unit 701. The computer device 700 also includes a basic input / output system (I / O system) 706 that helps transmit information between various devices in the computer, and a large-capacity storage device 707 for storing an operating system 713, application programs 714 and other program modules 715.

[0108] The basic input / output system 706 includes a display 708 for displaying information and an input device 709 such as a mouse and a keyboard for user inputting information. The display 708 and the input device 709 are connected to the central processing unit 701 through an input / output controller 710 connected to the system bus 705. The basic input / output system 706 may also include an input / output controller 710 for receiving and processing inputs from a plurality of other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 710 also provides output to a display screen, a printer, or other types of output devices.

[0109] The mass storage device 707 is connected to the central processing unit 701 through a mass storage controller (not shown) connected to the system bus 705. The mass storage device 707 and its associated computer readable media provide non-volatile storage for the computer device 700. That is, the mass storage device 707 may include a computer readable medium (not shown) such as a hard disk or a CD-ROM (Compact Disc Read-Only Memory) drive.

[0110] Without loss of generality, computer readable media may include computer storage media and communication media. Computer storage media include volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer readable instructions, data structures, program modules or other data. Computer storage media include RAM (Random Access Memory), ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM, DVD (Digital Video Disc) or other optical storage, cassettes, tapes, disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that computer storage media are not limited to the above. The above-mentioned system memory 704 and mass storage device 707 can be collectively referred to as memory.

[0111] The computer device 700 can be connected to the Internet or other network devices through a network interface unit 711 connected to the system bus 705 .

[0112] The memory also includes one or more programs, one or more programs are stored in the memory, and the central processing unit 701 implements the one or more programs by executing the one or more programs. Figures 2 to 4 All or part of the steps in the method shown.

[0113] In an exemplary embodiment, a chip is also provided. The chip includes a programmable logic circuit and / or program instructions. When the chip runs on a computer device, it is used to implement all or part of the steps of the method shown in the above embodiments of the present application.

[0114] In an exemplary embodiment, a computer program product is also provided, the computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor reads and executes the computer instructions from the computer-readable storage medium to implement all or part of the steps of the method shown in the above-mentioned various embodiments of the present application.

[0115] In an exemplary embodiment, a computer-readable storage medium is also provided, in which a computer program is stored. The computer program is loaded and executed by a processor to implement all or part of the steps of the method shown in the above-mentioned embodiments of the present application.

[0116] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program. The above program may be stored in a computer-readable storage medium. The above storage medium may be a read-only memory, a disk or an optical disk, etc.

[0117] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0118] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized in that: The method is performed by a vehicle, the vehicle comprising a vehicle control system, a linear control system and a drive control system, and the method comprises: Receiving, via the vehicle control system, the wheel rotation direction of the vehicle and the gear position of the vehicle sent by the linear control system; In response to the vehicle control system detecting that the wheel rotation direction of the vehicle is opposite to the direction corresponding to the gear position of the vehicle, a torque control instruction is determined by the vehicle control system; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period; Receiving the torque control instruction sent by the vehicle control system through the drive control system; A torque control operation corresponding to the torque control command is performed by the drive control system.

2. The method according to claim 1, characterized in that The vehicle further comprises: a braking system; The determining of the torque control command by the vehicle control system includes: receiving, via the vehicle control system, driving wheel status information of the vehicle sent by the braking system; the driving wheel status information is used to indicate whether the driving wheel of the vehicle is slipping; The torque control instruction is determined based on the driving wheel state information through the vehicle control system.

3. The method according to claim 2, characterized in that The determining, by the vehicle control system, the torque control instruction based on the driving wheel state information comprises: When the driving wheel state information indicates that the driving wheels of the vehicle are slipping, generating the torque ramp slope increasing instruction based on the target torque value by the vehicle control system; When the driving wheel status information indicates that the driving wheels of the vehicle are not slipping, a drag torque elimination instruction is determined through the vehicle control system.

4. The method according to claim 3, characterized in that In a case where the torque control instruction is the drag torque elimination instruction, the performing of the torque control operation corresponding to the torque control instruction by the drive control system includes: Performing a torque-raising operation on the negative torque of the motor by the drive control system; In response to the negative torque of the motor decreasing to zero within the second time period, the torque boosting operation is stopped.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the drive control system detects that the reverse speed change rate of the motor exceeds a reverse speed change rate threshold, the drive control system stops the torque control operation and enters a zero torque mode; the zero torque mode is a mode in which the motor stops generating braking torque.

6. A vehicle control device, characterized in that: The device comprises: An information receiving module, used for receiving the wheel rotation direction of the vehicle and the gear position of the vehicle sent by the linear control system through the vehicle control system; a torque control instruction determination module, for determining a torque control instruction through the vehicle control system in response to the vehicle control system detecting that the wheel rotation direction of the vehicle is opposite to the direction corresponding to the gear position of the vehicle; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period; A torque control instruction receiving module, used for receiving the torque control instruction sent by the vehicle control system through the drive control system; The torque control operation execution module is used to execute the torque control operation corresponding to the torque control instruction through the drive control system.

7. A vehicle control system, characterized in that: The system includes a vehicle control system, a linear control system and a drive control system; The vehicle control system is used to receive the wheel rotation direction of the vehicle and the gear position of the vehicle sent by the linear control system; The vehicle control system is used to determine a torque control instruction in response to detecting that the wheel rotation direction of the vehicle is opposite to the direction corresponding to the gear position of the vehicle; the torque control instruction is one of a torque ramp increase instruction and a drag torque elimination instruction; the torque ramp increase instruction is used to instruct to increase a specified torque change rate on the original torque change rate of the motor of the vehicle so that the torque value of the motor reaches a target torque value within a first time period, and the target torque value is a torque value that ensures that the driving wheels of the vehicle do not slip; the drag torque elimination instruction is used to instruct to reduce the negative torque of the motor to zero within a second time period; The drive control system is used to receive the torque control instruction sent by the vehicle control system and execute a torque control operation corresponding to the torque control instruction.

8. A computer device, characterized in that: The computer device includes a processor and a memory, wherein instructions are stored in the memory, and the instructions are executed by the processor to implement the vehicle control method as claimed in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: The storage medium stores instructions, and the instructions are executed by a processor of a computer device to implement the vehicle control method as described in any one of claims 1 to 5.

10. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium; the computer instructions are read and executed by a processor of a computer device to implement the vehicle control method as described in any one of claims 1 to 5.

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